Hi,
i've got the AX5106 and A5203 up and running. db1981 helped al lot regarding the homing and pos_mode issues.
The project itself is still work in progress, but the main features are working. See attached files. These are the relevant snippets from *.hal:
Code:
#*******************
Code:
#*******************
Code:
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
Code:
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
Code:
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
Code:
net remote-estp estop-latch.0.fault-in <= lcec.0.1_EL1018.din-2-not
Code:
#*******************
Code:
#*******************
Code:
# Skalierung 10mm Weg entspricht 1 Motorumdrehung; Minus da Z-!
Code:
setp lcec.0.16_AX5106.srv-scale -0.1
Code:
net Zaxis_enable joint.2.amp-enable-out => lcec.0.16_AX5106.srv-enable
Code:
net Zaxis_fb lcec.0.16_AX5106.enc-pos-abs => joint.2.motor-pos-fb
Code:
net Zaxis_cmd joint.2.motor-pos-cmd => lcec.0.16_AX5106.srv-pos-cmd
Code:
net Zaxis_torque <= lcec.0.16_AX5106.srv-torque-fb-pct
Code:
net Zaxis_home_sw lcec.0.16_AX5106.srv-dig-in-2-not => joint.2.home-sw-in
Code:
net Zaxis_index_enable lcec.0.16_AX5106.enc-index-ena => joint.2.index-enable
