Encoder wiring - Mesa 7i33
Debug file information:
hm2-servo.hal:205: Pin 'hm2_5i20.0.pwmgen.03.enable' does not existPlease Log in or Create an account to join the conversation.
- Fordperf393W
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[AXIS_3]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
and this to the .hal
# ################
# W [3] Axis
# ################
# axis enable chain
newsig emcmot.03.enable bit
sets emcmot.03.enable FALSE
net emcmot.03.enable => pid.3.enable
net emcmot.03.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.enable
net emcmot.03.enable <= axis.3.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.03.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.03.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.03.scale [AXIS_3]INPUT_SCALE
net motor.03.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.03.position => pid.3.feedback
net motor.03.pos-fb => axis.3.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.3.Pgain [AXIS_3]P
setp pid.3.Igain [AXIS_3]I
setp pid.3.Dgain [AXIS_3]D
setp pid.3.bias [AXIS_3]BIAS
setp pid.3.FF0 [AXIS_3]FF0
setp pid.3.FF1 [AXIS_3]FF1
setp pid.3.FF2 [AXIS_3]FF2
setp pid.3.deadband [AXIS_3]DEADBAND
setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.03.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.03.scale [AXIS_3]OUTPUT_SCALE
i assume the pwmgen is for servos, not sure if its necessary to add, but like i said, i copied the others and changed what i figured needed to be changed.
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CONFIG="firmware=SVST8_4.BIT num_encoders=4 num_pwmgens=4 num_stepgens=0"
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- Fordperf393W
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also, the readout is way off from actual distance traveled.
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num_pwmgens=4 they show up for me in halmeter, in emc 2.4.3, 2.4.6 and 2.5
Are you sure you are editing the correct.ini file?
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the axis shows up for me in halmeter. i just cannot get it to display the readout of that axis. is it even possible?
Yes, EMC2 supports up to 9 axes.
You don't seem to have the link from the motion controller to the PID input.
net somethingorother axis.3.motor-pos-cmd => pid.3.command
You also need to set up the INI file for 4 axes (and, if you really want it to be a W axis, you need 9 axes, W is last in the list)
[TRAJ]
AXES = 9
COORDINATES = XYZW
linuxcnc.org/docs/html/config_emc2hal.html
linuxcnc.org/docs/html/man/man9/pid.9.html
linuxcnc.org/docs/html/config_ini_config...b:%5BTRAJ%5D-section
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is it possible to zero out an axis at its current position?
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