On 03/20/2018 03:41 PM, Gene Heskett wrote:
On Tuesday 20 March 2018 15:00:16 Mark wrote:
Managed to get some shop time today, and was working on the lincurve
stuff. Got most of the kinks worked out, as it now loads without
error, but now getting joint following errors as soon as I try to home
the machine. Nota beni, prior to using the lincurve hal code, the
machine homed fine with no errors. Here's the error I get once I start
the homing sequence:
mark@canecutter:~$ /usr/bin/linuxcnc
'/home/mark/linuxcnc/configs/Cane-Cutter/Cane-Cutter.ini'
LINUXCNC - 2.7.12
Machine configuration directory is
'/home/mark/linuxcnc/configs/Cane-Cutter' Machine configuration file
is 'Cane-Cutter.ini'
Starting LinuxCNC...
.
Found file(REL): ./Cane-Cutter.hal
Found file(REL): ./lin_curve.hal
joint 2 following error
emc/task/taskintf.cc 617: Error on axis 2, command number 65
lin_curve.hal file:
<snippage>
net z-raw axis.2.joint-pos-cmd offset.0.in
net z-corr lincurve.0.out offset.0.offset
net zpos-cmd offset.0.out
net zpos-fb offset.0.fb-in
net z-pos-fb-offs offset.0.fb-out axis.2.motor-pos-fb
###################
Not sure what would cause the joint following error on homing though.
I did have to change the net zpos-fb assignment in the main and
lincurve hal files because I was getting a similar error on load that
I was getting for the net zpos-cmd assignment previously.
Also, it didn't like having offset.0.fb-out sent to
axis.2.joint-pos-fb, so I set that to axis.2.motor-pos-fb.
Here's the error I was getting for the z-pos-fb-offs:
########################
mark@canecutter:~$ /usr/bin/linuxcnc
'/home/mark/linuxcnc/configs/Cane-Cutter/Cane-Cutter.ini'
LINUXCNC - 2.7.12
Machine configuration directory is
'/home/mark/linuxcnc/configs/Cane-Cutter' Machine configuration file
is 'Cane-Cutter.ini'
Starting LinuxCNC...
.
Found file(REL): ./Cane-Cutter.hal
Found file(REL): ./lin_curve.hal
./lin_curve.hal:46: Signal 'z-pos-fb-offs' can not add OUT pin
'axis.2.joint-pos-fb', it already has OUT pin 'offset.0.fb-out'
Again, you must have dual srcs. I think you want:
net z-pos-fb-offs offset.0.fb-out joint.N.motor-pos-fb
Or something similar...
Ah, there's no hal component "joint". The problem was
axis.2.joint-pos-fb is an out pin, as is offset.0.fb-out. That was
changed to axis.2.motor-pos-fb which is an "IN" pin. Doing that allowed
the HAL files to load without a hiccup. Which got me to the "Joint
Following Error" issue.
Mark
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