MESA 5i23 7i44 7i49 7i37 8i20

More
11 years 3 months ago #60825 by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thank You for help Me. :)

I was used your hal and ini files but still the same err.
If I try "Manual control [F3]" then was generated err: "joint 0 following error"

And this err was generated during start LinuxCnc:

Pin 'axis.0.vel-cmd' does not exist

I was rem this line (on each axis) and then system started without any errors.
#net x-vel-cmd axis.0.vel-cmd => pid.0.command-deriv

How I repair this err (correctly)?


Motors generated small noise and dont turn. Only if I moving axis by hand, then motors make gentle resistance (by magnetics poles).
Your INI and Hal files contains several tiny err. eg case sensitive rules in linux (names variables). Its OK. :)

Please Log in to join the conversation.

More
11 years 3 months ago #60829 by andypugh
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: If I try "Manual control [F3]" then was generated err: "joint 0 following error"

This is probably because your motor commutation is not set up correctly. But I have just noticed that for reasons I can't remember my X-axis is 8i20.0.2, my Y axis is 8i20.0.1 and Z is 8i20.0.3. This is probably not how you have your drives set up, so that is the first thing to check. Clearly LinuxCNC won't be able to control the axes if it is trying to control the wrong drives for each axis.
You could consider using the "use_serial_numbers" option to make it easier to work out which drive is which, but that does change all the HAL pin names of smart-serial devices like the 8i20. I thought that this was documented, but it doesn't seem to be...
Code:
loadrt hostmot2 use_serial_numbers=1
will give you pin names like hm2_8i20.1234.current rather than hm2_5i23.0.8i20.0.1.current, where 1234 are the last digits of the serial number on the sticker on the board.

It is very likely that the amplifier numbering is not the only problem causing the following errors

solving the f-errors needs to be worked on, but first LinuxCNC needs to start.

Pin 'axis.0.vel-cmd' does not exist

In the non-JA branches the pin name is axis.N.joint-vel-cmd. It has a different name in the verso of LinuxCNC that my machine is using, which is causing many of the problems.
(all the motion pins are listed in the motion manage, click "documentation" in the bar at the top of this screen, then "all documentation in html" then scroll down to "realtime components" and click "motion" )

Please Log in to join the conversation.

More
11 years 3 months ago #60830 by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thanks. :)

btw, I have four drivers and motors (X axis is two motors conf.).
But, only one motor on X axis is mechanical joint to pulley.

Only one motor on X axis is config in HAL file. I have three axis (servo) configuration.

- Why all (four servo & motors) are doing the same (no)movements?
- When only three are configured in HAL?
:(

Please Log in to join the conversation.

More
11 years 3 months ago #60833 by andypugh
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: - Why all (four servo & motors) are doing the same (no)movements?
- When only three are configured in HAL?


I don't know yet, but we will figure it out eventually.
Are you now confident that the x-axis commands and feedback are going to the 8i20 that drives the X axis motor?

Please Log in to join the conversation.

More
11 years 3 weeks ago #63433 by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Hi Andy,
I was installed new copy LinuxCNC and solved new problems.
My HAL is stopped in this error:
Code:
Shutting down and cleaning up LinuxCNC... Killing task linuxcncsvr, PID=8477 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: 5i23_sample.hal:51: Pin 'hm2_5i23.0.8i20.0.2.angle' does not exist 8477 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components

Do you help Me please?

