On 4/27/2019 9:36 PM, Bradley Turner wrote: > Thank you so much for the help, I am sorry for the late reply, I wasn't > able to get back to the lab until now. I'm sure those things seems super > obvious, I just don't know what to look for! I did what you said to try and > it fixed the issue on the Y (Axis 1) and the A (Axis 3), however I still > get the same issue on the Z axis (Axis 2). I tried adjusting the values up > and down, but it did not seem to affect the issue on the Z axis.
Your problem with the Z axis is you do not have a feedback path. Your HAL code: # position command and feedback net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd #net emcmot.02.pos-cmd => hpg.stepgen.02.position-cmd #net motor.02.pos-fb <= hpg.stepgen.02.position-fb net motor.02.pos-fb => axis.2.motor-pos-fb Creates a position command net (emcmot.02.pos-cmd) that goes nowhere and a feedback net (motor.02.pos-fb) that is not driven. > I had removed the homing earlier to try and narrow down what was causing > the issue. Once I get the joint following error and other movement errors > all cleared up I am intending to try and tackle the auto-homing-deracking > as well. Should I add this back in now, or continue with one problem at a > time? Your HAL file is pretty much a mess. I would recommend cleaning it up substantially and enabling the homing you want to use. You can debug fundamental issues (like your Z problem, above) using manual jogs with the axis unhomed. The next step would be to get homing working as desired, so you'll need the homing logic in the HAL file. > Separately I am having an issue where software - wise the axes (other than > the Z) all work correctly, however none of the motors spin. I have a > feeling that this issue is more related to the CRAMPS board, however I > figured I would mention it, as I am not sure what could be causing this. Make sure you are supplying power to the proper header on the CRAMPS board (P201, labeled MOTORS). There are several different power supply rails on the CRAMPS board and the most common cause of "nothing happens" has been the power wasn't connected properly. Another thing that can cause nothing to happen is a problem with the ESTOP chain. When the machine is taken out of ESTOP and powered on, the red ESTOP LED should be off, and the green ACTIVE LED should be on. If the ACTIVE LED (Machine Power) is not lit, the stepper drivers will be disabled by hardware. > I really appreciate all the help, I have tried to self educate, however I > haven't been able to find alot of information on configuring stuff like > this, or errors like this on machinekit, so if there is a repository where > I could learn more about it please let me know, I would love to look into > all of that. Thank you again, I have posted the (slightly) edited .hal and > .ini files. You seem to be having the most trouble with the HAL file. This is basically a plain text netlist file which creates a "wiring diagram" or schematic of the machine control logic. As with a real world schematic, things like unconnected pins or undriven nets will typically cause problems. There is a fair amount of documentation available for HAL, I would recommend you read through at least the introduction: http://www.machinekit.io/docs/hal/intro/ You don't need all the details (eg: creating new components with C or python), but you should be familiar with the concept of components, pins, signals, and functions. -- Charles Steinkuehler [email protected] -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
