I got this to work in Mach3 and KmotionCNC, but the steps/inch setting seems to be wandering around now. I am working on that. The motors run much cooler now. I am researching jerk to find out the right setting. I have a physics degree, so I have some clue what acceleration per second is, but "jerk" is an engineering term, so I have never worked with it before. It sounds like a bad thing, but I assume it refers to softening the changes in motion, like reducing the pressure on a brake pedal?
Anyway, I will keep fooling with it. You have been a tremendous help. I had no idea the Kflop had to be told there was a Kstep, or that the mot files were not needed.
It's pretty cool, finally seeing something happen in KmotionCNC.
#include "KMotionDef.h"
// Defines axis 0, 1 as simple step dir TTL outputs for KSTEP
// enables them
// sets them as an xz coordinate system for GCode
int main()
{
double T0, LastX=0, LastZ=0, Tau;
KStepPresent=TRUE; // enable KSTEP input multiplexing
FPGA(KAN_TRIG_REG)=4; // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP
FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80; // set polarity and pulse length to 4us
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=40000;
ch0->Accel=200000;
ch0->Jerk=4e+006;
ch0->P=0;
ch0->I=0.01;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=200;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x0;
ch0->SoftLimitPos=1e+030;
ch0->SoftLimitNeg=-1e+030;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_OFF;
ch0->BacklashAmount=0;
ch0->BacklashRate=0;
ch0->invDistPerCycle=1;
ch0->Lead=0;
ch0->MaxFollowingError=1000000000;
ch0->StepperAmplitude=20;
ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;
ch0->iir[1].B0=1;
ch0->iir[1].B1=0;
ch0->iir[1].B2=0;
ch0->iir[1].A1=0;
ch0->iir[1].A2=0;
ch0->iir[2].B0=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92076;
ch0->iir[2].A2=-0.923833;
EnableAxisDest(0,0);
ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=40000;
ch1->Accel=200000;
ch1->Jerk=4e+006;
ch1->P=0;
ch1->I=0.01;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+006;
ch1->MaxOutput=200;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=0;
ch1->InputChan1=0;
ch1->OutputChan0=9;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x0;
ch1->SoftLimitPos=1e+030;
ch1->SoftLimitNeg=-1e+030;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=1;
ch1->OutputOffset=0;
ch1->SlaveGain=1;
ch1->BacklashMode=BACKLASH_OFF;
ch1->BacklashAmount=0;
ch1->BacklashRate=0;
ch1->invDistPerCycle=1;
ch1->Lead=0;
ch1->MaxFollowingError=1000000000;
ch1->StepperAmplitude=20;
ch1->iir[0].B0=1;
ch1->iir[0].B1=0;
ch1->iir[0].B2=0;
ch1->iir[0].A1=0;
ch1->iir[0].A2=0;
ch1->iir[1].B0=1;
ch1->iir[1].B1=0;
ch1->iir[1].B2=0;
ch1->iir[1].A1=0;
ch1->iir[1].A2=0;
ch1->iir[2].B0=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92076;
ch1->iir[2].A2=-0.923833;
EnableAxisDest(1,0);
DefineCoordSystem(0,-1,1,-1);
SetBitDirection(45,1); // set Enable Signal as Output
SetBit(45); // Enable the amplifiers
// Add a small amount of Coordinated Motion Path smoothing if desired
// Tau = 0.001; // seconds for Low Pass Filter Time Constant
// KLP = exp(-TIMEBASE/Tau);
KLP=0; // force to 0 to disable
// printf("Tau=%f KLP=%f\n",Tau,KLP);
for (;
// loop forever
{
WaitNextTimeSlice();
// Service Amplifier disable after no activity for a while
if (ch0->Dest != LastX || ch1->Dest != LastZ)
{
// we moved - enable KStep Amplifers
SetBit(45);
T0 = Time_sec(); // record the time and position of last motion
LastX=ch0->Dest;
LastZ=ch1->Dest;
}
else
{
if (Time_sec() > T0 + 10.0) ClearBit(45);
}
}
return 0;
}
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