Hi, The eQEP encoder is currently broken for me, it certainly used to work but now it is very erratic, I’ve just changed over to using the hal_pru_generic encoder which luckily can be made to work using the same physical pins as eQEP0 and it seems to have solved my issues.
I do intend to track down the issue in the eQEP driver but in the mean time this may be a quick fix for you, this is a snippet from my hal file. setp hpg.encoder.00.chan.00.A-pin 4 setp hpg.encoder.00.chan.00.B-pin 5 setp hpg.encoder.00.chan.00.index-pin 6 setp hpg.encoder.00.chan.00.scale 4096 setp hpg.encoder.00.chan.00.counter-mode 0 net spindle-position hpg.encoder.00.chan.00.position => motion.spindle-revs net spindle-velocity hpg.encoder.00.chan.00.velocity => motion.spindle-speed-in net spindle-index-enable hpg.encoder.00.chan.00.index-enable <=> motion.spindle-index-enable you need to add a num_encoders=1 when loading the pru driver and set the pins to pruin using config-pin, this is the relevent section in my setup shell script config-pin p9.27 pruin config-pin p9.42 in config-pin p9.41 in config-pin p9.91 pruin config-pin p9.92 pruin Regards Russell On 6 Jan 2017, at 22:57, Sag ich Dir nich <stevie.rammst...@live.de> wrote: > Okay the direction issue may be solved with pwmgen type 1 (which is discussed > in another post from me) so it is not important in this post. > > The Index signal issue in the other hand may be because of electrical > interferences (i have to look for that) > > Am Sonntag, 6. November 2016 16:33:46 UTC+1 schrieb Sag ich Dir nich: > Hi, > > i am using a Cramps board and want to control a spindle with an encoder to > spin in both directions with working PID but the problem is: > > 1. The PID only works correctly in cw direction, if i reverse the direction > the spindle reverses but the PID does not try to hold the velocity. It only > does that when i set the PID minimum output to -8500 (if i set it to the > maximum rpm 8750 the spindle does full speed in either direction even when i > command 100rpm). > the problem with that is when i turn the spindle on and manually turning it > faster than the commanded speed, it speeds up to maximum speed. (seems like > the PID tries to slow down but does not reverse the direction so it is in a > loop trying to slow down by decreasing the speed but actually increasing it > (i dont know how to explain it better)) > > working spindle reverse is important to me because i want to do rigid tapping. > > is it possible to have a encoded spindle with spindle soft start? > > 2. sometimes the Spindle stutters every second one or sometimes two times in > a row when turning cw with the working PID. When in reverse without working > PID (only PWM) it does not happen. > > 3. the index pulse is often undetected (i am using a 512ppr encoder with A,B > and index pulse, i also soldered pull-up-resistors to improve rise times like > the instruction said) > > so currently i am using the eQEP 0, which shares two signals on the A and B > pins, maybe the stutter is gone when i use eQEP 1 or 2 because they have only > one signal attached? > The Pins for eQEP 1 and 2 are not setup in the setup.sh file, can i just add > them? > > i uploaded my whole machine config > > i hope someone can help me > > -- > website: http://www.machinekit.io blog: http://blog.machinekit.io github: > https://github.com/machinekit > --- > You received this message because you are subscribed to the Google Groups > "Machinekit" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to machinekit+unsubscr...@googlegroups.com. > Visit this group at https://groups.google.com/group/machinekit. > For more options, visit https://groups.google.com/d/optout. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