this is my actually HAL file:
Code:
loadrt trivkins loadrt motmod servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config="firmware=hm2/5i23/RMSVSS6_8.BIT" loadrt bldc cfg="a,a,a" #loadrt bldc count=3 loadrt pid num_chan=4 loadrt sum2 count=1 loadrt logic names=estop-sw personality=0x103 loadrt oneshot #loadrt near count=1 #loadrt and2 count #loadrt bldc count=3=1 #loadrt or2 count=1 setp hm2_5i23.0.watchdog.timeout_ns 10000000 addf hm2_5i23.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread #addf pid.3.do-pid-calcs servo-thread addf bldc.0 servo-thread addf bldc.1 servo-thread addf bldc.2 servo-thread #addf bldc.3 servo-thread addf sum2.0 servo-thread #addf and2.0 servo-thread #addf or2.0 servo-thread addf estop-sw servo-thread addf oneshot.0 servo-thread #addf near.0 servo-thread addf hm2_5i23.0.write servo-thread addf hm2_5i23.0.pet_watchdog servo-thread show pin # +++++++X Axis+++++++++ net res-x-cnts hm2_5i23.0.resolver.01.rawcounts => bldc.0.rawcounts net x-index hm2_5i23.0.resolver.01.index-enable <=> axis.0.index-enable #net x-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.0.pos-lim-sw-in axis.0.neg-lim-sw-in axis.0.home-sw-in net x-meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.2.angle setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5 setp hm2_5i23.0.8i20.0.2.current-minlim -7.5 net x-cmd axis.0.motor-pos-cmd => pid.0.command net x-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv net x-fb hm2_5i23.0.resolver.01.position pid.0.feedback axis.0.motor-pos-fb net x-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv setp hm2_5i23.0.resolver.01.velocity-scale -1 net x-pid pid.0.output => hm2_5i23.0.8i20.0.2.current #12 motor 49 pulley 5 leadscrew pitch setp hm2_5i23.0.resolver.01.scale -1.2244898 net amp-enable pid.0.enable setp pid.0.Pgain 0.005 setp pid.0.Igain 1 setp pid.0.Dgain 1 setp pid.0.bias 1 setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 setp pid.0.deadband [AXIS_0]DEADBAND setp pid.0.maxoutput [AXIS_0]MAXOUTPUT setp bldc.0.scale -16777216 setp bldc.0.poles 6 setp bldc.0.lead-angle 0 setp bldc.0.encoder-offset -950000 # +++++++Y Axis+++++++++ net res-y-cnts hm2_5i23.0.resolver.02.rawcounts => bldc.1.rawcounts net y-index hm2_5i23.0.resolver.02.index-enable <=> axis.1.index-enable #net y-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.1.pos-lim-sw-in axis.1.neg-lim-sw-in axis.1.home-sw-in net y-meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.2.angle setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5 setp hm2_5i23.0.8i20.0.2.current-minlim -7.5 net y-cmd axis.0.motor-pos-cmd => pid.0.command net y-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv net y-fb hm2_5i23.0.resolver.01.position pid.0.feedback axis.0.motor-pos-fb net y-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv setp hm2_5i23.0.resolver.01.velocity-scale -1 net y-pid pid.0.output => hm2_5i23.0.8i20.0.2.current #12 motor 49 pulley 5 leadscrew pitch setp hm2_5i23.0.resolver.01.scale -1.2244898 net amp-enable pid.1.enable setp pid.1.Pgain [AXIS_1]PGAIN setp pid.1.Igain [AXIS_1]IGAIN setp pid.1.Dgain [AXIS_1]DGAIN setp pid.1.bias [AXIS_1]BIAS setp pid.1.FF0 [AXIS_1]FF0 setp pid.1.FF1 [AXIS_1]FF1 