Re: [Emc-users] syncing two motors to one axis
: [Emc-users] syncing two motors to one axis On 11 Apr 2009 at 5:45, Len Shelton wrote: I am unsure of some of the syntax, and this is untested. I will be back in the shop in a few hours and will be able to try it out. When I'm testing I do a bit at a time if possible... Do you see anything blatantly wrong with any of my code? Do I have to name every signal, particularly the ones to the inputs of the logic gates? In other words is: Yes each signal needs a unique name. net home1 parport.0.pin-10-in and2.0.in0 the same as: net parport.0.pin-10-inand2.0.in0 ? Len -Original Message- From: Stephen Wille Padnos [mailto:spad...@sover.net] Sent: Friday, April 10, 2009 10:32 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] syncing two motors to one axis Len Shelton wrote: Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... home_en1 = dir OR NOT home1 home_en2 = dir OR NOT home2 step_1 = step AND home_en1 step_2 = step AND home_en2 home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 ) AND dir ) ...to actual HAL syntax. Well, I'll point you in the right direction anyway :) First off, the manual sections on HAL are quite good - you should (re) read them. I'm not sure your logic is correct. I don't believe that the home signal should depend on the DIR signal. I'm pretty sure that home should just be (home1 AND home2). If both switches are closed, then you're home regardless of which way the DIR line is pointing. Looking at your logic description, these things are apparent: 1) there are four occurrences of the word OR 2) there are five occurrences of the word AND 3) there are three occurrences of the word NOT. Luckily, all of the signals that get inverted come from I/O (if you're using my HOME equation), which provides both a normal and inverted output to HAL, so you don't actually need any NOT functions 4) all of the logical operations are operating on exactly two items (ie, there is no a OR b OR c) 5) This is for only one axis (phew!) 6) Changing the home equation to home=(home1 AND home2) reduces the number of gates to 2x OR, 3x AND, and zero NOT (since you can use the inverted home1 and home2 inputs) Here's how to get 3 AND gates: loadrt and2 count=3 This will give you 3 two-input AND gates. Each one has a function which needs to be added to your base thread, before the motion controller runs. This will be a little tricky to get right, since you want to read inputs before doing the logic operations, and you want results to propagate through the logic caluclations correctly, you have to think about which inputs get connected to which logic elements, and the order in which they are evaluated. I'd suggest drawing this out on paper, using a grid. Start with the inputs on the left, run them towards the right, using columns with only one gate in each logic path. When you add functions to the HAL thread, start at the top left and add the first column of functions from top to bottom. Then move over one column to the right and add those functions from top to bottom. This is the logic I would use, which may make the order the functions need to run mode obvious: step1 = step AND (dir OR home1-invert) step2 = step AND (dir OR home2-invert) home = (home1 AND home2) Sorry for the long-winded and not very specific post. Hope it helps. - Steve -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https
Re: [Emc-users] syncing two motors to one axis
Oops, I meant that I had to add a NOT because of the inverted direction signal... Also, beware - there is a line with two nets in it that are actually on two separate lines. Not sure why my text editor did that - looked fine when I hit send. Len -Original Message- From: Len Shelton [mailto:l...@probotix.com] Sent: Wednesday, April 15, 2009 10:03 PM To: 'Enhanced Machine Controller (EMC)' Cc: 'Rob Tilton' Subject: Re: [Emc-users] syncing two motors to one axis Gentlemen, This works! I have had it running for the past week, but I was hoping to have time to get the rest of the limit/home switches installed before I posted this. hal # Generated by stepconf at Thu Apr 9 23:04:57 2009 # If you make changes to this file, they will be # overwritten when you run stepconf again loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES loadrt probe_parport loadrt hal_parport cfg=0x378 setp parport.0.reset-time 5000 loadrt stepgen step_type=0,0,0 loadrt and2 count=3 loadrt or2 count=3 loadrt not count=1 addf and2.0 base-thread addf and2.1 base-thread addf and2.2 base-thread addf or2.0 base-thread addf or2.1 base-thread addf or2.2 base-thread addf not.0 base-thread addf parport.0.read base-thread addf stepgen.make-pulses base-thread addf parport.0.write base-thread addf parport.0.reset base-thread addf stepgen.