On 2 December 2011 16:33, Francesca Sca <[email protected]> wrote: > When I looking at stepgen-pos-cmd pins in "Show HAL config", I see only a > series of numbers.....
Yes. What did you expect to see? > So I can link each stepgen to only one step and one direction pin. No, you can link each stepgen to as many parallel port pins as you want, but I don't think that will have the required effect. If you only wanted to move the hand up and down, or rotate it, then it would be a simple case of wiring one stepgen to both motors (And it would only require you to change the polarity of one of the direction pins to swap between elevation and rotation). > Thus how I can move simultaneously the two motors in a different directions > for have the rotation of wirst and in the same > directions for have the up and down of wirst? If you only want up and down, and no rotation, then it could be as simple as wiring the same parallel port pins to two stepper drives. However, that removes the option of adding wrist-rotate later. Assuming that the wrist is joint j and you want the two wrist motors to be controlled by stepgen k, and that the two stepgens are m and n and the parport pins to be used are a, b, c and d... net wrist axis.j.motor-pos-cmd => stepgen.k.pos-cmd net wrist-step stepgen.k.step => parport.0.pin-a-out parport.0.pin-c-out net wrist-dir stepgen.k.dir => parport.0.pin-b-out parport.0.pin-d-out That links the joint position to one stepgen amd directs the step/dir signals to the parport. You can now try the various combinations of setp parport.0.pin-b-invert 0 setp parport.0.pin-d-invert 0 or setp parport.0.pin-b-invert 1 setp parport.0.pin-d-invert 0 or setp parport.0.pin-b-invert 0 setp parport.0.pin-d-invert 1 or setp parport.0.pin-b-invert 1 setp parport.0.pin-d-invert 1 You should find that two combinations rotate the wrist and two elevate it, with different directions corresponding to positive and negative moves. I still think it seems a shame not to use all the degrees of freedom though. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
