Clearpath HLFB amp.joint.delay

I really could use some help trying to figured out how to setup a delay for amp.joint when I enable the machine i get a instant error from joint.amp using clearpath SD HLFB  , from what ive read i need to add a delay for it.But the problem is ive tried but no luck please someone show me a confing to get me started.

Thanks 

Do I start from scratch? do you mind giving a example how to configure this . Took me awhile just to try to get this far.

Thanks

My Latest config still having issue with joint 0 fail. 

I dont know if this answers your question, but when i use the machine with amp.fault comment out it works fine as soon as I enable the machine with amp.fault enabled it faults instantly I just wanted to use this feature from my understanding it could be useful.

Thanks

I just did this for my CNC. Here are the HAL bits I used.  Amusingly, I can't find where <axis>-fault is connected, but I *do* get following errors when I hit things.  More testing required...

addf and2.3 servo-thread
addf and2.4 servo-thread
addf and2.5 servo-thread
addf and2.6 servo-thread
addf and2.7 servo-thread
addf timedelay.0 servo-thread

setp timedelay.0.on-delay 1
setp timedelay.0.off-delay 0

net machine-is-on => timedelay.0.in
net enable-faults <= timedelay.0.out

net x-enable  => hm2_7i76e.0.7i76.0.0.output-08 # TB5 leftmost output
net y-enable  => hm2_7i76e.0.7i76.0.0.output-09
net y2-enable => hm2_7i76e.0.7i76.0.0.output-10
net z-enable  => hm2_7i76e.0.7i76.0.0.output-11
net a-enable  => hm2_7i76e.0.7i76.0.0.output-12

# HLFB is true when enabled *and* following
net hlfb_x  hm2_7i76e.0.7i76.0.0.input-16-not # TB5 leftmost
net hlfb_y  hm2_7i76e.0.7i76.0.0.input-17-not
net hlfb_y2 hm2_7i76e.0.7i76.0.0.input-18-not
net hlfb_z  hm2_7i76e.0.7i76.0.0.input-19-not
net hlfb-a  hm2_7i76e.0.7i76.0.0.input-20-not

net hlfb_x        => and2.3.in0
net enable-faults => and2.3.in1
net x-fault       <= and2.3.out

net hlfb_y        => and2.4.in0
net enable-faults => and2.4.in1
net y-fault       <= and2.4.out

net hlfb_y2       => and2.5.in0
net enable-faults => and2.5.in1
net y2-fault      <= and2.5.out

net hlfb_z        => and2.6.in0
net enable-faults => and2.6.in1
net z-fault       <= and2.6.out

net hlfb_a        => and2.7.in0
net enable-faults => and2.7.in1
net a-fault       <= and2.7.out
 

I did try reversing the input, Does my custom.hal file look correct? I get a joint 0 amplifier fault instantly its the only joint i am trying to figure out at the moment i haven't tried to add the other joints yet. Is there other ways of doing this that might be easier to add in my case ?

Thanks

Fastfred wrote:

I did try reversing the input, Does my custom.hal file look correct? I get a joint 0 amplifier fault instantly its the only joint i am trying to figure out at the moment i haven't tried to add the other joints yet. Is there other ways of doing this that might be easier to add in my case ?

Thanks

First thing to do is make sure the Clearpath's HLFB function is programmed the way you want/need.  Teknics permits a multitude of conditions which result in <some> sort of signal from HLFB, but I suggest you copy @djdelorie's setup and program the HLFB pin to be HIGH when 'enabled and following.'

Next, test the HLFB programming and your wiring to make sure LCNC is getting the HLFB signal properly.  With any amp-fault stuff commented out of HAL, start the machine.  The Clearpath should be enabled, and you should see (in halshow) the input pin which is connected to the HLFB output go HIGH (conducting).

You can also take this opportunity to estimate how long it takes the Clearpath to switch the HLFB signal from LOW to HIGH when it is enabled.  You will want this delay estimate later when configuring the amp-fault time-delay in HAL.

Once you've satisfied yourself that you have everything outside LCNC sorted, you've got a decision to make regarding the other servos' HLFB signal.

- If you want LCNC to 'know' which specific axis/motor trips, you will be using up an input pin for each motor's HLFB output signal.  You will also need a HAL configuration the same as (or similar to) @djdelorie.

- If you don't care which motors trips and just want the machine to stop when any motor trips, then you can wire the HLFB signal from all motors in a series and have a single 'amp-fault' input to LCNC.  This will reduce the number of inputs used to one, and will make the HAL configuration somewhat simpler at the expense of slightly more fussy physical wiring.

Do the tests (and HLFB programming), and think about the 'decision' I mentioned and come back here... we'll help you sort out HAL so everything works like you'd prefer.