Hi,
So right now I have Port1 pins 10, 11, 12, 13 getting 5v when the motors are enabled. I also have them set to active low
This is good.
Don't worry about the port 2 pins just yet, we'll come back to that, there is enough to think about with pins 10,11,12 and 13
without adding more complication!
When I enable the machine all the LEDs on the board come on.
This is signalling that there servos are in fault mode. Are you 100% sure the servos are powered up? Note that
when the servo is 'good' there is a is a conductive path between HLFB+ and HLFB-(asserts) and a non-conductive path when in fault
mode. Thus when the servo is un-powered, and therefore there is no conductive path, that is equivalent to
the servo signalling a fault!
Next question: have you programmed the HLFB. There are several modes in which it can operate. I suspect the mode you
want is 'In Range'. Thus the HLFB asserts, ie conducting, when the servo is in position and correctly following the step/direction
commands.
Page 46:
The HLFB can be used to signal:
• If the servo drive is enabled or in a shutdown (Servo On)
• When the commanded move is complete and settled to your
specifications (ASG-Position)
• How well the motor is following your positioning or velocity**********************
commands (In Range)
• Motor speed, via PWM output (Speed Output)
• Motor torque, via PWM output (Torque Output)
And on page 48:
IN RANGE
The HLFB In Range mode signals when the motor shaft is within a userdefined
range of the commanded position or commanded velocity. This
mode is available in positioning or velocity op modes and changes
automatically based on the ClearPath op mode you are currently using.
In Range-Position
You must be in a ClearPath positioning mode and select In Range from
the HLFB menu. During operation, the HLFB output asserts when actual
motor position is within X counts of commanded position. You set the X
value (i.e., the range) via the Advanced>MoveDone Criteria dialog in
MSP.
Note how Tecknics use the term HLFB 'asserts'....nice use of language...I will use it too.
Let us know how you get on.
Craig