setp pid.1.FF2 [AXIS_1]FF2 setp pid.1.deadband [AXIS_1]DEADBAND setp pid.1.maxoutput [AXIS_1]MAXOUTPUT setp bldc.1.scale -16777216 setp bldc.1.poles 6 setp bldc.1.lead-angle 0 setp bldc.1.encoder-offset -950000 # +++++++Z Axis+++++++++ net res-z-cnts hm2_5i23.0.resolver.02.rawcounts => bldc.2.rawcounts net z-index hm2_5i23.0.resolver.02.index-enable <=> axis.2.index-enable #net z-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.2.pos-lim-sw-in axis.1.neg-lim-sw-in axis.1.home-sw-in net z-meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.2.angle setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5 setp hm2_5i23.0.8i20.0.2.current-minlim -7.5 net z-cmd axis.0.motor-pos-cmd => pid.0.command net z-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv net z-fb hm2_5i23.0.resolver.01.position pid.0.feedback axis.0.motor-pos-fb net z-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv setp hm2_5i23.0.resolver.02.velocity-scale -1 net z-pid pid.0.output => hm2_5i23.0.8i20.0.2.current #12 motor 49 pulley 5 leadscrew pitch setp hm2_5i23.0.resolver.02.scale -1.2244898 net amp-enable pid.2.enable setp pid.2.Pgain [AXIS_2]PGAIN setp pid.2.Igain [AXIS_2]IGAIN setp pid.2.Dgain [AXIS_2]DGAIN setp pid.2.bias [AXIS_2]BIAS setp pid.2.FF0 [AXIS_2]FF0 setp pid.2.FF1 [AXIS_2]FF1 setp pid.2.FF2 [AXIS_2]FF2 setp pid.2.deadband [AXIS_2]DEADBAND setp pid.2.maxoutput [AXIS_2]MAXOUTPUT setp bldc.2.scale -16777216 setp bldc.2.poles 6 setp bldc.2.lead-angle 0 setp bldc.2.encoder-offset -950000 #E-Stop and machine-on #setp oneshot.0.falling 1 #setp oneshot.0.rising 0 #setp oneshot.0.retriggerable 1 #setp oneshot.0.width 10 #10 second delay before machine can be on after off. #net estop-sw0 estop-sw.in-00 hm2_5i23.0.7i64.0.0.input-06-not #net estop-sw1 estop-sw.in-01 hm2_5i23.0.7i64.0.0.input-07-not #net estop-sw2 estop-sw.in-02 <= oneshot.0.out-not #net estop-loop estop-sw.and => iocontrol.0.emc-enable-in #net amp-enable joint.0.amp-enable-out oneshot.0.in #Servo Power (08) 8i20-enable 12 #net amp-enable hm2_5i23.0.7i64.0.0.output-08 hm2_5i23.0.7i64.0.0.output-12 # create signals for tool loading loopback #loadusr -W hal_manualtoolchange #net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared #net tool-change-req iocontrol.0.tool-change => hal_manualtoolchange.change #net tool-change-out hal_manualtoolchange.changed => iocontrol.0.tool-changed #net start hal_manualtoolchange.change_button #net tool-num hal_manualtoolchange.number <= iocontrol.0.tool-prep-number #net dummy motion.spindle-brake #Coolant pump #net coolant-pump hm2_5i23.0.7i64.0.0.output-06 <= iocontrol.0.coolant-flood #unlinkp hm2_5i23.0.8i20.0.3.current #loadrt mux4 #addf mux4.0 servo-thread #net p1 hm2_5i23.0.7i64.0.0.input-01 mux4.0.sel0 #net p2 hm2_5i23.0.7i64.0.0.input-02 mux4.0.sel1 #net c1 mux4.0.in1 #net c2 mux4.0.in2 #sets c1 0.5 #sets c2 -0.5 #net c hm2_5i23.0.8i20.0.3.current mux4.0.out #probe #net probe hm2_5i23.0.7i64.0.0.input-16-not motion.probe-input #loadusr halmeter -s pin lincurve.0.in #loadusr halmeter -s pin lincurve.0.out #loadusr halmeter -s pin hm2_5i23.0.resolver.03.velocity #loadusr halmeter -s pin hm2_5i23.0.pwmgen.00.value #setp motion.jog-while-paused-enable 1

