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I'm currently using PNCconf to set up my 7i96S board. So far, everything works fine when using stepgen for motor control. However, I'm running into an issue when switching to encoder-based feedback in a closed-loop setup. Specifically, whenever I try to home the joint using the encoder, I encounter a following error (the traveled distance until Error increases when i enlarge the "FERROR"). The stepgen setup homes without any problems, so it seems the issue is related to the encoder configuration. I'll upload my config in case anyone wants to take a look. I'd really appreciate any help or suggestions!

MAX_VELOCITY on both.

Wow, that's amazing. Did each of the eight heads move on the X-axis independently? I wish you could help me; I think I bit more than I can chew. I downloaded your files, and I feel lost. I am trying to retrofit this bystronic dual head water jet, it looks like a mess. I have all the axis moving, but I can't get the XHC-WHB04B-6 to work. I have not picked a GUI yet, and I  have no clue of how to modify  one , it sounds easy reading about things but doing it seem to be another issue, I just really need help  

Yes, I have looked in there and I only see max spindle override and max feed override. I do not see max velocity override or max rapid override. Not in my .ini file or any of the qtdragon .ini's. Maybe I should try and add those? Like MAX_VELOCITY_OVERRIDE =x.x and MAX_RAPID_OVERRIDE =x.x ?

Edit: And I just tried it, no change. Adding those into display with the feed and spindle did nothing.

Murphy wrote:

Thanks Cakeslob, I forgot your using the stm32 :/ the code in the hal file is the same for 0-10v and PWM ? Just the gain determines the difference?
In my VFD there is an option for 0-10v, 0-5v and external digital signal. Is it 0-5v or digital signal for PWM ?
@scotta , any ideas why it's doing this?

the gain thing was my mistake, they are both the same. remora outputs pwm, and if your hardware has a 0-10v, it will convert it to analog with the op-amp hardware circuit. digital signal might be referring to PWM

Those drives can not do more than 3-3.5A, but that might still not be the issue, i doubt the new motors are of very high inductance, so can you measure the resistance between the windings?
The old motor, is it unipolar or bipolar? How many wires does it have?
If 5 wires = do not use with new drives
If 4 or 6 or 8, try to use it with the new drives, just mind the windings.

Those should be in the ini file, the DISPLAY and TRAJ sections.

hey spyder, the y axis is the one you want to copy, that sounds like the proper one. , so after it homes, i think home offset is where it goes after homing. if you set the home offset to be off the switch, it should be able to home the next one. observe how and where your y axis is going, and copy it to the other axis, it will involve inverting these numbers to be negative or positive. refer to the manual for verification of which direction does what.

If anyone thinks this should be in it;s own thread, let me know, but I still have a few questions about the GUI.

There are override sliders for max velocity, rapid, feed rate, and spindle. The max velocity and rapid default at 100%, shiny. The problem is that 100% is about 3X more than my machine can move. It says its 12000 for both. Need to be set at ~3600 each. Been looking through the config files and I am not seeing those numbers anywhere. Where do they come from?

Pic attached
 

Off On Off Off Off Off which is 8 steps as I have it configured in stepconf and max current which i believe is 4.2 A with the TB6600. Nothing gets the slightest bit warm. Original stepper was a nema 23 but round bodied and smaller than the 425ox (I only have one, The guy I bought it from had removed the Z stepper and fitted an electric drill to the shaft).

What are the drives set to?
What motors were there originally?

In the ini file
HOME_SEARCH_VELOCITY
HOME_LATCH_VELOCITY
HOME_FINAL_VELOCITY
Any of those you have, set to some reasonable value in machine units per second.

Murphy wrote:

I'll try and find my old .hal file for my mill tomorrow , I  got that working with prox and limit switches, I think they were all wired to one input also. It was with a BOB though not remora 

I think it homes one axis at a time. Hits the switch backs back off again a set amount. Then moves on to the next axis and so on 
 

Yes, that is how my homing works. Z first (don't want anything attached to the bed to crash into the head, then X, and finishes up with Y. That part works great, with a little odd behavior with the Y as it for some reason hits, backs up and comes at it again real slow, like it's probing, then jumps off a few mm and zeros like the other 2 axis. Attempting to add in the limit sw config, Z will home properly and then reports that a limit switch was tripped and the homing process is stopped dead.

The 7I96S has two internal voltages regulated down from the 5V supply
3.3V and 1.2V The power LED monitors the 3.3V used for most logic.