Setp hm2_5i25.0.stepgen.03.maxvel STEPGEN_MAXVEL Setp hm2_5i25.0.stepgen.03.maxaccel STEPGEN_MAXACCEL Setp hm2_5i25.0.stepgen.03.position-scale STEP_SCALE Setp hm2_5i25.0.stepgen.03.stepspace STEPSPACE Setp hm2_5i25.0.stepgen.03.steplen STEPLEN Setp hm2_5i25.0.stepgen.03.dirhold DIRHOLD Setp hm2_5i25.0.stepgen.03.dirsetup DIRSETUP I have it set up properly in the INI file, just need to get the motion reversed. Here's what I have for that joint, I just want to reverse the step direction output (or whatever method is best practice for getting a motor to run in reverse, but synchronized with another motor on the gantry). I tried: setp hm2_5i25.0.stepgen.03.invert_output 1 but it says that doesn't exist, so I must not have understood the usage described in the manual. See also /docs/devel/html/man/man9/hostmot2.9.html#stepgenĪlso what's the correct method for inverting the direction of my slaved X axis joint (joint 3)?
(Which, as mentioned, is hard-coded to be stepgen.04.step) To enable the G540 you need to send a > 10 kHz pulse train to the charge pump on DB25 pin 16.
#Geckodrive g540 manual manual#
Putting together the data above and the G540 manual ( it seems that the pin hm2_5i25.0. drives DB25 pin 1 which is the G540 Output2. (This is with the G540_7i76 firmware, with the 7i76_G540 firmware the charge pump is stepgen,9) It looks like the G540 stepgens are numbers 0,1,2,3 and then there is a single channel stepgen.4 that is intended to drive the G54- charge pump (you would set that to velocity mode to give 16kHz, and set the step length and step space accordingly, then enable that stepgen with your machine-is-enabled signal IOPortTag & x"00" & NullTag & NullPin, - I/O 16 PIN 13 Input 4 just GPIO IOPortTag & x"00" & QCountTag & QCountIdxPin, - I/O 15 PIN 12 Input 3 (Quad Idx) IOPortTag & x"00" & QCountTag & QCountQBPin, - I/O 14 PIN 11 Input 2 (Quad B) IOPortTag & x"00" & QCountTag & QCountQAPin, - I/O 13 PIN 10 Input 1 (Quad A) IOPortTag & x"03" & StepGenTag & StepGenDirPin, - I/O 12 PIN 9 A Dir IOPortTag & x"03" & StepGenTag & StepGenStepPin, - I/O 11 PIN 8 A Step IOPortTag & x"02" & StepGenTag & StepGenDirPin, - I/O 10 PIN 7 Z Dir IOPortTag & x"02" & StepGenTag & StepGenStepPin, - I/O 09 PIN 6 Z Step IOPortTag & x"01" & StepGenTag & StepGenDirPin, - I/O 08 PIN 5 Y Dir IOPortTag & x"00" & NullTag & NullPin, - I/O 07 PIN 17 Output 1 just GPIO IOPortTag & x"01" & StepGenTag & StepGenStepPin, - I/O 06 PIN 4 Y Step
IOPortTag & x"04" & StepGenTag & StepGenStepPin, - I/O 05 PIN 16 Charge Pump (16 KHz) IOPortTag & x"00" & StepGenTag & StepGenDirPin, - I/O 04 PIN 3 X Dir
IOPortTag & x"00" & NullTag & NullPin, - I/O 03 PIN 15ğault in just GPIO IOPortTag & x"00" & StepGenTag & StepGenStepPin, - I/O 02 PIN 2 X Step IOPortTag & x"00" & PWMTag & PWMAOutPin, - I/O 01 PIN 14 Spindle DAC PWM IOPortTag & x"00" & NullTag & NullPin, - I/O 00 PIN 1 Output 2 just GPIO Base func sec unit sec func sec pin - external DB25
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