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. ![:) :)](/media/kunena/emoticons/smile.png)
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.
![:) :)](/media/kunena/emoticons/smile.png)
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.
![:) :)](/media/kunena/emoticons/smile.png)
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23 Jul 2015 00:07 - 23 Jul 2015 00:15 #60829
by andypugh
You could consider using the "use_serial_numbers" option to make it easier to work out which drive is which, but that does change all the HAL pin names of smart-serial devices like the 8i20. I thought that this was documented, but it doesn't seem to be...will give you pin names like hm2_8i20.1234.current rather than hm2_5i23.0.8i20.0.1.current, where 1234 are the last digits of the serial number on the sticker on the board.
It is very likely that the amplifier numbering is not the only problem causing the following errors
solving the f-errors needs to be worked on, but first LinuxCNC needs to start.
(all the motion pins are listed in the motion manage, click "documentation" in the bar at the top of this screen, then "all documentation in html" then scroll down to "realtime components" and click "motion" )
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20
This is probably because your motor commutation is not set up correctly. But I have just noticed that for reasons I can't remember my X-axis is 8i20.0.2, my Y axis is 8i20.0.1 and Z is 8i20.0.3. This is probably not how you have your drives set up, so that is the first thing to check. Clearly LinuxCNC won't be able to control the axes if it is trying to control the wrong drives for each axis.If I try "Manual control [F3]" then was generated err: "joint 0 following error"
You could consider using the "use_serial_numbers" option to make it easier to work out which drive is which, but that does change all the HAL pin names of smart-serial devices like the 8i20. I thought that this was documented, but it doesn't seem to be...
loadrt hostmot2 use_serial_numbers=1
It is very likely that the amplifier numbering is not the only problem causing the following errors
solving the f-errors needs to be worked on, but first LinuxCNC needs to start.
In the non-JA branches the pin name is axis.N.joint-vel-cmd. It has a different name in the verso of LinuxCNC that my machine is using, which is causing many of the problems.Pin 'axis.0.vel-cmd' does not exist
(all the motion pins are listed in the motion manage, click "documentation" in the bar at the top of this screen, then "all documentation in html" then scroll down to "realtime components" and click "motion" )
Last edit: 23 Jul 2015 00:15 by andypugh.
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23 Jul 2015 00:59 #60830
by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thanks. ![:) :)](/media/kunena/emoticons/smile.png)
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?
![:) :)](/media/kunena/emoticons/smile.png)
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?
![:( :(](/media/kunena/emoticons/sad.png)
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23 Jul 2015 05:15 #60833
by andypugh
I don't know yet, but we will figure it out eventually.
Are you now confident that the x-axis commands and feedback are going to the 8i20 that drives the X axis motor?
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20
- Why all (four servo & motors) are doing the same (no)movements?
- When only three are configured in HAL?
I don't know yet, but we will figure it out eventually.
Are you now confident that the x-axis commands and feedback are going to the 8i20 that drives the X axis motor?
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05 Oct 2015 01:52 - 05 Oct 2015 01:53 #63433
by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Hi Andy,
I was installed new copy LinuxCNC and solved new problems.
My HAL is stopped in this error:
Do you help Me please?
this is my actually HAL file:
I was installed new copy LinuxCNC and solved new problems.
My HAL is stopped in this error:
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=8477
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Debug file information:
5i23_sample.hal:51: Pin 'hm2_5i23.0.8i20.0.2.angle' does not exist
8477
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Do you help Me please?
this is my actually HAL file:
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.01.rawcounts => bldc.0.rawcounts
net x-index hm2_5i23.0.resolver.01.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_5i23.0.8i20.0.2.angle
setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5
setp hm2_5i23.0.8i20.0.2.current-minlim -7.5
net 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.01.position pid.0.feedback axis.0.motor-pos-fb
net x-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv
setp hm2_5i23.0.resolver.01.velocity-scale -1
net x-pid pid.0.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.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 6
setp bldc.0.lead-angle 0
setp bldc.0.encoder-offset -950000
# +++++++Y Axis+++++++++
net res-y-cnts hm2_5i23.0.resolver.02.rawcounts => bldc.1.rawcounts
net y-index hm2_5i23.0.resolver.02.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.0.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.0.motor-pos-cmd => pid.0.command
net y-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv
net y-fb hm2_5i23.0.resolver.01.position pid.0.feedback axis.0.motor-pos-fb
net y-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv
setp hm2_5i23.0.resolver.01.velocity-scale -1
net y-pid pid.0.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 6
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.0.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.0.motor-pos-cmd => pid.0.command
net z-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv
net z-fb hm2_5i23.0.resolver.01.position pid.0.feedback axis.0.motor-pos-fb
net z-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv
setp hm2_5i23.0.resolver.02.velocity-scale -1
net z-pid pid.0.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 6
setp bldc.2.lead-angle 0
setp bldc.2.encoder-offset -950000
#E-Stop and machine-on
#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 1
Last edit: 05 Oct 2015 01:53 by kenny.
