Moving axis in position mode from Hal .

Hello folks

I need to move 2 axis (part of a cylindrical achitecture "robot") to a continuous calculated position (generated from an external encoder) to follow a point moving in the space .

Is there any way to do this from HAL ?

The part program will allow to describe the various movement positions during the cycle.

In an exact part of the part program the "robot" position the axis on a specific point and then without any G code (?) but maybe with a Mxxx engage the
position calculation into HAL and HAL will move the axis to the needed position .
After that with another Mxxx function wating for the end of the "following point in the space" procedure the "robot" will continue the cycle/part program .

I hope I'm clear enough.

I've already did this kind of job with commercial motion controllers but I don't know linuxcnc so much to get the right answer.

Thank for any advice.


bigalex

Hello Gentlemen

Thanks for the quick reply.

For Andy :

Is the position command literally from an encoder quadrature pulse train?

I read the incremental encoder and then I make a calculation to determine the position coordinates of the two axis I need to move.
The resultant movement is like a sector of a circle on a plane determined by the angular position read from the external encoder. (A-B phases 3600 ppr 0.1 degree resolution) .

As I wrote at the beginning of the thread I would like to use G code for the normal axis movements and start the motion with the calculation into HAL , then at the end of this movements the part program will continue using G code for the movements.

Is this way possible or I have to do as Andy said

I would suggest using standalone HAL and possibly a GladeVCP panel, and not load any of the usual GUIs.

.


bigalex

Yes Andy

I would like to use G-Code style part program and Mxxx funtion to sincronize and execute that specific task.

Do you think is this possible and in case it is can you suggest to me a possible solution ?


bigalex

Thanks a lot for the advice.

I will get more knowledge on HAL to better inderstand how to integrate and inteact with tha components .
I only read once about "comp" and the possibility to write new components/functions .
I believe it is a useful tool but I have to learn much more about it.

Thank you .

bigalex