How to use the velocity encoder signal as position feedback for the 7i77 board?

Good afternoon, dear friends.

Please, how should I make the connections in the HAL file so that the 7i77 electronic board accepts the frequency generated by the THCAD2 electronic board as feedback from the Z axis?

Below is the basic code generated by PNCConf from LinuxCNC:

Note:

The TCHAD2 electronic board receives the analog voltage from the Z-axis movement which is a magnetic sensor with repeatability accuracy of 10µm (MICRA, micron or micron), with a recordable speed of 10m/s (meters per second) and IP67 classification (dust protection and water and oil resistance).
This sensor provides 0 volts at the output when the Z axis is lowered and 8 volts at the output when the Z axis is raised. The TCHAD2 electronic board converts this voltage into a frequency of 100kHz to 1Mhz (according to the chosen jumper). Then the 7i77 electronic board receives this frequency on encoder channel 0. It displays the position results counting to infinity, with only velocity being usable as position, with the low Z axis having a low frequency and the high Z axis having a high frequency.
Please, any basic example helps or suggestions. I appreciate your collaboration. Attached is a video showing how the values ​​from the TCHAD2 electronic board are being received by LinuxCNC.

*MICRA: The symbol (µm) and correspond to the microscopic unit of measurement, where 1 micron is the same as dividing 1 millimeter by 1000


 

Try this:

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

#setp hm2_7i96s.0.encoder.00.counter-mode 0 #Default PNCConf Wizard
setp hm2_7i96s.0.encoder.00.counter-mode 1 #change to accept signal from THCAD2 board as Z axis feedback
#setp hm2_7i96s.0.encoder.00.filter 1 #Default PNCConf Wizard
setp hm2_7i96s.0.encoder.00.filter 0
setp hm2_7i96s.0.encoder.00.index-invert 0
setp hm2_7i96s.0.encoder.00.index-mask 0
setp hm2_7i96s.0.encoder.00.index-mask-invert 0
setp hm2_7i96s.0.encoder.00.scale [JOINT_1]ENCODER_SCALE

net z-pos-fb <= hm2_7i96s.0.encoder.00.velocity

#net z-vel-fb <= hm2_7i96s.0.encoder.00.velocity
net z-pos-fb => joint.1.motor-pos-fb
net z-index-enable joint.1.index-enable <=> hm2_7i96s.0.encoder.00.index-enable
net z-pos-rawcounts <= hm2_7i96s.0.encoder.00.rawcounts

Thank you, it solved the problem, the screen is showing the correct display.

 

But when I try to start the machine, the message "error calculating movement on axis 1" appears. I tried to change the max_limit and min_limit values ​​in the INI file, but without success.

When this error message appears, is it possible to see in more detail which configuration is still wrong?

Do you have any tips or examples of how I should configure axis 1 so that the error does not appear?

Below are the HAL and INI files for your consideration.

   
 

As a start, I would set the encoder scale so the position is approximately correct.
You will likely need to add an offset component to zero the position as well.

Good morning
Thank you for your attention, but unfortunately I was not successful, even trying several attempts to find scale values, I posted in a new topic if you can help me, I appreciate it

forum.linuxcnc.org/10-advanced-configura...g-output-of-the-7i77