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I found the parameter:     36  u32   RW     0x000007D0  hm2_5i25.0.pwmgen.pwm_frequency through halcmd
Now the motor partially spins. The PWM signal is set at 2 khz and scale of 5.0 and when I click the jog '+' button in axis, the motor had two distinct activation ( it spins for a quater turn, stops and then spins a couple of turns in the same direction) I measured the PWM voltage on mesa 7i76 board it matches the observations with a small 0.25 volts spike right after the click, it goes back to zero and then goes to 4.8 volts.
The same small voltage spike also exist in direction output too and this spike when I click '-' button makes the motor turn a quarter turn in reverse direction, stop and then turns in the same direction as the '+' jog button would make it spin.
I have uploaded the HAL config I used for this testing, it has fake position feedback to mitigate joint follow error which I tried widening the max error allowed but nothing worked.
Is there a way to suppress that initial voltage spike? Or am I doing something wrong in the HALfile?


 
 

unknown wrote:

The older versions are suitable for ethercat, the latest versions have a kernel that ethercat doesn't support.
 

That may have been resolved by the etherlabmaster guys by a recent commit on their  repo. We install from their repo so any changes flow through via their Buildbot without further action other than an apt update if an existing install or reinstalling the image.