1. Configuring LinuxCNC
  3. Advanced Configuration
  5. Following Error When Homing

Following Error When Homing

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04 Nov 2022 15:25 - 04 Nov 2022 15:26 #255920 by PCW
Replied by PCW on topic Following Error When Homing
Can you:
1. Post your hal file
2. Plot the commanded joint position, joint feedback position and index-enable
in halscope at 1 servo thread/division (trigger on index-enable falling edge)
Last edit: 04 Nov 2022 15:26 by PCW.

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04 Nov 2022 15:48 #255927 by turbostew
Replied by turbostew on topic Following Error When Homing
Here are my config files.

I forget I posted here a while back.....

forum.linuxcnc.org/49-basic-configuratio...-with-index?start=20

I did all the things you(PCW) suggested in that post, vel mode on stepgen,etc.

I'll work on those scope plots.....
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04 Nov 2022 18:43 - 04 Nov 2022 20:52 #255935 by turbostew
Replied by turbostew on topic Following Error When Homing
  Here is my scope plot...
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Last edit: 04 Nov 2022 20:52 by turbostew.

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04 Nov 2022 18:55 #255936 by PCW
Replied by PCW on topic Following Error When Homing
That's odd, I don't see the baseline (0) for the feedback or commanded position
something like this:

 
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04 Nov 2022 19:05 - 04 Nov 2022 19:10 #255938 by turbostew
Replied by turbostew on topic Following Error When Homing
meaning u expect the signals to be zero after index en? or before? or??? Or you don't see the baseline lines on the pic (I gained them up to maximize resolution so the base line is the white lines at first division from bottom)?
Last edit: 04 Nov 2022 19:10 by turbostew.

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04 Nov 2022 19:09 #255940 by PCW
Replied by PCW on topic Following Error When Homing
The feedback and commanded position should be forced to 0 at index detection

There is no visible baseline for the commanded or feedback positions in your plot

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04 Nov 2022 19:15 #255941 by turbostew
Replied by turbostew on topic Following Error When Homing
It is, white lines at first div from bottom.   notice my home positions in ini are around where the positions settle 
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04 Nov 2022 19:23 - 04 Nov 2022 19:25 #255943 by turbostew
Replied by turbostew on topic Following Error When Homing
Big question to me is why the big following error spike? It is like the command is current sample and feedback is one sample ahead in time (more like feebback plot data is one sample old).  Maybe "pid.y.error-previous-target true" causing this?
Last edit: 04 Nov 2022 19:25 by turbostew.

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04 Nov 2022 19:24 #255944 by PCW
Replied by PCW on topic Following Error When Homing
The question I have is why the feedback is not 0 after index detection

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04 Nov 2022 19:27 #255946 by turbostew
Replied by turbostew on topic Following Error When Homing
I hope you can tell me:)

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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. Following Error When Homing
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