On 15 December 2012 23:04, Mail Marshland <[email protected]> wrote:
> I'm looking for a page where I can do the initial commissioning. Ie
> Press a limit switch and see if it comes up. Turn the servo and see if
> the data is updated. All of this needs to happen without setting the
> home switches, eStops etc.
I do this sort of thing using HAL at the command-line level. When I
first read that this was possible I could not understand why anyone
would ever want to (I am a GUI kind of guy) but since then I have
found it very useful.
So, for example, to check that a servo encoder is working right:
halrun
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i23/svss8_8.bit"
loadrt threads
addf hm2_5i23.read thread1
addf hm2_5i23.write thread1
addf hm2_5u23.pet_watchdog thread1
start
show pin hm2_5i23.0.encoder.02.counts
{twiddle}
show pin hm2_5i23.0.encoder.02.counts
setp hm2_5i23.0.encoder.02.scale 1234
show pin hm2_5i23.0.encoder.02.position
{twiddle{
show pin hm2_5i23.0.encoder.02.position
This is less painful than it might look, you can save the setup code
to a .hal file, and run is using the halcmd "source" command.
Also, tab-completion means that generally you don't need to type too
much. The addf lines above are actually typed as
addf <tab>r<tab><space><tab>
--
atp
If you can't fix it, you don't own it.
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