7i97+8i20 error function not found
I don't think that the author of pncconf has ever had access to an 8i20 so I suspect that your config will need some manual tuning.Should the pnconf bldc component work in a way that you can can put some value in every spot or is it ment to be hand written in the hal file?
We can work through the errors one-by-one until the config at least loads.
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Debug file information:
Note: Using POSIX realtime
./takisawa.hal:44: Pin 'bldc.0.rawcounts' does not exist
29900
Stopping realtime threads
Soo do I need to link something to somewhere now?
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Got rid couple of errors on the hal, seemed that 8i20.0.0.angle/current were in the wrong serial first? (they were 8i20.0.2.angle) but thats just about it I can figure out by myself....
So for now, ##### marked are neither "does not exist" or "not found".. Some advice badly needed
#####setp [HMOT](CARD0).7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
#####setp [HMOT](CARD0).7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
#####setp [HMOT](CARD0).7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT
#####net x-output => [HMOT](CARD0).7i77.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
#####net x-enable => [HMOT](CARD0).7i77.0.1.analogena
and
######net x-enable => [HMOT](CARD0).8i20.0.0.amp_enable
# ---PWM Generator signals/setup---
#####setp [HMOT](CARD0).7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
#####setp [HMOT](CARD0).7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
#####setp [HMOT](CARD0).7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT
#####net x-output => [HMOT](CARD0).7i77.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
#####net x-enable => [HMOT](CARD0).7i77.0.1.analogena
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loadrt bldc cfg=n,n,n
And that does not create a rawcounts pin.
(in fact "n" means "no feedback")
linuxcnc.org/docs/stable/html/man/man9/bldc.9.html
For your Fanuc encoders I suggest using "fq" mode.
loadrt bldc cfg=fq,fq,fq
I hope that the motors are not connected to the axes at the moment? It will take some time to get the servos to run properly without stalling or running away.
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Edit: If i use "f" in cfg, Should the c1,c2,c4 and c8 signals from the fanuc encoder too? If yes i need to figure where those should be wired at..
Edit2: figured out that I will need the gray scale pattern signals too. I connected TB5 in8, in9, in10 and in11 pins for the encoders gray scale pattern pins, and added to Hal file:
net x-c1-in bldc.0.C1
net x-c2-in bldc.0.C2
net x-c4-in bldc.0.C4
net x-c8-in bldc.0.C8
# --- X-GRAY-C1-IN ---
net x-gray-c1-in <= hm2_7i97.0.inmux.00.raw-input-08
# --- X-GRAY-C2-IN ---
net x-gray-c2-in <= hm2_7i97.0.inmux.00.raw-input-09
# --- X-GRAY-C4-IN ---
net x-gray-c4-in <= hm2_7i97.0.inmux.00.raw-input-10
# --- X-GRAY-C8-IN ---
net x-gray-c8-in <= hm2_7i97.0.inmux.00.raw-input-11
Is this correct? Should i connect something for the com8-9&com10-11 fysical pins too? Atleast it now loads without errors. Still haven't found the reason why i can not jog it or move it in any way :/
Edit3: I am missing most or all of the commutation signals in hal? Just can´t figure out how and what they should be
![:X :X](/media/kunena/emoticons/sick.png)
Help needed!
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When i enable the machine and look hal pins, all phases were changing a little in hal configuration page, but the change was so little, and trying to jog would not affect anything, now i dont have even that. My machine are not trying to do any homing sequence either. Help
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I suspect
setp bldc.0.initvalue .5
(0.5A) is not anywhere enough current to align the motor
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Once it has run and been updated it is probably a good idea to comment the line out, or it will write to the eeprom every startup, which isn't ideal.
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I think it would be a good idea to just get a motor turning first. One way to do this would be to use pure "f" mode, so that the quadrature encoder is ignored and the motor should run block-commutated.
If you can't jog in pure "f" mode then you need to look at your PID tuning.
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