Joint following error with SSI ABS encoder

hi all,

I am using SSI ABS ENCODER for my system.
I connect and check the encoder data is correctly.

But when I turned on my system then I got the error "Joint following error"

My hal examp:

net J0pos hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd <= joint.0.motor-pos-cmd
net j0-pos-fbss  hm2_7i80.0.ssi.00.yencoder
net j0-pos-fbss => joint.0.motor-pos-fb

The hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd = hm2_7i80.0.ssi.00.yencoder
but hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb = 0
so when i turn on my system then my joint will move to have hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd = hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb 
it will make the error "Joint  x following error"
can you help me check it?



thanks

Typically you would not use stepgen position mode (or stepgen position feedback)
when you have encoder feedback

PCW wrote:

Typically you would not use stepgen position mode (or stepgen position feedback)
when you have encoder feedback
 

thank you for your answer,but How can i change mode of stepgen?

thank you very much

i added "loadrt stepgen step_type=0,0,0,0,0 ctrl_type=v,v,p,p,p" 
But it didn't fix this error. When i turn on my machine then joints will auto move to position of abs encoder.
 

Are you configured with HOME_ABSOLUTE_ENCODER in the INI file?

If the stepgen feedback is not changing then it seems that the stepgen is not stepping....

Is the ....stepgen....enable pin set to true?

For this to work, you need a PID loop
to set the velocity. Since you are using Mesa
hardware, I would use a pncconf created hal/ini file
as a template for the PID connections