On 1 June 2015 at 04:33, Sven Wesley <[email protected]> wrote: > Trying to figure out if there's any way to run a motor, either a stepper or > servo, a given distance with classic ladder _without_ having a XYZ > configuration.
Yes, this is fairly easy. The stepgen and PID components don't care where their setpoints come from. If the motors only need to run at one speed you can simply set the stepgen max_speed and max_acc pins to the required values. However typically you would use the limit3 HAL component to supply position, velocity and acceleration limits for the motor. Rather than CL I would consider making a simple Glade UI to supply the setpoints and control the sequencing but if the controls are all physical switches you could even run the PC without a display and provide all operate feedback vial lamps and buttons. To set up such a "HAL-only" config you need a HAL file that starts the threads and loads CL and/or a Python GUI. You don't need to load motmod and there is no need for a G-code interpreter. One difference between such a HAL-only config HAL file and a typical one is that it needs to explicitly start the realtime threads with the "start" command. You can then create an icon that runs halrun -f myhalfile.hal for easy launching. loadrt threads period1=50000 period2=1000000 name1=base-thread name2=servo-thread loadrt stepgen step_type=0,0,0 loadrt limit3 count=3 addf stepgen.0.make-pulses base-thread addf stepgen.0.capture-position servo-thread ... setp stepgen.0.step-length 4000 ... net limit3.0.out stepgen.0.position-cmd setp limit3.0.min -100 ... loadrt classicladder ...... .... start -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
