Sanyo Denki Servos with MESA 5i25+7i76 Config

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05 Mar 2013 23:10 #30927 by PCW
Also not sure if you 7I76 to be supplied with field power for pncconf to expose the digital I/O
(and this is really a pncconf issue so perhaps should be asked in the pncconf section)

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07 Mar 2013 12:47 #31004 by DonnyM

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]

I tried 776x2 and I am not sure which pins are what. Nothing matches whats in the Mesa Manual.

Its gives me a total of 34 pins. With the 76I76 I have considerably more than that.
There is a box to the side called sanity checks. What is that for.

There are two I/O tabs:
I/o Connector 2: Num 024--40 I have my inputs for homes on TB6 pins 1-3-Inputs 0-2. What is the correct I/O Num here?
I/O Connector 3: Num 0-16. This is where I set my for X-A. I still had to edit the HAL step_type 1 for up/down mode

What about control type does it stay at 0(position) or 1(velocity)???

I have 24vdc it the Vfield W1 is to the left W2 is to the left
My switches are setup one side to Vfield and one side to TB6 pins 1-3
The inputs do not show up in HalConfig Watch. Under Home-X it is yellow. If I move the switch it does not change state. Is this a live screen?


Donny

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07 Mar 2013 12:56 #31005 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.

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

I did this in the custom Hal file made no difference. Motors do not turn.
I edited the standard HAL file to type 1 for each axis and it did not work either.

Any other Ideas.

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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07 Mar 2013 13:15 - 07 Mar 2013 13:18 #31006 by PCW
7I76x2 is the only choice that makes sense (unless theres a 7I76x1 choice)

Do you have the left top Yellow LED on the 7I76 illuminated (CR1)?

under show HAL configuration,pins -> watch the, indicators are dynamic,
under show HAL configuration,pins --> show they are only sampled when
you execute the command, so watch is normally better

what pins (full name) did you watch?
Last edit: 07 Mar 2013 13:18 by PCW.

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07 Mar 2013 13:17 #31007 by DonnyM
Attached is my Hal and Ini files. Maybe that will give you a idea of what I have done wrong.

I'm at a loss so far. But I keep reading and hoping to understand it.

Donny
Attachments:

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07 Mar 2013 13:30 #31008 by DonnyM

7I76x2 is the only choice that makes sense (unless theres a 7I76x1 choice)

Do you have the left top Yellow LED on the 7I76 illuminated (CR1)?

under show HAL configuration,pins -> watch the, indicators are dynamic,
under show HAL configuration,pins --> show they are only sampled when
you execute the command, so watch is normally better

what pins (full name) did you watch?

CR1 is not illuminated. CR2 is.

I watched under signals:
min-home-x (red)
min-home-y (red)
min-home-z-(red)
home-x (yellow)
home-y (yellow)
home-z (yellow)
x-is-homes (red)
x-pos-limit (red)

under pins/axis/o:
axis.0.home-sw-in (yellow)
all other axis.0 switch are red
Changing state of switch does not change state of light.

Donny

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07 Mar 2013 13:35 #31009 by PCW
The hal file is fairly broken. I'm not sure what options you picked in pncconf
but there are GPIO bits used but none should be used at all. The digital I/O on the 7I76 is all done via sserial port 0 so _no_ GPIO should be used and all limit switches should connect to pins with names like hm2_5i25.0.7i76.0.0.input-01 (remember I asked for you to watch these pins)

Perhaps this would be better moved to the pncconf section of the forum since these are pncconf issues

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07 Mar 2013 13:41 - 07 Mar 2013 13:45 #31010 by DonnyM
This can be fixed without PNCconf if the HAL is edited???
PNConf only gave me option to select GPIO. so it obliviously does not work right with this board.
So going to the PNCconf would probably not help.
I do need to know how to tell what pins are what in relation to the 7i76 and HAL If I know that then I could put the right pin numbers and commands in HAL.
I listed everything I had connected and to what Terminal Block and what pin on my first post.
How do I match up the pins in Hal with that of the 7i76??
And I told exactly what options I selected in PNCconf in the first post.
I did a Dmesg from terminal and it did not list a single hm2_5i25.0.7i76 anything. So i have that messed up.


Donny
Last edit: 07 Mar 2013 13:45 by DonnyM. Reason: Forgot something

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07 Mar 2013 13:42 #31011 by PCW
if CR1 is not illuminated you have the 7I76 or 5I25 jumpered wrong
(or you are shorting out the 5V with some external connection)

I would verify that 7i76 W2 is in the LEFT hand position and 5I25 W2 is in the 'UP' position

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07 Mar 2013 13:58 #31012 by DonnyM

if CR1 is not illuminated you have the 7I76 or 5I25 jumpered wrong
(or you are shorting out the 5V with some external connection)

I would verify that 7i76 W2 is in the LEFT hand position and 5I25 W2 is in the 'UP' position


I missed that when I set it up. I had 7i76 W2 right but 5i25 W2 was wrong. It is now right and the CR1 light is on.
I still have no motion
or inputs.
I did a Dmesg from terminal and it did not list a single hm2_5i25.0.7i76 anything. So i have that messed up.

Donny

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