Joint 0 following error. Error on axis 0, command number X

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8 years 10 months ago #102997 by AndrewHsasku
Joint 0 following error. Error on axis 0, command number X was created by AndrewHsasku
I am trying to develop my configuration.
At the moment I am having problem with error
Code:
Joint 0 following error
printed in linuxCNC and
Code:
Error on axis 0, command number X
printed in terminal.
No idea what I miss in .ini/.hal/.c. Projects uses trivkins and pid. FERROR for each axis is set to 1. LinuxCNC is installed on VirtualBox. When starting I also receive an error
Code:
Unexpected realtime delay on task 1
. Latency is nearly 1s (nothing strange when it is installed on virtual machine).
What would be a reason of this error: something missed or just latency?

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8 years 10 months ago #102999 by BigJohnT
Replied by BigJohnT on topic Joint 0 following error. Error on axis 0, command number X
You can't run LinuxCNC from a Virtual Box as it's not real time.

JT

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8 years 10 months ago #103004 by PCW
Replied by PCW on topic Joint 0 following error. Error on axis 0, command number X
If you are just testing the driver and don't care about motion behaviour you can loop back the
commanded position to the feedback position and avoid following error faults

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8 years 10 months ago #103008 by AndrewHsasku
Replied by AndrewHsasku on topic Joint 0 following error. Error on axis 0, command number X
Looping feedback and position changes nothing.
Thats part of my hal:
Code:
# THREADS # ################################################ addf driver.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf x-pid.do-pid-calcs servo-thread addf y-pid.do-pid-calcs servo-thread addf z-pid.do-pid-calcs servo-thread addf a-pid.do-pid-calcs servo-thread addf driver.write servo-thread # PID # ################################################ setp z-pid.Pgain 1.0 setp z-pid.Igain 0.0 setp z-pid.Dgain 0.0 setp z-pid.FF0 0.0 setp z-pid.FF1 1.0 setp z-pid.FF2 0.0 setp z-pid.deadband 0.01 setp z-pid.maxoutput 200.0 net z-enable axis.2.amp-enable-out => z-pid.enable driver.axis_z.enable net z-pos-cmd axis.2.motor-pos-cmd => z-pid.command net z-pos-fb driver.axis_z.position => z-pid.feedback axis.2.motor-pos-fb net z-vel-cmd z-pid.output => driver.axis_z.velocity net z-fault driver.axis_z.fault => axis.2.amp-fault-in

My functions write and read do not execute

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8 years 10 months ago #103012 by PCW
Replied by PCW on topic Joint 0 following error. Error on axis 0, command number X

net z-pos-cmd axis.2.motor-pos-cmd => z-pid.command
net z-pos-fb driver.axis_z.position => z-pid.feedback axis.2.motor-pos-fb



You did not loop back command to position, that would be done something like this:

net zpos axis.2.motor-pos-fb axis.2.motor-pos-cmd

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8 years 10 months ago #103014 by AndrewHsasku
Replied by AndrewHsasku on topic Joint 0 following error. Error on axis 0, command number X
Yeah, pasted one is my original code before changes. I have tried suggested changes rather like below and it didn't helped
Code:
net z-pos-cmd axis.2.motor-pos-cmd => z-pid.command net z-vel-cmd z-pid.output => z-pid.feedback axis.2.motor-pos-fb

Anyway just feed backing this way will just omit my driver.
Inside driver code, in read function, just for current tests, there is cloning data from driver.axis_z.velocity to driver.axis_z.position. However as far, read function do not execute.

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8 years 10 months ago #103016 by PCW
Replied by PCW on topic Joint 0 following error. Error on axis 0, command number X
if you want to avoid the fault and still be able to run without looping back command to feedback, you could always set ferror
and min_ferror to 1e30 or some such

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8 years 10 months ago #103028 by AndrewHsasku
Replied by AndrewHsasku on topic Joint 0 following error. Error on axis 0, command number X
ferror and min_ferror doesn't help.
Commenting my code and using just:
Code:
net x-pos-cmd axis.0.motor-pos-cmd => axis.0.motor-pos-fb
works, but it skips my driver. Adding PID crashes again:
Code:
net x-pos-cmd axis.0.motor-pos-cmd => x-pid.command x-pid.feedback net x-vel-cmd x-pid.output => axis.0.motor-pos-fb

Do I miss sth in PID conf?
I also can't execute anything from driver. Read and write functions don't execute. rtapi_print_msg doesn't print anything. Values changed on rtapi_app_main are not changed in Hal Meter

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