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PCW wrote:

There are no normal encoders on TB3
(there are 4 MPG encoders but these are not suitable
for measuring frequency)

It would require different firmware to put standard
encoders on TB3 (7i96s_p1encd has 1 encoder on TB2 and
6 more on P1)

Your mesaflash command may have failed because either you have LinuxCNC running
or LinuxCNC did not exit cleanly. LinuxCNC blocks access to the Ethernet port it uses
when running.

The .pin file just a human readable file that  describes the firmware contents and
pin connections. Its made by running mesaflash's --readhmid command.

To make new firmware, one changes the PINXXXX.vhd file and re-compiles
the firmware source using the software toolchain for the particular FPGA.

 

Hmmm....

So with the existing firmware, it sounds like I could connect my two MPG encoders to say the first two MPG inputs on TB3, and then connect my two potentiometer based frequency sources to the 3rd & 4th encoder inputs on P1?

Assuming that sounds acceptable, if I want to get the frequency values from the P1 encoders, should I be wiring my frequency sources, to A, B, or IDX of those P1 encoder inputs? I'm not sure which of the three signals is the source for hm2_7i96s.0.encoder.04.velocity




 

Very simple way - not trying to be snarky.

Just have a potentiometer on the control panel which adjusts the halui.axis.jog-speed value.  Manually adjust the pot when you want to slow down one of the axes, and turn it back up for the faster one.  This is how I've got mine configured.

Just off the top of my head...

If you will never jog both axes at once, you could have a mux2 component, and connect the X or Z jog commands (button signals) to the mux select.

If you jog X, nothing changes.  If you jog Z, the mux output goes through a scale component to offset (up or down) the Z jog speed from the X speed.

If you want to have independent control of the jog speed, you could have two potentiometers on the control panel - one for X and one for Z, and the Z-pot adjusts the scale output connected to the mux while the X-pot adjusts the 'baseline' jog speed.

If you try to jog both axes at once, I think the mux-selected axis scale would take over regardless of which button was pressed first.  Probably a better idea to have a separate (and adjustable) angle-jog component & button for any XZ jogs.

net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0 joint.0.motor-pos-fb
 

My pwm pin is remora.sp.0...7.
Can you write sample hal config lines for single axis. Dont know how and where i link joint.n.motor-pos-fb?

Net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0
Net xpos-fb <= remora.sp.0 => joint.0.motor-pos-fb
Setp joint.0.amp-enable-out 1

I played around a bit with this and learned that  with such
extreme acceleration, the stepgen PID loop must be tuned
(with added FF2 and I term)

_BUT_ I wonder why you need such high acceleration.
30000 degrees/S^2 means you get to full speed (10000 degrees/sec)
= 1666.7 RPM in 1/3 of a second!