Please Log in to join the conversation.

More
11 years 3 weeks ago #63435 by PCW
Replied by PCW on topic MESA 5i23 7i44 7i49 7i37 8i20
The error suggests that the 8I20 on sserial port 2 was not found

( the others may not be found either, the 8I20 on sserial channel 2 appears first in the hal file so triggers the fault )


This could be caused by a couple of things

1. No 8I20 connected to sserial channel 2

2. Marginal power to 8I20s. For three 8I20s you will very likely need to supply 5V to the 7I44 if
you use 5V cat5 cable power (CHECK 5V at 7I44) or 24V to the 8I20 low side power (with proper jumper options set)

3. Other possible connection issues (7I44 on wrong 5I23 connection etc)

Please Log in to join the conversation.

More
11 years 3 weeks ago #63453 by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
Thank you for kick me. :)
Supply power on 8I20 is now OK. :woohoo:
HAL passed, EMC started, but EMC says: Joint 0 following error, when I moving with axis X by Manual control [F3].
Motor on axis X is not moving, but counter on EMC window is changed value if I rotated shaft on motor by hand.
Why?
Where is err?

This is my actual HAL:
Code:
loadrt trivkins loadrt motmod servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config="firmware=hm2/5i23/RMSVSS6_8.BIT" loadrt bldc cfg="a,a,a" #loadrt bldc count=3 loadrt pid num_chan=4 loadrt sum2 count=1 loadrt logic names=estop-sw personality=0x103 loadrt oneshot #loadrt near count=1 #loadrt and2 count #loadrt bldc count=3=1 #loadrt or2 count=1 setp hm2_5i23.0.watchdog.timeout_ns 10000000 addf hm2_5i23.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread #addf pid.3.do-pid-calcs servo-thread addf bldc.0 servo-thread addf bldc.1 servo-thread addf bldc.2 servo-thread #addf bldc.3 servo-thread addf sum2.0 servo-thread #addf and2.0 servo-thread #addf or2.0 servo-thread addf estop-sw servo-thread addf oneshot.0 servo-thread #addf near.0 servo-thread addf hm2_5i23.0.write servo-thread addf hm2_5i23.0.pet_watchdog servo-thread #show pin # +++++++X Axis+++++++++ net res-x-cnts hm2_5i23.0.resolver.00.rawcounts => bldc.0.rawcounts net x-index hm2_5i23.0.resolver.00.index-enable <=> axis.0.index-enable #net x-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.0.pos-lim-sw-in axis.0.neg-lim-sw-in axis.0.home-sw-in net x-meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.1.angle setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5 setp hm2_5i23.0.8i20.0.2.current-minlim -7.5 net x-cmd axis.0.motor-pos-cmd => pid.0.command net x-vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv net x-fb hm2_5i23.0.resolver.00.position pid.0.feedback axis.0.motor-pos-fb net x-vel-fb hm2_5i23.0.resolver.00.velocity pid.0.feedback-deriv setp hm2_5i23.0.resolver.00.velocity-scale -1 net x-pid pid.0.output => hm2_5i23.0.8i20.0.1.current #12 motor 49 pulley 5 leadscrew pitch setp hm2_5i23.0.resolver.01.scale -1.2244898 net amp-enable pid.0.enable setp pid.0.Pgain 0.005 setp pid.0.Igain 1 setp pid.0.Dgain 1 setp pid.0.bias 1 setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 setp pid.0.deadband [AXIS_0]DEADBAND setp pid.0.maxoutput [AXIS_0]MAXOUTPUT setp bldc.0.scale -16777216 setp bldc.0.poles 10 setp bldc.0.lead-angle 0 setp bldc.0.encoder-offset -950000 # +++++++Y Axis+++++++++ net res-y-cnts hm2_5i23.0.resolver.01.rawcounts => bldc.1.rawcounts net y-index hm2_5i23.0.resolver.01.index-enable <=> axis.1.index-enable #net y-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.1.pos-lim-sw-in axis.1.neg-lim-sw-in axis.1.home-sw-in net y-meas-angle bldc.1.rotor-angle => hm2_5i23.0.8i20.0.2.angle setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5 setp hm2_5i23.0.8i20.0.2.current-minlim -7.5 net y-cmd axis.1.motor-pos-cmd => pid.1.command net y-vel-cmd axis.1.joint-vel-cmd => pid.1.command-deriv