trying to get 8i20 moving

anyone got a mi to look thru my config not getting movement yet!

I think for bldc "iq" mode you need to set the bldc.N.init pin high to start the alignment sequence and start commutation. Maybe connect to the amp-enable pins?

Also, a minor point, but you should move all the other addf statements to above the hm2_write function for best performance.

Thanks, it's been 12years since my last config.

So below code seems to get the z motor reference done, but I'm scratching round like a chook trying to find anything to connect bldc.init-done  that will let the motor do the iq move without throwing a joint axis error.  It was suggested to connect it to estop, but this would mean id need to transfer estop to classicladder.  (Probably)
Is it feasible to assign a big value to following error and assign it smaller with classicladder once init-done is set?
I'm open to any suggestions.

########
# Z [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable

net enabble-1 joint.1.amp-enable-out => hm2_5i22.0.7i72.0.1.output-12
# net emcmot.01.enable <= joint.1.amp-enable-out
# bldc stuff
#pos command stuff
net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
net motor.01.command pid.1.output => bldc.1.value
net motor.01.current bldc.1.out => hm2_5i22.0.8i20.0.5.current

net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI

# commutation angle signals
net motor.01.rawcounts hm2_[HOSTMOT2](BOARD).0.encoder.01.rawcounts => bldc.1.rawcounts
net motor.01.index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable => bldc.1.index-enable
net motor.01.angle bldc.1.rotor-angle => hm2_5i22.0.8i20.0.5.angle


# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [JOINT_1]INPUT_SCALE

# set PID loop gains from inifile
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT

 

Maybe the answer is to disconnect the axis position feedback until init-done is set?

I would suggest using a mux for this, switched by init-done, so that it passes position-cmd to position-fb when init-done = 0 and actual position feedback when init-done is true.

Hopefully(?) motor-pos-cmd = 0 and the final position = 0 when the switch occurs.

I connected the minferror/maxferror to classicladder when init-done is 0, ferror is 6mm, it can become less when its 1.

If you are loading CL _just_ to do this then the mux HAL component might be less overhead. If CL is doing other things too then this is probably a reasonable solution.

Yeah I'm using cl for turret and a few other things.