7i77 testers wanted

does the count direction and analog output agree?

You may already know - but that is what the openloop test is for.
positive jog should produce positive encoder count and move the motor in the right direction.
I have not got a lot of feedback on servo A axis - most are steppers.

It appears to go in the correct direction and indicate the correct encoder count when I use the open loop test. But as far as I can tell in AXIS there's no attempt at motion before it throws a joint 3 following error message.

Do you know anything about configuring it as a C axis rather than A? Thanks

Well i haven't done that - I should add it to PNCconf it comes up from time to time...

in the INI file:

under [TRAJ] heading
change axes = 4 to axes = 6
change COORDINATES = X Y Z A to COORDINATES = X Y Z C

change the [AXES_3] heading to [AXES_5]

In the main HAL file:
change all the [AXES_3] to [AXES_5]

now if you are using AXIS the display will probably be wrong.
in the INI file under the [DISPLAY] heading
look for GEOMETRY= XYZA
This changes the way gcode is displayed.
try XYZC - but I'm not sure of this...

Question for Peter:

Is there any other difference for AOUT5 besides it's separate enable pin?
Pncconf at the moment allows one to have the spindle controlled by any AOUT
so I must fix the enable problem but I want to know if the spindle MUST be AOUT5

Thanks

Thanks, that seems to work. Is there no need to change all the pid.a.Pgain etc values to pid.c.Pgain?

I'll continue trying to figure out the follow error issue tomorrow. I must have set the deadband too small or something. I'm not sure what the feedforward gains should be either.

well it would make more sense but doesn't matter but....

I forgot about changing axis.3 to axis.5
for example axis.5.motor-pos-cmd
You will find them in the HAL file

yes following error seems too small:
0.0005 of a degree

The only difference with analog channel 5 is that its enable is separate
(making the enable useful for a spindle)

Thanks for the help with C axis setup. I still have a problem with following errors - I changed the FERROR value in the INI file to 1.0 and MIN_FERROR to 0.5 and I still get a following error and no motion when I try to use the jog buttons in AXIS. When I try to use MDI I always get some kind of complaint about being out of range of one of the joints. Any brainstorms would be appreciated.

EDIT: Actuallty I get a tiny jolt of motion before I get the following error. Something's working. It's as if it thinks the encoder direction is reversed.

EDIT AGAIN: Got it moving, just needed a lot more proportional gain.

excellent. does it still error in MDI? maybe the min-limit max_limt range is to high ?

by the way there is a option for rotary tables in linuxcnc 2.5 that PNCconf doesn't know about yet. from the manual:

WRAPPED_ROTARY = 1 - When this is set to 1 for an ANGULAR axis the axis will move 0-359.999 degrees. Positive Numbers will move the axis in a positive direction and negative numbers will move the axis in the negative direction.