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  1. #1

    Join Date
    May 2021
    Posts
    0

    Unhappy Joint xx following error!

    Hi All

    I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx[/u].

    Hardware:
    - MESA 7i96
    -TB6600 + NEMA23

    Software:
    -LinuxCNC version 2.8.1
    -4.9.0-8-rt-686-pae

    LinuxCNC output
    Code:
    LINUXCNC - 2.8.1
    Machine configuration directory is '/home/taz/linuxcnc/configs/workBee_Base'
    Machine configuration file is 'workBee_Base.ini'
    INIFILE=/home/taz/linuxcnc/configs/workBee_Base/workBee_Base.ini
    VERSION=1.1
    PARAMETER_FILE=linuxcnc.var
    TASK=milltask
    HALUI=halui
    DISPLAY=axis
    COORDINATES=XYYZ
    KINEMATICS=trivkins coordinates=XYYZ kinstype=BOTH
    Starting LinuxCNC...
    Starting LinuxCNC server program: linuxcncsvr
    Loading Real Time OS, RTAPI, and HAL_LIB modules
    Starting LinuxCNC IO program: io
    Starting HAL User Interface program: halui
    Found file(REL): ./workBee_Base.hal
    Found file(REL): ./custom.hal
    Starting TASK program: milltask
    Starting DISPLAY program: axis
    62914563
    joint 0 following error
    emc/task/taskintf.cc 942: Error on joint 0, command number 5063
    here are my config files:
    Code:
    # Generated by PNCconf at Sun May  9 17:06:17 2021
    # Using LinuxCNC version:  2.8
    # If you make changes to this file, they will be
    # overwritten when you run PNCconf again
    
    [EMC]
    MACHINE = workBee_Base
    DEBUG = 0
    VERSION = 1.1
    
    [DISPLAY]
    DISPLAY = axis
    EMBED_TAB_NAME = GladeVCP
    EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
    POSITION_OFFSET = RELATIVE
    POSITION_FEEDBACK = ACTUAL
    MAX_FEED_OVERRIDE = 2.000000
    MAX_SPINDLE_OVERRIDE = 1.000000
    MIN_SPINDLE_OVERRIDE = 0.500000
    INTRO_GRAPHIC = linuxcnc.gif
    INTRO_TIME = 5
    PROGRAM_PREFIX = /home/taz/linuxcnc/nc_files
    INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
    POSITION_FEEDBACK = ACTUAL
    DEFAULT_LINEAR_VELOCITY = 8.333333
    MAX_LINEAR_VELOCITY = 25.000000
    MIN_LINEAR_VELOCITY = 0.500000
    DEFAULT_ANGULAR_VELOCITY = 12.000000
    MAX_ANGULAR_VELOCITY = 180.000000
    MIN_ANGULAR_VELOCITY = 1.666667
    EDITOR = gedit
    GEOMETRY = xyz
    
    [FILTER]
    PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
    PROGRAM_EXTENSION = .py Python Script
    png = image-to-gcode
    gif = image-to-gcode
    jpg = image-to-gcode
    py = python
    
    [TASK]
    TASK = milltask
    CYCLE_TIME = 0.010
    
    [RS274NGC]
    PARAMETER_FILE = linuxcnc.var
    
    [EMCMOT]
    EMCMOT = motmod
    COMM_TIMEOUT = 1.0
    SERVO_PERIOD = 1000000
    
    [HMOT]
    # **** This is for info only ****
    CARD0=hm2_7i96.0
    
    [HAL]
    HALUI = halui
    HALFILE = workBee_Base.hal
    HALFILE = custom.hal
    POSTGUI_HALFILE = postgui_call_list.hal
    SHUTDOWN = shutdown.hal
    
    [HALUI]
    MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
    MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
    MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
    
    [KINS]
    JOINTS = 4
    KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
    
    [TRAJ]
    COORDINATES =  XYYZ
    LINEAR_UNITS = mm
    ANGULAR_UNITS = degree
    DEFAULT_LINEAR_VELOCITY = 2.00
    MAX_LINEAR_VELOCITY = 20.00
    
    [EMCIO]
    EMCIO = io
    CYCLE_TIME = 0.100
    TOOL_TABLE = tool.tbl
    TOOL_CHANGE_QUILL_UP = 1
    
    #******************************************
    [AXIS_X]
    MAX_VELOCITY = 16.6666666667
    MAX_ACCELERATION = 10.0
    MIN_LIMIT = -200.0
    MAX_LIMIT = 300.0
    
