Sebastian, et al,
Here is the latest. I tried entering the minimum number of hal commands to generate the problem. It took quite a few, so I stopped entering them manually and came up with what I believe is the minimum number of hal commands to generate the error. Here is the hal file:
--------------------------------------------->
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt hm2_5i20 config="firmware=hm2/5i20/SVST8_4.BIT num_stepgens=2 num_pwmgens=1 num_encoders=0 enable_raw"
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf motion-controller servo-thread
addf hm2_5i20.0.read servo-thread
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.write servo-thread
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# connect position commands from motion module to step generator
net Xpos-cmd axis.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
net Xpos-cmd axis.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
# connect position feedback from step generators
# to motion module
# to motion module
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => axis.0.motor-pos-fb
# connect enable signals for step generators
net Xen <= axis.0.amp-enable-out
net Xen => hm2_5i20.0.stepgen.00.enable
net Xen <= axis.0.amp-enable-out
net Xen => hm2_5i20.0.stepgen.00.enable
setp hm2_5i20.0.stepgen.00.position-scale -2000
---------------------------------------------<
As hal commands, I would not need he e-stop assignments, but for purposes of a minimal hal file, this is as minimal as I could get.
On the last line, if position-scale is set to 2000, then eveything basically works, albeit with funky accel, velocity, etc. If position-scale is changed to -2000, then after clearing the e-stop and doing a machine on, the position-cmd goes to -0.5005 before faulting on a following error. The stepgen pins at this point are:
counts 1001
position-cmd -0.5005
position-fb -0.5005
velocity-cmd -0.5086584
velocity-fb -0.0
Previously I was able to get a continued run-away (i.e. did not fault on a following error) if I removed:
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => axis.0.motor-pos-fb
In this configuration, if I remove that line, the I get no motion at all when the axis is told to move, by a jog for example.
Any ideas?
Regards,
Eric
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