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All modern step motor drives have flyback diodes, what they typically do not have is an overvoltage clamp.
This means you must never switch the DC power to the drives anywhere between the power supplies output
capacitor and the drive itself. This means no switches/relays/fuses/circuits breakers in the DC circuit. The
fuse in the  drive itself is just for fire protection, if it blows, the drive was already dead.

Hi all,

I worked on the sensorless homing this week-end and it seems to work, at least on a single axis. I uploaded this video where you can see it in action. The code is a mess so I didn't upload it on github yet, and will first try it on a gantry system before publishing it. I also tried to connect a ABN magnetic encoder (AS5047P) directly on the TMC5160; I can read the encoder position through the X_ENC register and use it as feedback for LinuxCNC, as expected.

I'm not sure what next step will be; probably clean up the code a little and publish a "main" branch. I'd also like to try a Pi Zero 2 version without a GUI, actually without X-Server at all if that's possible, to see if this could be an option for OpenPNP users as a cheap yet powerfull motion controller.

Hi,

i currently try to finalize the homing_comp for pokeys. it seem to basically work, but at the end where the sychronized axes should finish their homing. they are still shown as unhomed. (sometimes one of them got marked homed but never both of them)

 
 


Somehow it seems that i'm missing something, but i cannot figure out if i need to set a HAL flag or missed a step which is required to be done to finalize overall homing.

Can some one please point me in the direction where to look at? 

[TRAJ]
COORDINATES =  XXYZ

[JOINT_0] 
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3

[JOINT_1]
HOME_OFFSET = 4.100000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3

[JOINT_2]
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -3
HOME_LATCH_VEL = 1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

[JOINT_3]
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1


if it is required my home_comp can be found here github.com/zarfld/LinuxCnc_PokeysLibComp...pokeys_homecomp.comp

it basically comminicates with pokeys.comp by a status and a command signal using following enumerations for each joint seperately

typedef enum
{
    PK_PEAxisState_axSTOPPED = 0, // Axis is stopped
    PK_PEAxisState_axREADY = 1,   // Axis ready
    PK_PEAxisState_axRUNNING = 2, // Axis is running

    PK_PEAxisState_axHOMING_RESETTING = 8,   // Stopping the axis to reset the position counters
    PK_PEAxisState_axHOMING_BACKING_OFF = 9, // Backing off switch
    PK_PEAxisState_axHOME = 10,              // Axis is homed
    PK_PEAxisState_axHOMINGSTART = 11,       // Homing procedure is starting on axis
    PK_PEAxisState_axHOMINGSEARCH = 12,      // Homing procedure first step - going to home
    PK_PEAxisState_axHOMINGBACK = 13,        // Homing procedure second step - slow homing

    PK_PEAxisState_axPROBED = 14,      // Probing completed for this axis
    PK_PEAxisState_axPROBESTART = 15,  // Probing procedure is starting on axis
    PK_PEAxisState_axPROBESEARCH = 16, // Probing procedure - probing

    PK_PEAxisState_axERROR = 20, // Axis error
    PK_PEAxisState_axLIMIT = 30  // Axis limit tripped
} pokeys_home_state_t;

typedef enum
{
    PK_PEAxisCommand_axIDLE = 0,           // Axis  in IDLE
    PK_PEAxisCommand_axHOMINGSTART = 1,    // Start Homing procedure
    PK_PEAxisCommand_axHOMINGCANCEL = 2,   // Cancel Homing procedure
    PK_PEAxisCommand_axHOMINGFINALIZE = 3, // Finish Homing procedure
} pokeys_home_command_t;

I have been taking a look at panelui, however I can not finde any simple an clear example of how to set up a simple demo to get going is there such a thing like an easy to follow example?

I also have hard time to find information  wether the panelui can work in conjuction with a ui like QtDragon or not?

Kind regards/Stefan