Add second MPG
10 Apr 2022 18:47 #239839
by chris@cnc
Add second MPG was created by chris@cnc
i have two MPG, one in operator panel and one mobile.
At the moment is the mobile one connect only. Now i try to connect the second one, but it seems is more difficult as expected.
My idea was to write a custom comp.
I would split the axis select input in master and slave and if master zero will be slave inputs forwarded.
Not so easy are the encoder counts.
I try to add both to one out but forgot that in real time this numbers running real fast to the moon and back.
Next idea is the two s32 encoder input turn back to bit value and in second step count again. So we always count one + one.
But this option is beyond my skills.
Has someone this option running or could give me a hint how to realize it?
At the moment is the mobile one connect only. Now i try to connect the second one, but it seems is more difficult as expected.
My idea was to write a custom comp.
I would split the axis select input in master and slave and if master zero will be slave inputs forwarded.
Not so easy are the encoder counts.
I try to add both to one out but forgot that in real time this numbers running real fast to the moon and back.
Next idea is the two s32 encoder input turn back to bit value and in second step count again. So we always count one + one.
But this option is beyond my skills.
Has someone this option running or could give me a hint how to realize it?
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10 Apr 2022 20:03 #239851
by andypugh
Replied by andypugh on topic Add second MPG
Adding the encoder counts together ought to work for jogging, as that works on counts only.
Can you show us your mpg HAL?
Can you show us your mpg HAL?
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10 Apr 2022 20:33 #239854
by chris@cnc
Replied by chris@cnc on topic Add second MPG
There are two files. 4-mpg.hal is the old one with mpg in operator panel and 4-mpg-whb.hal is the new mobile mpg.hal.
I was not able to add the encoder count from hm2_7i76e.0.7i84.0.1.enc0.count and whb.axis.x.jog-counts in one axis.x.jog-counts signal. So i keep my old config and wrote a new one for the whb04 handwheel only.
I was not able to add the encoder count from hm2_7i76e.0.7i84.0.1.enc0.count and whb.axis.x.jog-counts in one axis.x.jog-counts signal. So i keep my old config and wrote a new one for the whb04 handwheel only.
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10 Apr 2022 21:34 #239860
by andypugh
Replied by andypugh on topic Add second MPG
How were you adding them? I mean literally adding them together with a sum2 HAL component.I was not able to add the encoder count from hm2_7i76e.0.7i84.0.1.enc0.count and whb.axis.x.jog-counts in one axis.x.jog-counts signal.
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11 Apr 2022 06:59 #239895
by chris@cnc
Replied by chris@cnc on topic Add second MPG
I try to use sum2. But this use type float and pin whb.axis.x.jog-counts is S32.
./7-second-mpg.hal:39: Signal 'mpg' of type 's32' cannot add pin 'sum2.0.in1' of type 'float'
I take a look inside and basically is the same as my idea but i see my mistake.
I wrote "out0 += in0 + in1;" instead of "out0 = in0 + in1;" and it seems now count properly.
Well, thank you for help. I think now it could be a useful option to include the ilowpass calculation too. I could save a few lines in hal.
./7-second-mpg.hal:39: Signal 'mpg' of type 's32' cannot add pin 'sum2.0.in1' of type 'float'
I take a look inside and basically is the same as my idea but i see my mistake.
I wrote "out0 += in0 + in1;" instead of "out0 = in0 + in1;" and it seems now count properly.
Well, thank you for help. I think now it could be a useful option to include the ilowpass calculation too. I could save a few lines in hal.
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11 Apr 2022 07:36 #239896
by andypugh
You could cast to float, add and convert back with conv_s32_float and conv_float_s32 and that is probably OK for an MPG where you probably don't make more than a few million pulses a day.
However it sounds like you made a custom component (?) which is a better idea.
Replied by andypugh on topic Add second MPG
Sorry, I had forgotten about that complication.I try to use sum2. But this use type float and pin whb.axis.x.jog-counts is S32.
You could cast to float, add and convert back with conv_s32_float and conv_float_s32 and that is probably OK for an MPG where you probably don't make more than a few million pulses a day.
However it sounds like you made a custom component (?) which is a better idea.
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11 Apr 2022 16:00 #239928
by chris@cnc
Replied by chris@cnc on topic Add second MPG
Yes, i wrote a custom comp now.
I test it today and seems to work as expected.
I share this comp if someone need. How to use and compile is in mpg.txt descriptions and my hal as example.
I test it today and seems to work as expected.
I share this comp if someone need. How to use and compile is in mpg.txt descriptions and my hal as example.
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11 Apr 2022 22:39 #239987
by andypugh
Replied by andypugh on topic Add second MPG
I think that version of the .comp has += where it should be =?
An alternative to your current setup would be to store the state of each switch on each MPG and then output the most recently changed.
That might be more seamless.
(Though I would probably do it with a bitfield, an array of inputs and a loop)
An alternative to your current setup would be to store the state of each switch on each MPG and then output the most recently changed.
That might be more seamless.
if (old_1_1 != in_1_1) {
out_1 = in_1_1;
old_1_1 = in_1_1;
}
if (old_2_1 != in_2_1){
out_1 = in_2_1;
old_2_1 = in_1_1;
}(Though I would probably do it with a bitfield, an array of inputs and a loop)
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12 Apr 2022 06:05 #240014
by chris@cnc
My first idea was simple addition in0 to in6But this "+=" error count very fast to overflow. After see the sum2 function, i realized that must be work in this way.After this was working i want to add the ilowpass function.
Simple test was to replace this term with "in" variable of ilowpass function.
And for my surprise it works...
Replied by chris@cnc on topic Add second MPG
No, this is the correct one including modified ilowpass lines.I think that version of the .comp has += where it should be =?
My first idea was simple addition in0 to in6
FUNCTION(_) {
out0 += in0 + in1 + in2 + in3 + in4 + in6;
}FUNCTION(_) {
out0 = in0 + in1 + in2 + in3 + in4 + in6;
}Simple test was to replace this term with "in" variable of ilowpass function.
And for my surprise it works...
The following user(s) said Thank You: Clive S
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