stepgen and joints

Hello,

I have added a stepgen to a puma hal and I was able to output of a joint value to a parallel port using stepgen, the code is more or less like this (they can have typos and errors because I'm typing this from my memory):

I have a few questions regarding output things through a stepgen:

1. I have a small and not very precise step motor for my tests, with a driver that divide the whole circle in 200 steps. What are the calculations required to use the joint value to output that? (I see the joint figures move very slowly)
2. How can I extend the pulse time? (because right now I have TONS of very small pulses, and I need to degrade the resolution, so I get less pulses (this is related to the previous question)
3. Is the axis value the right value to output for a step motor? (I think it's not, but I am not sure what to send to the stepgen.0.position-cmd)

As usual, thank you so much for your help

Cheers

Your driver may have a fixed or adjustable microstep setting.

If it's locked at say 10 you would have 2000 steps per rev.

But some will chop it to 25000 steps per rev. They have a dip switch layout you need to set your desired microstep setting. I believe it is the scale setting.

If you use the step conf wizard you can easily play with the settings and test the motor. Then save it and make all future edits in pluma

I have a small and not very precise step motor for my tests, with a driver that divide the whole circle in 200 steps. What are the calculations required to use the joint value to output that?

Set the stepgen scale parameter ( stepgen.N.position−scale ) to the number of steps per engineering unit.

Thank you Andy!

I already found that reading the documentation. But it's cool to update here.

I guess by the end lf this year I will have something in real life working with LinuxCNC and it's thanks to people like you and this community.

Thanks!!!