Can I slave two joints together with mesa 5i25 and pncconf? I configured the xaxis stepgen for both num 0 and 3 in the i/o connector 3 tab.
When I look at the hal file it only configures it for the num 3. Like as below: #******************* # AXIS X #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.03.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.03.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.03.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.03.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.03.step_type 0 setp hm2_5i25.0.stepgen.03.control-type 0 setp hm2_5i25.0.stepgen.03.maxaccel 25.0 setp hm2_5i25.0.stepgen.03.maxvel 20.8 net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.03.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd hm2_5i25.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.03.enable hm2_5i25.0.stepgen.00.enable setp hm2_5i25.0.gpio.004.invert_output true I can get it to to work by putting in these lines in the hal: net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.03.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd hm2_5i25.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.03.enable hm2_5i25.0.stepgen.00.enable setp hm2_5i25.0.gpio.004.invert_output true But that has trouble at higher speeds. I'm thinking the the one axis is trying to follow the other but when going fast it won't be able to follow fast enough. They need to be getting the same step signals. I could hardwire the signals together, but I wanted to leave room to square the joints later (when I start understanding this stuff better)
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