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Hey there,
I get that over current error in LinuxCNC. And only when I click the start button.

One thing to check on the VFD, spin up time, set it to 5 seconds.

Also, did you mean acceleration time? If so, I thought that I had them generously set:
PD014 12
PD015 15
PD016 12
PD017 15
PD018 12
PD019 15
PD020 12
PD021 15

Thanks for your feedback!
 

When do you get the OC error? When powering the VFD or when starting it from LinuxCNC?
One thing to check on the VFD, spin up time, set it to 5 seconds.

Can anyone confirm these settings?

Huanyang HY02D223B 2.2kw using 220V(240V) US power.

I am getting a E.OC.A which equates to an over current error.

 

These are the settings from the VFD as it is now:

<pre>
Setting Value
PD000 0
PD001 1
PD002 1
PD003 200
PD004
PD005 400
PD006 2.5
PD007 0.5
PD008 220
PD009 15
PD010 8
PD011 120
PD012
PD013
PD014 12
PD015 15
PD016 12
PD017 15
PD018 12
PD019 15
PD020 12
PD021 15
PD022
PD023 1
PD024 1
PD025 0
PD026 0
PD027 0.5
PD028 0.5
PD029 0
PD030 0
PD031 2
PD032 5
PD033 150
PD034 0.5
PD035 to PD040 = RESERVED
PD041
PD042 5
PD043
PD044 1
PD045 5
PD046
PD047
PD048
PD049
PD050
PD051
PD052
PD053
PD054
PD055
PD056
PD057
PD058
PD059
PD060
PD061
PD062
PD063
PD064
PD065
PD066
PD067 through 69 : RESERVED
PD070 0
PD071 20
PD072 400
PD073 120
PD074
PD075
PD076
PD077
PD078
PD079 = RESERVED (0.01);

PD118
PD119
PD120
PD121
PD122
PD123
PD124
PD125
PD126
PD127 through 129 = RESERVED

PD141 220
PD142 8.5
PD143 2
PD144 3000
PD145
PD146
PD147
PD148 and 149 : RESERVED
PD150
PD151
PD152
PD153
PD154
PD155
PD156
PD157
PD158
PD159
PD160
PD161
PD162

PD166 through 169 : RESERVED
PD170
PD171
PD172
PD173
PD174
PD175
PD176
PD177
PD178
PD179
PD180
PD181
PD182
PD183
PD184 through 250: RESERVED
</pre>

Thanks in advance.

Michael wrote:

It's great he sent you a picture of a 1ms delay. But he told me the same thing. And when I asked why it's 5ms he could only point fingers at Linuxcnc but couldn't articulate any particular thing to look at that caused the delay.

 

You can't either because it's not "5ms". Using the HAL analog output command as your starting reference is not the right way to do that because nobody knows what voltage you have the drive set to respond to. At best the 3ms delay between encoders is valid.

Plenty of other setups use Linuxcnc and a 7i77 board but don't have this issue. I couldn't find a single example of someone using DMM with accurate encoder feedback. The only ones I found were using galil controllers and they used filters to remove the delays they were getting back from the encoder section. 

I use a DYN4 with encoder feedback and it's plenty accurate. I use a 5000k rpm motor on my spindle controlled with step/direction from a 7i76e, it rigid taps all day. Analog control shouldn't make a difference except what is calculated as the deadzone. The analog command doesn't have an effect until the voltage is above/below the deadzone which is why you can't use the first blip of your HAL analog output command as a reference. If there was no deadzone you wouldn't be able to stop the motor but nothing about that is unique to DMM.

And regardless of using a scope or not the servos would over current fault attempting to catch up to their commanded speed .I could never get them to run full speed in velocity mode with a closed loop.

Again sounds like you didn't tune the deadzone out of your PID. I'm assuming that because A, that's exactly what would happen as the drive just reached the Analog input threshold and B you never mentioned the deadzone then you posted the halscope image and the only way you come up with 5ms from looking at that is if you don't account for the deadzone at all. The size of the deadzone is dependant on other parameters set in the drive, it's on P78 of the manual

You have to ask yourself "why is no one else having the same issue running Linuxcnc and servos in closed loop". Maybe the issue is with DMM servos not being well built. 

Well built compared to what? Are you expecting a $250 servo drive to be as good as a $1k drive? If the "issue" is the "delay" then we gotta figure out what the actual delay is and if it's unreasonable. I have a DYN4 setup on a motor stand coupled with an encoder so I can test this. I didn't feel like setting up a Windows VM last night to re-configure the drive but I'll do that at some point today maybe. Like I said, I would expect a "delay" on the encoder output because of the nature of how it's generated. 3ms seems excessive, 1ms is probably fine but realistically it has to be compared with other drives doing the same thing.
 

Oh good, i was getting worried we have missed something somewhere...

B . I . N . G . O !!!!! 

 

HOME_OFFSET = 5

Ok, here's what I did to make my setup function properly.
I turned off all power.
I checked every motor and DM556T connection.
I noted what I had plugged into each of the 5 block terminals on the 7i76E. I had already labeled
each wire-set coming from the DM556T's.
Then with the wires screwed(with properly terminated ferrules) into the 7i76E block adapters, I moved
each block adapter and plugged it into the 7i76E as follows:

 

This corrected the homing issue with Y & Y2 however, it didn't back off the switches far enough after the home and therefore incurred which caused it to exceed the negative soft limit.

Yes, PncConf issue, it does not create 2 joints for the same axis, just one.
Does not matter as there is no need for it, except for some initial tests to make sure both tandem drives/motors are spinning the same direction.
-
I think it's time to make a new config, tandem one with everything set up, but first do
sudo apt update
sudo apt upgrade
maybe there was something iffy in your build.

Possible PNCCONF issue?

Yeah, there are just 3 stepgens in use there, should be 4.
Question, when using this test config and changing from one to the other Y joints, do they both move in the same direction when jogging?
One more thing, no homing with the test setup. Just jogging.

Yes. But you stil have 4 joints x-y1-y2-z that is 3 axis 
I am confused now
I have just looked through your files and it seems you have only a Y1 

With a tandem axis you need Y1 and Y2 in both HAL and INI file

That was a different set of files @Clive.   There was only to be X, Y and Z running naked......

I only see three joints in your ini file.

Joints = 3

Should there  be 4

@ Clive S  not using jog period. I'm simply loading up and mashing "HOME ALL".......