    [JOINT_0]
    TYPE = LINEAR
    HOME = 0.0
    FERROR = 10.0
    MIN_FERROR = 2.0
    MAX_VELOCITY = 16.6666666667
    MAX_ACCELERATION = 10.0
    # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
    # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
    STEPGEN_MAXVEL = 20.83
    STEPGEN_MAXACCEL = 12.50
    P = 1000.0
    I = 0.0
    D = 0.0
    FF0 = 0.0
    FF1 = 1.0
    FF2 = 0.0
    BIAS = 0.0
    DEADBAND = 0.0
    MAX_OUTPUT = 0.0
    # these are in nanoseconds
    DIRSETUP   = 10000
    DIRHOLD    = 1500
    STEPLEN    = 7000
    STEPSPACE  = 500
    STEP_SCALE = 200.0
    MIN_LIMIT = -200.0
    MAX_LIMIT = 300.0
    HOME_OFFSET = 0.0
    #******************************************
    
    #******************************************
    [AXIS_Y]
    MAX_VELOCITY = 20.0
    MAX_ACCELERATION = 12.0
    MIN_LIMIT = -400.0
    MAX_LIMIT = 500.0
    
    [JOINT_1]
    TYPE = LINEAR
    HOME = 0.0
    FERROR = 10.0
    MIN_FERROR = 2.0
    MAX_VELOCITY = 20.0
    MAX_ACCELERATION = 12.0
    # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
    # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
    STEPGEN_MAXVEL = 25.00
    STEPGEN_MAXACCEL = 15.00
    P = 1000.0
    I = 0.0
    D = 0.0
    FF0 = 0.0
    FF1 = 1.0
    FF2 = 0.0
    BIAS = 0.0
    DEADBAND = 0.0
    MAX_OUTPUT = 0.0
    # these are in nanoseconds
    DIRSETUP   = 10000
    DIRHOLD    = 1000
    STEPLEN    = 5000
    STEPSPACE  = 500
    STEP_SCALE = 200.0
    MIN_LIMIT = -400.0
    MAX_LIMIT = 500.0
    HOME_OFFSET = 0.0
    
    [JOINT_2]
    TYPE = LINEAR
    HOME = 0.0
    FERROR = 10.0
    MIN_FERROR = 2.0
    MAX_VELOCITY = 20.0
    MAX_ACCELERATION = 12.0
    # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
    # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
    STEPGEN_MAXVEL = 25.00
    STEPGEN_MAXACCEL = 15.00
    P = 1000.0
    I = 0.0
    D = 0.0
    FF0 = 0.0
    FF1 = 1.0
    FF2 = 0.0
    BIAS = 0.0
    DEADBAND = 0.0
    MAX_OUTPUT = 0.0
    # these are in nanoseconds
    DIRSETUP   = 10000
    DIRHOLD    = 1000
    STEPLEN    = 5000
    STEPSPACE  = 500
    STEP_SCALE = 200.0
    MIN_LIMIT = -400.0
    MAX_LIMIT = 500.0
    HOME_OFFSET = 0.0
    #******************************************
    
    #******************************************
    [AXIS_Z]
    MAX_VELOCITY = 13.3333333333
    MAX_ACCELERATION = 10.0
    MIN_LIMIT = -30.0
    MAX_LIMIT = 30.0
    
    [JOINT_3]
    TYPE = LINEAR
    HOME = 0.0
    FERROR = 10.0
    MIN_FERROR = 2.0
    MAX_VELOCITY = 13.3333333333
    MAX_ACCELERATION = 10.0
    # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
    # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
    STEPGEN_MAXVEL = 16.67
    STEPGEN_MAXACCEL = 12.50
    P = 1000.0
    I = 0.0
    D = 0.0
    FF0 = 0.0
    FF1 = 1.0
    FF2 = 0.0
    BIAS = 0.0
    DEADBAND = 0.0
    MAX_OUTPUT = 0.0
    # these are in nanoseconds
    DIRSETUP   = 10000
    DIRHOLD    = 1500
    STEPLEN    = 7000
    STEPSPACE  = 500
    STEP_SCALE = 200.0
    MIN_LIMIT = -30.0
    MAX_LIMIT = 30.0
    HOME_OFFSET = 0.0
    #******************************************
    