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf stepgen.update-freq servo-thread setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 35000 setp stepgen.0.dirsetup 35000 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL net xpos-cmd axis.0.motor-pos-cmd = stepgen.0.position-cmd net xpos-fb stepgen.0.position-fb = axis.0.motor-pos-fb net xstep = stepgen.0.step net xdir = stepgen.0.dir net xenable axis.0.amp-enable-out = stepgen.0.enable setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 35000 setp stepgen.1.dirsetup 35000 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL net ypos-cmd axis.1.motor-pos-cmd = stepgen.1.position-cmd net ypos-fb stepgen.1.position-fb = axis.1.motor-pos-fb net ystep = stepgen.1.step net ydir = stepgen.1.dir net yenable axis.1.amp-enable-out = stepgen.1.enable setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 35000 setp stepgen.2.dirsetup 35000 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL net zpos-cmd axis.2.motor-pos-cmd = stepgen.2.position-cmd net zpos-fb stepgen.2.position-fb = axis.2.motor-pos-fb net zstep = stepgen.2.step net zdir = stepgen.2.dir net zenable axis.2.amp-enable-out = stepgen.2.enable setp parport.0.pin-02-out-reset 1 setp parport.0.pin-03-out-invert 1 setp parport.0.pin-04-out-reset 1 setp parport.0.pin-06-out-reset 1 setp parport.0.pin-08-out-reset 1 setp parport.0.pin-09-out-invert 1 net home-y1 = parport.0.pin-15-in net home-y2 = parport.0.pin-10-in net home-y1 and2.0.in0 net home-y2 and2.0.in1 net home-y and2.0.out net home-y = axis.1.home-sw-in net home-y1-inv = parport.0.pin-15-in-not net home-y2-inv = parport.0.pin-10-in-not net ydirnot.0.in net ydir-notnot.0.out net ydir-notor2.0.in0 net home-y1-inv or2.0.in1 net doh1or2.0.out net ydir-notor2.1.in1 net home-y2-inv or2.1.in0 net doh2or2.1.out net ystep and2.1.in0 net doh1and2.1.in1 net ystep1 and2.1.out net ystep and2.2.in0 net doh2and2.2.in1 net ystep2 and2.2.out net xstep = parport.0.pin-04-out net xdir= parport.0.pin-05-out net ystep1 = parport.0.pin-02-out net ystep2 = parport.0.pin-08-out net ydir= parport.0.pin-03-out net ydir= parport.0.pin-09-out net zstep = parport.0.pin-06-out net zdir= parport.0.pin-07-out net home-y1 or2.2.in0 net home-y1 or2.2.in1 net neg-limit-y or2.2.out net neg-limit-y = axis.1.neg-lim-sw-in #net home-y1 = axis.1.pos-lim-sw-in #net home-y2 = axis.1.pos-lim-sw-in net estop-ext = parport.0.pin-13-in-not #net estop-out = iocontrol.0.user-enable-out #net estop-out = iocontrol.0.emc-enable-in net estop-out = iocontrol.0.user-enable-out net estop-ext = iocontrol.0.emc-enable-in loadusr -W hal_manualtoolchange net tool-change iocontrol.0.tool-change = hal_manualtoolchange.change net tool-changed iocontrol.0.tool-changed = hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number = hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare = iocontrol.0.tool-prepared /hal After taking the time to actually study the HAL manual, I have to say that HAL ROCKS! I had to add an extra OR to the logic you guys suggested because my
Re: [Emc-users] syncing two motors to one axis
On Wed, Apr 15, 2009 at 10:13:12PM -0600, Len Shelton wrote: After taking the time to actually study the HAL manual, I have to say that HAL ROCKS! It's really neat to see it in action with an intentionally skewed gantry. Can you make a video of this somehow? I would love to see it! I'd like to give back by contributing this to the wiki. Can someone do that, or can I get access to do that? Anyone can edit the wiki - the instructions for editing are here: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?BasicSteps Chris -- Stay on top of everything new and different, both inside and around Java (TM) technology - register by April 22, and save $200 on the JavaOne (SM) conference, June 2-5, 2009, San Francisco. 300 plus technical and hands-on sessions. Register today. Use priority code J9JMT32. http://p.sf.net/sfu/p ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
