Hi Andy > It's mainly just copy and paste of the configuration you have already > written for the other motors. Just a bit _simpler_.
Hmm, I didn't write the configuration for the other motors, I copy pasted it. I think from a plasma cutter example that you provided. >> Would leaving the encoder feedback and the PID away simplify things. > > Not really, if you are copying and pasteing. OK, I'll try with encoder. I don't need an other BLDC component, right so 'loadrt bldc cfg=qh,qh,qh' is untouched. I need an other PID so 'loadrt pid num_chan=3' changes to 'loadrt pid num_chan=4' I need scale, so: loadrt scale count=1 addf scale.0 servo-thread setp scale.0.gain -1.0 I do need one more PWM generator and an extra encoder input, so I modify my ini: CONFIG="firmware=hm2/5i23/SVTP6_7I39.BIT num_encoders=3 num_pwmgens=0 num_3pwmgens=3 num_stepgens=0" to: CONFIG="firmware=hm2/5i23/SVTP6_7I39.BIT num_encoders=4 num_pwmgens=0 num_3pwmgens=4 num_stepgens=0 Now I need connect everything: I take one of my bldc axis, keep most of it but drop the BLDC part, the PIT part is the same except that the output is connected to the PWM generator and the inverted output is connected to the other PWM generator, both PWM outputs connect to tow hardware pins. I don't know which jet. Hmm I think I do not jet understand the 'connect everything' part. Any comments welcome. :-) And I'll keep reading the hal manual. See you Flo ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users