For your use case, you can use the pre-made configurations on this
documentation
page. You should download the documentation for the version of the board you have. I would recommend the use of the 'named' version of the configuration over the 'indexed' one. Why? With the 'named' version all pin numbers will show up in the HAL with their name, i.e. J1:1 (which is thus pin 1 on connector 1).
For your HAL, I think the code below is a nice starting point:
Code:
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt litexcnc
loadrt litexcnc_eth config_file="[LITEXCNC]CONFIG_FILE"
loadrt pos2vel number=3
# Add the functions to the thread
addf [LITEXCNC](NAME).read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pos2vel.convert servo-thread
addf [LITEXCNC](NAME).write servo-thread
########################################################################
STEPGEN
########################################################################
# - timings (prevent re-calculation)
net pos2vel.period-s <= [LITEXCNC](NAME).stepgen.period-s
net pos2vel.period-s-recip <= [LITEXCNC](NAME).stepgen.period-s-recip
STEPGEN - X-AXIS
########################################################################
# POS2VEL
# - position control
net xpos-fb <= [LITEXCNC](NAME).stepgen.00.position_prediction
net xpos-fb => joint.0.motor-pos-fb
net xpos-fb => pos2vel.0.position-feedback
net xvel-fb pos2vel.0.velocity-feedback <= [LITEXCNC](NAME).stepgen.00.velocity-prediction
net xpos-cmd pos2vel.0.position-cmd <= joint.0.motor-pos-cmd
# - settings
setp pos2vel.0.max-acceleration [JOINT_0]STEPGEN_MAXACCEL
# setp pos2vel.0.debug 1
# STEPGEN
# - Setup of timings
setp [LITEXCNC](NAME).stepgen.00.position-scale [JOINT_0]SCALE
setp [LITEXCNC](NAME).stepgen.00.steplen 5000
setp [LITEXCNC](NAME).stepgen.00.stepspace 5000
setp [LITEXCNC](NAME).stepgen.00.dir-hold-time 10000
setp [LITEXCNC](NAME).stepgen.00.dir-setup-time 10000
setp [LITEXCNC](NAME).stepgen.00.max-velocity [JOINT_0]MAX_VELOCITY
setp [LITEXCNC](NAME).stepgen.00.max-acceleration [JOINT_0]STEPGEN_MAXACCEL
# setp [LITEXCNC](NAME).stepgen.00.debug 1
# - Connect velocity command
net pos2vel.0.velocity-cmd => [LITEXCNC](NAME).stepgen.00.velocity-cmd
# - Set the acceleration to be used (NOTE: pos2vel has fixed acceleration)
setp [LITEXCNC](NAME).stepgen.00.acceleration-cmd [JOINT_0]STEPGEN_MAXACCEL
# - enable the drive
net xenable joint.0.amp-enable-out => [LITEXCNC](NAME).stepgen.00.enable
STEPGEN - Y-AXIS
########################################################################
# POS2VEL
# - position control
net ypos-fb <= [LITEXCNC](NAME).stepgen.01.position_prediction
net ypos-fb => joint.1.motor-pos-fb
net ypos-fb => pos2vel.1.position-feedback
net yvel-fb pos2vel.1.velocity-feedback <= [LITEXCNC](NAME).stepgen.01.velocity-prediction
net ypos-cmd pos2vel.1.position-cmd <= joint.1.motor-pos-cmd
# - settings
setp pos2vel.1.max-acceleration [JOINT_1]STEPGEN_MAXACCEL
# setp pos2vel.1.debug 1
# STEPGEN
# - Setup of timings
setp [LITEXCNC](NAME).stepgen.01.position-scale [JOINT_1]SCALE
setp [LITEXCNC](NAME).stepgen.01.steplen 5000
setp [LITEXCNC](NAME).stepgen.01.stepspace 5000
setp [LITEXCNC](NAME).stepgen.01.dir-hold-time 10000
setp [LITEXCNC](NAME).stepgen.01.dir-setup-time 10000
setp [LITEXCNC](NAME).stepgen.01.max-velocity [JOINT_1]MAX_VELOCITY
setp [LITEXCNC](NAME).stepgen.01.max-acceleration [JOINT_1]STEPGEN_MAXACCEL
# setp [LITEXCNC](NAME).stepgen.01.debug 1
# - Connect velocity command
net pos2vel.1.velocity-cmd => [LITEXCNC](NAME).stepgen.01.velocity-cmd
# - Set the acceleration to be used (NOTE: pos2vel has fixed acceleration)
setp [LITEXCNC](NAME).stepgen.01.acceleration-cmd [JOINT_1]STEPGEN_MAXACCEL
# - enable the drive
net xenable joint.1.amp-enable-out => [LITEXCNC](NAME).stepgen.01.enable
STEPGEN - Z-AXIS
########################################################################
# POS2VEL
# - position control
net zpos-fb <= [LITEXCNC](NAME).stepgen.02.position_prediction
net zpos-fb => joint.2.motor-pos-fb
net zpos-fb => pos2vel.2.position-feedback
net zvel-fb pos2vel.2.velocity-feedback <= [LITEXCNC](NAME).stepgen.02.velocity-prediction
net zpos-cmd pos2vel.2.position-cmd <= joint.2.motor-pos-cmd
# - settings
setp pos2vel.2.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
# setp pos2vel.2.debug 1
# STEPGEN
# - Setup of timings
setp [LITEXCNC](NAME).stepgen.02.position-scale [JOINT_1]SCALE
setp [LITEXCNC](NAME).stepgen.02.steplen 5000
setp [LITEXCNC](NAME).stepgen.02.stepspace 5000
setp [LITEXCNC](NAME).stepgen.02.dir-hold-time 10000
setp [LITEXCNC](NAME).stepgen.02.dir-setup-time 10000
setp [LITEXCNC](NAME).stepgen.02.max-velocity [JOINT_2]MAX_VELOCITY
setp [LITEXCNC](NAME).stepgen.02.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
# setp [LITEXCNC](NAME).stepgen.02.debug 1
# - Connect velocity command
net pos2vel.1.velocity-cmd => [LITEXCNC](NAME).stepgen.02.velocity-cmd
# - Set the acceleration to be used (NOTE: pos2vel has fixed acceleration)
setp [LITEXCNC](NAME).stepgen.02.acceleration-cmd [JOINT_2]STEPGEN_MAXACCEL
# - enable the drive
net xenable joint.2.amp-enable-out => [LITEXCNC](NAME).stepgen.02.enable
The above HAL-file needs a speciel section in the INI-file:
Code:
[...]
[LITEXCNC]
CONFIG_FILE=<path to your config file>
NAME=<name of the card from the config file>
A good tactic for getting this up and running is to use the standard step config to generate the structure and the basis for your HAL file. Then you replace the stepgen with the part above and change the required settings.
