Trying to set up position control mode

Hi PCW,

I have wired this up like you said. When I set the P value to 1000 we have continuous motion that doesnt stop and when I set it to 0 it moves a short while and then stops.

Thanks,

jblanscett

upload the hal and ini files here so we can have a look.

I would agree with Tom here, that there's something basic wrong with the hal  or ini files.

(my guess would be no position feedback connection from the steppgens)

Here are the Hal and Ini files

From a very quick and short glance, what is this
setp axis.x.jog-accel-fraction 0.3
doing inside the hal file?
Probably not the exact issue, as i still think there is something terribly wrong with the wiring, but the symptoms are not that clear cut to be able to pinpoint.
Check with scope how the signal between signal pins on Mesa and drive look in relation to gnd and machine/box ground look, might be ground interference at 50 or 60Hz causing it.

setp [HMOT](CARD0).stepgen.00.control-type 0

Is wrong, it should be:

setp [HMOT](CARD0).stepgen.00.control-type 1

(for all joints)

 

Hi Tommy and PCW,

Tommy, I will grab our scope and let you know what the signal looks like as soon as possible. I commented out the acceleration fraction line. 

PCW, when I changed the control type to 1. In order to get any motion afterwards, I had to change 

net x-output   <= [HMOT](CARD0).stepgen.00.postion-cmd

to

net x-output   <=[HMOT](CARD0).stepgen.00.velocity-cmd

Then, no matter what value I change the P value to, as soon as an input is put in, the motor starts and doesn't stop. If I add more inputs going in the same direction, the motor speeds up. If I add them in the other direction, the motor slows down. 

Thanks,

jblanscett

Here is a picture of our oscilloscope readings

I have the first probe connected to the signal and the second probe connected to the mesa ground and the electrical box ground.

When you say the motor moves, are you saying the DRO is changing
when no commanded motion is requested?

Do you get a following error?