============================================================
Now a new problem or not so much a problem but I can't figure out how to fix it
and it's probably right in front of my nose.
The Z axis is a knee, not a quill and on the 7i92H the knee is now going in the
wrong direction. On the parallel port version I have this invert 1 in the hal
file to make the knee go in the correct direction.
If you are using LinuxCNC 2.8 you can set the stepgens dir polarity parameter.
on 2.7 (and 2.8) you can change the sign of the stepgen scale (or set the
polarity parameter for the gpio pin that corresponds to the stepgen dir pin)
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
I can't see anything in the 7i92H hal that would invert the direction signal
out to the stepper driver. What am I missing?
Note that whats in the hal file is just whats in that particular hal file,
if you want to see all pins/parameters for the loaded components, do this when
linuxcnc is running:
halcmd show all > all.txt
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
#setp pid.z.maxerror .0005
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
#net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# Step Gen signals/setup
setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output => hm2_7i92.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.02.enable
net max-home-z => axis.2.home-sw-in
net max-x-y-min-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in
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Peter Wallace
Mesa Electronics
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