I configured hal as below.
But I am not sure if it is true.
Anyway, homing had the same result as before.
I would appreciate it if you could check my hal settings.
Code:
setp pid.a.Pgain [JOINT_3]P
setp pid.a.Igain [JOINT_3]I
setp pid.a.Dgain [JOINT_3]D
setp pid.a.bias [JOINT_3]BIAS
setp pid.a.FF0 [JOINT_3]FF0
setp pid.a.FF1 [JOINT_3]FF1
setp pid.a.FF2 [JOINT_3]FF2
setp pid.a.deadband [JOINT_3]DEADBAND
setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror 0.012700
#net encoder-counts <= 5A-75B:V8.2.encoder.03.counts
net a-index-enable => pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-pos-fb => pid.a.feedback
net a-output <= pid.a.output
# Step Gen signals/setup
setp 5A-75B:V8.2.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp 5A-75B:V8.2.stepgen.03.steplen [JOINT_3]STEPLEN
setp 5A-75B:V8.2.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp 5A-75B:V8.2.stepgen.03.dir-hold-time [JOINT_3]DIRHOLD
setp 5A-75B:V8.2.stepgen.03.dir-setup-time [JOINT_3]DIRSETUP
setp 5A-75B:V8.2.stepgen.03.max-velocity [JOINT_3]MAX_VELOCITY
setp 5A-75B:V8.2.stepgen.03.max-acceleration [JOINT_3]STEPGEN_MAXACCEL
# ---closedloop stepper signals---
net a-pos-cmd <= joint.3.motor-pos-cmd
net a-vel-cmd <= joint.3.vel-cmd
net a-output => 5A-75B:V8.2.stepgen.03.velocity-cmd
net a-pos-fb <= 5A-75B:V8.2.encoder.03.position
net a-pos-fb => joint.3.motor-pos-fb
net a-enable <= joint.3.amp-enable-out
net a-enable => 5A-75B:V8.2.stepgen.03.enable => 5A-75B:V8.2.gpio.j1:3.out
# ---Encoder feedback signals/setup---
setp 5A-75B:V8.2.encoder.03.x4-mode 1
setp 5A-75B:V8.2.encoder.03.position-scale [JOINT_3]ENCODER_SCALE
#net a-pos-fb <= 5A-75B:V8.2.encoder.03.position
net a-vel-fb <= 5A-75B:V8.2.encoder.03.velocity
net a-index-enable joint.3.index-enable <=> 5A-75B:V8.2.encoder.03.index-enable
net a-pos-rawcounts <= 5A-75B:V8.2.encoder.03.raw-counts
setp 5A-75B:V8.2.stepgen.03.velocity-mode 1
# ---setup home / limit switch signals---
net a-home-sw <= 5A-75B:V8.2.gpio.j16:6.in-not
net a-home-sw => joint.3.home-sw-in
