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I think the problem is that the joints are supposed to have numbers, not letters.

Like 

joint.0.amp-fault-in

I just realized you haven't created a signal name, just linked two pins.  Because your joint.(lettter).amp-fault-in pin doesn't actually exist, LCNC is creating a SIGNAL named joint.(letter).amp-fault-in.

That's why you aren't getting an error at startup.

Try this

net x-fault joint.0.amp-fault-in hm2_7i96s.0.inm.00.input-1-not

and so on for the others.
 

Thanks so much! I used to know that, but totally forgot it this project. For once I started a project without first reading the mesa manual from cover to cover... my error has come to light.

Hello,

I added an EL4001 analog output terminal to a system with a few other Beckhoff terminals, which is otherwise fully working.
Like the other terminals, the EL4001 shows up with "ethercat slaves" and this as well as its status LED shows it's in the OP state.
I added it to the ethercat-config.xml like the other nodes:<slave idx="4" type="EL4001" name="spindleSpeed"/>
I also tried setting it up manually like here .

Unfortunately, I can't get any output voltage out of it (other than zero) using the pins as documented  (I set the pins using halcmd and verified with Halscope). As mentioned, all other Ethercat devices (mostly Beckhoff) work without issues. I also tried changing the order of the Beckhoff terminals, but that didn't help (as expected).

Does anyone have any idea what could be the issue here, or what I can do to further debug this?

WOW now it works without errors, thank you very much, I'm very happy... please leave an email, I would like to do something for the favor!

youtube.com/shorts/J1DJ8W4_v6Y?si=e8J3gdIzHKPtXllS

OK I corrected the .hal file and pins are reversed like you said but unfortunately still same issue no pop up in GUI no indication something wrong. I can move the axis linuxcnc thinks everything is OK.

There is this bracket ']' to remove:


line 27
#<y_gap_o> = #<_ini[tool_slot_delta]y_gap>]


line 72
#<y_gap_i> = #<_ini[tool_slot_delta]y_gap>]

now

Good, thanks for verifying the servos are programmed appropriately.

Right now, your HLFB pins are HIGH (conducting) when the servos are enabled and OK.  Since you have the inputs connected to your amp-fault-in pins like:

LCNC thinks there is a fault when the servos are saying everything is OK.  Here's the LCNC manual section (motion):

joint.N.amp-fault-in IN BIT should be driven TRUE if an external fault is detected with the amplifier for this joint.

Try changing the HLFB input pins to 'not' like so:
At that point, the joint.N.amp-fault-in pins should be HIGH when the servos are not enabled, and go LOW when they are enabled and OK.

Once you're at that point, you can test by pulling the encoder cable off the motors and see if it causes the amp-fault-in to go high (hopefully).

If you still need a delay we can work on that next.

I think the problem is, not using uppercase letter. This should work:

Y_GAP = -206

spumco wrote:

There is no perceptible rotor cogging when you spin them by hand. 

Nice to know, thank you for taking the time to explain that.

yes exactly

Did you add this to the .ini file, the  line with y_gap ?


[TOOL_SLOT_DELTA]
X = 0
Y = -111
Z = 0
y_gap = -206

now the first three slots work as usual, if I select the fourth one when returning the tool to one of the first three I get this error

Hello everyone,

I’m experiencing some odd behavior when jogging in the G54 coordinate system. When I jog from X0 Y0 to X100 Y0, the Y-axis deflects slightly, as if a small rotation or compensation is being applied. The final reported position is X100 Y0.084. The Z-axis is not affected. A similar issue occurs in the opposite direction: when I jog along the Y-axis, the X-axis also deflects. However, if I issue an MDI command to move to X100, the Y-axis remains unchanged, which is the expected behavior. When I switch to G55 or G56, everything works as intended—there is no coupling or linkage between the X and Y axes. I’ve attached a screenshot showing the issue: first I moved from X0 to X100 using an MDI command, then manually jogged back. You can clearly see the Y-axis deflection during the jog. I have already cleared all work coordinate systems, but the problem persists specifically with G54.

Any help would be greatly appreciated.
Greetings,
Sandro