2nd stage of Crusader II retrofit

You should be getting a joint following error if the axis in question is not moving when commanded. Are the encoders counting when you move the hand wheels with the drives powered off? If a drive is not powered up or errors out (check leds on the drive) you will not get movement and should throw a joint following error if the encoders are reading correctly. You could also be stuck on a limit switch? Although I think the gui will display that and show no motion on that axis. Keyboard going bad?? Another thought is are you on soft limits? But that usually limits only one direction.

OTCNC & andypugh

This morning when I went out to work on the mill, when powered up Y axis is not enabling. Both the other axis are powered up and the hand wheel can not be moved (groan from servos) but Y axis free to move. Servo is not under power

OTCNC
Yes it kicks out a following error if moved to far. Yes the xyz axis on the screen display movement on each axis as the hand wheel is moved. All limit switches, especially Y axis are clear. Soft limits should not be in play as all axis are in the plus side (inside the soft envelop).

andypugh
I don't know how to shift between the "commanded" and "actual". I am using the axis gui
I looked in the "hal configuration" panel but didn't find the pin ...7i77.analogout.NN . Does it need to be in "Show" to see the change?
How do I go about "make sure that the analogue voltage at the terminals is also changing." ?
Is that checking at the screw heads on the TB5 terminals with a volt meter for voltage?


General Question

Is it the westamp cards that control the servo motors? both bringing them under power and transmitting the motion command.

As always I am sure its something I did during the rewiring.
Thanks to Both
Jim

Okay, it sounds like the drive is not enabling for some reason. When you look at the LEDs on the Y drive are any lit up? If so, there is a small reset switch next to the LEDs that may clear any errors on the drive. They should all be off. I assume you have the servo dynamics units on your?

My Z drive has been acting up but after clearing the error it's good to go still. Wonder for how much longer.....

sd1525

OTCNC

I am not sure where the led's you refer to are? There doesn't appear to be any on the westamp boards.

I read the first page of the hal tutoral and set a watch on the x y and z hm2_5i25.0.7i77.0.1.analogoutX X and Z both show changes from 0 to -0.01xxx but Y stays still at 0

Thanks
Jim

andypugh

Y is connected to DRV 1 X=DRV 0 Z=DRV 2

Jim

Andy, I think he's only using one enable that turns on all the drives via a relay like on my setup. Not individual enables. Better have Jamby confirm that though.
First make sure the drive isn't tripping for some reason on power up. There has to be a fault LED present on the westamp. They look similar to my SD board. Jamby look at the link I posted before.

andy

Oh, sorry, that's from the 7i77man.pdf. It shows a drawing of the 7i77 card on pate 9 were they show each four pin connector a DRV1 DRV2 DRV3 DRV4 etc

Jim