LitexCNC: firmware and driver for 5A-75B and 5A-75E

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24 Apr 2024 21:44 #299030 by tommylight
@Ehsan
No double posting, already replied to that question.

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25 Apr 2024 15:10 #299072 by Ehsan_R
Because I use color cards as hardware, I thought it would be better to ask this question in this thread

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04 May 2024 21:14 #299751 by Ehsan_R
I encountered a strange problem while using Litex for some time.
This problem is that when I close the linuxcnc software or disable the machine power key, the motors automatically start moving at a very low speed.
Does anyone know how to fix this?

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04 May 2024 22:46 #299759 by tommylight
Very short cables from Litex to drives.
The following user(s) said Thank You: Ehsan_R

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04 May 2024 23:06 #299761 by Ehsan_R
Problem in homing with index
The HAL and INI file configuration is as follows.
I expect that when the a-axis reaches the homing switch, it will move in the opposite direction, and as soon as it receives the z-pulse, it will immediately stop the axis and consider that position to be zero, but after receiving the z-pulse, a relatively large extra movement It is done at maximum speed in the opposite direction.
Does anyone know how to fix this problem?
#STEPGEN - A-AXIS
########################################################################
# - Setup of timings
setp 5A-75B:V8.2.stepgen.03.position-scale   [JOINT_3]SCALE
setp 5A-75B:V8.2.stepgen.03.steplen          5000
setp 5A-75B:V8.2.stepgen.03.stepspace        5000
setp 5A-75B:V8.2.stepgen.03.dir-hold-time    10000
setp 5A-75B:V8.2.stepgen.03.dir-setup-time   10000
setp 5A-75B:V8.2.stepgen.03.max-velocity     [JOINT_2]MAX_VELOCITY
setp 5A-75B:V8.2.stepgen.03.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
# setp 5A-75B:V8.2.stepgen.00.debug 1
# - Connect velocity command
net apos_cmd   joint.3.motor-pos-cmd  =>  5A-75B:V8.2.stepgen.03.position-cmd
net apos_fb    joint.3.motor-pos-fb   <=  5A-75B:V8.2.encoder.03.position    
# - enable the drive
net aenable    joint.3.amp-enable-out =>  5A-75B:V8.2.stepgen.03.enable

#HOME

net a-index-inable   5A-75B:V8.2.encoder.03.index-enable  
net a-index-inable   joint.3.index-enable


net home-a         <= 5A-75B:V8.2.gpio.j16:6.in-not
net home-a          => joint.3.home-sw-in

#ENCODER
setp 5A-75B:V8.2.encoder.03.position-scale [JOINT_3]SCALE
setp 5A-75B:V8.2.encoder.03.x4-mode 1
################################################################################################

#*** AXIS_A *******************************
[AXIS_A]
MAX_VELOCITY = 1.9
MAX_ACCELERATION = 9
MIN_LIMIT = -1
MAX_LIMIT = 500.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -1
MAX_LIMIT = 500.0
MAX_VELOCITY = 1.9
MAX_ACCELERATION = 5
STEPGEN_MAXACCEL = 10
SCALE = 50000
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = -0.1

HOME_USE_INDEX = YES

VOLATILE_HOME = 1
#HOME_NO_ENCODER_RESET = YES

HOME_SEQUENCE = 1

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04 May 2024 23:09 #299762 by Ehsan_R
I did not understand what you meant

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04 May 2024 23:18 #299764 by PCW
Does it work if you uncomment this line:

#HOME_NO_ENCODER_RESET = YES

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04 May 2024 23:25 #299765 by Ehsan_R
Unfortunately no

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04 May 2024 23:33 #299767 by PCW
Might be instructive to plot that commanded and feedback joint positions
when index enable goes false

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04 May 2024 23:54 #299771 by Ehsan_R
Can someone explain how to change the HAL file like this post?
forum.linuxcnc.org/9-installing-linuxcnc...oder?start=20#291217

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