----- Original Message -----
Sent: Monday, July 02, 2001 5:34 PM
Subject: Re: 6-axis how can i get them
working?
Tero,
your Robot has six axes, so i assume you have written
a transformation that makes the controller have control of six axes. Are there
already 6 axes visible in your Yemc? It is configurable in the ini-file and
not every user-interface is able to show all axes.
This is the
Parallel-Port-Pin-assignment that works at my machine
Pin 1: Motor 4 DIR
Pin 2: Motor 0 DIR
Pin 3: Motor 0 STEP
Pin 4: Motor 1 DIR
Pin
5: Motor 1 STEP
Pin 6: Motor 2 DIR
Pin 7: Motor 2 STEP
Pin 8:
Motor 3 DIR
Pin 9: Motor 3 STEP
Pin 10: (unused)
Pin 11: (unused)
Pin 12: ALL Motors REFERENCE SWITCH
Pin 13: ALL Motors NEG. LIMIT
SWITCH
Pin 14: Motor 4 STEP
Pin 15: ALL Motors POS. LIMIT SWITCH
Pin 16: Motor 5 DIR
Pin 17: Motor 5 STEP
Pin 18-Pin 25: GND
in emcmot.c you will be able to find some lines that send out the pulses to
the apropriate i/o-adresses.
Till
Now i got all 6 axes in yemc, but i can only home
one of them. Five others stay yellow.
And if i give MDI command g0 p2 i get an error of
using wrong symbol.
Can i use steppermod.o with 6 axes?
Tero
Kaarlela