On Thu, 2009-03-26 at 17:42 -0400, John Kasunich wrote: > 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 > > Hi Steve and John: Things are automagically better! Scripts runs after fixing the period. I do need to set the enable manually but that is minor. note: enable is for dacs and pid. DACS now show signal.
Watchdog code; # enable a 16ms watchdog and DAC auto reset setp m5i20.0.watchdog-timeout 16000 setp m5i20.0.watchdog-control 3 and these can be verified from halmeter. do I need to do anything else to feed the dog? pid.0.Pgain is set to 10; still no movement. Is there a simple way to put a volt or so on the dac0 just to verify I can put out analog? Thanks for getting me this far. Dave > ------------------------------------------------------------------------------ > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
