Cincinnati Milacron Arrow 750 Retrofit

Andy,

I created a component that interprets a SSI bitfield into the absolute angle called iCNQCangle.

Attached is my work-in-progress hal file.

I changed the addf sequence in the hal file to the following:
addf hm2_5i24.0.read servo-thread
addf iCNQCangle.0 servo-thread
addf bldc.0 servo-thread
addf hm2_5i24.0.write servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

It is still making the audible clicking sound. The same type of sudden signal drop can been seen in Hal Oscilloscope.

Are you referring to plotting commutation-counts in halscope from the following link in hal?:
net commutation-counts iCNQCangle.0.angle => bldc.0.rawcounts

Ok, I'm away from the machine right now. I'll get the info hopefully later today/tomorrow.

I was thinking about setting the iCNQC interpreter to output the SSI stream in Gray-code and then using Hostmot2 to process the stream directly to see if that would make a difference.

Andy,
I managed to figure it out. It turns out it was in fact my iCNQCangle comp file causing the issues. I wrote the comp file to roll absolute rawcount encoder values back to 0 once maximum readings per revolution were achieved (that were initially 2048 and then subsequently reduced to 256). After I switched to gray-code within the Hostmot2 SSI function, I noticed that the absolute encoder value doesn't roll to zero after maximum readings per revolution were achieved. Instead it keeps counting up or down past the readings per revolution until it maxes out the S32 bit data type, I'm guessing.

I think the way I was going about this initially caused issues with bldc comp because it wasn't expecting the rawcount encoder values to reset to zero after maximum readings per revolution were achieved.

Here is a plot of the 8i20 angle. Notice it doesn't have the sudden signal drop anymore.

Next step is getting the axis setup in Linxucnc and the servos working in closed loop.

Thanks for the help everybody.