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HOSTMOT2(9)
HAL Component
HOSTMOT2(9)
The stepgen representation is modeled on the stepgen software component. Each stepgen instance
has the following pins and parameters:
Pins:
(float input) position-cmd
Target position of stepper motion, in arbitrary position units. This pin is only used when
the stepgen is in position control mode (control-type=0).
(float input) velocity-cmd
Target velocity of stepper motion, in arbitrary position units per second. This pin is only
used when the stepgen is in velocity control mode (control-type=1).
(s32 output) counts
Feedback position in counts (number of steps).
(float output) position-fb
Feedback position in arbitrary position units. This is similar to "counts/position_scale",
but has finer than step resolution.
(float output) velocity-fb
Feedback velocity in arbitrary position units per second.
(bit input) enable
This pin enables the step generator instance. When True, the stepgen instance works as
expected. When False, no steps are generated and velocity-fb goes immediately to 0. If
the stepgen is moving when enable goes false it stops immediately, without obeying the
maxaccel limit.
(bit input) control-type
Switches between position control mode (0) and velocity control mode (1). Defaults to
position control (0).
Parameters:
(float r/w) position-scale
Converts from counts to position units. position = counts / position_scale
(float r/w) maxvel
Maximum speed, in position units per second. If set to 0, the driver will always use the
maximum possible velocity based on the current step timings and position-scale. The
max velocity will change if the step timings or position-scale changes. Defaults to 0.
(float r/w) maxaccel
Maximum acceleration, in position units per second per second. Defaults to 1.0. If set to
0, the driver will not limit its acceleration at all - this requires that the position-cmd or
velocity-cmd pin is driven in a way that does not exceed the machine’s capabilities. This
is probably what you want if you’re going to be using the LinuxCNC trajectory planner to
jog or run G-code.
220
2008-05-13
LinuxCNC Documentation