hm2 and 7i43 x axis issue
11 Feb 2013 11:55 #29885
by PCW
Replied by PCW on topic hm2 and 7i43 x axis issue
Do the encoders work? (scaled correctly and in the proper direction)
What PID values do you have? ( a small P only value is good for starting but if all are PID terms are
0 you will get no PWM)
Note that feedback may be backwards so expect a run-away
What PID values do you have? ( a small P only value is good for starting but if all are PID terms are
0 you will get no PWM)
Note that feedback may be backwards so expect a run-away
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11 Feb 2013 11:57 #29886
by cmorley
Replied by cmorley on topic hm2 and 7i43 x axis issue
Did you try the open loop tests in PNCconf?
Chris M
Chris M
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- mattrcampbell
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11 Feb 2013 12:25 #29887
by mattrcampbell
Replied by mattrcampbell on topic hm2 and 7i43 x axis issue
I have not tried it because I have not been able to figure out how to have pncconf invert my pwm output. The controllers I am using expect an inverted pwm and I can't seem to figure out how to do that in an open loop test, I have edited the file after saving it.
I just went back to double check, and since my upgrade open loop test is giving me this error when started:
hm_7i43.0.encoder.01
<stdin>:34: signal 'dir' not found
Thanks a ton for your help, it is most appreciated!
I just went back to double check, and since my upgrade open loop test is giving me this error when started:
hm_7i43.0.encoder.01
<stdin>:34: signal 'dir' not found
Thanks a ton for your help, it is most appreciated!
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11 Feb 2013 12:27 #29888
by mattrcampbell
Replied by mattrcampbell on topic hm2 and 7i43 x axis issue
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 4000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 4000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
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11 Feb 2013 14:03 #29893
by cmorley
Replied by cmorley on topic hm2 and 7i43 x axis issue
damn, now that open loop error is a PNCconf bug.
Still not clear what is the stepper problem.
can you post the HAL file?
Still not clear what is the stepper problem.
can you post the HAL file?
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11 Feb 2013 14:10 - 11 Feb 2013 14:11 #29894
by cmorley
You just need the direction of the motor changed? or you need to invert the PWM pin ?
There is a checkbutton for inverting the motor direction. To invert the PWM pin you need to figure out the corresponding GPIO pin number and invert it.
Click the PNCcconf's help button while on the mesa page - there is an explanation.
Chris M
Replied by cmorley on topic hm2 and 7i43 x axis issue
I have not tried it because I have not been able to figure out how to have pncconf invert my pwm output.
You just need the direction of the motor changed? or you need to invert the PWM pin ?
There is a checkbutton for inverting the motor direction. To invert the PWM pin you need to figure out the corresponding GPIO pin number and invert it.
Click the PNCcconf's help button while on the mesa page - there is an explanation.
Chris M
Last edit: 11 Feb 2013 14:11 by cmorley.
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11 Feb 2013 23:02 #29914
by mattrcampbell
Replied by mattrcampbell on topic hm2 and 7i43 x axis issue
I posted the newer hal and dmesg output on page 2 of this thread, let me know if you want me to post it again.
Thanks!
Thanks!
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11 Feb 2013 23:05 #29915
by mattrcampbell
Replied by mattrcampbell on topic hm2 and 7i43 x axis issue
I need to invert the PWM pin.
The controller I am using has a common +5 in for the opto isolators on PWM, Dir, and Enable, so I have the opto - connected to the mesa board.
I found that documentation and I have been changing it by hand in the hal file once pncconf is done. What I have not been able to figure out is how to change it and then do an open loop servo test. Is that even possible? I was under the impression that the only way to launch an open loop servo test was from pncconf.
Thanks!
The controller I am using has a common +5 in for the opto isolators on PWM, Dir, and Enable, so I have the opto - connected to the mesa board.
I found that documentation and I have been changing it by hand in the hal file once pncconf is done. What I have not been able to figure out is how to change it and then do an open loop servo test. Is that even possible? I was under the impression that the only way to launch an open loop servo test was from pncconf.
Thanks!
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16 Feb 2013 09:15 #30160
by mattrcampbell
Replied by mattrcampbell on topic hm2 and 7i43 x axis issue
Hey Chris, were you able to think of a way I can invert the PWM pin and still do an open loop test?
I know I can edit the file after the fact and add:
setp hm2_7i43.0.gpio.006.invert_output 1
but how do I then do the test?
Thanks!
I know I can edit the file after the fact and add:
setp hm2_7i43.0.gpio.006.invert_output 1
but how do I then do the test?
Thanks!
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16 Feb 2013 13:15 #30176
by cmorley
Replied by cmorley on topic hm2 and 7i43 x axis issue
Sorry I missed your last message.
No There is no way currently to invert the PWM in the open loop test.
You are the first person to ask for it and I couldn't (at the the time of development) think of a reason one would want to.
I will look into adding it in the future.
Chris M
No There is no way currently to invert the PWM in the open loop test.
You are the first person to ask for it and I couldn't (at the the time of development) think of a reason one would want to.
I will look into adding it in the future.
Chris M
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