Sanyo Denki Servos with MESA 5i25+7i76 Config

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05 Mar 2013 07:05 #30884 by DonnyM
I have setup Linux EMC years ago with steppers and geckos on a old router. That was fairly simple back then. Now I have a new setup that is confusing me. I am not that sure how to get it working.
I believe I need to set up Stepgen UP/Down Mode in the config but I do not understand how to do that.
My setup is:
Linux EMC 2.5.1 with a Mesa 5i25 pci card and a 7i76 breakout. Sanyo Denki Q style 3 phase AC Servo drives and motors. The encoders are closed at the drives. Not at the MESA card.
The only wires running to the drives from the 7i76 is Step and Direction The drives take Position Command Pulse Input.
Below is what I have tried so far. And so far I have no motion other than with the Sanyo Q software. No Motion in Linux

I copied the Firmware files from MESA to a Folder named 5I25 that i placed into the Firmware folder with the existing card styles.
Under I/O Control Ports/ Boards I select 5i25 from the drop down
On the configuration page I get a list of Firmwares. I chose 7i77/7i76
Is that correct?
I have the encoders connected directly to the drives. Not the 7i76.
I set number encoders to 0
Step Generators to 5. X,Y1,Y2,Z, A
Smart Serial Ports to 0

Under I/O Connector 2:
0= X axis Step Gen
1= Z axis Step Gen
2= Y axis Step Gen
3= Y2 tandem Step Gen
4= A axis Step Gen
034-040 I left blank
I wired: X to TB2 Pins 1-5
Z to TB2 Pins 7-11
Y1 TB2 Pins 13-17
Y2 TB2 Pins 19-23
A TB3 Pins 1-5

Tab I/O Connector 3 settings:
000 X home Gpio input
001 Y home Gpio input
002 Z home Gpio input

I wired home mechanical switches to TB6 Inputs 0-2 Pins 1-3
There is a 24vdc supply running to field power TB1 Pin 1. One side of the switch runs to Vfield pin2 the other to the proper input on TB6
The over travel and under travel switches are not hooked up yet neither is the spindle.

Under the Axis Motor/ Encoder pages I left all default except for the Stepper scale. Which I calculated using there wizard
And I set my travel distances.

Not sure if the above settings are correct.

The next page is the HALui stuff. I have no Idea what to do here.
I am running the servos in step/direction (Which is Position Control Mode in the servo)
Then there is the HAL Component Page. Not sure what to do here.


Any suggestion on where to go from here. I believe I need to be in Step Gen mode 1 but do not know how to set that. Regardless I should have inputs from the Normally close home switches I have hooked up.
I did check the limit switches, I used the axis --> show hal configuration --> pin --> watch to verify them one by one. The light is red. Does not change state by breaking the switch.

Attached is a pdf of the drives internal settings. I did change the Control Mode to Position. I had just saved this before saving the settings to pdf. These were used drive / motor sets that came off working machines so they were set up in Torque mode. I had to change the CN1 wires to work with Position. Not sure what other settings need to change in the drive to make these work with EMC.

Donny
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05 Mar 2013 07:49 #30886 by PCW
A couple of quick comments

1. Setting the stepgen mode must be done in the HAL file. I dont know if pncconf has the option to set the stepgen mode,
but if not you will have edit the HAL file directly.

2. The 7i76 inputs are not on GPIO bits but rather sserial remote I/O and will have names like:

hm2_5i25.0.7i76.0.0.input-00
hm2_5i25.0.7i76.0.0.input-00-not
hm2_5i25.0.7i76.0.0.input-01
hm2_5i25.0.7i76.0.0.input-01-not

etc

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05 Mar 2013 21:16 #30917 by andypugh

On the configuration page I get a list of Firmwares. I chose 7i77/7i76
Is that correct?