    [SPINDLE_0]
    P = 0.0
    I = 0.0
    D = 0.0
    FF0 = 1.0
    FF1 = 0.0
    FF2 = 0.0
    BIAS = 0.0
    DEADBAND = 0.0
    MAX_OUTPUT = 2000.0
    Code:
    # Generated by PNCconf at Sun May  9 17:06:17 2021
    # Using LinuxCNC version:  2.8
    # If you make changes to this file, they will be
    # overwritten when you run PNCconf again
    
    loadrt [KINS]KINEMATICS
    loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
    loadrt hostmot2
    loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" 
    setp    hm2_7i96.0.watchdog.timeout_ns 5000000
    loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s
    
    addf hm2_7i96.0.read          servo-thread
    addf motion-command-handler   servo-thread
    addf motion-controller        servo-thread
    addf pid.x.do-pid-calcs       servo-thread
    addf pid.y.do-pid-calcs       servo-thread
    addf pid.y2.do-pid-calcs       servo-thread
    addf pid.z.do-pid-calcs       servo-thread
    addf pid.s.do-pid-calcs       servo-thread
    addf hm2_7i96.0.write         servo-thread
    
    # external output signals
    
    # --- MACHINE-IS-ENABLED ---
    net machine-is-enabled  =>     hm2_7i96.0.ssr.00.out-02
    
    # --- DOUT-00 ---
    net dout-00  =>     hm2_7i96.0.ssr.00.out-03
    
    # --- SPINDLE-ENABLE ---
    net spindle-enable  =>     hm2_7i96.0.ssr.00.out-04
    
    
    # external input signals
    
    # --- PROBE-IN ---
    net probe-in     <=  hm2_7i96.0.gpio.010.in
    
    
    #*******************
    #  AXIS X JOINT 0
    #*******************
    
    setp   pid.x.Pgain     [JOINT_0]P
    setp   pid.x.Igain     [JOINT_0]I
    setp   pid.x.Dgain     [JOINT_0]D
    setp   pid.x.bias      [JOINT_0]BIAS
    setp   pid.x.FF0       [JOINT_0]FF0
    setp   pid.x.FF1       [JOINT_0]FF1
    setp   pid.x.FF2       [JOINT_0]FF2
    setp   pid.x.deadband  [JOINT_0]DEADBAND
    setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
    setp   pid.x.error-previous-target true
    # This setting is to limit bogus stepgen
    # velocity corrections caused by position
    # feedback sample time jitter.
    setp   pid.x.maxerror 0.012700
    
    net x-index-enable  <=> pid.x.index-enable
    net x-enable        =>  pid.x.enable
    net x-pos-cmd       =>  pid.x.command
    net x-pos-fb        =>  pid.x.feedback
    net x-output        <=  pid.x.output
    
    # Step Gen signals/setup
    
    setp   hm2_7i96.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
    setp   hm2_7i96.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
    setp   hm2_7i96.0.stepgen.00.steplen         [JOINT_0]STEPLEN
    setp   hm2_7i96.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
    setp   hm2_7i96.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
    setp   hm2_7i96.0.stepgen.00.step_type        0
    setp   hm2_7i96.0.stepgen.00.control-type     1
    setp   hm2_7i96.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
    setp   hm2_7i96.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL
    
    # ---closedloop stepper signals---
    
    net x-pos-cmd    <= joint.0.motor-pos-cmd
    net x-vel-cmd    <= joint.0.vel-cmd
    net x-output     <= hm2_7i96.0.stepgen.00.velocity-cmd
    net x-pos-fb     <= hm2_7i96.0.stepgen.00.position-fb
    net x-pos-fb     => joint.0.motor-pos-fb
    net x-enable     <= joint.0.amp-enable-out
    net x-enable     => hm2_7i96.0.stepgen.00.enable
    
    # ---setup home / limit switch signals---
    
    net x-home-sw     =>  joint.0.home-sw-in
    net x-neg-limit     =>  joint.0.neg-lim-sw-in
    net x-pos-limit     =>  joint.0.pos-lim-sw-in
    
