MESA 5i23 7i44 7i49 7i37 8i20
22 Jul 2015 21:41 #60825
by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thank You for help Me. 
I was used your hal and ini files but still the same err.
If I try "Manual control [F3]" then was generated err: "joint 0 following error"
And this err was generated during start LinuxCnc:
Pin 'axis.0.vel-cmd' does not exist
I was rem this line (on each axis) and then system started without any errors.
#net x-vel-cmd axis.0.vel-cmd => pid.0.command-deriv
How I repair this err (correctly)?
Motors generated small noise and dont turn. Only if I moving axis by hand, then motors make gentle resistance (by magnetics poles).
Your INI and Hal files contains several tiny err. eg case sensitive rules in linux (names variables). Its OK.
I was used your hal and ini files but still the same err.
If I try "Manual control [F3]" then was generated err: "joint 0 following error"
And this err was generated during start LinuxCnc:
Pin 'axis.0.vel-cmd' does not exist
I was rem this line (on each axis) and then system started without any errors.
#net x-vel-cmd axis.0.vel-cmd => pid.0.command-deriv
How I repair this err (correctly)?
Motors generated small noise and dont turn. Only if I moving axis by hand, then motors make gentle resistance (by magnetics poles).
Your INI and Hal files contains several tiny err. eg case sensitive rules in linux (names variables). Its OK.
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23 Jul 2015 00:59 #60830
by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thanks.
btw, I have four drivers and motors (X axis is two motors conf.).
But, only one motor on X axis is mechanical joint to pulley.
Only one motor on X axis is config in HAL file. I have three axis (servo) configuration.
- Why all (four servo & motors) are doing the same (no)movements?
- When only three are configured in HAL?
btw, I have four drivers and motors (X axis is two motors conf.).
But, only one motor on X axis is mechanical joint to pulley.
Only one motor on X axis is config in HAL file. I have three axis (servo) configuration.
- Why all (four servo & motors) are doing the same (no)movements?
- When only three are configured in HAL?
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06 Oct 2015 00:17 #63453
by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thank you for kick me.
Supply power on 8I20 is now OK.
HAL passed, EMC started, but EMC says: Joint 0 following error, when I moving with axis X by Manual control [F3].
Motor on axis X is not moving, but counter on EMC window is changed value if I rotated shaft on motor by hand.
Why?
Where is err?
This is my actual HAL:
Supply power on 8I20 is now OK.
HAL passed, EMC started, but EMC says: Joint 0 following error, when I moving with axis X by Manual control [F3].
Motor on axis X is not moving, but counter on EMC window is changed value if I rotated shaft on motor by hand.
Why?
Where is err?
This is my actual HAL:
loadrt trivkins
loadrt motmod servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i23/RMSVSS6_8.BIT"
loadrt bldc cfg="a,a,a"
#loadrt bldc count=3
loadrt pid num_chan=4
loadrt sum2 count=1
loadrt logic names=estop-sw personality=0x103
loadrt oneshot
#loadrt near count=1
#loadrt and2 count
#loadrt bldc count=3=1
#loadrt or2 count=1
setp hm2_5i23.0.watchdog.timeout_ns 10000000
addf hm2_5i23.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
#addf pid.3.do-pid-calcs servo-thread
addf bldc.0 servo-thread
addf bldc.1 servo-thread
addf bldc.2 servo-thread
#addf bldc.3 servo-thread
addf sum2.0 servo-thread
#addf and2.0 servo-thread
#addf or2.0 servo-thread
addf estop-sw servo-thread
addf oneshot.0 servo-thread
#addf near.0 servo-thread
addf hm2_5i23.0.write servo-thread
addf hm2_5i23.0.pet_watchdog servo-thread
#show pin
# +++++++X Axis+++++++++
net res-x-cnts hm2_5i23.0.resolver.00.rawcounts => bldc.0.rawcounts
net x-index hm2_5i23.0.resolver.00.index-enable <=> axis.0.index-enable
#net x-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.0.pos-lim-sw-in axis.0.neg-lim-sw-in axis.0.home-sw-in
net x-meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.1.angle
setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5
setp hm2_5i23.0.8i20.0.2.current-minlim -7.5
net x-cmd axis.0.motor-pos-cmd => pid.0.command
net x-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv
net x-fb hm2_5i23.0.resolver.00.position pid.0.feedback axis.0.motor-pos-fb
net x-vel-fb hm2_5i23.0.resolver.00.velocity pid.0.feedback-deriv
setp hm2_5i23.0.resolver.00.velocity-scale -1
net x-pid pid.0.output => hm2_5i23.0.8i20.0.1.current
