Axis drift with Lagun

Please bear with me, as I am new to this end of tech. We are seeing behaviour where if an error occurs on the machine, a soft stop is enabled. The issue is that when the soft stop is active, the "adjustment logic" is not active. If no one returns to the machine, it continues to drift until it crashes. The drift is most common in the Z axis.

We have attempted to tune the board (westamp 30059/30060) with the potentiometer on the resistor with little success. (the board is from 1988) and the components may not be as precise as they once were.

Is there a way to either fine tune programatically, to avoid drift or to disable power to the motors when an error state is reached? We are running a Lagun with westamp 30059/30060 and Pico I/O boards.
Included are configs, please let me know if there are any other items that would be useful, I will take a video once the machine is free.



Thank you

This indicates that the hardware or hal file is not setup properly

When linuxCNC in not in a machine-on state, your drives
should be disabled

I have been looking online at some hal examples, I think I may have found where the error might be, would the highlighted produce the results that we have been seeing? This is from ppmc_io.hal

newsig ppmcEstop bit

linksp ppmcEstop ppmc.0.din.estop.in

linksp ppmcEstop and2.0.in0

newsig EstopOkIn bit

linksp EstopOkIn estop-latch.0.fault-in

linksp EstopOkIn and2.0.out

newsig EstopOkOut bit

linksp EstopOkOut ppmc.0.dout.07.out

linksp EstopOkOut ppmc.0.dout.Estop.out

linksp EstopOkOut iocontrol.0.emc-enable-in

linksp EstopOkOut estop-latch.0.ok-out

linksp EstopOkOut and2.0.in1

newsig emc-estop-out bit

linksp emc-estop-out iocontrol.0.user-enable-out

linksp emc-estop-out estop-latch.0.ok-in

newsig emc-estop-reset bit

linksp emc-estop-reset iocontrol.0.user-request-enable
linksp emc-estop-reset estop-latch.0.reset

May I please have some clarification on where the misconfiguration might be?
"This indicates that the hardware or hal file is not setup properly" I am new to this, and am not sure what I am looking for.

Thank you

If your machine is machine off but e-stop is not on then the .enable for each axis should be off/false and this should be wired into your drives to inhibit movement.

Something like pid.x.enable
pid.y.enable
and pid.z.enable

should be netted up somewhere to a digital output which interfaces with your drives.

archfitters wrote: May I please have some clarification on where the misconfiguration might be?
"This indicates that the hardware or hal file is not setup properly" I am new to this, and am not sure what I am looking for.

Thank you

Lets start at the beginning. What hardware are you using? (The clip of hal code you posted was for a Pico Systems config. Are you using their hardware? Are you using your old amps or some of Pico's?

If you are using Pico hardware, hopefully Jon will chime in with some help. (or perhaps you should contact him directly.)