User Commands

User I/O Commands

This is for generic I/O control. These could be for cooling fans, clamping, valves, etc. These could be digital (on/off) or analog (PWM). This allows you to do gcode rather than special coding.

Types

• Digital I/O
• Analog (PWM)

Commands

M62 - M65 Digital Output Control

• M62 Synchronized Digital Output On
• M63 Synchronized Digital Output Off
• M64 Immediate Digital Output On
• M65 Immediate Digital Output Off

Use P word to indicate digital output number (0-3)

Examples:

M62 P0
M63 P0

M67 - M68 Digital Output Control

• M67 Synchronized Set Analog Value
• M68 Immediate Set Analog Value

Use E word for analog output number (0-3) Use Q word for analog value in percent duty.

Examples

M67 E1 Q23.87 (set set output#1 to 23.87% duty)
M67 E1 Q0 (to turn off the pin. 0% duty)

Pin Numbering

Each pin will be given a number starting at 0. The numbers for the digital and analog are independent. If you use one of each, they should both be 0.

Synchronized

Synchronized means all steps in the buffers must complete before the I/O is changed. Immediate does not wait. With streaming gcode, you should use the synchronized commands. There is no timing guarantee with immediate versions of the commands.

Special Behaviors

• Power On - All pins will be set to the off state
• Reset - All pins will be set to the off state
• Alarm Mode - No change in pin state
• Error - No change in pins state
• End of File - No change in pins state

Setup

#define USER_DIGITAL_PIN_0   GPIO_NUM_xx
#define USER_DIGITAL_PIN_1   GPIO_NUM_xx
#define USER_DIGITAL_PIN_2   GPIO_NUM_xx
#define USER_DIGITAL_PIN_3   GPIO_NUM_xx

#define USER_ANALOG_PIN_0      GPIO_NUM_xx
#define USER_ANALOG_PIN_1      GPIO_NUM_xx
#define USER_ANALOG_PIN_2      GPIO_NUM_xx
#define USER_ANALOG_PIN_3      GPIO_NUM_xx

#define USER_ANALOG_PIN_1_FREQ      50  // Hz

Frequency

Defining a frequency is optional. If you do not define one for a pin the default of 5000 will be used.

Resolution

The resolution is dependent on the frequency used. The PWM is based on a 80MHz timer. If you have a 10KHz frequency, 80,000,000 / 10,000 gives you a maximum of an 8,000 count resolution. The resolution is based on bits so you need to round down to the nearest bit value which would be 12 bit or 4096. The highest bit value allowed is 13 bits.

This is all done behind the scenes, you only have to provide the frequency and duty.

Duty

The duty is a percentage of the period. It you are looking for a specific pulse width, you need to determine the period, which is 1/freq. If your frequency is 100Hz your period is 10ms. If you want a 1ms pulse, you would set the duty to 0.10%. Duty is a floating point number. A value of XX.XX will get you the highest resolution. Values above 100% are set at 100%. Negative numbers are set to 0%.