Anilam CrusaderM to Linuxcnc Mesa 7i77 + 5i25

i had to put together an entirely different computer. now im back to square one.
i have encoders working. I rewired the amplifiers as descriped earlier in this thread. T following error is now showing.
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.6.7
Machine configuration directory is '/home/chrismoll/linuxcnc/configs/SuperMax_Servo'
Machine configuration file is 'SuperMax_Servo.ini'
INIFILE=/home/chrismoll/linuxcnc/configs/SuperMax_Servo/SuperMax_Servo.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Killing task linuxcncsvr, PID=2223
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
.
.
SuperMax_Servo.hal:51: parameter or pin 'hm2_5i25.0.7i77.0.1.analogout0-scalemax' not found
2223
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components


any help greatly appreciated.
thank you,
chris

Means the 5I25 is having trouble communicating with the 7I77

This may mean that the 7I77 has insufficient 5V power
(maybe a wiring problem or the encoders draw too much 5V power to be able to power the 7I77 from the 5I25).
You can check this by measuring 5V at the 7I77.

It could also be a 5I25 --> 7I77 cable issue

I made good progress this weekend. The computer is now stable and I rewired the 5 volt directly from the power supply. I don't receive any errors when I start Linuxcnc, but when I enable the machine all of the axix jog at once ane it errors out with a joint 2 error. I believe this is from the servos not being tuned to Linuxcnc.

*which brings me to my question:
when I run PnCConf and try to run the HalScope for the X axis, it "hooks" in fine the red light goes off on 7i77 board (lower right) and the green light comes on (next to the red light position), I enable the servo amplifier and the Jog buttons become "live". I can jog the x axis both directions. but all three axis servos constantly drift to the positive until I shut down HalScope.
Have I introduced a new problem with the new 5 volt wiring? do I need to eliminate the 1k resistors on the amplifiers we earlier discussed in this thread and implemented? OR are my PID settings all that I need to attendto. Currently I have P=0, I=0, D=0 , ffo=0, ff1=0, ff2=0, deadband set to 0.00001.

FWIW: I set P= 20 and had no change

BTW: I calibrated the encoders very carefully today with the plunge indicator and have all three axis' calibrated right on.

any help is greatly appreciated,

Chris

I dont think pncconf does a closed loop test so you have to test that with linuxcnc running
(expect runaways the first time)

I'm sorry for the confusion.
When I start the open loop test in pncconf it enables a three servos but they all creep to the positive. Is this some grounding issue with the west amp amplifiers? Btw: while creeping I can jog positive direction or negative direction very nicely.
After I start linuxCNC , when I activate the machine startup button in linuxCNC , all three axis jog positive about .040" and kick out a joint following error.
Any help is appreciated
Chris

This is all expected

On an open loop test with velocity mode servos you _expect_ the drives to drift slowly
since there is always some residual velocity error (this is one reason linuxcnc disables the drives when the loop is not closed)

As soon as you close the loop a couple things can happen:

1. Your tuning will be sub-optimum so you may get an immediate following error if you try to jog
2. The feedback direction may be backwards so as soon as you move a bit you get an immediate runaway (and following error)

The first step is to set you ferror limits wider so you can see whats going on,
and to allow some margin so you can tune without getting joint following errors

These are set in your INI file. There are 2 parameters per axis that you need to change:

FERROR
and
MIN_FERROR

I would set both to about 1 inch (or 25 mm for a mm machine) when first tuning

Thank you I will look into this further!

hi
i have had great success in getting the servos working!
i ended up puting a new solid state disk in my computer, it runs ubuntu 12 really nice and linuxcnc good as well.

i set my f_error and MIN_FERROR to .5 and that allowed the drives to enable.

all of my axis work ok but i have an issue with the x axis and the z axis:

when i toggle machine power off then on again these axis jog about 1 thousanths of an inch to the positive.the y axis remains stationary. is there an adjustment im missing to attend to this/?
i have googled and serched as much as i know how and haven't found a solution.

any insight is greatly appreciated,

btw: im asking this inthis thread because if i find the solution it is all here in one place for future users to benefit from.

thank you ,
chris

fwiw: i am greatly appreciative of all the help i've recieved and found on this forum!!

one last observation:
when i home the axis they zero out then instantly jump to the amount that it lurches when powered on.
ie.:
home the x axis and it homes to 0 then it shows .0012 and it does move that amount..

Can you jog all three axis?

If so, have you followed a normal tuning procedure for velocity mode drives like:

gnipsel.com/linuxcnc/tuning/servo.html

I can jog all three axis and even run g code

Yes I have used the halscope using the tutorial you've referenced.

I thought maybe it was back in my tach loop with the west amp amplifiers
I used my o scope to tune that again.
But reasoning it out, it must be in linuxCNC since the jog occurs when I home the axis's and they are just idling already enabled. ~ in addition to when I toggle on machine power (enable) the drives