Testing

Run halrun and issue the following commands:

loadrt threads name1=test period1=1000000
loadrt picnc
 
setp picnc.axis.0.scale 100
setp picnc.axis.0.maxaccel 10
 
addf picnc.read test
addf picnc.update test
addf picnc.write test
start
loadusr halmeter

The LED flashing rate should increase at this point. If not then there is an issue with the SPI connection.

The signal picnc.ready should be TRUE and picnc.spi_fault should be FALSE

Monitor the picnc.axis.0.position-fb signal and issue the following command:

setp picnc.axis.0.position-cmd 1000

The position feedback should slowly approach 1000 if everything is OK.