axis.5.motor-pos-cmd = -nan

Hi

I have looked for the source of this error but have reached a dead end..., perhaps a fresh pair of eyes can spot the obvious mistake.
current version is 2.7.8. when i start the machine the C-axis runs at full speed without giving an f-error. I traced this back to axis.5.motor-pos-cmd which strangely equals "-nan", which i assume means "not a number". other motion pins is also strange....

axis.5.motor-pos-cmd = -inf
axis.5.motor-offset = -inf
axis.5.joint-pos-fb = inf
axis.5.joint-pos-cmd = inf

The system worked before, i must have changed something by mistake that i cannot find now.

Axis C section of the HAL file below and the INI file attached. I have replaced the INI file with the old version and get the same result so i dont think the error is there.

thanks in advance.

Henk



#*******************
# AXIS C
#*******************

setp pid.c.Pgain [AXIS_5]P
setp pid.c.Igain [AXIS_5]I
setp pid.c.Dgain [AXIS_5]D
setp pid.c.bias [AXIS_5]BIAS
setp pid.c.FF0 [AXIS_5]FF0
setp pid.c.FF1 [AXIS_5]FF1
setp pid.c.FF2 [AXIS_5]FF2
setp pid.c.deadband [AXIS_5]DEADBAND
setp pid.c.maxoutput [AXIS_5]MAX_OUTPUT
setp pid.c.error-previous-target true

net c-pos-cmd => pid.c.command
net c-enable => pid.c.enable

net c-index-enable <=> pid.c.index-enable



net c-vel-cmd => pid.c.command-deriv
net c-pos-fb => pid.c.feedback
net c-output <= pid.c.output

# ---PWM Generator signals/setup---

setp hm2_7i92.0.7i77.0.4.analogout0-scalemax [AXIS_5]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.4.analogout0-minlim [AXIS_5]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.4.analogout0-maxlim [AXIS_5]OUTPUT_MAX_LIMIT

net c-output => hm2_7i92.0.7i77.0.4.analogout0
net c-pos-cmd <= axis.5.motor-pos-cmd
net c-enable <= axis.5.amp-enable-out

# ---Encoder feedback signals/setup---
#net or2resetout => hm2_7i92.0.encoder.01.reset <= or2reset.out
setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [AXIS_5]ENCODER_SCALE


#----activate estop when ferrored _______________

net c_ferrored <= axis.5.f-errored => halui.estop.activate


# component connections

net spindle-revs => gearhob.masterenc-0



net z-pos-fb => gearhob.masterenc-1


net y-pos-fb => gearhob.masterenc-2



net c-pos-fb => gearhob.slaveenc-0


#net gearhob-enable-clq => gearhob.enable

net c-pos-fb <= gearhob.sync-out

#reset signal for spindle and table enc
net reset_enc <= gearhob.reset
net reset_enc => hm2_7i92.0.encoder.01.reset
net reset_enc => hm2_7i92.0.encoder.00.reset

net c-pos-fb <= hm2_7i92.0.encoder.01.position
net c-vel-fb <= hm2_7i92.0.encoder.01.velocity
net c-pos-fb => axis.5.motor-pos-fb
net c-index-enable axis.5.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net c-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

HI Andy
gearhob.comp attached.

The inputs to gearhob comes from a Pyvcp panel in which the tooth number is limited, but yes, there should be some sanity checks...it is still a work in progress but i cannot start testing because of the above issue.

What is strange about the issue is that gearhob.comp intercepts the feedback signal. With this intercept removed as in the hal file attached, motor-pos-cmd still show nan.

The comp shouldnt be able to influence the commanded position at all.

Thanks for your help

Henk

Thanks
I will remove it from the thread and check again, but somehow I suspect it isn't going to solve the axis.5.motor-pos-cmd problem

will let you know
Henk

No, it s a standard C-axis config. command comes from motion.

axis.5.motor-pos-cmd => pid => 7i77 analog-out...

C-axis movement is achieved by fiddling with the feedback signal in gearhob.comp.

Henk

#ing out the addf line for gearhob.comp doesn't solve the issue as suspected.

thanks
Henk

As soon as the gui loads, I check this in Hal configuration and it shows nan. this is before the e-stop is released on the gui and the machine still off. it seems as if it starts up that way.

Henk