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So i have 1000 count TTL encoders and a 2 to 1 pully with 5 TPI on all axis. Should be 10,000 count per inch but i had to go up to 40,000 counts to get it to where an inch on screen = 1 inch. The encoders are counting in the right direction, I can enable the drives and they start drifting in the negative direction. When i try yo jog them it does nothing.
Thank you for all your help !!!

Yes, that alone may not be sufficient, _but_ setting the deadzones to 0 is
necessary to proceed further.

You still need to determine if the encoder scaling is correct and in the correct
direction (you can do this with the drives powered down)

Then you need to get the feedback in the correct direction (if it's backwards you will
get a runaway when first enabled)

When these are done, you can begin to tune the PID settings.

Hello,
I have an output signal to a relay, and an input signal from the other side of that relay (to confirm that the relay had contacted or not). Is there a way in HAL (besides writing my own comp) to monitor the input signal and make sure it matches the output signal within a timeframe, and otherwise signal an error if the signals don't match?
Thanks in advance!

So i set them all to zero and still no control of the servos.

If you set the deadzone to 1, you will need 1 inch of error before you get any PID output.
This is why you have a position error but no PID output so no PWM --> voltage output.

As said before, set all PID deadzone values to 0.
 

I have never used Virtualbox with qtvcp so have no experience.
I have not seen that specific problem on any of my systems either.
I would try a native system any see the difference.
Sorry i can't help further.

I have now this list of PDOs and one SDO.
Default values are in the PDO/SDO.
I have also changed Digital Input and Digital Output data types. I will provide an example ethercat-conf.xml

 

I set all dead bands to 1. When I try to jog the machine the joint pos cmd moves in halshow but the joint pos fb does not.. Its like the card is not talking to my drives

sudo apt install python-pip
sudo python -m pip install -U pyocd
sudo pyocd flash remora-rt1052-3.1.3.bin --target mimxrt1050_quadspi

There's a +.5281 difference in joint 0 position and feedback

23 float OUT -0.0911 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -0.6192 joint.0.motor-pos-fb <== joint-0-pos-fb

This should result in a 0.5281 PID output (when P=1) which is connected
to the PWM value, but in fact, the PWM value is zero:

30 float IN 0 hm2_7i97.0.pwmgen.00.value <== joint.0.output

Did you set all deadzones to zero?