On Wed, 2009-04-15 at 22:03 -0600, Len Shelton wrote: Gentlemen, This works! I have had it running for the past week, but I was hoping to have time to get the rest of the limit/home switches installed before I posted this. Congratulations Len. I'm glad you persevered. I'm looking forward to pictures or a video. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA -- Stay on top of everything new and different, both inside and around Java (TM) technology - register by April 22, and save $200 on the JavaOne (SM) conference, June 2-5, 2009, San Francisco. 300 plus technical and hands-on sessions. Register today. Use priority code J9JMT32. http://p.sf.net/sfu/p ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
On 11 Apr 2009 at 5:45, Len Shelton wrote: I am unsure of some of the syntax, and this is untested. I will be back in the shop in a few hours and will be able to try it out. When I'm testing I do a bit at a time if possible... Do you see anything blatantly wrong with any of my code? Do I have to name every signal, particularly the ones to the inputs of the logic gates? In other words is: Yes each signal needs a unique name. net home1 parport.0.pin-10-in and2.0.in0 the same as: net parport.0.pin-10-inand2.0.in0 ? Len -Original Message- From: Stephen Wille Padnos [mailto:spad...@sover.net] Sent: Friday, April 10, 2009 10:32 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] syncing two motors to one axis Len Shelton wrote: Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... home_en1 = dir OR NOT home1 home_en2 = dir OR NOT home2 step_1 = step AND home_en1 step_2 = step AND home_en2 home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 ) AND dir ) ...to actual HAL syntax. Well, I'll point you in the right direction anyway :) First off, the manual sections on HAL are quite good - you should (re) read them. I'm not sure your logic is correct. I don't believe that the home signal should depend on the DIR signal. I'm pretty sure that home should just be (home1 AND home2). If both switches are closed, then you're home regardless of which way the DIR line is pointing. Looking at your logic description, these things are apparent: 1) there are four occurrences of the word OR 2) there are five occurrences of the word AND 3) there are three occurrences of the word NOT. Luckily, all of the signals that get inverted come from I/O (if you're using my HOME equation), which provides both a normal and inverted output to HAL, so you don't actually need any NOT functions 4) all of the logical operations are operating on exactly two items (ie, there is no a OR b OR c) 5) This is for only one axis (phew!) 6) Changing the home equation to home=(home1 AND home2) reduces the number of gates to 2x OR, 3x AND, and zero NOT (since you can use the inverted home1 and home2 inputs) Here's how to get 3 AND gates: loadrt and2 count=3 This will give you 3 two-input AND gates. Each one has a function which needs to be added to your base thread, before the motion controller runs. This will be a little tricky to get right, since you want to read inputs before doing the logic operations, and you want results to propagate through the logic caluclations correctly, you have to think about which inputs get connected to which logic elements, and the order in which they are evaluated. I'd suggest drawing this out on paper, using a grid. Start with the inputs on the left, run them towards the right, using columns with only one gate in each logic path. When you add functions to the HAL thread, start at the top left and add the first column of functions from top to bottom. Then move over one column to the right and add those functions from top to bottom. This is the logic I would use, which may make the order the functions need to run mode obvious: step1 = step AND (dir OR home1-invert) step2 = step AND (dir OR home2-invert) home = (home1 AND home2) Sorry for the long-winded and not very specific post. Hope it helps. - Steve -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
