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

Did you try the open loop tests in PNCconf?

Chris M

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!

[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

damn, now that open loop error is a PNCconf bug.

Still not clear what is the stepper problem.
can you post the HAL file?

mattrcampbell wrote:

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

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!

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!

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!

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