net y-fb hm2_5i23.0.resolver.01.position pid.1.feedback axis.1.motor-pos-fb net y-vel-fb hm2_5i23.0.resolver.01.velocity pid.1.feedback-deriv setp hm2_5i23.0.resolver.01.velocity-scale -1 net y-pid pid.1.output => hm2_5i23.0.8i20.0.2.current #12 motor 49 pulley 5 leadscrew pitch setp hm2_5i23.0.resolver.01.scale -1.2244898 net amp-enable pid.1.enable setp pid.1.Pgain [AXIS_1]PGAIN setp pid.1.Igain [AXIS_1]IGAIN setp pid.1.Dgain [AXIS_1]DGAIN setp pid.1.bias [AXIS_1]BIAS setp pid.1.FF0 [AXIS_1]FF0 setp pid.1.FF1 [AXIS_1]FF1 setp pid.1.FF2 [AXIS_1]FF2 setp pid.1.deadband [AXIS_1]DEADBAND setp pid.1.maxoutput [AXIS_1]MAXOUTPUT setp bldc.1.scale -16777216 setp bldc.1.poles 10 setp bldc.1.lead-angle 0 setp bldc.1.encoder-offset -950000 # +++++++Z Axis+++++++++ net res-z-cnts hm2_5i23.0.resolver.02.rawcounts => bldc.2.rawcounts net z-index hm2_5i23.0.resolver.02.index-enable <=> axis.2.index-enable #net z-home-lim hm2_5i23.0.7i37.0.0.input-14-not => axis.2.pos-lim-sw-in axis.1.neg-lim-sw-in axis.1.home-sw-in #net z-meas-angle bldc.2.rotor-angle => hm2_5i23.0.8i20.0.2.angle setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5 setp hm2_5i23.0.8i20.0.2.current-minlim -7.5 net z-cmd axis.2.motor-pos-cmd => pid.2.command net z-vel-cmd axis.2.joint-vel-cmd => pid.2.command-deriv net z-fb hm2_5i23.0.resolver.02.position pid.2.feedback axis.2.motor-pos-fb net z-vel-fb hm2_5i23.0.resolver.02.velocity pid.2.feedback-deriv setp hm2_5i23.0.resolver.02.velocity-scale -1 #net z-pid pid.2.output => hm2_5i23.0.8i20.0.2.current #12 motor 49 pulley 5 leadscrew pitch setp hm2_5i23.0.resolver.02.scale -1.2244898 net amp-enable pid.2.enable setp pid.2.Pgain [AXIS_2]PGAIN setp pid.2.Igain [AXIS_2]IGAIN setp pid.2.Dgain [AXIS_2]DGAIN setp pid.2.bias [AXIS_2]BIAS setp pid.2.FF0 [AXIS_2]FF0 setp pid.2.FF1 [AXIS_2]FF1 setp pid.2.FF2 [AXIS_2]FF2 setp pid.2.deadband [AXIS_2]DEADBAND setp pid.2.maxoutput [AXIS_2]MAXOUTPUT setp bldc.2.scale -16777216 setp bldc.2.poles 10 setp bldc.2.lead-angle 0 setp bldc.2.encoder-offset -950000 #E-Stop and machine-on # estop loopback net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in #setp oneshot.0.falling 1 #setp oneshot.0.rising 0 #setp oneshot.0.retriggerable 1 #setp oneshot.0.width 10 #10 second delay before machine can be on after off. #net estop-sw0 estop-sw.in-00 hm2_5i23.0.7i64.0.0.input-06-not #net estop-sw1 estop-sw.in-01 hm2_5i23.0.7i64.0.0.input-07-not #net estop-sw2 estop-sw.in-02 <= oneshot.0.out-not #net estop-loop estop-sw.and => iocontrol.0.emc-enable-in #net amp-enable joint.0.amp-enable-out oneshot.0.in #Servo Power (08) 8i20-enable 12 #net amp-enable hm2_5i23.0.7i64.0.0.output-08 hm2_5i23.0.7i64.0.0.output-12 # create signals for tool loading loopback #loadusr -W hal_manualtoolchange #net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared #net tool-change-req iocontrol.0.tool-change => hal_manualtoolchange.change #net tool-change-out hal_manualtoolchange.changed => iocontrol.0.tool-changed #net start hal_manualtoolchange.change_button #net tool-num hal_manualtoolchange.number <= iocontrol.0.tool-prep-number #net dummy motion.spindle-brake #Coolant pump #net coolant-pump hm2_5i23.0.7i64.0.0.output-06 <= iocontrol.0.coolant-flood #unlinkp hm2_5i23.0.8i20.0.3.current #loadrt mux4 #addf mux4.0 servo-thread #net p1 hm2_5i23.0.7i64.0.0.input-01 mux4.0.sel0 #net p2 hm2_5i23.0.7i64.0.0.input-02 mux4.0.sel1 #net c1 mux4.0.in1 #net c2 mux4.0.in2 #sets c1 0.5 #sets c2 -0.5 #net c hm2_5i23.0.8i20.0.3.current mux4.0.out #probe #net probe hm2_5i23.0.7i64.0.0.input-16-not motion.probe-input #loadusr halmeter -s pin lincurve.0.in #loadusr halmeter -s pin lincurve.0.out #loadusr halmeter -s pin hm2_5i23.0.resolver.03.velocity #loadusr halmeter -s pin hm2_5i23.0.pwmgen.00.value #setp motion.jog-while-paused-enable 1

