Hello
On my EMCO120P lathe retrofit project, I have a problem when executing
the following code
G1 X10 Z10
G1 X10 Z-10
G1 X-10 Z-10
G1 X-10 Z10
The motion is perfect for the 3 first G1 lines.
But for the last one, the tool is almost motionless.
When looking at the step signal LEDs on the drive, they are blinking
slowly and randomly during this line execution.
For other motions, they are blinking normally at high rate.
So, the problem is not a mechanical or drive one.
Same problem in manual mode when turning my jog wheels simultaneously in
X- and Z+. Other combinations are ok.
Looks like there is something wrong somewhere is the PRU stepgen only
for synchronous X- Z+ motion!
I cannot believe what I see!
Any clue?
Thanks.
Frederic.
[PRUCONF]
DRIVER=hal_pru_generic
CONFIG=pru=0 num_stepgens=2 num_encoders=2 pru_period=2500
PRUBIN=xenomai/pru_generic.bin
loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN)
[PRUCONF](CONFIG) halname=hpg
# x-axis
setp hpg.stepgen.00.position-scale [AXIS_0]SCALE
setp hpg.stepgen.00.steplen 2000
setp hpg.stepgen.00.stepspace 2000
setp hpg.stepgen.00.dirhold 35000
setp hpg.stepgen.00.dirsetup 35000
setp hpg.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
setp hpg.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
net xpos-cmd axis.0.motor-pos-cmd => hpg.stepgen.00.position-cmd
net xpos-fb hpg.stepgen.00.position-fb => axis.0.motor-pos-fb
net xenable axis.0.amp-enable-out => hpg.stepgen.00.enable
setp hpg.stepgen.00.steppin 921
setp hpg.stepgen.00.dirpin 916
# z-axis
setp hpg.stepgen.01.position-scale -[AXIS_2]SCALE # Reverse direction
setp hpg.stepgen.01.steplen 2000
setp hpg.stepgen.01.stepspace 2000
setp hpg.stepgen.01.dirhold 35000
setp hpg.stepgen.01.dirsetup 35000
setp hpg.stepgen.01.maxaccel [AXIS_2]STEPGEN_MAX_ACC
setp hpg.stepgen.01.maxvel [AXIS_2]STEPGEN_MAX_VEL
net zpos-cmd axis.2.motor-pos-cmd => hpg.stepgen.01.position-cmd
net zpos-fb hpg.stepgen.01.position-fb => axis.2.motor-pos-fb
net zenable axis.2.amp-enable-out => hpg.stepgen.01.enable
setp hpg.stepgen.01.steppin 922
setp hpg.stepgen.01.dirpin 914
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