Hi,
How to connect the following 3 items in the hal section ?
moveoff.0.pos-0
moveoff.0.fb-0
moveoff.0.fb-minusoffset-0
My orginal working z axis setup looks like this :
Code:
# Z-AXIS #######################################################
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
Okey now i added the item' s maybe incorrect, but program is running.
Code:
# Z-AXIS #######################################################
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
#net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
#net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zpos-cmd joint.3.motor-pos-cmd
net zpos-cmd moveoff.0.pos-0
net zpos-fb joint.3.motor-pos-fb
net zpos-fb moveoff.0.fb-0
But next problem is : moveoff.0.offset-applied is not true.
Hmm....
