Joint following error with SSI ABS encoder

hi all,

I am using SSI ABS ENCODER for my system.
I connect and check the encoder data is correctly.

But when I turned on my system then I got the error "Joint following error"

My hal examp:

net J0pos hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd <= joint.0.motor-pos-cmd
net j0-pos-fbss  hm2_7i80.0.ssi.00.yencoder
net j0-pos-fbss => joint.0.motor-pos-fb

The hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd = hm2_7i80.0.ssi.00.yencoder
but hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb = 0
so when i turn on my system then my joint will move to have hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd = hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb 
it will make the error "Joint  x following error"
can you help me check it?



thanks

Typically you would not use stepgen position mode (or stepgen position feedback)
when you have encoder feedback

PCW wrote:

Typically you would not use stepgen position mode (or stepgen position feedback)
when you have encoder feedback
 

thank you for your answer,but How can i change mode of stepgen?

thank you very much

i added "loadrt stepgen step_type=0,0,0,0,0 ctrl_type=v,v,p,p,p" 
But it didn't fix this error. When i turn on my machine then joints will auto move to position of abs encoder.
 

For this to work, you need a PID loop
to set the velocity. Since you are using Mesa
hardware, I would use a pncconf created hal/ini file
as a template for the PID connections