My HOME_USE_INDEX have a problem please help.

Hi
Board: 7i96s + 7i77
First time I try use  home with home switch only it's work fine.

#******************************************
[AXIS_X]
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 40.000000
HOME_LATCH_VEL = -5.00000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO




Then I go to try create file from wizards Pncconf  7i92_7i77  and copy code about index encoder  put-in my hall 7i96s+7i77

.hall

#*******************
#  AXIS X JOINT 0
#*******************
setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700
net x-index-enable  => pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output
# Step Gen signals/setup
setp   hm2_7i96s.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i96s.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i96s.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i96s.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i96s.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i96s.0.stepgen.00.step_type        0
setp   hm2_7i96s.0.stepgen.00.control-type     1
setp   hm2_7i96s.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i96s.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     => hm2_7i96s.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i96s.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i96s.0.stepgen.00.enable
# ---setup home / limit switch signals---
net home-x    =>  joint.0.home-sw-in
net min-x     =>  joint.0.neg-lim-sw-in
net max-x     =>  joint.0.pos-lim-sw-in

# ---Encoder feedback signals/setup---

setp    hm2_7i96s.0.encoder.00.counter-mode 0
setp    hm2_7i96s.0.encoder.00.filter 1
setp    hm2_7i96s.0.encoder.00.index-invert 0
setp    hm2_7i96s.0.encoder.00.index-mask 0
setp    hm2_7i96s.0.encoder.00.index-mask-invert 0
setp    hm2_7i96s.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE
#net x-pos-fb               <=  hm2_7i96s.0.encoder.00.position
net x-vel-fb               <=  hm2_7i96s.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb
net x-index-enable    joint.0.index-enable  <=>  hm2_7i96s.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_7i96s.0.encoder.00.rawcounts



And in .ini file I put this.................


#******************************************
[AXIS_X]
MAX_VELOCITY = 66.66666666666667
MAX_ACCELERATION = 500.0
MIN_LIMIT = -470.0
MAX_LIMIT = 100.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.66666666666667
MAX_ACCELERATION = 500.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 83.33
STEPGEN_MAXACCEL = 625.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
ENCODER_SCALE = -10000
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 1000.0
MIN_LIMIT = -470.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 40.000000
HOME_LATCH_VEL = -5.00000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
#******************************************

When I click home X axis   result is = machine will home step and move back to first position of open linuxcnc program all time , seem first position open program is index signal .

What I'm wrong for hall and ini ?
How to check or fix ?

Asis,
 

If you homing to encoder index, you must use encoder feedback
but you are not doing this:

#net x-pos-fb <= hm2_7i96s.0.encoder.00.position

net x-pos-fb <= hm2_7i96s.0.stepgen.00.position-fb

If you are using the encoder _only_ for index, its possible
to have firmware that supports index input on Stepgens

Aciera wrote:

Have you tried using 'halscope' to look for the index signal of the encoder? 'hm2_7i96s.0.encoder.00.input-index'
 

Hi Mr. Aciera

I will try read document about how to use hal scope for next time again I can't use it (now) , but I think it's good analysis tool
Thank you.

PCW wrote:

If you homing to encoder index, you must use encoder feedback
but you are not doing this:

#net x-pos-fb <= hm2_7i96s.0.encoder.00.position

net x-pos-fb <= hm2_7i96s.0.stepgen.00.position-fb

If you are using the encoder _only_ for index, its possible
to have firmware that supports index input on Stepgens
 

Hi Mr. PCW,

Okay now I try
net x-pos-fb <= hm2_7i96s.0.encoder.00.position

#net x-pos-fb <= hm2_7i96s.0.stepgen.00.position-fb

It's look good , can use home Index and all use encoder feedback (right ?) .
But, I can't use old velocity jog.

Pop-up show massage " joint 0 following error"

now my step gen scale is 1000 = 1mm
1 stepgen = 0.001mm (1micron)
max vel = 4000 mm/mins

Now I can operate g1 fastest is = G1 f160 , If more than will jount 0 following error

where I must go to edit parameter ?

Asis,