    #*******************
    #  AXIS Y JOINT 1
    #*******************
    
    setp   pid.y.Pgain     [JOINT_1]P
    setp   pid.y.Igain     [JOINT_1]I
    setp   pid.y.Dgain     [JOINT_1]D
    setp   pid.y.bias      [JOINT_1]BIAS
    setp   pid.y.FF0       [JOINT_1]FF0
    setp   pid.y.FF1       [JOINT_1]FF1
    setp   pid.y.FF2       [JOINT_1]FF2
    setp   pid.y.deadband  [JOINT_1]DEADBAND
    setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
    setp   pid.y.error-previous-target true
    # This setting is to limit bogus stepgen
    # velocity corrections caused by position
    # feedback sample time jitter.
    setp   pid.y.maxerror 0.012700
    
    net y-index-enable  <=> pid.y.index-enable
    net y-enable        =>  pid.y.enable
    net y-pos-cmd       =>  pid.y.command
    net y-pos-fb        =>  pid.y.feedback
    net y-output        <=  pid.y.output
    
    # Step Gen signals/setup
    
    setp   hm2_7i96.0.stepgen.03.dirsetup        [JOINT_1]DIRSETUP
    setp   hm2_7i96.0.stepgen.03.dirhold         [JOINT_1]DIRHOLD
    setp   hm2_7i96.0.stepgen.03.steplen         [JOINT_1]STEPLEN
    setp   hm2_7i96.0.stepgen.03.stepspace       [JOINT_1]STEPSPACE
    setp   hm2_7i96.0.stepgen.03.position-scale  [JOINT_1]STEP_SCALE
    setp   hm2_7i96.0.stepgen.03.step_type        0
    setp   hm2_7i96.0.stepgen.03.control-type     1
    setp   hm2_7i96.0.stepgen.03.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
    setp   hm2_7i96.0.stepgen.03.maxvel           [JOINT_1]STEPGEN_MAXVEL
    
    # ---closedloop stepper signals---
    
    net y-pos-cmd    <= joint.1.motor-pos-cmd
    net y-vel-cmd    <= joint.1.vel-cmd
    net y-output     <= hm2_7i96.0.stepgen.03.velocity-cmd
    net y-pos-fb     <= hm2_7i96.0.stepgen.03.position-fb
    net y-pos-fb     => joint.1.motor-pos-fb
    net y-enable     <= joint.1.amp-enable-out
    net y-enable     => hm2_7i96.0.stepgen.03.enable
    
    # ---setup home / limit switch signals---
    
    net y-home-sw     =>  joint.1.home-sw-in
    net y-neg-limit     =>  joint.1.neg-lim-sw-in
    net y-pos-limit     =>  joint.1.pos-lim-sw-in
    
    #*******************
    #  Tandem AXIS Y2 JOINT 2
    #*******************
    
    setp   pid.y2.Pgain     [JOINT_2]P
    setp   pid.y2.Igain     [JOINT_2]I
    setp   pid.y2.Dgain     [JOINT_2]D
    setp   pid.y2.bias      [JOINT_2]BIAS
    setp   pid.y2.FF0       [JOINT_2]FF0
    setp   pid.y2.FF1       [JOINT_2]FF1
    setp   pid.y2.FF2       [JOINT_2]FF2
    setp   pid.y2.deadband  [JOINT_2]DEADBAND
    setp   pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
    setp   pid.y2.error-previous-target true
    # This setting is to limit bogus stepgen
    # velocity corrections caused by position
    # feedback sample time jitter.
    setp   pid.y2.maxerror 0.012700
    
    net y2-index-enable  <=> pid.y2.index-enable
    net y2-enable        =>  pid.y2.enable
    net y2-pos-cmd       =>  pid.y2.command
    net y2-pos-fb        =>  pid.y2.feedback
    net y2-output        <=  pid.y2.output
    
    # Step Gen signals/setup for tandem axis
    
    setp   hm2_7i96.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
    setp   hm2_7i96.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
    setp   hm2_7i96.0.stepgen.02.steplen         [JOINT_2]STEPLEN
    setp   hm2_7i96.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
    setp   hm2_7i96.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
    setp   hm2_7i96.0.stepgen.02.step_type        0
    setp   hm2_7i96.0.stepgen.02.control-type     1
    setp   hm2_7i96.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
    setp   hm2_7i96.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL
    
