1. Configuring LinuxCNC
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  5. First Analog Build - 7i97 - Anilam - Issue enabling machine

First Analog Build - 7i97 - Anilam - Issue enabling machine

  • bnet
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17 Jan 2026 21:50 #341499 by bnet
First Analog Build - 7i97 - Anilam - Issue enabling machine was created by bnet
I am working on integrating my first analog servo build. 7i97 and Anilam drives. I am following the steps here . I have the encoder scaling correct but when I go to enable the machine, there is a brief moment of runaway before I get two errors: 
"joint 1 following error"
"could not switch the machine on. is limit switch activated?"

I am only working on joint 1 at the moment. 
No limit switches are in use at the moment. 

I have tried inverting 'output scaling' and 'encoder scaling' in every possible combination on the configuration page. 

Any suggestions? 

Thanks! 
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18 Jan 2026 02:17 #341519 by tommylight
Replied by tommylight on topic First Analog Build - 7i97 - Anilam - Issue enabling machine
Those are two separate issues, first is always (granted wiring is OK) hal/settings issue, the second is a limit switch triggered or inverted issue.
For the first, some checks:
-disconnect one of the analog output wires from mesa, power on the machine and enable shortly = the motor should very slowly turn. Be aware that if wiring is not OK the machine might run away at full speed
-reconnect the wires
-use a DVM set in beep or resistance mode and check between analog ground on the drive and machine ground = there should not be low resistance, usually. machine should be powered off.
-use the DVM and measure the analog output voltage on Mesa or on the drive while LinuxCNC is disabled but the machine is powered on and LinuxCNC is running = there should be no voltage
-
-use the calibration screen to invert the output, or encoder, but NEVER both, test by enabling the machine
-if you still get joint errors, lover the P value to 10 or 5 or 2 and test.
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18 Jan 2026 02:32 #341521 by PCW
Replied by PCW on topic First Analog Build - 7i97 - Anilam - Issue enabling machine
You MUST set the 7I97 PWMgens offset mode to true or runaways are guaranteed.
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22 Jan 2026 18:29 #341714 by bnet
Replied by bnet on topic First Analog Build - 7i97 - Anilam - Issue enabling machine

You MUST set the 7I97 PWMgens offset mode to true or runaways are guaranteed.
 

Yep, that fixed everything! Thanks a million! 

For those who run into this in the future, I needed to add to each axis definition in the .hal:
setp   hm2_7i97.0.pwmgen.xx.offset-mode true

Where "xx" = joint number. 

Now the machine is stable and jogging smooth and silently. Beauty. 
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  1. Configuring LinuxCNC
  3. Basic Configuration
  5. First Analog Build - 7i97 - Anilam - Issue enabling machine
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