Hardinge HC Bandit Retrofit

The resolvers are belt driven off of the motor.

Here is the section of my Hal file:
Is this trying to drive by position?

net x-index-enable <=> pid.x.index-enable
net x-enable joint.0.amp-enable-out => pid.x.enable
net x-pos-cmd joint.0.motor-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-enable => hm2_5i24.0.pwmgen.00.enable
net x-output pid.x.output => hm2_5i24.0.pwmgen.00.value
setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE


# ---Resolver feedback signals/setup---

setp hm2_5i24.0.resolver.excitation-khz 5
setp hm2_5i24.0.resolver.00.scale [JOINT_0]RESOLVER_SCALE
net x-pos-fb hm2_5i24.0.resolver.00.position => joint.0.motor-pos-fb
net x-vel-fb <= hm2_5i24.0.resolver.00.velocity
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.resolver.00.index-enable

#*******************
# AXIS X
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror 1

Yes that's a position mode loop and looks OK

Crazy behaviour in one direction suggests that the PWM mode is not set correctly
The 7I48 and 7I49 require that the PWM mode be up/down (output_type = 2)

Andy,

I started with a copy of your Holbrook files and modified them.

Currently there is no call out for PWM.

Should I just add loadrt pwmgen output_type=2?

Or do I change this line : loadrt hm2_pci config="num_encoders=2 num_pwmgens=2 num_resolvers=2"

No, you set the mode of the existing hardware pwmgens like this:

setp hm2_5i24.0.pwmgen.00.output-type 2
setp hm2_5i24.0.pwmgen.01.output-type 2

(man hostmot2)

also

halcmd show all

to get a list of all available pins and parameters

Success! The x axis now moves smooth in both directions. I did have to change the OUTPUT_SCALE to positive. It was negative to match the direction before.
Speaking of OUTPUT_SCALE, what should this be set at?