Sygnały faza: A, faza B, index podłączone, w halshow podglądam encoder.0 i dobrze wskazuje obroty ale nie umiem tego sygnału przekazać do kontrolki "spindle speed".
Enkoder własnej roboty, 55 impuslów na obrót (tokarka, max obroty 2000rpm) - ale to nie ma znaczenia skoro obroty są.
Kod: Zaznacz cały
# Generated by stepconf 1.1 at Fri Jan 26 23:38:54 2024
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0xdcf8 out 0x0378 in"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0
loadrt encoder num_chan=1
loadrt pwmgen output_type=1
addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread
addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 1000.0
setp pwmgen.0.scale 2000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
setp encoder.0.position-scale 55
setp encoder.0.counter-mode true
net spindle-position encoder.0.position => spindle.0.revs
net spindle-velocity-feedback-rps encoder.0.velocity => spindle.0.speed-in
# net spindle-velocity encoder.0.velocity => spindle.0.speed-in
net spindle-index-enable encoder.0.index-enable <=> spindle.0.index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z
net estop-out => parport.0.pin-01-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net xstep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net xdir => parport.0.pin-09-out
net xenable => parport.0.pin-14-out
net spindle-pwm => parport.0.pin-16-out
net estop-ext <= parport.0.pin-10-in
net spindle-phase-a encoder.0.phase-A <= parport.1.pin-05-in-not
net spindle-phase-b encoder.0.phase-B <= parport.1.pin-07-in-not
net spindle-index encoder.0.phase-Z <= parport.1.pin-10-in-not
setp stepgen.0.position-scale [JOINT_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 [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
setp stepgen.1.position-scale [JOINT_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 [JOINT_1]STEPGEN_MAXACCEL
net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable joint.1.amp-enable-out => stepgen.1.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
