odd/nonexistant homing behavior

Please see attached ini. This was changed yesterday after noon. see excerpt. Same behavior.

[KINS]
KINEMATICS = trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2
##ENCODER FOR SPROCKET##
[JOINT_0]
TYPE = ANGULAR

[AXIS_Y]
MIN_LIMIT = -12.
MAX_LIMIT = 46.
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

[JOINT_1]


TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24

BACKLASH = 0.000
##scale is 2000 steps/rev /3.1496 --5mm pitch x 16 teeth##
SCALE = 635
FERROR = 0.005
MIN_FERROR = 0.005
HOME = 0.000
HOME_OFFSET = 0
HOME_SEARCH_VEL = -3.
HOME_LATCH_VEL = 3.
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES


# these are in nanoseconds
DIRSETUP = 2000
DIRHOLD = 2000
STEPLEN = 4000
STEPSPACE = 4000

from hal

####encoder feedback for chain position sense####
setp hm2_7i90.0.encoder.00.counter-mode 1
setp hm2_7i90.0.encoder.00.filter 1
setp hm2_7i90.0.encoder.00.scale 1
setp jog.0.index-position 1223

net enc_count_reset jog.0.enc-count-reset => hm2_7i90.0.encoder.00.reset
net enc_position hm2_7i90.0.encoder.00.position => jog.0.enc-position


When using encoder 00 with axis X (joint_0) it creates a following error, if you jog the stepper motor and the encoder doesnt move, it trips. Already tried it. Until the joint is defined, the encoder input doesnt exist. I will add the [Axis_x], I think you are confusing the old [axis-definition] with the new joint definition. As i can tell(from sketchy manual), there is [JOINT_0] AND [AXIS_X] not [JOINT_0] AND [AXIS_0]

please correct my understanding

mesa driver load requires a driver and a config that defines what is used
ex hm2_rpspi config" list your needs"
the bit file must match your needs, a bit file that is just i/o will not support steppers, encoders, pwm ect
the bit file must contain the number of instances that you need, you cant have 2 encoders if the bit file only supports one

In the case of the encoder, it matches the axis designation, encoder 00 goes with X ect, you can physically put the x encoder on y and you will get a following error.

Lets say i dont have to define an axis to use an encoder , i just have to have it in the bit file, i still have to list it in the number of axis(or at least i did). seems if i didnt, in the case of the mpgs, which are on all 3 of my machines, they wouldnt work.

It was my contention at the very beginning of this thread that i needed to define joint_1 (y) and i could use encoder 00 with out any other modifications. It does work, the encoder counts. Seems it will work either way. show pins shows the encoder on p2, pins 1,2,3 . I am getting all kind of screwy errors, everything from max velocity is to large(when none is defined) to sometimes the stepper axis only goes in the positive direction regardless of the commanded direction.

Im beginning to think the bit file is just plain f#$ckd, it regularity tells the ssi isnt working, doesnt create the ssi pins, says the firmware on the 7i84 is outdated , cant find ui90 board. Sometimes it will load 10 times with out errors, most of the time, it makes them up as it goes.
The behavior of the machine is as if home_velocity is set to zero. it accepts zero where it is parked when it is powered up. Something is wrong.
This is not a mission to prove anybody wrong, Im trying to get to the bottom of a screwy issue. ....

that is a box stock .ini , basically hm2 stepper.ini, renamed. It worked fine until we loaded the new bit file and reassigned X to Y.
Truthfully, the following error doesnt matter, and im not sure it even applies to steppers, as I dont (and my stepper motor knowledge can be written on the head of a pin)think you can do much to tune steppers, how would pid even apply? They are not driven by error like a servo.....

Just try these. (I changed Y to X.)

shouldnt

[AXIS_X]
MIN_LIMIT = -.03
MAX_LIMIT = 46.
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

[JOINT_1]


TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24

BACKLASH = 0.000

be

[AXIS_X]
MIN_LIMIT = -.03
MAX_LIMIT = 46.
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

[JOINT_0]

---

more like this?


TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24

BACKLASH = 0.000

as the x axis is joint zero?


This is what i had initially. When you move the encoder(it is NOT attached to the axis called X) you get a following error on the axis called X . Ill give it another try.....

Yes, I forgot to change the [JOINT_1] in the ini file.