Check!
So... the following should be my final signal setup for one axis. But two things:
For my understanding the arrows of
x-output lead in the wrong direktion. Im right? (Made by PNCconf)
Otherwise i dont see, where PID talks to 5i25.
PNCconf missed to hookup
x-vel-fb back to
pid.x.feedback-deriv.
On the other Hand... is there really need for this or is it just waste of
cycle time?
net x-pos-fb should do all the Work.
Code:
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable
net x-enable => pid.x.enable
net x-enable => parport.0.pin-2-out
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-pos-cmd => pid.x.command
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-vel-cmd => pid.x.command-deriv
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
net x-output => pid.x.output
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-pos-fb => pid.x.feedback
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-vel-fb => pid.x.feedback-deriv
net x-index-enable <=> pid.x.index-enable
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
Im still looking into manuals about the index stuff.
