7i76e No field outputs except in sample config

24 Aug 2017 02:25 #97953 by blazini36
blazini36 created the topic: 7i76e No field outputs except in sample config
I have several configs generated by Pconf for the 7i76e and none of them will drive an output pin high using halshow in axis or halrun in terminal. I know I'm doing something wrong because the 7i76es sample config I found a while back from PCW will drive the pin in halshow.

Trying to execute "setp hm2_7i76e.0.7i76.0.0.output-00 true" only works in the sample config

Maybe somebody can point out what's wrong with my Hal file (or whatever else)
# Generated by PNCconf at Sun Jul 16 19:11:56 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_eth board_ip="" config="firmware=hm2/7i76/7i76e.BIT num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" 
setp    hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle

addf hm2_7i76e.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf scale.spindle            servo-thread
addf abs.spindle              servo-thread
addf lowpass.spindle          servo-thread
addf hm2_7i76e.0.write         servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1

# external output signals

# --- CAM0_TRIGGER_OUT ---
net cam0_trigger_OUT hm2_7i76e.0.7i76.0.0.output-00

net cam0_flash_trigger_OUT hm2_7i76e.0.7i76.0.0.output-01

# --- CAM1_TRIGGER_OUT ---
net cam1_trigger_OUT hm2_7i76e.0.7i76.0.0.output-04

net cam1_flash_trigger_OUT hm2_7i76e.0.7i76.0.0.output-05

# net Flash_intensity_AOUT-enable            =>  hm2_7i76e.0.7i76.0.0..spinena
# net Flash_intensity_AOUT-output            =>  hm2_7i76e.0.7i76.0.0..spinout
# net Flash_intensity_AOUT-direction          =>  hm2_7i76e.0.7i76.0.0..spindir

# external input signals

# --- MIN-X ---
net min-x     <=  hm2_7i76e.0.7i76.0.0.input-00

# --- MAX-X ---
net max-x     <=  hm2_7i76e.0.7i76.0.0.input-01

# --- HOME-X ---
net home-x     <=  hm2_7i76e.0.7i76.0.0.input-02

# --- MIN-Y ---
net min-y     <=  hm2_7i76e.0.7i76.0.0.input-08

# --- MAX-Y ---
net max-y     <=  hm2_7i76e.0.7i76.0.0.input-09

# --- HOME-Y ---
net home-y     <=  hm2_7i76e.0.7i76.0.0.input-10

# --- DIN-01 ---
net Park-Cams     <=  hm2_7i76e.0.7i76.0.0.input-16

# --- DIN-01 ---
net cue-sense     <=  hm2_7i76e.0.7i76.0.0.input-17


setp   pid.x.Pgain     [AXIS_0]P
setp   pid.x.Igain     [AXIS_0]I
setp   pid.x.Dgain     [AXIS_0]D
setp   pid.x.bias      [AXIS_0]BIAS
setp   pid.x.FF0       [AXIS_0]FF0
setp   pid.x.FF1       [AXIS_0]FF1
setp   pid.x.FF2       [AXIS_0]FF2
setp   pid.x.deadband  [AXIS_0]DEADBAND
setp   pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
setp   pid.x.maxerror .0005

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
net x-output        =>  pid.x.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_7i76e.0.stepgen.00.dirhold         [AXIS_0]DIRHOLD
setp   hm2_7i76e.0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp   hm2_7i76e.0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
setp   hm2_7i76e.0.stepgen.00.position-scale  [AXIS_0]STEP_SCALE
setp   hm2_7i76e.0.stepgen.00.step_type        0
setp   hm2_7i76e.0.stepgen.00.control-type     1
setp   hm2_7i76e.0.stepgen.00.maxaccel         [AXIS_0]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.00.maxvel           [AXIS_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= axis.0.motor-pos-cmd
net x-vel-cmd    <= axis.0.joint-vel-cmd
net x-output     <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb     => axis.0.motor-pos-fb
net x-enable     <= axis.0.amp-enable-out
net x-enable     => hm2_7i76e.0.stepgen.00.enable

# ---setup home / limit switch signals---

net home-x     =>  axis.0.home-sw-in
net min-x     =>  axis.0.neg-lim-sw-in
net max-x     =>  axis.0.pos-lim-sw-in


setp   pid.y.Pgain     [AXIS_1]P
setp   pid.y.Igain     [AXIS_1]I
setp   pid.y.Dgain     [AXIS_1]D
setp   pid.y.bias      [AXIS_1]BIAS
setp   pid.y.FF0       [AXIS_1]FF0
setp   pid.y.FF1       [AXIS_1]FF1
setp   pid.y.FF2       [AXIS_1]FF2
setp   pid.y.deadband  [AXIS_1]DEADBAND
setp   pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
setp   pid.y.maxerror .0005

net y-index-enable  <=> pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-vel-cmd       =>  pid.y.command-deriv
net y-pos-fb        =>  pid.y.feedback
net y-output        =>  pid.y.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.01.dirsetup        [AXIS_1]DIRSETUP
setp   hm2_7i76e.0.stepgen.01.dirhold         [AXIS_1]DIRHOLD
setp   hm2_7i76e.0.stepgen.01.steplen         [AXIS_1]STEPLEN
setp   hm2_7i76e.0.stepgen.01.stepspace       [AXIS_1]STEPSPACE
setp   hm2_7i76e.0.stepgen.01.position-scale  [AXIS_1]STEP_SCALE
setp   hm2_7i76e.0.stepgen.01.step_type        0
setp   hm2_7i76e.0.stepgen.01.control-type     1
setp   hm2_7i76e.0.stepgen.01.maxaccel         [AXIS_1]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.01.maxvel           [AXIS_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= axis.1.motor-pos-cmd
net y-vel-cmd    <= axis.1.joint-vel-cmd
net y-output     <= hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb     => axis.1.motor-pos-fb
net y-enable     <= axis.1.amp-enable-out
net y-enable     => hm2_7i76e.0.stepgen.01.enable

