LitexCNC: firmware and driver for 5A-75B and 5A-75E
06 May 2024 00:18 - 06 May 2024 00:21 #299862
by Ehsan_R
Replied by Ehsan_R on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
I configured hal as below.
But I am not sure if it is true.
Anyway, homing had the same result as before.
I would appreciate it if you could check my hal settings.
But I am not sure if it is true.
Anyway, homing had the same result as before.
I would appreciate it if you could check my hal settings.
setp pid.a.Pgain [JOINT_3]P
setp pid.a.Igain [JOINT_3]I
setp pid.a.Dgain [JOINT_3]D
setp pid.a.bias [JOINT_3]BIAS
setp pid.a.FF0 [JOINT_3]FF0
setp pid.a.FF1 [JOINT_3]FF1
setp pid.a.FF2 [JOINT_3]FF2
setp pid.a.deadband [JOINT_3]DEADBAND
setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror 0.012700
#net encoder-counts <= 5A-75B:V8.2.encoder.03.counts
net a-index-enable => pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-pos-fb => pid.a.feedback
net a-output <= pid.a.output
# Step Gen signals/setup
setp 5A-75B:V8.2.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp 5A-75B:V8.2.stepgen.03.steplen [JOINT_3]STEPLEN
setp 5A-75B:V8.2.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp 5A-75B:V8.2.stepgen.03.dir-hold-time [JOINT_3]DIRHOLD
setp 5A-75B:V8.2.stepgen.03.dir-setup-time [JOINT_3]DIRSETUP
setp 5A-75B:V8.2.stepgen.03.max-velocity [JOINT_3]MAX_VELOCITY
setp 5A-75B:V8.2.stepgen.03.max-acceleration [JOINT_3]STEPGEN_MAXACCEL
# ---closedloop stepper signals---
net a-pos-cmd <= joint.3.motor-pos-cmd
net a-vel-cmd <= joint.3.vel-cmd
net a-output => 5A-75B:V8.2.stepgen.03.velocity-cmd
net a-pos-fb <= 5A-75B:V8.2.encoder.03.position
net a-pos-fb => joint.3.motor-pos-fb
net a-enable <= joint.3.amp-enable-out
net a-enable => 5A-75B:V8.2.stepgen.03.enable => 5A-75B:V8.2.gpio.j1:3.out
# ---Encoder feedback signals/setup---
setp 5A-75B:V8.2.encoder.03.x4-mode 1
setp 5A-75B:V8.2.encoder.03.position-scale [JOINT_3]ENCODER_SCALE
#net a-pos-fb <= 5A-75B:V8.2.encoder.03.position
net a-vel-fb <= 5A-75B:V8.2.encoder.03.velocity
net a-index-enable joint.3.index-enable <=> 5A-75B:V8.2.encoder.03.index-enable
net a-pos-rawcounts <= 5A-75B:V8.2.encoder.03.raw-counts
setp 5A-75B:V8.2.stepgen.03.velocity-mode 1
# ---setup home / limit switch signals---
net a-home-sw <= 5A-75B:V8.2.gpio.j16:6.in-not
net a-home-sw => joint.3.home-sw-in
Last edit: 06 May 2024 00:21 by Ehsan_R.
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06 May 2024 00:46 #299864
by cornholio
Replied by cornholio on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
I think this issue would be better resolved on the projects github page. The response there is quite quick.
The following user(s) said Thank You: besriworld
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06 May 2024 12:27 #299933
by Ehsan_R
Replied by Ehsan_R on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
How can I completely stop using the board after closing the software or pressing the estop and power keys?
For example, how do I set the Watchdog pin value to True after closing the software and pressing the estop or machine power key?
For example, how do I set the Watchdog pin value to True after closing the software and pressing the estop or machine power key?
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06 May 2024 19:55 #299962
by besriworld
Replied by besriworld on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Do you have an enabling signal to each servo driver?
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07 May 2024 07:54 - 07 May 2024 07:56 #300013
by Ehsan_R
They are deactivated as soon as the emergency key is pressed.
But it seems that the board moves the motors by itself without receiving a command from Linux CNC
Replied by Ehsan_R on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Yes I haveDo you have an enabling signal to each servo driver?
They are deactivated as soon as the emergency key is pressed.
But it seems that the board moves the motors by itself without receiving a command from Linux CNC
Last edit: 07 May 2024 07:56 by Ehsan_R.
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07 May 2024 13:43 - 07 May 2024 13:43 #300033
by besriworld
Replied by besriworld on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
That is, the driver continues to count the pulses from the controller and when the enabling signal is true again, the motor rotates?
Last edit: 07 May 2024 13:43 by besriworld.
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07 May 2024 17:42 - 07 May 2024 17:43 #300054
by Ehsan_R
Replied by Ehsan_R on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
No, imagine the software is open and the motor is stationary, when I close the software or press the power or stop key, the motor starts moving until I open the software again and press the power key. In this case, the motor stops
Last edit: 07 May 2024 17:43 by Ehsan_R.
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07 May 2024 18:35 #300058
by besriworld
Replied by besriworld on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Yes, I understand that the controller produces steps when the program is turned off. But if the enable signal is going to each driver and it is working correctly the motor should be immediately turned off when exiting the program.
try on github ...
I have one such board on the shelf, but I have not played with this firmware.
try on github ...
I have one such board on the shelf, but I have not played with this firmware.
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07 May 2024 19:06 #300059
by Ehsan_R
Is there a way to disable all board output buffers, for example by concocting it to motion.motion-enabled?
If 5A-75B:V8.2.watchdog.has_bitten is equal to one, all output buffers of the board are disabled.
Replied by Ehsan_R on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
There is a pin called 5A-75B:V8.2.watchdog.has_bitten in litexcnc.Yes, I understand that the controller produces steps when the program is turned off. But if the enable signal is going to each driver and it is working correctly the motor should be immediately turned off when exiting the program.
try on github ...
I have one such board on the shelf, but I have not played with this firmware.
Is there a way to disable all board output buffers, for example by concocting it to motion.motion-enabled?
If 5A-75B:V8.2.watchdog.has_bitten is equal to one, all output buffers of the board are disabled.
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07 May 2024 19:27 #300060
by PCW
Replied by PCW on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Does the controller actually generate steps when LinuxCNC is not running,
or does it just float its outputs, possibly causing noise generation because
the I/O levels are undefined?
or does it just float its outputs, possibly causing noise generation because
the I/O levels are undefined?
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