7i77 6 axis
25 Feb 2020 15:11 - 25 Feb 2020 15:14 #158463
by bkt
7i77 6 axis was created by bkt
After some time I install a new machine with Mesa 6i25+7i77 with 6 axis .... I copy an old JA config and I add an other axis section in hal file ... but seems joint 5 not "ee" analog out. These the pieces of hal file:
#*******************
# AXIS B
#*******************
setp pid.b.Pgain [JOINT_5]P
setp pid.b.Igain [JOINT_5]I
setp pid.b.Dgain [JOINT_5]D
setp pid.b.bias [JOINT_5]BIAS
setp pid.b.FF0 [JOINT_5]FF0
setp pid.b.FF1 [JOINT_5]FF1
setp pid.b.FF2 [JOINT_5]FF2
setp pid.b.deadband [JOINT_5]DEADBAND
setp pid.b.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.b.error-previous-target true
#setp pid.b.maxerror .0005
net b-index-enable <=> pid.b.index-enable
net b-enable => pid.b.enable
net b-pos-cmd => pid.b.command #offset.0.offset
net b-vel-cmd => pid.b.command-deriv
net b-pos-fb => pid.b.feedback
net b-output => pid.b.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [JOINT_5]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [JOINT_5]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [JOINT_5]OUTPUT_MAX_LIMIT
net b-output => hm2_5i25.0.7i77.0.1.analogout5
net b-pos-cmd joint.5.motor-pos-cmd #=> sum2.0.in0
net b-enable joint.5.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [JOINT_5]ENCODER_SCALE
#setp sum2.1.gain0 -1
#setp sum2.2.gain0 -1
net b-pos-fb <= hm2_5i25.0.encoder.05.position
net b-vel-fb <= hm2_5i25.0.encoder.05.velocity #sum2.2.in0 <= hm2_5i25.0.encoder.05.velocity
net b-pos-fb => joint.5.motor-pos-fb
net b-index-enable joint.5.index-enable <=> hm2_5i25.0.encoder.05.index-enable
net b-pos-rawcounts <= hm2_5i25.0.encoder.05.rawcounts
# ---setup home / limit switch signals---
#net b-home-sw => joint.5.home-sw-in
#net both-b => joint.5.neg-lim-sw-in
#net both-b => joint.5.pos-lim-sw-in
The enable command is send via halui withe these simple row:
net machineon halui.machine.is-on => hm2_5i25.0.7i77.0.0.output-02
These ini file section about b axis:
#********************
# Axis B
#********************
[AXIS_B]
HOME = 0.0
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 300.0
VOLATILE_HOME = 0
[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
FERROR = 8.0
MIN_FERROR = 4.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 300.0
P = 30
I = 6.0
D = 0.0000
FF0 = 0
FF1 = 1.0
FF2 = 0.00
BIAS = 0.0002
DEADBAND = 0.0015
MAX_OUTPUT = 0.0
ENCODER_SCALE = -4166.666666667
OUTPUT_SCALE = 1200.0
OUTPUT_MIN_LIMIT = -1200.0
OUTPUT_MAX_LIMIT = 1200.0
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
HOME_OFFSET = -1.4
HOME_SEARCH_VEL = 10.0000
HOME_LATCH_VEL = -5.0000
HOME_FINAL_VEL = 5.0000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 5
VOLATILE_HOME = 0
output2 go to enable input pin of drive trought mini relais solid state. Axis 0/1/2/3/4 bring analog signal ... but analog5 not send any mVolt bit ...
I'm on ubuntu 18.04 preempt 4.18.12-rt9. (pncconfig not work because nee not installed library like gtk.glade 2 I think because glade 3 is installed)
These depends from my erroneus settings?
Warning: Spoiler!
#*******************
# AXIS B
#*******************
setp pid.b.Pgain [JOINT_5]P
setp pid.b.Igain [JOINT_5]I
setp pid.b.Dgain [JOINT_5]D
setp pid.b.bias [JOINT_5]BIAS
setp pid.b.FF0 [JOINT_5]FF0
setp pid.b.FF1 [JOINT_5]FF1
setp pid.b.FF2 [JOINT_5]FF2
setp pid.b.deadband [JOINT_5]DEADBAND
setp pid.b.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.b.error-previous-target true
#setp pid.b.maxerror .0005
net b-index-enable <=> pid.b.index-enable
net b-enable => pid.b.enable
net b-pos-cmd => pid.b.command #offset.0.offset
net b-vel-cmd => pid.b.command-deriv
net b-pos-fb => pid.b.feedback
net b-output => pid.b.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [JOINT_5]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [JOINT_5]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [JOINT_5]OUTPUT_MAX_LIMIT
net b-output => hm2_5i25.0.7i77.0.1.analogout5
net b-pos-cmd joint.5.motor-pos-cmd #=> sum2.0.in0
net b-enable joint.5.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [JOINT_5]ENCODER_SCALE
#setp sum2.1.gain0 -1
#setp sum2.2.gain0 -1
net b-pos-fb <= hm2_5i25.0.encoder.05.position
net b-vel-fb <= hm2_5i25.0.encoder.05.velocity #sum2.2.in0 <= hm2_5i25.0.encoder.05.velocity
net b-pos-fb => joint.5.motor-pos-fb
net b-index-enable joint.5.index-enable <=> hm2_5i25.0.encoder.05.index-enable
net b-pos-rawcounts <= hm2_5i25.0.encoder.05.rawcounts
# ---setup home / limit switch signals---
#net b-home-sw => joint.5.home-sw-in
#net both-b => joint.5.neg-lim-sw-in
#net both-b => joint.5.pos-lim-sw-in
The enable command is send via halui withe these simple row:
net machineon halui.machine.is-on => hm2_5i25.0.7i77.0.0.output-02
These ini file section about b axis:
Warning: Spoiler!
#********************
# Axis B
#********************
[AXIS_B]
HOME = 0.0
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 300.0
VOLATILE_HOME = 0
[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
FERROR = 8.0
MIN_FERROR = 4.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 300.0
P = 30
I = 6.0
D = 0.0000
FF0 = 0
FF1 = 1.0
FF2 = 0.00
BIAS = 0.0002
DEADBAND = 0.0015
MAX_OUTPUT = 0.0
ENCODER_SCALE = -4166.666666667
OUTPUT_SCALE = 1200.0
OUTPUT_MIN_LIMIT = -1200.0
OUTPUT_MAX_LIMIT = 1200.0
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
HOME_OFFSET = -1.4
HOME_SEARCH_VEL = 10.0000
HOME_LATCH_VEL = -5.0000
HOME_FINAL_VEL = 5.0000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 5
VOLATILE_HOME = 0
output2 go to enable input pin of drive trought mini relais solid state. Axis 0/1/2/3/4 bring analog signal ... but analog5 not send any mVolt bit ...
I'm on ubuntu 18.04 preempt 4.18.12-rt9. (pncconfig not work because nee not installed library like gtk.glade 2 I think because glade 3 is installed)
These depends from my erroneus settings?
Last edit: 25 Feb 2020 15:14 by bkt.
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25 Feb 2020 15:19 - 25 Feb 2020 15:19 #158466
by PCW
Replied by PCW on topic 7i77 6 axis
Analog channel 5 has a separate enable since its often used for spindle control:
hm2_5i25.0.7i77.0.1.spinena
hm2_5i25.0.7i77.0.1.spinena
Last edit: 25 Feb 2020 15:19 by PCW.
The following user(s) said Thank You: bkt
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25 Feb 2020 17:04 #158471
by bkt
Replied by bkt on topic 7i77 6 axis
yea ... now it work. Thanks again.
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