Index Homing odd offset

So I'm currently in closed loop?
In closed loop, if I don't power up the drives and I jog an axis I would expect an immediate joint following error since no encoder info is being received. I don't get an error. Why? Open loop?
Also, I have a short video of the homing signals. I'll see if I can attach.

Turning off the drives via manual switch independent of linuxcnc for testing.
I would cycle software estop (x) and the enable button next on the upper left corner of the axis gui. The enable signal and estop is tied into contactors for the drives. The contactors are manually switched for now.

I have lost track of what your hardware is, ef you ever said, but it is possible that you don't want to have no limit on the PID.

I don't know
Is the limit to prevent any outputs greater than the max speed on the axis? the previous value (1.25) reflects the point where I was getting joint following error if i tried to go beyond 75 ipm.
Should I set it to 5 ? (300ipm)

Hardware is DMM servo drives running in step/dir mode with encoder feedback for hybrid closed loop.

here is a link to the homing signals on youtube. . Again, machine does not home properly as discussed earlier.
The index is in red.

I would expect a following error in a closed loop situation if you disable the drives and jog
if:

1. The jog is > than the following error setting

2. The HAL file is "wired" properly for closed loop


open loop needs this:
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb

closed loop needs this:
net x-pos-fb <= hm2_5i25.0.encoder.00.position

both open and closed need this:
net x-pos-fb => axis.0.motor-pos-fb

I would expect a following error in a closed loop situation if you disable the drives and jog
if:

1. The jog is > than the following error setting

2. The HAL file is "wired" properly for closed loop


open loop needs this:
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb

closed loop needs this:
net x-pos-fb <= hm2_5i25.0.encoder.00.position

both open and closed need this:
net x-pos-fb => axis.0.motor-pos-fb

I know some things got # out as it didn't load as initially configured by pncconfig.
If I change the # below, it will not load.

net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
#net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable

Changing to this:

net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
#net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable

Does that look correct?

It looks like the homing sequence is about right but as I said before, homing to encoder index will only work
if you have closed loop working and of course the homing options are set properly

Note that you should not expect to see the index signal as it is typically too short to be
seen reliably by the servo loops 1 KHz sample interval. You can see the index enable is set
by linuxcnc and then cleared by the physical index signal which is correct