    # ---closedloop stepper signals---
    
    net y2-pos-cmd    <= joint.2.motor-pos-cmd
    net y2-vel-cmd    <= joint.2.vel-cmd
    net y2-output     <= hm2_7i96.0.stepgen.02.velocity-cmd
    net y2-pos-fb     <= hm2_7i96.0.stepgen.02.position-fb
    net y2-pos-fb     => joint.2.motor-pos-fb
    net y2-enable     <= joint.2.amp-enable-out
    net y2-enable     => hm2_7i96.0.stepgen.02.enable
    
    # ---setup home / limit switch signals---
    
    net y2-home-sw     =>  joint.2.home-sw-in
    net y2-neg-limit     =>  joint.2.neg-lim-sw-in
    net y2-pos-limit     =>  joint.2.pos-lim-sw-in
    
    #*******************
    #  AXIS Z JOINT 3
    #*******************
    
    setp   pid.z.Pgain     [JOINT_3]P
    setp   pid.z.Igain     [JOINT_3]I
    setp   pid.z.Dgain     [JOINT_3]D
    setp   pid.z.bias      [JOINT_3]BIAS
    setp   pid.z.FF0       [JOINT_3]FF0
    setp   pid.z.FF1       [JOINT_3]FF1
    setp   pid.z.FF2       [JOINT_3]FF2
    setp   pid.z.deadband  [JOINT_3]DEADBAND
    setp   pid.z.maxoutput [JOINT_3]MAX_OUTPUT
    setp   pid.z.error-previous-target true
    # This setting is to limit bogus stepgen
    # velocity corrections caused by position
    # feedback sample time jitter.
    setp   pid.z.maxerror 0.012700
    
    net z-index-enable  <=> pid.z.index-enable
    net z-enable        =>  pid.z.enable
    net z-pos-cmd       =>  pid.z.command
    net z-pos-fb        =>  pid.z.feedback
    net z-output        <=  pid.z.output
    
    # Step Gen signals/setup
    
    setp   hm2_7i96.0.stepgen.01.dirsetup        [JOINT_3]DIRSETUP
    setp   hm2_7i96.0.stepgen.01.dirhold         [JOINT_3]DIRHOLD
    setp   hm2_7i96.0.stepgen.01.steplen         [JOINT_3]STEPLEN
    setp   hm2_7i96.0.stepgen.01.stepspace       [JOINT_3]STEPSPACE
    setp   hm2_7i96.0.stepgen.01.position-scale  [JOINT_3]STEP_SCALE
    setp   hm2_7i96.0.stepgen.01.step_type        0
    setp   hm2_7i96.0.stepgen.01.control-type     1
    setp   hm2_7i96.0.stepgen.01.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
    setp   hm2_7i96.0.stepgen.01.maxvel           [JOINT_3]STEPGEN_MAXVEL
    setp   hm2_7i96.0.stepgen.01.direction.invert_output   true
    
    # ---closedloop stepper signals---
    
    net z-pos-cmd    <= joint.3.motor-pos-cmd
    net z-vel-cmd    <= joint.3.vel-cmd
    net z-output     <= hm2_7i96.0.stepgen.01.velocity-cmd
    net z-pos-fb     <= hm2_7i96.0.stepgen.01.position-fb
    net z-pos-fb     => joint.3.motor-pos-fb
    net z-enable     <= joint.3.amp-enable-out
    net z-enable     => hm2_7i96.0.stepgen.01.enable
    
    # ---setup home / limit switch signals---
    
    net z-home-sw     =>  joint.3.home-sw-in
    net z-neg-limit     =>  joint.3.neg-lim-sw-in
    net z-pos-limit     =>  joint.3.pos-lim-sw-in
    
    #*******************
    #  SPINDLE
    #*******************
    
    setp   pid.s.Pgain     [SPINDLE_0]P
    setp   pid.s.Igain     [SPINDLE_0]I
    setp   pid.s.Dgain     [SPINDLE_0]D
    setp   pid.s.bias      [SPINDLE_0]BIAS
    setp   pid.s.FF0       [SPINDLE_0]FF0
    setp   pid.s.FF1       [SPINDLE_0]FF1
    setp   pid.s.FF2       [SPINDLE_0]FF2
    setp   pid.s.deadband  [SPINDLE_0]DEADBAND
    setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
    setp   pid.s.error-previous-target true
    
    net spindle-index-enable  <=> pid.s.index-enable
    net spindle-enable        =>  pid.s.enable
    net spindle-vel-cmd-rpm     => pid.s.command
    net spindle-vel-fb-rpm      => pid.s.feedback
    net spindle-output        <=  pid.s.output
    