#12 motor 49 pulley 5 leadscrew pitch
setp hm2_5i23.0.resolver.01.scale -1.2244898
net amp-enable pid.0.enable
setp pid.0.Pgain 0.005
setp pid.0.Igain 1
setp pid.0.Dgain 1
setp pid.0.bias 1
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAXOUTPUT
setp bldc.0.scale -16777216
setp bldc.0.poles 10
setp bldc.0.lead-angle 0
setp bldc.0.encoder-offset -950000
# +++++++Y Axis+++++++++
net res-y-cnts hm2_5i23.0.resolver.01.rawcounts => bldc.1.rawcounts
net y-index hm2_5i23.0.resolver.01.index-enable <=> axis.1.index-enable
#net y-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.1.pos-lim-sw-in axis.1.neg-lim-sw-in axis.1.home-sw-in
net y-meas-angle bldc.1.rotor-angle => hm2_5i23.0.8i20.0.2.angle
setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5
setp hm2_5i23.0.8i20.0.2.current-minlim -7.5
net y-cmd axis.1.motor-pos-cmd => pid.1.command
net y-vel-cmd axis.1.joint-vel-cmd => pid.1.command-deriv
net y-fb hm2_5i23.0.resolver.01.position pid.1.feedback axis.1.motor-pos-fb
net y-vel-fb hm2_5i23.0.resolver.01.velocity pid.1.feedback-deriv
setp hm2_5i23.0.resolver.01.velocity-scale -1
net y-pid pid.1.output => hm2_5i23.0.8i20.0.2.current
#12 motor 49 pulley 5 leadscrew pitch
setp hm2_5i23.0.resolver.01.scale -1.2244898
net amp-enable pid.1.enable
setp pid.1.Pgain [AXIS_1]PGAIN
setp pid.1.Igain [AXIS_1]IGAIN
setp pid.1.Dgain [AXIS_1]DGAIN
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.1.maxoutput [AXIS_1]MAXOUTPUT
setp bldc.1.scale -16777216
setp bldc.1.poles 10
setp bldc.1.lead-angle 0
setp bldc.1.encoder-offset -950000
# +++++++Z Axis+++++++++
net res-z-cnts hm2_5i23.0.resolver.02.rawcounts => bldc.2.rawcounts
net z-index hm2_5i23.0.resolver.02.index-enable <=> axis.2.index-enable
#net z-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.2.pos-lim-sw-in axis.1.neg-lim-sw-in axis.1.home-sw-in
#net z-meas-angle bldc.2.rotor-angle => hm2_5i23.0.8i20.0.2.angle
setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5
setp hm2_5i23.0.8i20.0.2.current-minlim -7.5
net z-cmd axis.2.motor-pos-cmd => pid.2.command
net z-vel-cmd axis.2.joint-vel-cmd => pid.2.command-deriv
net z-fb hm2_5i23.0.resolver.02.position pid.2.feedback axis.2.motor-pos-fb
net z-vel-fb hm2_5i23.0.resolver.02.velocity pid.2.feedback-deriv
setp hm2_5i23.0.resolver.02.velocity-scale -1
#net z-pid pid.2.output => hm2_5i23.0.8i20.0.2.current
#12 motor 49 pulley 5 leadscrew pitch
setp hm2_5i23.0.resolver.02.scale -1.2244898
net amp-enable pid.2.enable
setp pid.2.Pgain [AXIS_2]PGAIN
setp pid.2.Igain [AXIS_2]IGAIN
setp pid.2.Dgain [AXIS_2]DGAIN
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAXOUTPUT
setp bldc.2.scale -16777216
setp bldc.2.poles 10
setp bldc.2.lead-angle 0
setp bldc.2.encoder-offset -950000
#E-Stop and machine-on
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
#setp oneshot.0.falling 1
#setp oneshot.0.rising 0
#setp oneshot.0.retriggerable 1
#setp oneshot.0.width 10 #10 second delay before machine can be on after off.
#net estop-sw0 estop-sw.in-00 hm2_5i23.0.7i64.0.0.input-06-not
#net estop-sw1 estop-sw.in-01 hm2_5i23.0.7i64.0.0.input-07-not
#net estop-sw2 estop-sw.in-02 <= oneshot.0.out-not
#net estop-loop estop-sw.and => iocontrol.0.emc-enable-in
#net amp-enable joint.0.amp-enable-out oneshot.0.in
#Servo Power (08) 8i20-enable 12
#net amp-enable hm2_5i23.0.7i64.0.0.output-08 hm2_5i23.0.7i64.0.0.output-12
# create signals for tool loading loopback
#loadusr -W hal_manualtoolchange
#net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
#net tool-change-req iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-out hal_manualtoolchange.changed => iocontrol.0.tool-changed
#net start hal_manualtoolchange.change_button
#net tool-num hal_manualtoolchange.number <= iocontrol.0.tool-prep-number
#net dummy motion.spindle-brake
#Coolant pump
#net coolant-pump hm2_5i23.0.7i64.0.0.output-06 <= iocontrol.0.coolant-flood
#unlinkp hm2_5i23.0.8i20.0.3.current
#loadrt mux4
#addf mux4.0 servo-thread
#net p1 hm2_5i23.0.7i64.0.0.input-01 mux4.0.sel0
#net p2 hm2_5i23.0.7i64.0.0.input-02 mux4.0.sel1
#net c1 mux4.0.in1
#net c2 mux4.0.in2
#sets c1 0.5
#sets c2 -0.5
#net c hm2_5i23.0.8i20.0.3.current mux4.0.out
#probe
#net probe hm2_5i23.0.7i64.0.0.input-16-not motion.probe-input
#loadusr halmeter -s pin lincurve.0.in
#loadusr halmeter -s pin lincurve.0.out
#loadusr halmeter -s pin hm2_5i23.0.resolver.03.velocity
#loadusr halmeter -s pin hm2_5i23.0.pwmgen.00.value
#setp motion.jog-while-paused-enable 1Please Log in or Create an account to join the conversation.
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