Clearpath HLFB amp.joint.delay

Just got back to it, have screen shots showing HLFB input pins inactive and active with machine enable ( think I did this correct) Two things only have the x axis active everything else commented out. Wasn't sure how to configure the output portion at the moment i have one output to enable the drives and the second thing was should the x axis fault with this config when i disconnect it at the moment it does not.

I think I need (joint.X.amp-fault-in) but not sure correct spot to insert.

net joint.X.amp-fault-in whatever_input_pin
That is all you need to add to hal file for each joint.

Do U replace this section
# HLFB is true when enabled *and* following
net hlfb_x  hm2_7i76e.0.7i76.0.0.input-16-not 
net hlfb_y  hm2_7i76e.0.7i76.0.0.input-17-not
net hlfb_y2 hm2_7i76e.0.7i76.0.0.input-18-not
net hlfb_z  hm2_7i76e.0.7i76.0.0.input-19-not
net hlfb-a  hm2_7i76e.0.7i76.0.0.input-20-not

With net joint.X.amp-fault-in whatever_input_pin

? Thanks 

net joint.X.amp-fault-in hm2_7i76e.0.7i76.0.0.input-16-not
etc...

made the changes but errors

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: function 'and2.4' not found
./custom.hal:5: addf failed
18633
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

 

and2.n should be ranged from 0, not from 3, so
and2.0
and2.1
and2.2
and2.3

Thank You for that looks like the .hal file is correct now I am assuming I dont have correct settings in the motors thought it would fault if power/loss of com .

or am I missing a config for that? 

Thanks

Remove everything except timedelay and fault inputs.
-
I still have no idea what your issue is, i am replying to your queries as they come.
Such errors should not be triggered when drives are enabled, so that might well be drive issue.

Fastfred wrote:

Thank You for that looks like the .hal file is correct now I am assuming I dont have correct settings in the motors thought it would fault if power/loss of com .

or am I missing a config for that? 

Thanks
 

This is why I suggested the FIRST thing was to verify/edit the motor programming using the Clearpath software.

You cannot successfully edit/adjust HAL unless you know exactly what the motor(s) HLFB output is doing under various conditions.

Power up the motors - no need to enable in LCNC - connect a Windows computer to the motors and open the Clearpath software.  Verify that all motors' HLFB output is set to 'Servo On.'

Check your LCNC input pins are working correctly.  You can enable/disable the motors using the Clearpath software (overriding LCNC's output). 

While you enable/disable the motors via Clearpath software, two things should happen:

• The Clearpath software display should show 'servo on' in the output monitor
• LCNC halshow input pins should be high/yellow when enable is true, and low/dark when the motor is not enabled

 


@tommylight - Clearpath motors have no separate drives.  The motors are supplied with DC power and all programming/control stuff is mounted internally in the motor itself.  They have three inputs (enable + A + , and a single output (HLFB) that can be programmed to do different things.