и обнуляет ли ? Енкодер А;А';B;B';Z;Z' к 5i25 + 7i77 на DRV5 .
Код: Выделить всё
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_5i25.0.encoder.05.position => classicladder.0.floatin-00
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.05.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.05.index-enable
Код: Выделить всё
index-enable - (Bit, I/O) When this pin is set to True, the count (and therefore also position)
are reset to zero on the next Index (Phase-Z) pulse.
At the same time, index-enable is reset to zero to indicate that the pulse has occurred.