Clearpath HLFB amp.joint.delay

Remove everything except timedelay and fault inputs.
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I still have no idea what your issue is, i am replying to your queries as they come.
Such errors should not be triggered when drives are enabled, so that might well be drive issue.

Fastfred wrote:

Thank You for that looks like the .hal file is correct now I am assuming I dont have correct settings in the motors thought it would fault if power/loss of com .

or am I missing a config for that? 

Thanks
 

This is why I suggested the FIRST thing was to verify/edit the motor programming using the Clearpath software.

You cannot successfully edit/adjust HAL unless you know exactly what the motor(s) HLFB output is doing under various conditions.

Power up the motors - no need to enable in LCNC - connect a Windows computer to the motors and open the Clearpath software.  Verify that all motors' HLFB output is set to 'Servo On.'

Check your LCNC input pins are working correctly.  You can enable/disable the motors using the Clearpath software (overriding LCNC's output). 

While you enable/disable the motors via Clearpath software, two things should happen:

• The Clearpath software display should show 'servo on' in the output monitor
• LCNC halshow input pins should be high/yellow when enable is true, and low/dark when the motor is not enabled

 


@tommylight - Clearpath motors have no separate drives.  The motors are supplied with DC power and all programming/control stuff is mounted internally in the motor itself.  They have three inputs (enable + A + , and a single output (HLFB) that can be programmed to do different things.

@Spumco,
Thank you for reminding me, now i know why i can not recall what was going on as i am used to ignoring everything having to do with clearpath since back when they were selling stepper motors and labeling them as "revolutionary servo motors" for a lot more $, and i think they still do, but now with encoder feedback.

tommylight wrote:

 back when they were selling stepper motors and labeling them as "revolutionary servo motors" for a lot more $, and i think they still do, but now with encoder feedback.
 

Tommy,

They aren't steppers and I don't think they ever have been.  I haven't seen the internal windings, but they don't act like any steppers I've come across.  There is no perceptible rotor cogging when you spin them by hand.  Even the Berger-Lahr 5-phase steppers I have on my Emco lathe have a tiny bit of cogging feel.

The Nema 23/34's are BLDC's with an encoder, trajectory generator, and IO (not just some halls).  The AC-input versions are... maybe something else, don't know.

I've been using them off and on for automation equipment for about 7-8 years and they haven't changed, at least not the mechanical/electrical parts.  They've got upgraded IP67 connectors as an option now, as well as Ethercat models.

Best thing since sliced bread?  No.  There's an upper limit to the performance you can get with 75VDC and 16AWG(ish) cables.

But they are extremely useful in certain applications and no separate drive makes integrating them very easy.

I did setup the MSP software, And I just confirmed the pins again.