# ---setup home / limit switch signals---

net home-y     =>  axis.1.home-sw-in
net min-y     =>  axis.1.neg-lim-sw-in
net max-y     =>  axis.1.pos-lim-sw-in


setp   pid.s.Pgain     [SPINDLE_9]P
setp   pid.s.Igain     [SPINDLE_9]I
setp   pid.s.Dgain     [SPINDLE_9]D
setp   pid.s.bias      [SPINDLE_9]BIAS
setp   pid.s.FF0       [SPINDLE_9]FF0
setp   pid.s.FF1       [SPINDLE_9]FF1
setp   pid.s.FF2       [SPINDLE_9]FF2
setp   pid.s.deadband  [SPINDLE_9]DEADBAND
setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---Encoder feedback signals/setup---

setp    hm2_7i76e.0.encoder.00.counter-mode 0
setp    hm2_7i76e.0.encoder.00.filter 1
setp    hm2_7i76e.0.encoder.00.index-invert 0
setp    hm2_7i76e.0.encoder.00.index-mask 0
setp    hm2_7i76e.0.encoder.00.index-mask-invert 0
setp    hm2_7i76e.0.encoder.00.scale  [SPINDLE_9]ENCODER_SCALE

net spindle-revs             <=   hm2_7i76e.0.encoder.00.position
net spindle-vel-fb-rps       <=   hm2_7i76e.0.encoder.00.velocity
net spindle-index-enable     <=>  hm2_7i76e.0.encoder.00.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
net spindle-enable             <=  motion.spindle-on
net spindle-cw                 <=  motion.spindle-forward
net spindle-ccw                <=  motion.spindle-reverse
net spindle-brake              <=  motion.spindle-brake
net spindle-revs               =>  motion.spindle-revs
net spindle-at-speed           =>  motion.spindle-at-speed
net spindle-vel-fb-rps         =>  motion.spindle-speed-in
net spindle-index-enable      <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

setp     scale.spindle.gain 60
setp     lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps        =>     scale.spindle.in
net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in
net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in
net spindle-fb-rpm-abs-filtered  lowpass.spindle.out  

# connect miscellaneous signals

#  ---HALUI signals---

net joint-select-a        halui.joint.0.select
net x-is-homed            halui.joint.0.is-homed
net jog-x-pos             halui.jog.0.plus
net jog-x-neg             halui.jog.0.minus
net jog-x-analog          halui.jog.0.analog
net jog-selected-pos      halui.jog.selected.plus
net jog-selected-neg      halui.jog.selected.minus
net spindle-manual-cw     halui.spindle.forward
net spindle-manual-ccw    halui.spindle.reverse
net spindle-manual-stop   halui.spindle.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.jog-speed 

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---toolchange signals for custom tool changer---

net tool-number             <=  iocontrol.0.tool-prep-number
net tool-change-request     <=  iocontrol.0.tool-change
net tool-change-confirmed   =>  iocontrol.0.tool-changed
net tool-prepare-request    <=  iocontrol.0.tool-prepare
net tool-prepare-confirmed  =>  iocontrol.0.tool-prepared
24 Aug 2017 02:35 - 24 Aug 2017 02:35 #97954 by PCW
PCW replied the topic: 7i76e No field outputs except in sample config
You would not be able to control hm2_7i76e.0.7i76.0.0.output-00 with halcmd or halshow because the pin is
already linked to a signal in your hal file:

net cam0_trigger_OUT hm2_7i76e.0.7i76.0.0.output-00

Last Edit: 24 Aug 2017 02:35 by PCW.
24 Aug 2017 03:59 #97955 by blazini36
blazini36 replied the topic: 7i76e No field outputs except in sample config
You're right about the config, I commented it out and it ran, but halcmd I ran without pointing to a hal file, just:

loadrt hostmot2
loadrt hm2_eth board_ip="" config="num_stepgens=5 sserial_port_0=00xxx"

Not sure what I'm missing on that. All the little nuances of hal are a bit overwhelming but I appreciate the help.
24 Aug 2017 13:25 #97963 by PCW
PCW replied the topic: 7i76e No field outputs except in sample config
In halrun, you would need to start a thread and addf the hm2_xxxx read and write functions to that thread to have any I/O work.
Loading the driver just probes the hardware and sets up the pins but does not do the required periodic reads and writes.
30 Aug 2017 12:57 #98204 by andypugh
andypugh replied the topic: 7i76e No field outputs except in sample config
loadrt hostmot2
loadrt hm2_eth board_ip="" config="num_stepgens=5 sserial_port_0=00xxx"
loadrt threads
addf hm2_7i76e.0.read thread1
addf hm2_7i76e.0.write thread1

(the "start" is important)
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