Error when trying to home for testing

Hello,
I am getting an error when trying to home  "Cannot jog joint 1 because home _sequence is synchronized (-2)". I do not have the enable wired and the stepper motors are not moving or locked. I do have green lights on the DM566 drives, I am useing a Mesa 7i96s controller, Here is my hal and ini files.

 

If the drives are not locked, that is a most likely
a wiring or drive setup issue. Is the enable polarity
settable in the drives?

Hello,

First Thank You for your replay. I don't  think the enable is settable on the driver, not by the switchs anyway.  Here is a photo of the stepper driver and description on how I have it wired and set:


(Signal)
Wire Color

---

DM556 Driver

---

Mesa 7i96s

Blue

---

PUL+

---

Step+
Yellow

---

Pul-

---

Step-
Red

---

DIR+

---

DIR+
White

---

DIR- 

---

DIR-
                                        ENA+

---

N/A
                                        ENA-

---

N/A

(Settings)
SW1

---

On
SW2

---

On
SW3

---

Off
SW4

---

ON
SW5

---

On
SW6

---

On
SW7

---

On
SW8

---

Off

(High Voltage)
42 Volts

Black

---

-42V
Red

---

+42V

Nema 23 Stepper Motor

B- 

---

Blue Wire
B+

---

Red Wire
A-

---

Yellow Wire
A+

---

Black Wire



 

    Hello,Sorry the formatting changed on the wire description here a PDF of it.

If the drives are not locked  (with no step/dir signals connected)
There is an issue with the drives or motor wiring.

Also I would not use differential wiring as you have but single
ended as the DM556 manual suggests:

7I96S +5V --> DM556 PUL+
7I96S +5V --> DM556 DIR+
7I96S STEP- --> DM556 PUL-
7I96S DIR- --> DM556 DIR-

Hello,

I wired it as the diagram showed they had on there website they did not have a manual listed or posted. I will rewire and see if it works.

Thank You

Hello,

I now have it moving and homing. Buy the y axis homes - and backs off like it should, but the travel after that is backward + is back over the home switch not away from it. How do I fix this?

Thanks

Direction is controlled by the sign of the various home velocities in your ini file.

I tried changing the home velocities in the ini.file. It only changes the Homing directions. It is homing in the right direction it is after it homes and you try to jog the machine that the direction are reversed -Y moves Positive and +Y move Negative.

morg769 wrote:

I tried changing the home velocities in the ini.file. It only changes the Homing directions. It is homing in the right direction it is after it homes and you try to jog the machine that the direction are reversed -Y moves Positive and +Y move Negative.

The direction of the joints/axis is reversed, so add or remove - in front of the SCALE value for those joints.
You also have to do the same for home_search_velocity and/or home_latch_velocity.