If you can create the stepgen and a few other components you can go beyond the interpreter limit.
This is not really an X axis although I used the X axis values out of the INI file (Axis_0 - not necessary). This axis is not connected to the interpreter. It is driven by CL. Everything accels and decels like it should. Very simple once you try it. I'm sure this could be cleaned up but I just snipped it out of a existing hal file. The is actually running on a machine so I know it works. Dave :-) # ################ # X [0] Axis # ################ Drive 1 - X axis #Divide CL floatout by 100 to get proper scaling - actually multiply by .01 setp mult2.0.in0 0.01 net mult201 mult2.0.in1 <= classicladder.0.floatout-00 #Tie classic ladder drive control out (/100) to Limit3 input net limit3_0in limit3.0.in <= mult2.0.out #setp limit3.0.maxv 5 # to be set via Modbus net limit30maxv classicladder.0.floatout-01 => limit3.0.maxv #setp limit3.0.maxa 25 # to be set via Modbus net limit30maxa classicladder.0.floatout-02 => limit3.0.maxa # axis enable chain - enable is always true newsig emcmot.00.enable bit sets emcmot.00.enable TRUE #net emcmot.00.enable <= axis.0.amp-enable-out net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable #net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd net emcmot.00.pos-cmd <= limit3.0.out net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb net motor.00.pos-fb => axis.0.motor-pos-fb => mult2.1.in0 setp mult2.1.in1 100 net motor0pos mult2.1.out => classicladder.0.floatin-02 # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 On 5/16/2011 6:13 PM, Viesturs Lācis wrote: > 2011/5/17 Michał Geszkiewicz<[email protected]>: > >> still up to 9 joints. >> > Thanks! > > Are there any options to control more than 9 joints with help of classic > ladder? > What I need is to control a production line: > 1) control 3 tools, each moved in interpolated motion along 2 > coordinates, thus total of 6 joints - this part already can be easily > done; > 2) another 5 tools, each moved along 1 coordinate; basically they have > to go to predefined position (which does not change) at one feedrate > and do rapid return back - it could be movement until some switch is > triggered, but I would prefer returm move started only after a > particular number of encoder counts is reached. > > Is there a chance to hack the second point with classic ladder or some > HAL module? I recall that there are configs for 12 stepgens on 7i43 > card - obviously they all can somehow be used. > Has anyone tried something like that? > > Viesturs > > ------------------------------------------------------------------------------ > Achieve unprecedented app performance and reliability > What every C/C++ and Fortran developer should know. > Learn how Intel has extended the reach of its next-generation tools > to help boost performance applications - inlcuding clusters. > http://p.sf.net/sfu/intel-dev2devmay > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ Achieve unprecedented app performance and reliability What every C/C++ and Fortran developer should know. Learn how Intel has extended the reach of its next-generation tools to help boost performance applications - inlcuding clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
