dave wrote:
> Hi all,
>
> CPU is a 1200 Duron, with an m5i20/7i33. The encoders show movement when
> I rotate the ballscrew and scale properly.
Good.
> I'm attempting to bring up an m5i20 with the hm2 driver.
>
> I've been thru the battery box servo setup and am getting good response
> out of the servo amps.
Good.
> However, my troubleshooting of the process from there on is not so good.
> I get no movement from the gui (either tkemc or axis).
I assume you mean the motors don't move. Does the commanded position as
shown by the DRO change? If so, then EMC is telling HAL to move the
motors, and something in HAL isn't right. I would expect a following
error in that case, unless you have your following error limit set very
high.
> Attempts to drop down a level and use the m5i20_pidtest.hal also elicit
> no movement.
>
> If I invoke the pidtest.hal from the command line then I get:
>
> Script started on Thu 26 Mar 2009 01:53:54 PM PDT
> ^[]0;d...@cinci:
> ~/emc2-trunk/configs/m5i20^gd...@cinci:~/emc2-trunk/configs/m5i20$
> halrun -I m5i20-p^G^H^[[K^H^[[K_pidtest.hal ^M
> insmod: error inserting '/home/dave/emc2-trunk/rtlib/threads.ko': -1
> Unknown symbol in module^M
> m5i20_pidtest.hal:11: exit value: 1^M
> m5i20_pidtest.hal:11: insmod failed, returned -1^M
>
>
> copied from dmesg output;
>
> 560.316311] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688
> ns.
> [ 560.438023] RTAI[math]: loaded.
> [ 560.776873] threads: Unknown parameter `period'
Here is one problem - the threads component takes parameters named
"period1", "period2", etc. Not "period". That must be an error in
pidtest.hal.
> [ 580.567152] RTAI[math]: unloaded.
> [ 580.644862] SCHED releases registered named ALIEN RTGLBF
> [ 580.666341] RTAI[malloc]: unloaded.
>
> However, if I hand type the m5i20_pidtest.hal then I get thru the whole
> script but still get no output.
When you type it manually, do you type "period" or "period1"?
The "period" thing doesn't explain the lack of motion, it just explains
why you are having trouble running pidtest. Fix that first. Once you
can run pidtest with no errors, you can start digging into the real problem.
> The siggen sine wave (using halmeter) is on siggen, Xpos, and
> pid.0.command but no place else.
>
> Where do I go from here?
pid.0.output ;-)
You need to follow the flow of the signal through the system. When you
see something that doesn't make sense, investigate.
Run pidtest, and check the following:
Are you getting any output from the PID loops? Halcmd show or halmeter
on pid.0.output will tell you.
If no output from PID:
Are the PID loops enabled? (They have enable pins, use halcmd
to see them and see if they are connected to anything).
Are the PID gains all set to zero?
If output from PID but no output from DACS:
Are the PID outputs connected to the DAC driver HAL pins?
Are the 5i20 DACs enabled?
Is the 5i20 watchdog happy?
I don't have the details of these things memorized - you'll have to
refer to various manual pages, and the "halcmd show" lists of HAL pins
and parameters related to the 5i20 driver.
Regards,
John Kasunich
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