On 2 December 2011 17:35, Francesca Sca <[email protected]> wrote: > Infact I don't want loose a DOF. I would like to find a solution for have in > the joint mode both the rotation of the wirst and the up and down, setting > in the right way stepgen and pins. There are this solution? Or I should > create some particular components?
I think that needs a custom HAL component, using comp. Part of the problem is that you need to get the feedback back the other way. It is just possible that you might be able to do it all with two "offset" functions: http://www.linuxcnc.org/docview/html/man/man9/offset.9.html loadrt offset count=2 … addf offset.0.update-output servo-thread addf offset.1.update-output servo-thread addf offset.0.update-feedback servo-thread addf offset.1.update-feedback servo-thread … net elevation axis.4.motor-pos-cmd => offset.0.in offset.1.offset net rotation axis.5.motor-pos-cmd => offset.1.in offset.0.offset net mot1 offset.0.out => stepgen.4.position-cmd net mot2 offset.1.out => stepgen.5.position-cmd net elev-fb-in offset.0.fb-in <= stepgen.4.position-fb net elev-fb-out offset.0.fb-out axis.4.motor-pos-fb net elev-fb-in offset.1.fb-in <= stepgen.5.position-fb net elev-fb-out offset.1.fb-out axis.5.motor-pos-fb With appropriate setting/clearing of the parport invert bits on the direction pins (see the previous message), there is a fair chance that might work. Note this was written from memory, any or all pin names might be wrong, and the signal names might be in use, and it simply might not work. -- 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
