SSI absolute encoders and analog servos

Hi,

I have now made some progress and connected these card amongst many other things. I am now having following problem: It seems that Port 7 is only port working on 7i74. Any card I connect to this port starts blinking green after starting linuxcnc. Ports 4-6 remain red led on. Is it me or?

Tero

Yes it was me. I had ssi_encoders statement on config line and that disabled all ports except no 7.


Tero

Hi,

Ok after 8 weeks of waiting I have now received Fagor G2 series absolute encoder with SSI output. I have flashed 5i25 with PCW's firmware. And now I have few questions:

1. How do I confirm that first 4 channels in 7i74 are now SSI inputs?
2. Actual hardware connection I have following pins out from encoder:

Gray = Data
Pink = /Data
Black = Clock
Purple = /Clock
Brown = +5V ( pin 7)
LT Green = + 5V Sensor ( Pin 8)
White = 0V (pin 4)
Orange = 0V Sensor ( pin 5)

What pins these connect on 7i74 RJ45 ?

3. And finally how to connect Y-position feedback pin to 7i74 channel 1 in config ?

Also here is pic of output specs:

I requested 24 bit gray configuration.

Tero

Let me check my Siemens SSI encoder, I have it wired to a RJ45

The first 4 RJ45s are SSI interfaces
(you can confirm this by running mesaflash with the --readhmid option in conjunction with the 7I74 manual))

TXA = 1 = Orange/White = SSI Clock
TXB = 2 = Orange = SSI /Clock
RXA = 3 = Green/White = SSI Data
RXB = 6 = Green = SSI /Data

5V and 5V sense to RJ45 7,8 (Brown,Brown/White)
0V and 0V sense to RJ45 4,5 (Blue,Blue/White)
( EIA/TIA 568B Colors )

Hi,

Ok thank. you. And configuration? I have now following lines in my HAL file:

loadrt hm2_pci config=" num_encoders=0 num_pwmgens=0 num_stepgens=0 sserial_port_1=00000000"
net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in

How to change that to use channel 1 on sserial_port_1 for Y-pos feedback?

Also in INI:

# Second axis
[AXIS_1]

TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 130
MAX_ACCELERATION = 508
BACKLASH = 0.000
INPUT_SCALE = 157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT = -254
MAX_LIMIT = 254
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0

How to change that for Linear scale that has 0,1 um resolution?


Tero

Also here is output of --readhmid

cinci@Cinci:~$ sudo mesaflash --device 5i25 --readhmid
Configuration Name: HOSTMOT2

General configuration information:

BoardName : MESA5I25
FPGA Size: 9 KGates
FPGA Pins: 144
Number of IO Ports: 2
Width of one I/O port: 17
Clock Low frequency: 33.3333 MHz
Clock High frequency: 200.0000 MHz
IDROM Type: 3
Instance Stride 0: 4
Instance Stride 1: 64
Register Stride 0: 256
Register Stride 1: 256

Modules in configuration:

Module: DPLL
There are 1 of DPLL in configuration
Version: 0
Registers: 7
BaseAddress: 7000
ClockFrequency: 33.333 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: WatchDog
There are 1 of WatchDog in configuration
Version: 0
Registers: 3
BaseAddress: 0C00
ClockFrequency: 33.333 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: IOPort
There are 2 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 33.333 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: SSI
There are 8 of SSI in configuration
Version: 0
Registers: 4
BaseAddress: 6900
ClockFrequency: 33.333 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: SSerial
There are 2 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 33.333 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes

Module: LED
There are 1 of LED in configuration
Version: 0
Registers: 1
BaseAddress: 0200
ClockFrequency: 33.333 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P3
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 0 IOPort SSI 0 Data (In)
14 1 IOPort SSI 1 Data (In)
2 2 IOPort SSI 2 Data (In)
15 3 IOPort SSI 3 Data (In)
3 4 IOPort SSI 0 SClk (Out)
16 5 IOPort SSI 1 SClk (Out)
4 6 IOPort SSI 2 SClk (Out)
17 7 IOPort SSI 3 SClk (Out)
5 8 IOPort SSerial 0 RXData2 (In)
6 9 IOPort SSerial 0 RXData3 (In)
7 10 IOPort SSerial 0 RXData4 (In)
8 11 IOPort SSerial 0 RXData5 (In)
9 12 IOPort SSerial 0 TXData2 (Out)
10 13 IOPort SSerial 0 TXData3 (Out)
11 14 IOPort SSerial 0 TXData4 (Out)
12 15 IOPort SSerial 0 TXData5 (Out)
13 16 IOPort SSerial 0 TXEn5 (Out)

IO Connections for P2
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 17 IOPort SSI 4 Data (In)
14 18 IOPort SSI 5 Data (In)
2 19 IOPort SSI 6 Data (In)
15 20 IOPort SSI 7 Data (In)
3 21 IOPort SSI 4 SClk (Out)
16 22 IOPort SSI 5 SClk (Out)
4 23 IOPort SSI 6 SClk (Out)
17 24 IOPort SSI 7 SClk (Out)
5 25 IOPort SSerial 1 RXData2 (In)
6 26 IOPort SSerial 1 RXData3 (In)
7 27 IOPort SSerial 1 RXData4 (In)
8 28 IOPort SSerial 1 RXData5 (In)
9 29 IOPort SSerial 1 TXData2 (Out)
10 30 IOPort SSerial 1 TXData3 (Out)
11 31 IOPort SSerial 1 TXData4 (Out)
12 32 IOPort SSerial 1 TXData5 (Out)
13 33 IOPort SSerial 1 TXEn5 (Out)


Does this seem correct?

Tero

That looks correct

You will probably need to start LinuxCNC and run a

halcmd show pin
to see whats working

Also the SSI encoders will need a setup string and clock speed setting
I think I have the example for my Siemens SSI encoder which is probably similar