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I tried your config in mode 34 but instead of finding the index pulse it just zeroes the current position.
Although after that if I unhome a joint and then home it again it goes to the initial postion (even multiple turns if it was moved that much).

I have also tried with other homing modes but it results in the same situation.

Kind regards

It was the limits and stock offset in Fusion. Once I changed that it ran. I have a differential encoder for the spindle ordered so that's next. Thank you for all the help to get it running.

You modify cia402.0.pos-scale. It should be "increments per machine unit".
rodw mentioned earlier in the thread how to calculate it.
For example if the servo encoder has 4000 increments per revolution and the ball screw pitch is 5mm, you enter 4000/5 = 800 increments/mm.
That's close to line 50 in the cia402.hal file.
setp cia402.0.pos-scale 800
 

HI meister:

Thanks for your reply.

I will test that later.thank you very much

and I have a promblem about w5500 spi clk:
I tested the joint.n.f-error seem biger than mesa card,
my PID is: P=1000 I=0 D=0,when i jog x axis,the joint.0.f-error is about 0.05mm
if i set P=0,I=0,D=0,when i jog x axis Exceed about 800mm,the "joint 0 following error" pop up（I set FERROR=3）
The difference between the feedback value and the command value is getting bigger and bigger
I know when i used a low speed run the axis,the f-error is good for me, I'm just a little curious, it's related to the spi clock?

Thanks

Tim
 

Still have some tweaking to do but I think this is about how it'll be...

 

IMHO that bug has been fixed with a recent patch.
So using gmoccapy 3.4.9 should solve that.

Norbert

Congrats!

So... for future reference what settings/changes did you wind up making?

Ok. Your new code works a lot better.

With the given 9axis sim machine everything works as it should I think.

But, if you use a my 4axis testmachine (very high kinematic values) than you are able to stop the tp and also get trouble with the axis screen. But nevertheless. Under normal circumstances the 4axis testmachine works now also without axis screen problems.

Oh you are using 2.9.3 I'll ret again tonight.

Grotius,

I tested it with "20.0 and a max jerk of 20.000". With this settings the tp dont stop. Try stupidly high values (jerk 20.000.000 for example) and you will see, that anywhere in the override range of 500% to 1500% the tp stops. I think something overflows...

To be clear. I dont WANT to find a bug. I found it because I wanted to test different codes the fast way