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05 Oct 2015 02:17 #63435
by PCW
Replied by PCW on topic MESA 5i23 7i44 7i49 7i37 8i20
The error suggests that the 8I20 on sserial port 2 was not found
( the others may not be found either, the 8I20 on sserial channel 2 appears first in the hal file so triggers the fault )
This could be caused by a couple of things
1. No 8I20 connected to sserial channel 2
2. Marginal power to 8I20s. For three 8I20s you will very likely need to supply 5V to the 7I44 if
you use 5V cat5 cable power (CHECK 5V at 7I44) or 24V to the 8I20 low side power (with proper jumper options set)
3. Other possible connection issues (7I44 on wrong 5I23 connection etc)
( the others may not be found either, the 8I20 on sserial channel 2 appears first in the hal file so triggers the fault )
This could be caused by a couple of things
1. No 8I20 connected to sserial channel 2
2. Marginal power to 8I20s. For three 8I20s you will very likely need to supply 5V to the 7I44 if
you use 5V cat5 cable power (CHECK 5V at 7I44) or 24V to the 8I20 low side power (with proper jumper options set)
3. Other possible connection issues (7I44 on wrong 5I23 connection etc)
The following user(s) said Thank You: kenny
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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. ![:) :)](/media/kunena/emoticons/smile.png)
Supply power on 8I20 is now OK.![:woohoo: :woohoo:](/media/kunena/emoticons/w00t.png)
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:
![:) :)](/media/kunena/emoticons/smile.png)
Supply power on 8I20 is now OK.
![:woohoo: :woohoo:](/media/kunena/emoticons/w00t.png)
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 1
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06 Oct 2015 01:26 - 06 Oct 2015 01:39 #63455
by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
I have next question:
Why I have only two channel number (1 and 2) in variables eg: hm2_5i23.0.8i20.0.1.xxxx and hm2_5i23.0.8i20.0.2.xxxx ?
www.linuxcnc.org/docs/html/man/man9/sserial.9.html#DEVICES
Still I have only two channels of RS422 board...
How do I add other channel (0 or 3) number for config all axis?
List part of my HAL (show pins param)
Why I have only two channel number (1 and 2) in variables eg: hm2_5i23.0.8i20.0.1.xxxx and hm2_5i23.0.8i20.0.2.xxxx ?
www.linuxcnc.org/docs/html/man/man9/sserial.9.html#DEVICES
Still I have only two channels of RS422 board...
How do I add other channel (0 or 3) number for config all axis?
List part of my HAL (show pins param)
11 float IN 0 hm2_5i23.0.8i20.0.1.angle
11 float OUT 0 hm2_5i23.0.8i20.0.1.bus-voltage
11 float OUT 0 hm2_5i23.0.8i20.0.1.card-temp
11 float IN 0 hm2_5i23.0.8i20.0.1.current
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.U-current
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.U-current-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.V-current
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.V-current-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.W-current
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.W-current-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-high
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-high-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-overv
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-overv-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-underv
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-underv-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.framingr
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.framingr-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.module
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.module-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.no-enable
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.no-enable-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overcurrent
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overcurrent-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overrun
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overrun-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overtemp
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overtemp-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.watchdog
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.watchdog-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-old
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-old-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-on
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-on-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.bus-underv
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.bus-underv-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.current-lim
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.current-lim-no
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.ext-reset
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.ext-reset-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.no-enable
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.no-enable-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.pid-on
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.pid-on-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.sw-reset
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.sw-reset-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.wd-reset
11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.wd-reset-not
11 float IN 0 hm2_5i23.0.8i20.0.2.angle
11 float OUT 0 hm2_5i23.0.8i20.0.2.bus-voltage
11 float OUT 0 hm2_5i23.0.8i20.0.2.card-temp
11 float IN 0 hm2_5i23.0.8i20.0.2.current
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.U-current
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.U-current-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.V-current
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.V-current-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.W-current
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.W-current-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-high
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-high-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-overv
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-overv-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-underv
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-underv-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.framingr
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.framingr-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.module
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.module-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.no-enable
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.no-enable-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overcurrent
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overcurrent-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overrun
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overrun-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overtemp
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overtemp-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.watchdog
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.watchdog-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-old
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-old-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-on
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-on-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.bus-underv
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.bus-underv-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.current-lim
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.current-lim-no
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.ext-reset
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.ext-reset-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.no-enable
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.no-enable-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.pid-on
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.pid-on-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.sw-reset
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.sw-reset-not
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.wd-reset
11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.wd-reset-not
Last edit: 06 Oct 2015 01:39 by kenny.
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06 Oct 2015 07:43 #63464
by andypugh
This is very likely to happen until the PID is set up. You will also have to work out the correct number for the setp bldc.0.encoder-offset parameter. There may be a scientific way to do it, but I ended up trying differen values until the motor ran the same speed in both directions for a fixed current (ie, not under PID control)
(And do you really have 10 pole motors?)
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20
HAL passed, EMC started, but EMC says: Joint 0 following error, when I moving with axis X by Manual control [F3].
This is very likely to happen until the PID is set up. You will also have to work out the correct number for the setp bldc.0.encoder-offset parameter. There may be a scientific way to do it, but I ended up trying differen values until the motor ran the same speed in both directions for a fixed current (ie, not under PID control)
(And do you really have 10 pole motors?)
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06 Oct 2015 07:52 #63465
by andypugh
Your HAL file has a bit of a problem, as both Y and Z axes seem to be trying to use the same 8i20. (0.2)
I don't know why you are not seeing all three 8i20s, do they all show the same pattern of flashing lights?
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20
I have next question:
Why I have only two channel number (1 and 2) in variables eg: hm2_5i23.0.8i20.0.1.xxxx and hm2_5i23.0.8i20.0.2.xxxx
Your HAL file has a bit of a problem, as both Y and Z axes seem to be trying to use the same 8i20. (0.2)
I don't know why you are not seeing all three 8i20s, do they all show the same pattern of flashing lights?
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