Thanks for the help so far. I did some studying of the manual last night and this is what I have come up with based upon your logic: loadrt and2 count=3 loadrt or2 count=2 addf and2.0 base-thread addf or2.0 base-thread net home1 parport.0.pin-10-in and2.0.in0 net home2 parport.0.pin-11-in and2.0.in1 net home1inv = parport.0.pin-10-in-invert net home2inv = parport.0.pin-11-in-invert net homeand2.0.out net home= axis.1.home-sw-in net doh1a Ydiror2.0.in0 net doh1b home1invor2.0.in1 net doh1or2.0.out net doh2a Ydiror2.1.in0 net doh2b home2invor2.1.in1 net doh2or2.1.out net ystep1a Ystep and2.1.in0 net ystep1b doh1 and2.1.in1 net ystep1and2.1.out net ystep2a Ystep and2.2.in0 net ystep2b doh2 and2.2.in1 net ystep2and2.2.out net Xstep = parport.0.pin-03-out net Xdir= parport.0.pin-02-out net ystep1 = parport.0.pin-05-out net ystep2 = parport.0.pin-07-out net ydir= parport.0.pin-04-out parport.0.pin-06-out net Zstep = parport.0.pin-09-out net Zdir= parport.0.pin-08-out I am unsure of some of the syntax, and this is untested. I will be back in the shop in a few hours and will be able to try it out. Do you see anything blatantly wrong with any of my code? Do I have to name every signal, particularly the ones to the inputs of the logic gates? In other words is: net home1parport.0.pin-10-in and2.0.in0 the same as: net parport.0.pin-10-in and2.0.in0 ? Len -Original Message- From: Stephen Wille Padnos [mailto:spad...@sover.net] Sent: Friday, April 10, 2009 10:32 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] syncing two motors to one axis Len Shelton wrote: Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... home_en1 = dir OR NOT home1 home_en2 = dir OR NOT home2 step_1 = step AND home_en1 step_2 = step AND home_en2 home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 ) AND dir ) ...to actual HAL syntax. Well, I'll point you in the right direction anyway :) First off, the manual sections on HAL are quite good - you should (re) read them. I'm not sure your logic is correct. I don't believe that the home signal should depend on the DIR signal. I'm pretty sure that home should just be (home1 AND home2). If both switches are closed, then you're home regardless of which way the DIR line is pointing. Looking at your logic description, these things are apparent: 1) there are four occurrences of the word OR 2) there are five occurrences of the word AND 3) there are three occurrences of the word NOT. Luckily, all of the signals that get inverted come from I/O (if you're using my HOME equation), which provides both a normal and inverted output to HAL, so you don't actually need any NOT functions 4) all of the logical operations are operating on exactly two items (ie, there is no a OR b OR c) 5) This is for only one axis (phew!) 6) Changing the home equation to home=(home1 AND home2) reduces the number of gates to 2x OR, 3x AND, and zero NOT (since you can use the inverted home1 and home2 inputs) Here's how to get 3 AND gates: loadrt and2 count=3 This will give you 3 two-input AND gates. Each one has a function which needs to be added to your base thread, before the motion controller runs. This will be a little tricky to get right, since you want to read inputs before doing the logic operations, and you want results to propagate through the logic caluclations correctly, you have to think about which inputs get connected to which logic elements, and the order in which they are evaluated. I'd suggest drawing this out on paper, using a grid. Start with the inputs on the left, run them towards the right, using columns with only one gate in each logic path. When you add functions to the HAL thread, start at the top left and add the first column of functions from top to bottom. Then move over one column to the right and add those functions from top to bottom. This is the logic I would use, which may make the order the functions need to run mode obvious: step1 = step AND (dir OR home1-invert) step2 = step AND (dir OR home2-invert) home = (home1 AND home2) Sorry for the long-winded and not very specific post. Hope it helps. - Steve -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list
Re: [Emc-users] syncing two motors to one axis
I also noticed some other signals that may be useful? axis.N.homing OUT bit #TRUE if the joint is currently homing axis.N.home-sw-in IN bit #Should be driven TRUE if the home switch for this joint is closed axis.N.home-state #Reflects the step of homing currently taking place axis.N.homed #TRUE if the joint has been homed I wonder what the possible values of home-state are and how they could be used. Len -Original Message- From: Len Shelton [mailto:l...