Clearpath HLFB amp.joint.delay

tommylight wrote:

 back when they were selling stepper motors and labeling them as "revolutionary servo motors" for a lot more $, and i think they still do, but now with encoder feedback.
 

Tommy,

They aren't steppers and I don't think they ever have been.  I haven't seen the internal windings, but they don't act like any steppers I've come across.  There is no perceptible rotor cogging when you spin them by hand.  Even the Berger-Lahr 5-phase steppers I have on my Emco lathe have a tiny bit of cogging feel.

The Nema 23/34's are BLDC's with an encoder, trajectory generator, and IO (not just some halls).  The AC-input versions are... maybe something else, don't know.

I've been using them off and on for automation equipment for about 7-8 years and they haven't changed, at least not the mechanical/electrical parts.  They've got upgraded IP67 connectors as an option now, as well as Ethercat models.

Best thing since sliced bread?  No.  There's an upper limit to the performance you can get with 75VDC and 16AWG(ish) cables.

But they are extremely useful in certain applications and no separate drive makes integrating them very easy.

I did setup the MSP software, And I just confirmed the pins again.

Good, thanks for verifying the servos are programmed appropriately.

Right now, your HLFB pins are HIGH (conducting) when the servos are enabled and OK.  Since you have the inputs connected to your amp-fault-in pins like:

LCNC thinks there is a fault when the servos are saying everything is OK.  Here's the LCNC manual section (motion):

joint.N.amp-fault-in IN BIT should be driven TRUE if an external fault is detected with the amplifier for this joint.

Try changing the HLFB input pins to 'not' like so:
At that point, the joint.N.amp-fault-in pins should be HIGH when the servos are not enabled, and go LOW when they are enabled and OK.

Once you're at that point, you can test by pulling the encoder cable off the motors and see if it causes the amp-fault-in to go high (hopefully).

If you still need a delay we can work on that next.

OK I corrected the .hal file and pins are reversed like you said but unfortunately still same issue no pop up in GUI no indication something wrong. I can move the axis linuxcnc thinks everything is OK.

I think the problem is that the joints are supposed to have numbers, not letters.

Like 

joint.0.amp-fault-in

I just realized you haven't created a signal name, just linked two pins.  Because your joint.(lettter).amp-fault-in pin doesn't actually exist, LCNC is creating a SIGNAL named joint.(letter).amp-fault-in.

That's why you aren't getting an error at startup.

Try this

net x-fault joint.0.amp-fault-in hm2_7i96s.0.inm.00.input-1-not

and so on for the others.