Mesa 7i71 - Stepgen on Digital Output for ATC

#================== #      A Axis #================== [AXIS_A] MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 [JOINT_3] TYPE = ANGULAR MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 BACKLASH = 0.003 HOME = 0.000 HOME_OFFSET = 1.0 HOME_SEARCH_VEL = 3.0 HOME_LATCH_VEL = 0.2 HOME_SEQUENCE = 0 HOME_IS_SHARED = 1 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 STEPGEN_MAXVEL = 31.25 STEPGEN_MAXACCEL = 937.50 DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 80.0

# #################### # A Axis ###################### setp   pid.a.Pgain     [JOINT_3]P setp   pid.a.Igain     [JOINT_3]I setp   pid.a.Dgain     [JOINT_3]D setp   pid.a.bias      [JOINT_3]BIAS setp   pid.a.FF0       [JOINT_3]FF0 setp   pid.a.FF1       [JOINT_3]FF1 setp   pid.a.FF2       [JOINT_3]FF2 setp   pid.a.deadband  [JOINT_3]DEADBAND setp   pid.a.maxoutput [JOINT_3]MAX_OUTPUT setp   pid.a.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.a.maxerror 0.82700 net a-index-enable  =>  pid.a.index-enable net a-enable        =>  pid.a.enable net a-pos-cmd       =>  pid.a.command net a-pos-fb        =>  pid.a.feedback net a-output        <=  pid.a.output # Schritt-Gen Signale/Setup setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup        [JOINT_3]DIRSETUP setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold         [JOINT_3]DIRHOLD setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen         [JOINT_3]STEPLEN setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace       [JOINT_3]STEPSPACE setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale  [JOINT_3]STEP_SCALE setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type        0 setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type     1 setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel         [JOINT_3]STEPGEN_MAXACCEL setp   hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel           [JOINT_3]STEPGEN_MAXVEL # ---Closed-Loop Schrittmotor-Signale--- net a-pos-cmd    <= joint.3.motor-pos-cmd net a-vel-cmd    <= joint.3.vel-cmd net a-output     => hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd net a-pos-fb     <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb net a-pos-fb     => joint.3.motor-pos-fb net a-enable     <= joint.3.amp-enable-out net a-enable     => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable