Hi Guys, I got issue when add A axis, this machine works fine with two Axis X Y and rotation ( use same same pin as A Axis P9 21 Gpio 0-3, P9 22 gpio 0-2), since we have the pins in .dts, so I just modify .hal and .ini. first Im not sure in .ini what I should do, so I change as below:
[TRAJ] AXES = 3 COORDINATES = X Y A *Can use 3 AXES like this way or I need to add also axis Z? but we don't need Z* *and I add ：* [AXIS_3] # Axis 2 is used for the head Z motor. TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 250.0 STEPGEN_MAX_ACC = 250.0 BACKLASH = 0.000 WRAPPED_ROTARY = 1 MAX_LIMIT = 1.0 FERROR = 10.0 MIN_FERROR = 1.0 HOME = 0.0 HOME_OFFSET = 1.0 HOME_SEARCH_VEL = 30.0 HOME_LATCH_VEL = 7 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES ## BYPASS HOMING # ##HOME = 0.0 #HOME_OFFSET = 0.0 #HOME_SEARCH_VEL = 0.0 #HOME_LATCH_VEL = 0.0 #HOME_SEQUENCE = 0 ## END OF BYPASS HOMING # # nanoseconds units DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 *in the .hal, before we use rotation this way:* ################# #A [3] Axis (Extruder) ################# # axis enable chain #newsig emcmot.03.enable bit #sets emcmot.03.enable FALSE # #net emcmot.03.enable <= axis.3.amp-enable-out #net emcmot.03.enable => [PRUCONF](DRIVER).stepgen.03.enable # # ## position command and feedback #net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd #net emcmot.03.pos-cmd => [PRUCONF](DRIVER).stepgen.03.position-cmd # #net motor.03.pos-fb <= [PRUCONF](DRIVER).stepgen.03.position-fb #net motor.03.pos-fb => axis.3.motor-pos-fb setp [PRUCONF](DRIVER).stepgen.03.control-type 1 setp [PRUCONF](DRIVER).stepgen.03.dirsetup [RSPIN]DIRSETUP setp [PRUCONF](DRIVER).stepgen.03.dirhold [RSPIN]DIRHOLD setp [PRUCONF](DRIVER).stepgen.03.steplen [RSPIN]STEPLEN setp [PRUCONF](DRIVER).stepgen.03.stepspace [RSPIN]STEPSPACE setp [PRUCONF](DRIVER).stepgen.03.position-scale [RSPIN]SCALE setp [PRUCONF](DRIVER).stepgen.03.maxvel [RSPIN]STEPGEN_MAX_VEL setp [PRUCONF](DRIVER).stepgen.03.maxaccel [RSPIN]STEPGEN_MAX_ACC #setp [PRUCONF](DRIVER).stepgen.03.step_type 0 # P9.22 gpio0_2 setp [PRUCONF](DRIVER).stepgen.03.steppin 0x22 # P9.21 gpio0_3 setp [PRUCONF](DRIVER).stepgen.03.dirpin 0x23 *Now :* ################# #A [3] Axis (Extruder) ################# # axis enable chain newsig emcmot.03.enable bit sets emcmot.03.enable FALSE # net emcmot.03.enable <= axis.3.amp-enable-out net emcmot.03.enable => [PRUCONF](DRIVER).stepgen.03.enable # # ## position command and feedback net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd net emcmot.03.pos-cmd => [PRUCONF](DRIVER).stepgen.03.position-cmd # net motor.03.pos-fb <= [PRUCONF](DRIVER).stepgen.03.position-fb net motor.03.pos-fb => axis.3.motor-pos-fb setp [PRUCONF](DRIVER).stepgen.03.control-type 1 setp [PRUCONF](DRIVER).stepgen.03.dirsetup [RSPIN]DIRSETUP setp [PRUCONF](DRIVER).stepgen.03.dirhold [RSPIN]DIRHOLD setp [PRUCONF](DRIVER).stepgen.03.steplen [RSPIN]STEPLEN setp [PRUCONF](DRIVER).stepgen.03.stepspace [RSPIN]STEPSPACE setp [PRUCONF](DRIVER).stepgen.03.position-scale [RSPIN]SCALE setp [PRUCONF](DRIVER).stepgen.03.maxvel [RSPIN]STEPGEN_MAX_VEL setp [PRUCONF](DRIVER).stepgen.03.maxaccel [RSPIN]STEPGEN_MAX_ACC #setp [PRUCONF](DRIVER).stepgen.03.step_type 0 # P9.22 gpio0_2 setp [PRUCONF](DRIVER).stepgen.03.steppin 0x22 # P9.21 gpio0_3 setp [PRUCONF](DRIVER).stepgen.03.dirpin 0x23 *then I always have error: PIN "axis.3.amp-enable-out" does not exist.* I'm new for the machinekit, thanks a lot if some one can help me. regards, XIN -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