    # ---setup spindle control signals---
    
    net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
    net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
    net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
    net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
    net spindle-enable             <=  spindle.0.on
    net spindle-cw                 <=  spindle.0.forward
    net spindle-ccw                <=  spindle.0.reverse
    net spindle-brake              <=  spindle.0.brake
    net spindle-revs               =>  spindle.0.revs
    net spindle-at-speed           =>  spindle.0.at-speed
    net spindle-vel-fb-rps         =>  spindle.0.speed-in
    net spindle-index-enable      <=>  spindle.0.index-enable
    
    # ---Setup spindle at speed signals---
    
    sets spindle-at-speed true
    
    
    #******************************
    # connect miscellaneous signals
    #******************************
    
    #  ---HALUI signals---
    
    net axis-select-x  halui.axis.x.select
    net jog-x-pos      halui.axis.x.plus
    net jog-x-neg      halui.axis.x.minus
    net jog-x-analog   halui.axis.x.analog
    net x-is-homed     halui.joint.0.is-homed
    net axis-select-y  halui.axis.y.select
    net jog-y-pos      halui.axis.y.plus
    net jog-y-neg      halui.axis.y.minus
    net jog-y-analog   halui.axis.y.analog
    net y-is-homed     halui.joint.1.is-homed
    net axis-select-z  halui.axis.z.select
    net jog-z-pos      halui.axis.z.plus
    net jog-z-neg      halui.axis.z.minus
    net jog-z-analog   halui.axis.z.analog
    net z-is-homed     halui.joint.2.is-homed
    net jog-selected-pos      halui.axis.selected.plus
    net jog-selected-neg      halui.axis.selected.minus
    net spindle-manual-cw     halui.spindle.0.forward
    net spindle-manual-ccw    halui.spindle.0.reverse
    net spindle-manual-stop   halui.spindle.0.stop
    net machine-is-on         halui.machine.is-on
    net jog-speed             halui.axis.jog-speed
    net MDI-mode              halui.mode.is-mdi
    
    #  ---coolant signals---
    
    net coolant-mist      <=  iocontrol.0.coolant-mist
    net coolant-flood     <=  iocontrol.0.coolant-flood
    
    #  ---probe signal---
    
    net probe-in     =>  motion.probe-input
    
    #  ---motion control signals---
    
    net in-position               <=  motion.in-position
    net machine-is-enabled        <=  motion.motion-enabled
    
    #  ---digital in / out signals---
    
    net dout-00     <=  motion.digital-out-00
    #  ---estop signals---
    
    net estop-out     <=  iocontrol.0.user-enable-out
    net estop-out     =>  iocontrol.0.emc-enable-in
    
    #  ---manual tool change signals---
    
    loadusr -W hal_manualtoolchange
    net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
    net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
    net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
    net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared
    Thanks
    T

  2. #2
    Registered
    Join Date
    Jan 2007
    Posts
    145

    Red face Re: Joint xx following error!

    [QUOTE=azant;2450884]Hi All

    I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx[/u].

    this explains better than I can.
    http://www.vdwalle.com/Norte/LinuxCNC%20Following%20Error.htm[/URL]

  3. #3
    Registered
    Join Date
    Feb 2008
    Posts
    628

    Re: Joint xx following error!

    [QUOTE=jschmitt;2451730]
    Quote Originally Posted by azant View Post
    Hi All

    I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx[/u].

    this explains better than I can.
    http://www.vdwalle.com/Norte/LinuxCNC%20Following%20Error.htm[/URL]
    That's a very strange error especially since the following error limits are so wide
    I recall this from the LinuxCNC forum. I could not duplicate your issue on my test
    machine using your hal/ini files. What computer is LinuxCNC running on?
    What kind of Ethernet interface is it using (motherboard, addon, etc)

    It may require plotting the following error with halscope to determine what is happening.
    The only thing I can think of off hand that would cause large following errors would be some large issue
    with the host PCs timebase or corrupted data (but corrupted in the 7I96 or PC, since Ethernet data is all checked)

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