[Machinekit] Issue when add A axis to BBB

mngr

2018-10-15 19:24:22 UTC

Hi,

I think that is because you said it has 3 axis, so there is axis.0 axis.1
axis.2, stop.
I actually don't know if you can call them X Y A. Instead I am curious if
you can name them X Y E.

Post by g***@gmail.com
Hi Guys,
I got issue when add A axis, this machine works fine with two Axis X Y and
rotation ( use same same pin as A Axis P9 21 Gpio 0-3, P9 22 gpio 0-2),
since we have the pins in .dts, so I just modify .hal and .ini. first Im
[TRAJ]
AXES = 3
COORDINATES = X Y A
*Can use 3 AXES like this way or I need to add also axis Z? but we don't
need Z*
*and I add ïŒ*
[AXIS_3]
# Axis 2 is used for the head Z motor.
TYPE = LINEAR
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 200.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 250.0
STEPGEN_MAX_ACC = 250.0
BACKLASH = 0.000
WRAPPED_ROTARY = 1
MAX_LIMIT = 1.0
FERROR = 10.0
MIN_FERROR = 1.0
HOME = 0.0
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 30.0
HOME_LATCH_VEL = 7
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
## BYPASS HOMING #
##HOME = 0.0
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 0.0
#HOME_LATCH_VEL = 0.0
#HOME_SEQUENCE = 0
## END OF BYPASS HOMING #
# nanoseconds units
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
*in the .hal, before we use rotation this way:*
#################
#A [3] Axis (Extruder)
#################
# axis enable chain
#newsig emcmot.03.enable bit
#sets emcmot.03.enable FALSE
#
#net emcmot.03.enable <= axis.3.amp-enable-out
#net emcmot.03.enable => [PRUCONF](DRIVER).stepgen.03.enable
#
#
## position command and feedback
#net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd
#net emcmot.03.pos-cmd => [PRUCONF](DRIVER).stepgen.03.position-cmd
#
#net motor.03.pos-fb <= [PRUCONF](DRIVER).stepgen.03.position-fb
#net motor.03.pos-fb => axis.3.motor-pos-fb
setp [PRUCONF](DRIVER).stepgen.03.control-type 1
setp [PRUCONF](DRIVER).stepgen.03.dirsetup [RSPIN]DIRSETUP
setp [PRUCONF](DRIVER).stepgen.03.dirhold [RSPIN]DIRHOLD
setp [PRUCONF](DRIVER).stepgen.03.steplen [RSPIN]STEPLEN
setp [PRUCONF](DRIVER).stepgen.03.stepspace [RSPIN]STEPSPACE
setp [PRUCONF](DRIVER).stepgen.03.position-scale [RSPIN]SCALE
setp [PRUCONF](DRIVER).stepgen.03.maxvel [RSPIN]STEPGEN_MAX_VEL
setp [PRUCONF](DRIVER).stepgen.03.maxaccel [RSPIN]STEPGEN_MAX_ACC
#setp [PRUCONF](DRIVER).stepgen.03.step_type 0
# P9.22 gpio0_2
setp [PRUCONF](DRIVER).stepgen.03.steppin 0x22
# P9.21 gpio0_3
setp [PRUCONF](DRIVER).stepgen.03.dirpin 0x23
*Now :*
#################
#A [3] Axis (Extruder)
#################
# axis enable chain
newsig emcmot.03.enable bit
sets emcmot.03.enable FALSE
#
net emcmot.03.enable <= axis.3.amp-enable-out
net emcmot.03.enable => [PRUCONF](DRIVER).stepgen.03.enable
#
#
## position command and feedback
net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd
net emcmot.03.pos-cmd => [PRUCONF](DRIVER).stepgen.03.position-cmd
#
net motor.03.pos-fb <= [PRUCONF](DRIVER).stepgen.03.position-fb
net motor.03.pos-fb => axis.3.motor-pos-fb
setp [PRUCONF](DRIVER).stepgen.03.control-type 1
setp [PRUCONF](DRIVER).stepgen.03.dirsetup [RSPIN]DIRSETUP
setp [PRUCONF](DRIVER).stepgen.03.dirhold [RSPIN]DIRHOLD
setp [PRUCONF](DRIVER).stepgen.03.steplen [RSPIN]STEPLEN
setp [PRUCONF](DRIVER).stepgen.03.stepspace [RSPIN]STEPSPACE
setp [PRUCONF](DRIVER).stepgen.03.position-scale [RSPIN]SCALE
setp [PRUCONF](DRIVER).stepgen.03.maxvel [RSPIN]STEPGEN_MAX_VEL
setp [PRUCONF](DRIVER).stepgen.03.maxaccel [RSPIN]STEPGEN_MAX_ACC
#setp [PRUCONF](DRIVER).stepgen.03.step_type 0
# P9.22 gpio0_2
setp [PRUCONF](DRIVER).stepgen.03.steppin 0x22
# P9.21 gpio0_3
setp [PRUCONF](DRIVER).stepgen.03.dirpin 0x23
*then I always have error: PIN "axis.3.amp-enable-out" does not exist.*
I'm new for the machinekit, thanks a lot if some one can help me.
regards,
XIN

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