Please Log in to join the conversation.

More
11 years 3 weeks ago #63455 by kenny
Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20
I have next question:
Why I have only two channel number (1 and 2) in variables eg: hm2_5i23.0.8i20.0.1.xxxx and hm2_5i23.0.8i20.0.2.xxxx ?
www.linuxcnc.org/docs/html/man/man9/sserial.9.html#DEVICES
Still I have only two channels of RS422 board...
How do I add other channel (0 or 3) number for config all axis?

List part of my HAL (show pins param)
Code:
11 float IN 0 hm2_5i23.0.8i20.0.1.angle 11 float OUT 0 hm2_5i23.0.8i20.0.1.bus-voltage 11 float OUT 0 hm2_5i23.0.8i20.0.1.card-temp 11 float IN 0 hm2_5i23.0.8i20.0.1.current 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.U-current 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.U-current-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.V-current 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.V-current-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.W-current 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.W-current-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-high 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-high-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-overv 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-overv-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-underv 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.bus-underv-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.framingr 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.framingr-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.module 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.module-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.no-enable 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.no-enable-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overcurrent 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overcurrent-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overrun 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overrun-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overtemp 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.overtemp-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.watchdog 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.fault.watchdog-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-old 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-old-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-on 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.brake-on-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.bus-underv 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.bus-underv-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.current-lim 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.current-lim-no 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.ext-reset 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.ext-reset-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.no-enable 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.no-enable-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.pid-on 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.pid-on-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.sw-reset 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.sw-reset-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.wd-reset 11 bit OUT FALSE hm2_5i23.0.8i20.0.1.status.wd-reset-not 11 float IN 0 hm2_5i23.0.8i20.0.2.angle 11 float OUT 0 hm2_5i23.0.8i20.0.2.bus-voltage 11 float OUT 0 hm2_5i23.0.8i20.0.2.card-temp 11 float IN 0 hm2_5i23.0.8i20.0.2.current 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.U-current 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.U-current-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.V-current 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.V-current-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.W-current 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.W-current-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-high 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-high-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-overv 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-overv-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-underv 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.bus-underv-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.framingr 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.framingr-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.module 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.module-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.no-enable 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.no-enable-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overcurrent 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overcurrent-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overrun 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overrun-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overtemp 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.overtemp-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.watchdog 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.fault.watchdog-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-old 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-old-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-on 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.brake-on-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.bus-underv 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.bus-underv-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.current-lim 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.current-lim-no 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.ext-reset 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.ext-reset-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.no-enable 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.no-enable-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.pid-on 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.pid-on-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.sw-reset 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.sw-reset-not 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.wd-reset 11 bit OUT FALSE hm2_5i23.0.8i20.0.2.status.wd-reset-not

Please Log in to join the conversation.

More
11 years 3 weeks ago #63464 by andypugh
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: HAL passed, EMC started, but EMC says: Joint 0 following error, when I moving with axis X by Manual control [F3].


This is very likely to happen until the PID is set up. You will also have to work out the correct number for the setp bldc.0.encoder-offset parameter. There may be a scientific way to do it, but I ended up trying differen values until the motor ran the same speed in both directions for a fixed current (ie, not under PID control)

(And do you really have 10 pole motors?)

Please Log in to join the conversation.

More
11 years 3 weeks ago #63465 by andypugh
Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: I have next question:
Why I have only two channel number (1 and 2) in variables eg: hm2_5i23.0.8i20.0.1.xxxx and hm2_5i23.0.8i20.0.2.xxxx


Your HAL file has a bit of a problem, as both Y and Z axes seem to be trying to use the same 8i20. (0.2)

I don't know why you are not seeing all three 8i20s, do they all show the same pattern of flashing lights?

Please Log in to join the conversation.

Time to create page: 0.262 seconds
Powered by Kunena Forum