@probotix.com] Sent: Saturday, April 11, 2009 5:46 AM To: 'Enhanced Machine Controller (EMC)' Subject: Re: [Emc-users] syncing two motors to one axis Thanks for the help so far. I did some studying of the manual last night and this is what I have come up with based upon your logic: loadrt and2 count=3 loadrt or2 count=2 addf and2.0 base-thread addf or2.0 base-thread net home1 parport.0.pin-10-in and2.0.in0 net home2 parport.0.pin-11-in and2.0.in1 net home1inv = parport.0.pin-10-in-invert net home2inv = parport.0.pin-11-in-invert net homeand2.0.out net home= axis.1.home-sw-in net doh1a Ydiror2.0.in0 net doh1b home1invor2.0.in1 net doh1or2.0.out net doh2a Ydiror2.1.in0 net doh2b home2invor2.1.in1 net doh2or2.1.out net ystep1a Ystep and2.1.in0 net ystep1b doh1 and2.1.in1 net ystep1and2.1.out net ystep2a Ystep and2.2.in0 net ystep2b doh2 and2.2.in1 net ystep2and2.2.out net Xstep = parport.0.pin-03-out net Xdir= parport.0.pin-02-out net ystep1 = parport.0.pin-05-out net ystep2 = parport.0.pin-07-out net ydir= parport.0.pin-04-out parport.0.pin-06-out net Zstep = parport.0.pin-09-out net Zdir= parport.0.pin-08-out I am unsure of some of the syntax, and this is untested. I will be back in the shop in a few hours and will be able to try it out. Do you see anything blatantly wrong with any of my code? Do I have to name every signal, particularly the ones to the inputs of the logic gates? In other words is: net home1parport.0.pin-10-in and2.0.in0 the same as: net parport.0.pin-10-in and2.0.in0 ? Len -Original Message- From: Stephen Wille Padnos [mailto:spad...@sover.net] Sent: Friday, April 10, 2009 10:32 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] syncing two motors to one axis Len Shelton wrote: Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... home_en1 = dir OR NOT home1 home_en2 = dir OR NOT home2 step_1 = step AND home_en1 step_2 = step AND home_en2 home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 ) AND dir ) ...to actual HAL syntax. Well, I'll point you in the right direction anyway :) First off, the manual sections on HAL are quite good - you should (re) read them. I'm not sure your logic is correct. I don't believe that the home signal should depend on the DIR signal. I'm pretty sure that home should just be (home1 AND home2). If both switches are closed, then you're home regardless of which way the DIR line is pointing. Looking at your logic description, these things are apparent: 1) there are four occurrences of the word OR 2) there are five occurrences of the word AND 3) there are three occurrences of the word NOT. Luckily, all of the signals that get inverted come from I/O (if you're using my HOME equation), which provides both a normal and inverted output to HAL, so you don't actually need any NOT functions 4) all of the logical operations are operating on exactly two items (ie, there is no a OR b OR c) 5) This is for only one axis (phew!) 6) Changing the home equation to home=(home1 AND home2) reduces the number of gates to 2x OR, 3x AND, and zero NOT (since you can use the inverted home1 and home2 inputs) Here's how to get 3 AND gates: loadrt and2 count=3 This will give you 3 two-input AND gates. Each one has a function which needs to be added to your base thread, before the motion controller runs. This will be a little tricky to get right, since you want to read inputs before doing the logic operations, and you want results to propagate through the logic caluclations correctly, you have to think about which inputs get connected to which logic elements, and the order in which they are evaluated. I'd suggest drawing this out on paper, using a grid. Start with the inputs on the left, run them towards the right, using columns with only one gate in each logic path. When you add functions to the HAL thread, start at the top left and add the first column of functions from top to bottom. Then move over one column to the right
Re: [Emc-users] syncing two motors to one axis
Len Shelton wrote: Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... home_en1 = dir OR NOT home1 home_en2 = dir OR NOT home2 step_1 = step AND home_en1 step_2 = step AND home_en2 home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 ) AND dir ) ...to actual HAL syntax. Well, I'll point you in the right direction anyway :) First off, the manual sections on HAL are quite good - you should (re) read them. I'm not sure your logic is correct. I don't believe that the home signal should depend on the DIR signal. I'm pretty sure that home should just be (home1 AND home2). If both switches are closed, then you're home regardless of which way the DIR line is pointing. Looking at your logic description, these things are apparent: 1) there are four occurrences of the word OR 2) there are five occurrences of the word AND 3) there are three occurrences