Advanced Search

additional driver images

Cool. Thinking about it more, I'm wondering if I should just get a basic generic parallel port card, since I probably don't need fancy FPGA stuff for an MPG and some override switches. I guess I'm just remembering how much better my little cnc conversion runs on the mesa vs the parport. It seems with ethercat, most of that becomes irrelevant.

doing some test I got this question. what is wrong with this script ?

# =============================================
# Configuración básica de hardware y componentes
# =============================================
loadrt hostmot2
loadrt hm2_rpspi config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxxxx"
setp hm2_7c80.0.watchdog.timeout_ns 5000000
loadusr -W hal_input -KRAL GreenAsia

# =============================================
# Componentes para control y filtrado
# =============================================
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt mux16 names=jogspeed,mvoincr

# Componentes para cálculo de velocidad/aceleración
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
loadrt hypot names=vel_xy,vel_xyz

# =============================================
# Hilos de ejecución en tiempo real
# =============================================
addf hm2_7c80.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

# Hilos para PID
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.b.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread

# Hilos para utilidades
addf jogspeed servo-thread
addf mvoincr servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread

# Hilos para cálculo de velocidad
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread

addf hm2_7c80.0.write servo-thread

# =============================================
# Configuración de hardware Mesa 7i80
# =============================================
setp hm2_7c80.0.dpll.01.timer-us -50
setp hm2_7c80.0.stepgen.timer-number 1

# =============================================
# Configuración del eje X (ejemplo para servomotor)
# =============================================
# Parámetros PID
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror 0.000500

# Conexiones PID
net x-index-enable => pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output

# Configuración StepGen para servo (modo velocidad)
setp hm2_7c80.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7c80.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7c80.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7c80.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7c80.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7c80.0.stepgen.00.step_type 0
setp hm2_7c80.0.stepgen.00.control-type 1 # Modo velocidad
setp hm2_7c80.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7c80.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL

# Conexiones para control en lazo cerrado
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7c80.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7c80.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7c80.0.stepgen.00.enable

# =============================================
# Cálculo de velocidad/aceleración con ddt
# =============================================
# Conexiones para eje X
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out

# Conexiones para ejes Y y Z (similar a X)
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out

net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out

# Ejes rotacionales (sin ddt)
net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
net Cpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb

# Velocidades cartesianas combinadas
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out

# =============================================
# Habilitar hardware
# =============================================
setp hm2_7c80.0.stepgen.00.enable 1


Do hit the right way to get the 5 axis cnc configure ?
can someone help me with it?

thanks!!

For anybody with the same problem.
It seems that the Site for the Key is down.
I at least get a 404 when opening the site.

Got it working with
apt-get update --allow-insecure-repositories

I suspect the answer to the Subject's question is "no", since I've found no reference anywhere (except on a very old sourceforge thread) to "MDI_COMMAND0", "MDI_COMMAND1", etc.

But is there any reason the HALUI section, and the code that reads it, couldn't be enhanced to allow that?  It would be nice not to have to worry about ordering.  It would also make the .ini file more "standards compliant" -- it's highly unusual to have multiple values with the same key in an ini file.  The crudini command, for example, will toss all but the last such entry.   

I can only do ``Jog``, nothing happens in MDI select, there are letter markings but I don't have instructions for programming certain steps, the machine has no home, only limit switches and measuring scales ttl, that's why I was interested if anyone knew what type of driver it is due to the possible retention of the existing motors if I do a retrofit.