Hello, I am designing a 5-axis machine with a XYZAC orientation. I can currently control/send commands to XYZA steppers but am having trouble with the C axis of rotation. I get a joint 5 following error every time I try to control the C rotation. the specific error in the command line is: emc/task/taskintf.cc 617: Error on axis 5, command number 141
The C axis setup is identical to the A axis so I am struggling to find out where the error is being triggered. I am using trivkins. Any help would be great! Here are the ini sections connected to the C axis [TRAJ] COORDINATES = X Y Z A C AXES = 6 JOINTS = 5 MAX_ANGULAR_VELOCITY = 45.00 DEFAULT_ANGULAR_VELOCITY = 4.50 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 5.0 MAX_LINEAR VELOCITY = 10.0 NO_FORCE_HOMING = 0 [AXIS_5] TYPE = ANGULAR MAX_VELOCITY = 31.89 MAX_ACCELERATION = 3000.0 STEPGEN_MAX_VEL = 37.0 STEPGEN_MAXACCEL = 3750.0 BACKLASH = 0.0 SCALE = -744.53 MIN_LIMIT = -9999.0 MAX_LIMIT = 99999999.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 0.0 HOME_OFFSET = 0.0 and the hal section #C-axis setp hpg.stepgen.04.position-scale [AXIS_5]SCALE setp hpg.stepgen.04.steplen 2000 setp hpg.stepgen.04.stepspace 2000 setp hpg.stepgen.04.dirhold 35000 setp hpg.stepgen.04.dirsetup 3500 setp hpg.stepgen.04.maxaccel [AXIS_5]STEPGEN_MAXACCEL net cpos-cmd axis.4.motor-pos-cmd => hpg.stepgen.04.position-cmd net cpos-fb hpg.stepgen.04.position-fb => axis.4.motor-pos-fb net cenable axis.4.amp-enable-out => hpg.stepgen.04.enable setp hpg.stepgen.04.steppin 929 setp hpg.stepgen.04.dirpin 931 -- 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]. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/44d65ac8-75b8-42ee-bb60-209c8b9dbe69%40googlegroups.com.
