Dead in the water on 7i92 config

OK looking better. I ran into several errors where the pin was already driven by something in the X[0] or W[3] sections so I commented out those lines in favor of the Gantry links.

Now, the Y and Z move ok, but ANY attempt to move the gantry (X axis) gives "joint 0 following error". Doesn't matter if the World Mode +/- jog is used, or keyboard, or G0/G1 command. Y and Z move great, X-gantry thriows following error.

.hal enclosed.

Not sure but one possibility is that you have a thread order problem with the gantry component
( the order of addf statements is important )

I suspect that the gantry read and write should done between motion and PID
If this does not solve the problem, I would widen the following error limits and take a look at
the position command and feedback of the gantry comp, and figure out why they are not tracking

OK my threads are now:

addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf gantry.0.read servo-thread
addf gantry.0.write 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 hm2_[HOSTMOT2](BOARD).0.write servo-thread

And I changed MAX_ERROR=0.5, then a full 5". Still zero motion, just "joint 0 following error".

I tried putting the addr gantry after the PID calcs too, just to experiment. No diff.

looks like the pid feedback for stepgens 0 and 3 is not there:

net x0pos-fb gantry.0.joint.00.pos-fb pid.0.fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb

net x1pos-fb gantry.0.joint.02.pos-fb pid.3.fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb

also a more minor thing, you must disconnect the feedback-derv pins on PID 0 and 3

Added, now I get "Pin 'pid.0.fb' does not exist"

So, wait. Joiints 0 and 3 are my X-axis. And that's PID 0 and PID 3. Here I've got:

net x1pos-cmd gantry.0.joint.01.pos-cmd => pid.3.command
net x1pos-fb gantry.0.joint.02.pos-fb pid.3.fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb

Accessing joint 1 and 2 in addition to 0. Is that right?

sorry its pid.0.feedback and pid.3.feedback

BTW you can get a list of all available pins with

OK I got an error from using "joint.02" and then repeating "stepgen.00" for the second joint, I think that was supposed to be stepgen.03, so I changed it to:

net x0pos-fb gantry.0.joint.00.pos-fb pid.0.feedback <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net x1pos-fb gantry.0.joint.01.pos-fb pid.3.feedback <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb

Then it conflicted with the prior lines which I removed:
#net x0pos-fb gantry.0.joint.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb

Now it loads and runs, but... same problem. I can move around Y and Z. Any attempt to touch X- the gantry- gets a Joint 0 Following Errior with no motion at all. Most recent .hal enclosed.

The hal file looks ok AFAICT now so I think the next step to to trace the motion command and feedback (xpos-cmd and xpos-fb) to see why that are so far apart. The gantry manual says they track the joint values (with an offset added when homing)

OK I noticed that the second motor still uses:
net emcmot.03.enable <= axis.3.amp-enable-out
Whereas the first X-motor doesn't, because amp-enable-out was already defined.

halcmd show pin shows axis.0.amp-enable-out ==> xenable, and axis.3.amp-enable-out ==> emcmot.03.enable

I used:

net xenable axis.0.amp-enable-out => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable hm2_[HOSTMOT2](BOARD).0.stepgen.03.enable

Is that correct?

I don't have any homing routine yet. The switches are not wired in for this board. I'm a bit confused- when I was using Gantrykins, there was a Joint Mode with 0, 1, 2, 3. So zeroing 0 and 3 made sense. With trivkins, there's X Y Z A. I did the Home Axis button to zero, but A is within X, so this seems... strange.

I also noted that MAX_ERROR=0.5 to try and get it moving... when I commanded it, I tried "g1 x0.1 f1" and that still gives Following Error with no motion, even though it is still less than the allowable error even if it doesn't move. I may not be understanding what that MAX_ERROR is, though,

I tried looking at things with HAL Scope and got nothing and then saw it was simpler to just bring up Show HAL Configuration and see the values.

After a G1 x0.1 F1 (which causes a Folllowing Error), everything's still zero. Including axis.0.motor-pos-cmd and gantry.0.position-cmd. I looked all through the axis.0 and gantry and everything's zero. Only like axis.0.coarse-pos-cmd=-0.0001416667