almost works ...
The 7i40 boards arrived today, hooked one up on my 5i20 card.
I copied the hm2-servo config and this works - I can move my motors at
slower speeds without any problem.
But ... the config specifies LINEAR_UNITS = inch and INPUT_SCALE = 81920
and with LINEAR_UNITS = mm and my 512 cpr encoder this results in 0.025
mm/rev - which should be 2.5 mm/rev
So I changed INPUT_SCALE to 819.2, this makes the encoder work as
expected: with the motor not powered I can turn the motor 20 revs which
results in 50mm displacement on screen.
Somehow I can not get my motors working from this point on. Anything I
do results in a "joint following" error. As soon as I power my motor the
slightest push on the motor results in the error.
I have been reading the integrators manual and tried different
combinations of OUTPUT_SCALE and MAX_OUTPUT but nothing seems to work.
Whatever I do, I keep getting joint follow errors.
I thought it was simpel: recude the INPUT_SCALE by a factor 100 and also
increase OUTPUT_SCALE but this does not seem to work.
I know this is not much info but I am completely stuck right now.Any
load on the motor will halt the system, I must be making one of those
silly beginner errors (again ...) and I hope that one of 'you guys' has
seen this before.
Regards,
Rob
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