4th Axis rotation angle limit problem

Hi Andy, thank you so much!
It works like a charm... pretty awesome.
I'll post a video next week, now I have to figure out how to do the toolpaths correctly.
Cheers,
Floris

Hi Andypugh!
It has been a few months since I tried this configuration successfully, even if I never used it. Now that I've decided to finally make it work, I need to convert it to adapt to a Mesa 6i25 card. I have many doubts because I don't know if the HAL mux component should work only with base-thread or with servo-thread. The most complicated point is which pins are the correct ones for the mux, since I get an error when linking the stepgens. Here I attach the configuration of my cnc router to ask you to please give it a look and advice me on how to correct the mux function. I've been trying to do it myself without success. Thanks in advance.
Floris

I found this answer given by PCW about the mesa stepgen pin:

The stepgens in mesa hardware are built into the firmware and wired to fixed interface pins
( which pins are determined by the particular firmware used )
you do not control them at the pin level but rather by position or velocity commands

Does it mean that it is necessary to address this problem in a completely different way?
Floris

eFalegname wrote: I found this answer given by PCW about the mesa stepgen pin:

The stepgens in mesa hardware are built into the firmware and wired to fixed interface pins
( which pins are determined by the particular firmware used )
you do not control them at the pin level but rather by position or velocity commands

Does it mean that it is necessary to address this problem in a completely different way?

Yes. you will need to switch between different inputs to the hm2_5i25.0.stepgen.NN.velocity-cmd pins.

Still with a mux2, probably.

I am pretty sure that it can still be made to work, but with two PIDs. One for position control and one for velocity control. This is _very_ similar to the spindle-orient problem covered in other posts to this forum.

I've been using Piet's most excellent M100 and M101 commands to toggle between position mode and velocity mode to do some turning projects - thanks!

One minor issue I did run into is that, if I am running in velocity mode (e.g., M100 P80) and I activate the estop, the A axis does stop turning (and all other motion stops), but subsequently bringing the machine out of estop causes the A axis to resume motion. For safety I'd like the A axis to be stopped in this case. In other words, when estop is activated, I'd like to return the A axis to position mode, as if the "M101" command had been run.

I've been reading up about estop chains, etc., but haven't been able to come up with a solution to this.

Has anyone solved this?

Thanks,
--George