Crusader II retrofit

With the changes to the ini and hal files suggested by you and PCW it now has no joint errors and when linuxcnc is turned on the motors engage. I have left Z axis alone for now as those crashes come quick

Jim

At this point , I would choose an axis and carefully trace your wiring between the amp and the 7i77. Make certain that portion is wired correctly.
The fact that the drives enable and lock you servos in my opinion is a good indicator that it is setup correctly. It must be a setting in linuxCNC that is holding things up.

Maybe set pid settings and ff settings all to zero. Only do this on maybe X axis first.

Went back to it, powered up all 3 axis motors are getting power. When using the jog button the on screen display shows the axis moving but the machine doesn't. If the jog is large enough the "joint 0 following error" appears. I'll go back and recheck the wiring and try again.
And the pid settings.

Jim






current files

Sounds like the analog out is not connected properly
( so the drives are just holding due to being in velocity mode with a velocity of 0 )

Are the drives disabled when you get a following error?
if not, fix this before proceeding

YES as soon as the error comes up the drives are killed. Also linuxcnc power on button comes out.

Which ones the analog out??

Jim

7I77 TB5 pins 4,8,12,16,20,24
AOUT0 through AOUT5
(you will only be using 0..2 and perhaps 5 if you have a analog spindle control)

@PCW

These are the resistors that Jim used on the amps:
www.ebay.com/itm/1000-ohm-1K-2-watts-2W-...Pieces-/271887852452

Please advise if these are correct.
I looked at them and they spec. Out at 1000 ohms but I'm not certain of the other specs. Maybe these are killing the signals at the amps.

Where were these resistors connected?

PCW

You posted this on another posting.

One option is to tie each inhibit input (J1 pin 8) to common (J1 pin 9)
with a 1K resistor. This will have the effect of disabling all axis by pulling pin 8 down to ground.
Then connect the ENA+ pins on the 7I77 to the drives J1 pins 10 (+15V)
and the ENA- pins to the drives inhibit input (J1 pin 8 ).
This will pullup the inhibit lines and enable the drives when analog enable is true in the hal file

Lets say thats how I believe I connected them..

Note: the first machine it was posted to was a Crusader M mine is the older Crusader II.

Jim

OK thats the enable modification
(which seems to be working since LinuxCNC can enable and disable the drives)

The problem seem to lie in the analog output connections
from the 7I77 to the drives (or perhaps HAL problem of some kind)

The next step is to trace the PID output, say pid.x.output with halmeter when you attempt to jog
if this works, ( you get a correction value proportional to the position error )
then you need to check the wiring from the 7I77s analog outputs to the drives
(as before P should be something like 1 to 5 for these initial tests (and all other 0)