Mesa 7i71 - Stepgen on Digital Output for ATC
28 May 2024 17:46 - 28 May 2024 17:47 #301693
by hardware_crash
Replied by hardware_crash on topic Mesa 7i71 - Stepgen on Digital Output for ATC
I read about it in the 7i52S manual, but wasn't sure how to do it.
Like so ?
I also tried the second Port COMM1 which shouldn't need that setting, right?
That one also didnt produce output to the stepper driver
Thanks for the info about those two boards, so theres no future proof board for the external pcie cable connection.
Like so ?
setp gpio.XX.is_output true
setp gpio.XX.out falseI also tried the second Port COMM1 which shouldn't need that setting, right?
That one also didnt produce output to the stepper driver
Thanks for the info about those two boards, so theres no future proof board for the external pcie cable connection.
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01 Jun 2024 20:22 - 01 Jun 2024 20:28 #302102
by hardware_crash
Replied by hardware_crash on topic Mesa 7i71 - Stepgen on Digital Output for ATC
I can seem to get it to work
Heres what I have in my INI File:
And in the HAL File:
When I press the jog button for that axis, I get movement on the stepper motor but just one step regardless of how long i push the jog button. When I release the button the motor makes a step, but it should continuously move ..
Heres what I have in my INI File:
#==================
# A Axis
#==================
[AXIS_A]
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
[JOINT_3]
TYPE = ANGULAR
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
BACKLASH = 0.003
HOME = 0.000
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 3.0
HOME_LATCH_VEL = 0.2
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 80.0And in the HAL File:
# ####################
# A Axis
######################
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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.a.maxerror 0.82700
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
# Schritt-Gen Signale/Setup
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_3]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_3]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_3]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_3]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_3]STEP_SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---Closed-Loop Schrittmotor-Signale---
net a-pos-cmd <= joint.3.motor-pos-cmd
net a-vel-cmd <= joint.3.vel-cmd
net a-output => hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd
net a-pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net a-pos-fb => joint.3.motor-pos-fb
net a-enable <= joint.3.amp-enable-out
net a-enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enableWhen I press the jog button for that axis, I get movement on the stepper motor but just one step regardless of how long i push the jog button. When I release the button the motor makes a step, but it should continuously move ..
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