of the word NOT. Luckily, all of the signals that get inverted come from I/O (if you're using my HOME equation), which provides both a normal and inverted output to HAL, so you don't actually need any NOT functions 4) all of the logical operations are operating on exactly two items (ie, there is no a OR b OR c) 5) This is for only one axis (phew!) 6) Changing the home equation to home=(home1 AND home2) reduces the number of gates to 2x OR, 3x AND, and zero NOT (since you can use the inverted home1 and home2 inputs) Here's how to get 3 AND gates: loadrt and2 count=3 This will give you 3 two-input AND gates. Each one has a function which needs to be added to your base thread, before the motion controller runs. This will be a little tricky to get right, since you want to read inputs before doing the logic operations, and you want results to propagate through the logic caluclations correctly, you have to think about which inputs get connected to which logic elements, and the order in which they are evaluated. I'd suggest drawing this out on paper, using a grid. Start with the inputs on the left, run them towards the right, using columns with only one gate in each logic path. When you add functions to the HAL thread, start at the top left and add the first column of functions from top to bottom. Then move over one column to the right and add those functions from top to bottom. This is the logic I would use, which may make the order the functions need to run mode obvious: step1 = step AND (dir OR home1-invert) step2 = step AND (dir OR home2-invert) home = (home1 AND home2) Sorry for the long-winded and not very specific post. Hope it helps. - Steve -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... home_en1 = dir OR NOT home1 home_en2 = dir OR NOT home2 step_1 = step AND home_en1 step_2 = step AND home_en2 home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 ) AND dir ) ...to actual HAL syntax. Thanks a bunch, really. Len -Original Message- From: Jon Elson [mailto:el...@pico-systems.com] Sent: Wednesday, April 01, 2009 8:30 PM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] syncing two motors to one axis Len Shelton wrote: So, are you saying that it can't presently be done because no one has written the hal components to do it? No, actually I do not believe any new HAL components are needed. You need an and gate to detect when both home switches have been tripped. This AND output sets a flip-flop. The flip-flop is cleared when you start the home sequence. When the FF is clear, an and gate stops each side of the gantry from moving when that home switch trips. When the FF is set, all move commands pass through. I have searched the archives and found very little. FWIW - this machine uses steppers and no encoders. OK, your homing is not going to be as precise with this, but it can still be plenty good enough for a hobby level machine. it is also simpler, as there is no complex homing sequence to use encoder index pulses. I'm less familiar with the internal hook-up of step generators to the parallel port, but what you want to do is stop the first side that hits home, and not terminate the homing sequence until BOTH sides have hit their home switches. Sounds quite simple. Jon -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
Len, you give me too much credits. I don't know that much about the HAL and to be honest, I am just able to understand the HAL files that I got as samples. Did this all with a bit of standard logic gates since my PC does not have enough I/O to capture all the signals. But my 5i20 and 7i43 Mesa cards are about to arrive so next week I should be able to start converting one system from 2.2 to 2.3 and start implementing all these extras in HAL. I'll post my progress over the next few weeks; I've leeched enough from this list. Time to contribute ;-) Cheers, Rob Jon and Rob, You guys obviously know a lot more about the inner working of HAL than I. I am still no closer to understanding what lines of code I need to put into my HAL file. Can you please translate this simple boolean text notation... -- This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
