On Mon, 9 Jul 2012, Bryce Johnson wrote:
> Date: Mon, 9 Jul 2012 13:08:37 -0500
> From: Bryce Johnson <[email protected]>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
> To: "Enhanced Machine Controller (EMC)" <[email protected]>
> Subject: [Emc-users] Slave joints together with mesa 5i25 and pncconf
>
> 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)
>
Are both stepgens configured identically? (you only show stepgen 3s setup and
only some of its parameters) They should track nearly exactly if given the
same position commands _and_ their setup parameters are equal
Peter Wallace
Mesa Electronics
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