Servos drives directly start turning

Hello everyone!

I am struggling with the implementation of my servo drives. I set up the pncconf wizard and did some adjustments, checked the Output Offset and scaled the Encoder. Now I want to start the machine an make some PID tuning, but if i toggle the Machine Power Button the Servos directly starts to turn. After a few secs i got an following error (make sens) and the Servos stops.

What is wrong in my config? Is this an Servo Controller Problem or an Mesa Setup Problem? What should i do next?

I am using the Linux CNC (2.9.4), a MESA 7I92TM connected via Ethernet and a 7i77 at Port P2 for the Servo Drive Control. My Servo Drives (Yaskawa SGDV-7R6A01A) run with +-10V and Encoder Signal to the Linux CNC.

Attached you can find some pictures and files of my config.
Thanks a lot and all the best wishes from Germany
JanCNC

Thanks for your reply. I've read through the entire forum thread, but I haven't found anything specifically related to my problem.

I suspect the OUTPUT_OFFSET value isn't working correctly. When I configure the axis in the pncconf wizard and adjust the offset value so the axis no longer drifts, everything works fine. However, as soon as I switch to the normal Linux CNC environment and enable the axes, they start drifting. I also tried disconnecting the analog signal connector from the 7i77 to see what effect it would have. There's no noticeable change. The axis drifts slightly faster, but that could be misleading.

Could it be that there are missing links in my .hal and .ini files? Or do I need to adjust other settings? I've also experimented with the calibration, increasing the P value or setting all values ​​to 0, but this hasn't helped. The axes are still drifting.

Or is it possible that the drifting is normal (approx. 3-5 rpm)? As I understand it, the axis should stand still when the OUTPUT_OFFSET is set correct, even in the normal CNC GUI. Is that correct?

Drifting usually indicates that you do not have the drive enables working.

The drives should be disabled until linuxCNC in running and in the machine-on state.
At this point, the encoder feedback and PID loop will prevent drifting.
If you get drift in the machine-on state that indicates a hal, encoder or PID tuning issue.

This is a safety issue, with analog drives, the drive enable is critical.


 

My wiring was a little bit different, I configured the enable signal to my normal Digital Outputs and connected the servo enable cable direct to the output signal.

I did some changes and tried to wired it properly but...
If I press F2 in LinuxCNC the analogena signal seem to work in the HALSHOW but there is no power on the TB5 Analog Drive Interface from the 7i77. The PINS ENA0- and ENA0+ on the TB5 connector should get power when I turn on the machine with F2 right???
 

Now the wiring is correct and the enable is working. If i test every axis for its own it seems to work fine.

But now i got a problem with my gantry Y Axis. If both Y Axis connected to the TB5 and we press F2 the Motors jumps around and an following error occures. Do you have any idea why this happend?

The hal file shows independent analog outputs and encoders

Are you sure you have the feedback correct for Y and Y2?

You not only have to get the right (matching) directions but the
proper feedback so you don't get a instant runaway at drive enable.

Might be best to test  this with the linear axis disconnected