donnydavis
commented
3 years ago This is what I came up with. While not very good, it does work.
# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt and2 count=4
loadrt timedelay count=4
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf timedelay.0 servo-thread
addf timedelay.1 servo-thread
addf timedelay.2 servo-thread
addf timedelay.3 servo-thread
setp timedelay.0.on-delay 0.1
setp timedelay.0.off-delay 0
setp timedelay.1.on-delay 0.1
setp timedelay.1.off-delay 0
setp timedelay.2.on-delay 0.1
setp timedelay.2.off-delay 0
setp timedelay.3.on-delay 0.1
setp timedelay.3.off-delay 0
alias pin hm2_5i25.0.7i76.0.0.input-17-not x-servo-hlfb
alias pin hm2_5i25.0.7i76.0.0.input-18-not y-servo-hlfb
alias pin hm2_5i25.0.7i76.0.0.input-19-not y2-servo-hlfb
alias pin hm2_5i25.0.7i76.0.0.input-20-not z-servo-hlfb
net x-servo-fault x-servo-hlfb and2.0.in0
net machine-is-enabled and2.0.in1
net x-servo-fault-out and2.0.out
net x-servo-fault-out timedelay.0.in
net x-servo-fault-delay timedelay.0.out => joint.0.amp-fault-in
net y-servo-fault y-servo-hlfb and2.1.in0
net machine-is-enabled and2.1.in1
net y-servo-fault-out and2.1.out
net y-servo-fault-out timedelay.1.in
net y-servo-fault-delay timedelay.1.out => joint.1.amp-fault-in
net y2-servo-fault y2-servo-hlfb and2.2.in0
net machine-is-enabled and2.2.in1
net y2-servo-fault-out and2.2.out
net y2-servo-fault-out timedelay.2.in
net y2-servo-fault-delay timedelay.2.out => joint.2.amp-fault-in
net z-servo-fault z-servo-hlfb and2.3.in0
net machine-is-enabled and2.3.in1
net z-servo-fault-out and2.3.out
net z-servo-fault-out timedelay.3.in
net z-servo-fault-delay timedelay.3.out => joint.3.amp-fault-in
JetForMe
I tried using your method for clearpath fault detection, but it faults out immediately and will not allow the motors to enter enabled state.