I suspect not. is there a 7i76x2 option?
You may be setting up the first port as a 7i77, and connecting a 7i76.
What firmware is on your 5i25? (it should say on a sticker on the card)
[/quote]

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05 Mar 2013 22:15 - 05 Mar 2013 22:26 #30920 by BigJohnT
If this is pncconf AFAIK it is for servos only and not for steppers. I really should finish the 7i76 configurator... in the mean time I have a sample config here .

John
Last edit: 05 Mar 2013 22:26 by BigJohnT.

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05 Mar 2013 22:22 - 05 Mar 2013 22:22 #30921 by andypugh

If this is pncconf AFAIK it is for servos only and not for steppers.

The docs say that it does steppers.
linuxcnc.org/docs/html/config/pncconf.html
Last edit: 05 Mar 2013 22:22 by andypugh.

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05 Mar 2013 22:27 #30922 by BigJohnT
Well I'll be, it does... I guess I can stop working on the 7i76 configurator now.

John

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05 Mar 2013 22:36 #30923 by DonnyM
I figured the stepgen mode needed to be set in HAL. But no one has said how to do that. I am unsure of what to do.
The only inputs my connector tabs give me is GPIO not sserial. I am not using TB3 pins 16-19 which are serial so I am not sure why you say all the other inputs are serial. I see no mention in the 5i25 manual. I am confused.

Donny

A couple of quick comments

1. Setting the stepgen mode must be done in the HAL file. I dont know if pncconf has the option to set the stepgen mode,
but if not you will have edit the HAL file directly.

2. The 7i76 inputs are not on GPIO bits but rather sserial remote I/O and will have names like:

hm2_5i25.0.7i76.0.0.input-00
hm2_5i25.0.7i76.0.0.input-00-not
hm2_5i25.0.7i76.0.0.input-01
hm2_5i25.0.7i76.0.0.input-01-not

etc

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05 Mar 2013 22:42 #30924 by DonnyM
I figured the stepgen mode needed to be set in HAL. But no one has said how to do that. I am unsure of what to do.
The only inputs my connector tabs give me is GPIO not sserial. I am not using TB3 pins 16-19 which are serial so I am not sure why you say all the other inputs are serial. I see no mention in the 5i25 manual. I am confused.

Donny

A couple of quick comments

1. Setting the stepgen mode must be done in the HAL file. I dont know if pncconf has the option to set the stepgen mode,
but if not you will have edit the HAL file directly.

2. The 7i76 inputs are not on GPIO bits but rather sserial remote I/O and will have names like:

hm2_5i25.0.7i76.0.0.input-00
hm2_5i25.0.7i76.0.0.input-00-not
hm2_5i25.0.7i76.0.0.input-01
hm2_5i25.0.7i76.0.0.input-01-not

etc

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05 Mar 2013 22:54 #30925 by andypugh

I figured the stepgen mode needed to be set in HAL. But no one has said how to do that. I am unsure of what to do.

Add the following to the custom.hal file
setp hm2_5i25.0.stepgen.00.step_type 1
setp hm2_5i25.0.stepgen.01.step_type 1
setp hm2_5i25.0.stepgen.02.step_type 1

Documentation is here:
www.linuxcnc.org/docs/html/man/man9/hostmot2.9.html#stepgen

The only inputs my connector tabs give me is GPIO not sserial. I am not using TB3 pins 16-19 which are serial so I am not sure why you say all the other inputs are serial

The 7i76 firmware configures 4 pins on the 25-way D-connector as smart-serial. On pair is used for the smart-serial connector on the 7i76, the other pair are used to control smart-serial devices that are part of the 7i76 board. This is the way that 25 pins on the header control 80(?) pins on the 7i76.

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05 Mar 2013 22:57 #30926 by andypugh

The 7i76 firmware configures 4 pins on the 25-way D-connector as smart-serial. On pair is used for the smart-serial connector on the 7i76, the other pair are used to control smart-serial devices that are part of the 7i76 board.


I just realised that setting smart-serial ports to zero in the config will turn off all the IO on the 7i76... So don't do that :-)

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