> > So the question is what am I supposed to link to? There are a few I can > try but > > its a bit painful doing it trial and error. > > help here is appreciated. > > I'm not sure what Xylotex.hal file you started with, but the example > configuration has entries for 4 axis (and the cape can support more > using the IDC header): > > > https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.hal#L227-L279 > I. > I'm using the Xylotex.hal that is part of the machinekit image from Robert Nelson. You need to make sure you are loading the hal_pru_generic driver with > the appropriate number specified for num_stepgens: > > > https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.ini#L3 > > > ...otherwise, you just need to tie whatever position command you are > using for your tool changer to the hal_pru_generic stepgen driver to > create the step/dir signals. > > -- > Charles Steinkuehler > cha...@steinkuehler.net <javascript:> > So I have the stepgen making steps for the stepper motor when I call an M6 toolchange. The problem I have now is 2 fold. 1st is that I get a following error for the toolchanger. I sort of knew this would happen based on the notes but I can't figure out what to unlink without screwing everything up. 2nd problem is that the tool changer doesn't do any kind of backwards move even when I manage to get through the following errors. This means it won't lock in place after a tool change. And while I'm at it I may as well admit my ignorance as to how the toolchangers stepping speed is controlled? here is the snip from the modified Xylotex.hal (I've named it Compact5.hal) that has what I think is all the required info, the toolchanger.comp is the one I compiled from Schooner (attached here earlier). I'll attach them all for completeness. I did try changing a few values in the comp file but I'm pretty sure that they aren't an issue (delay time, odd and even_move values). My fundamental failure is to understand the connections between toolchanger.comp, the Compact5.hal and the hal_pru_generic driver. I'm thinking part of it is that the Xylotex.hal is using PID for the stepgen and that is messing my understanding of things. Again any help is appreciated. Mike -- 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 machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Compact5.hal
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Compact5.ini
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toolchanger.comp
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