Len Shelton wrote: So let's say you have two drives, two motors, and two home switches on the same axis (gantry type machine). The problem with this arrangement is synchronization. The control needs to be aware of the two motors and needs to home both at the same time. While homing, we need to bring both motors towards the home switches together then independently home each motor when it reaches the home switch. How can this be done in EMC2? We've gone over this a dozen times, at least. It would take about 10-15 lines of HAL and several HAL components to perform the logic. Basically, you make the two motors run at the same rate. As each motor hits the home switch, it stops. When both have touched home, they move together again to complete the precision home sequence to the encoder index pulse. EMC2 already has features in HAL to handle tandem axes like this, once homing is done. You feed the lettered axis (as in X) position to two numbered joints as in zero and one. So, the only detail up in the air is how to do the homing. Jon -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
So, are you saying that it can't presently be done because no one has written the hal components to do it? I have searched the archives and found very little. FWIW - this machine uses steppers and no encoders. Len -Original Message- From: Jon Elson [mailto:el...@pico-systems.com] Sent: Wednesday, April 01, 2009 11:28 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] syncing two motors to one axis Len Shelton wrote: So let's say you have two drives, two motors, and two home switches on the same axis (gantry type machine). The problem with this arrangement is synchronization. The control needs to be aware of the two motors and needs to home both at the same time. While homing, we need to bring both motors towards the home switches together then independently home each motor when it reaches the home switch. How can this be done in EMC2? We've gone over this a dozen times, at least. It would take about 10-15 lines of HAL and several HAL components to perform the logic. Basically, you make the two motors run at the same rate. As each motor hits the home switch, it stops. When both have touched home, they move together again to complete the precision home sequence to the encoder index pulse. EMC2 already has features in HAL to handle tandem axes like this, once homing is done. You feed the lettered axis (as in X) position to two numbered joints as in zero and one. So, the only detail up in the air is how to do the homing. Jon -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
Len, steppers makes this problem very easy and it has indeed been discussed before. Searching on the term two motors I was able to retrieve a number of my own posts about this. http://article.gmane.org/gmane.linux.distributions.emc.user/8147/match=two+motors is an older post describing a possible solution in words. http://article.gmane.org/gmane.linux.distributions.emc.user/10276/match=two+motors is a later posting with some boolean algebra (not HAL though - I decided to use standard 74LSxx gate logic). There are more mail about this. Use http://news.gmane.org/gmane.linux.distributions.emc.user to search the archives - it's nicer than the sourceforge archives ... Regards, Rob Len Shelton wrote: So, are you saying that it can't presently be done because no one has written the hal components to do it? I have searched the archives and found very little. FWIW - this machine uses steppers and no encoders. -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] syncing two motors to one axis
Len Shelton wrote: So, are you saying that it can't presently be done because no one has written the hal components to do it? No, actually I do not believe any new HAL components are needed. You need an and gate to detect when both home switches have been tripped. This AND output sets a flip-flop. The flip-flop is cleared when you start the home sequence. When the FF is clear, an and gate stops each side of the gantry from moving when that home switch trips. When the FF is set, all move commands pass through. I have searched the archives and found very little. FWIW - this machine uses steppers and no encoders. OK, your homing is not going to be as precise with this, but it can still be plenty good enough for a hobby level machine. it is also simpler, as there is no complex homing sequence to use encoder index pulses. I'm less familiar with the internal hook-up of step generators to the parallel port, but what you want to do is stop the first side that hits home, and not terminate the homing sequence until BOTH sides have hit their home switches. Sounds quite simple. Jon -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
