Trying to set up position control mode

Hi PCW,

I have wired this up like you said. When I set the P value to 1000 we have continuous motion that doesnt stop and when I set it to 0 it moves a short while and then stops.

Thanks,

jblanscett

I would agree with Tom here, that there's something basic wrong with the hal  or ini files.

(my guess would be no position feedback connection from the steppgens)

Here are the Hal and Ini files

setp [HMOT](CARD0).stepgen.00.control-type 0

Is wrong, it should be:

setp [HMOT](CARD0).stepgen.00.control-type 1

(for all joints)

 

Hi Tommy and PCW,

Tommy, I will grab our scope and let you know what the signal looks like as soon as possible. I commented out the acceleration fraction line. 

PCW, when I changed the control type to 1. In order to get any motion afterwards, I had to change 

net x-output   <= [HMOT](CARD0).stepgen.00.postion-cmd

to

net x-output   <=[HMOT](CARD0).stepgen.00.velocity-cmd

Then, no matter what value I change the P value to, as soon as an input is put in, the motor starts and doesn't stop. If I add more inputs going in the same direction, the motor speeds up. If I add them in the other direction, the motor slows down. 

Thanks,

jblanscett

Here is a picture of our oscilloscope readings

I have the first probe connected to the signal and the second probe connected to the mesa ground and the electrical box ground.

When you say the motor moves, are you saying the DRO is changing
when no commanded motion is requested?

Do you get a following error?