Picked up a 52G EM servo on Ebay, installed on my rig to test tonight - loaded a DRC I obtained from Joe - seems Granity accepts the DRC, and Simucube software will initialize the servo, finding center and beeping indicating all is good - but there’s no reading of the steering input in the Simucube UI.
The Granity interface doesn’t make it immediately clear how I can confirm whether or not it’s reading steering input, but I gather it wouldn’t initialize if it didn’t have SOME kind of encoder feedback.
I’ve got the 15 pin cable which came with the servo plugged directly into the Simucube board; SDR-480-48V PSU. Not certain what could be wrong here.
I noticed tonight when I went to hook it up, the servo took a hit in shipping, bending the metal housing for the servo power cable - bent that back into shape, and no issues there. I suppose it’s possible the pinout is incorrect in the encoder cable? But again, I would expect the system wouldn’t initialize without some kind of feedback. Curious about this - if someone is bored and feels like troubleshooting, I would appreciate it!
Below is the current config from Granity:
[X] Initialized
[ ] Error recovering
[ ] Tracking error warn
[ ] Target reached
[X] Enabled
[X] Run (drive active)
[ ] Homing active
[ ] Braking
[ ] Permanent stop
[X] Voltages good
[ ] Fault stopped
[X] Ready for use
[ ] STO active
[ ] Safe torque mode
[X] Standing still
[ ] Quick stop active
[ ] Tracking error
[ ] Over velocity
[ ] Hardware
[ ] Over temperature
[ ] Feedback
[ ] Over current
[ ] Internal comm error
[ ] Power stage forced off
[ ] Under voltage
[ ] Over voltage
[ ] Motion range
[ ] Firmware error
[ ] Init
[ ] Motion
[X] SimpleMotion
[ ] Configuration
What caused this fault?
Fault location ID1 481001 (info)
Fault location ID2 0 (info)[X] GPI 1
[X] GPI 2
[X] GPI 3
[ ] GPI 4
[X] GPI 5
[ ] GPI 6
[ ] HSIN 1
[ ] HSIN 2
[ ] ANA1 as digital
[ ] ANA2 as digital
[ ] ENC A
[X] ENC B
[ ] ENC C
[ ] ENC D
[X] Hall U
[X] Hall V
[X] Hall W
[X] Soft enable
[X] Phys enable
[ ] Pos feed enable
[ ] Neg feed enable
[X] Home switch
[ ] Clear faults
Analog in 1 1.72 V
Analog in 2 0.00 V
Analog Enc A -1.61 V
Analog Enc B 1.21 V
HV bus voltage 47.7 VDC
Device temperature 39 °C
Actual current limit ±13.1 A
Last limit reason Voltage limit
Output current -0.01 A
Velocity feedback 0 r/s
Velocity feedback (raw) 0
Position feedback 0 r
Position feedback (raw) 0
Setpoint value (raw) 0
Debug 1 -1
Debug 2 -1
Debug 3 -1
Debug 4 -1
Debug 5 -1
Debug 6 -1
Parameters
| GCFWVER=10716 | HWTYPE=11201 | HWSERIAL=112015595 | BUILDREVISION=2782abfc
| CEI=2 | UID=e911233 | SMO=0 | TRF1=0
| TRF2=0 | TRA1=0 | TRA2=0 | MPP=480
| NOTCHFILT=655616 | TED=2 | TEF=0.4 | TEI=1
| SERIALENCBITS=6 | COMMUTATIONCFG=0 | HAO=0 | FBR=4096
| FBD=1 | FB2D=0 | TBW=10 | KVP=300
| KVI=190 | KPP=120 | VFF=120 | AFF=0
| PFF=98.5 | CM=2 | MT=3 | AD=0
| FLAGS=147469 | MMC=13.12 | MCC=6.67 | FOC=6
| FOV=49.75 | FUV=25 | FPT=1000 | FVT=100
| FEV=100 | FMO=0 | LSF=0 | LFO=0
| AXS=1 | AXT=3 | FFT=0 | TSR=0
| TCH=2.09715e+06 | TTR=1 | TBT=0 | CRI=3
| DIV=100 | PIF=2500 | MUL=100 | CAL=10
| CSD=10 | CVL=1000 | CRV=100 | MR=3.89
| ML=13.284 | MTC=2000 | MPC=10 | MMS=6000
| CAO=0 | HOMING=0 | HMV=100 | HMA=10
| HMH=500 | HMT=1 | HHL=0 | HLL=0
| HMF=0 | HSA=0 | HSS=0 | overrideAddr1=0
| overrideAddr2=0 | overrideAddr3=0 | overrideVal1=0 | overrideVal2=0
| overrideVal3=0 | BED=1.5 | BER=0 | BDD=1
| CAPS1=6.29143e+07 | CAPS2=81823
