Thanks to all, the cause was a faulty cable connected to 7i76, today with new cable all pins load with correct names.
There is a configurations on main hal file that i think is wrong, i have this lines for X axis:
Code:
# ---closedloop stepper signals---
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <= hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
The x-pos-fb signal cannot be connected to hm2_5i25.0.stepgen.00.position-fb and to hm2_5i25.0.encoder.00.position.
The first is for stepper motor without erncoder. I have servo motor with encoder, the driver input signal is step and dir.
I can connect
x-pos-fb to
hm2_5i25.0.encoder.00.position and remove the first line is correct?
Another question is about PID, the main HAL load PID module but using step and dir signals can I remove it and all related configuration or not?
