LitexCNC: firmware and driver for 5A-75B and 5A-75E

PCW wrote:

Might be instructive to plot that commanded and feedback joint positions
when index enable goes false

 

According to what I observed in halshow, position-cmd becomes zero immediately, but position-feedback and position-prediction stop after some change.

Ahh, I missed something, you would need to use encoder feedback for homing to index
unless your firmware supports stepgen homing to index (because the stepgen position
feedback is not zeroed on index)

PCW wrote:

Ahh, I missed something, you would need to use encoder feedback for homing to index
unless your firmware supports stepgen homing to index (because the stepgen position
feedback is not zeroed on index)

I did not understand exactly what to do
Can you explain more?

For this to work, you would have to have actual feedback from the encoder
(connected in hal) or firmware that supports a stepgen index input

It might be possible to do this in software (hal) but it would be fairly complex

PCW wrote:

For this to work, you would have to have actual feedback from the encoder
(connected in hal) or firmware that supports a stepgen index input

It might be possible to do this in software (hal) but it would be fairly complex

The fact is that I do not have much expertise in using Linux CNC.
Is it possible for you to guide me in doing this?

Ehsan_R wrote:

I encountered a strange problem while using Litex for some time.
This problem is that when I close the linuxcnc software or disable the machine power key, the motors automatically start moving at a very low speed.
Does anyone know how to fix this?

Does anyone have a solution for this problem?

Ehsan_R wrote:

PCW wrote:

For this to work, you would have to have actual feedback from the encoder
(connected in hal) or firmware that supports a stepgen index input

It might be possible to do this in software (hal) but it would be fairly complex
The fact is that I do not have much expertise in using Linux CNC.
Is it possible for you to guide me in doing this?
 

If the firmware does not support index homing on stepgen systems, it's a bit complex because
you now must setup a PID loop using encoder feedback and use the stepgen in velocity mode.

You could use a pncconf created configuration as a sample of this kind of hal setup.

You might ask if LitexCNC firmware can support index input on stepgen systems, because
this would be a much simpler path if that can be done.

tommylight wrote:

I did, you ignored it.
Short cables, shielded preferably, properly grounded.

Do you believe this is due to the effects of noise?
So how does the watchdog work?
Shouldn't all functions of the board stop quickly after disconnecting the board and the software?

PCW wrote:

Ehsan_R wrote:

PCW wrote:

For this to work, you would have to have actual feedback from the encoder
(connected in hal) or firmware that supports a stepgen index input

It might be possible to do this in software (hal) but it would be fairly complex
The fact is that I do not have much expertise in using Linux CNC.
Is it possible for you to guide me in doing this?
 


If the firmware does not support index homing on stepgen systems, it's a bit complex because
you now must setup a PID loop using encoder feedback and use the stepgen in velocity mode.

You could use a pncconf created configuration as a sample of this kind of hal setup.

You might ask if LitexCNC firmware can support index input on stepgen systems, because
this would be a much simpler path if that can be done.

Thank you for your reply
I will do this solution and tell you the result