andypugh wrote: it would need to be set by a user M-code using halcmd.
I should have mentioned that this approach is equally applicable to both software and Mesa stepgens. The Pico stepgens appear to use velocity-mode, which means that a
PID
or
Simple TP
component is needed, but it is still fairly straightforward.
A
User M-Code
can take two parameters (P and Q) so you could pass both position and velocity requests to the stepgen.
M100 P100 Q200
would call a file called M100, which might contain something like:
Code:
#!/bin/bash
position=$1
velocity=$2
halcmd setp stepgen.4.maxvel $velocity
halcmd setp stepgen.4.position-cmd $position
exit 0
In the G-code you would then monitor the output of a
near
via G-code input pin with the
M66
command to pause execution until the move is completed. (or to timeout and handle the error)
