Troubles to get started with SD240 Retrofit
- ziggi
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13 Jul 2025 17:09 #331772
by ziggi
Replied by ziggi on topic Troubles to get started with SD240 Retrofit
No unfortunately a new Config with a MPG already included did not do the trick.
Manual jogging the X and Z axes works, continuos and inkremental but not with the encoder I intend to use as MPG.
I once again ran the suggested command "halcmd show pin | grep jog" - report attached.
Did not imagine it would be this challenging to get a MPG connected...
Sigi
Manual jogging the X and Z axes works, continuos and inkremental but not with the encoder I intend to use as MPG.
I once again ran the suggested command "halcmd show pin | grep jog" - report attached.
Did not imagine it would be this challenging to get a MPG connected...
Sigi
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- PCW
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13 Jul 2025 21:23 #331785
by PCW
Replied by PCW on topic Troubles to get started with SD240 Retrofit
Again, the jog enables are false so the jog counts are ignored.
The jog enables are false because they are not connected to any
source (no hal "out" pin)
note that halui.axis.x.select and halui.axis.z.select pins are hal "in"
pins so can not enable anything.
What do you do to select an axis for jogging?
This part seems to be missing
That is, these need an additional connection
from whatever selects an axis for jogging:
net axis-select-x halui.axis.x.select
net axis-select-z halui.axis.z.select
The jog enables are false because they are not connected to any
source (no hal "out" pin)
note that halui.axis.x.select and halui.axis.z.select pins are hal "in"
pins so can not enable anything.
What do you do to select an axis for jogging?
This part seems to be missing
That is, these need an additional connection
from whatever selects an axis for jogging:
net axis-select-x halui.axis.x.select
net axis-select-z halui.axis.z.select
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- Benb
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13 Jul 2025 23:53 #331797
by Benb
Replied by Benb on topic Troubles to get started with SD240 Retrofit
Following is a hal netlisting for the MPG part of your question:
# Set jog-vel-mode to false (joint will move exactly jog-scale units for each count)
setp joint.0.jog-vel-mode 0
setp joint.2.jog-vel-mode 0
setp axis.x.jog-vel-mode 0
setp axis.z.jog-vel-mode 0
# Set jog scale
setp mpg-scale 1.0
net mpg-scale joint.0.jog-scale axis.x.jog-scale
net mpg-scale joint.2.jog-scale axis.z.jog-scale
# Joint selection (enable only one at a time)
net mpg-select-x joint.0.jog-enable axis.x.jog-enable <= hm2_7ixx.your selector switch input
net mpg-select-z joint.2.jog-enable axis.z.jog-enable <= hm2_7ixx.your selector switch input
# Connect encoder counts to all joints (only enabled one will move)
net mpg-counts hm2_7ixx.your mpg encoder address
net mpg=counts joint.0.jog-counts axis.x.jog-counts
net mpg-counts joint.2.jog-counts axis.z.jog-counts
# Set jog-vel-mode to false (joint will move exactly jog-scale units for each count)
setp joint.0.jog-vel-mode 0
setp joint.2.jog-vel-mode 0
setp axis.x.jog-vel-mode 0
setp axis.z.jog-vel-mode 0
# Set jog scale
setp mpg-scale 1.0
net mpg-scale joint.0.jog-scale axis.x.jog-scale
net mpg-scale joint.2.jog-scale axis.z.jog-scale
# Joint selection (enable only one at a time)
net mpg-select-x joint.0.jog-enable axis.x.jog-enable <= hm2_7ixx.your selector switch input
net mpg-select-z joint.2.jog-enable axis.z.jog-enable <= hm2_7ixx.your selector switch input
# Connect encoder counts to all joints (only enabled one will move)
net mpg-counts hm2_7ixx.your mpg encoder address
net mpg=counts joint.0.jog-counts axis.x.jog-counts
net mpg-counts joint.2.jog-counts axis.z.jog-counts
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- ziggi
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14 Jul 2025 05:32 - 14 Jul 2025 07:27 #331805
by ziggi
Replied by ziggi on topic Troubles to get started with SD240 Retrofit
Oh, damned... Thank you for the brief explanation.
The root of all the trouble seems I understood this totally wrong.
I thought "selected axis" and also the "increment" was taken from the AXIS screen- both can be chosen there
Sorry for my sillyness. Now I understood that I need to connect the MPG in the HAL via in/outputs.
Thank you both of you
Sigi
The root of all the trouble seems I understood this totally wrong.
I thought "selected axis" and also the "increment" was taken from the AXIS screen- both can be chosen there
Sorry for my sillyness. Now I understood that I need to connect the MPG in the HAL via in/outputs.
Thank you both of you
Sigi
Last edit: 14 Jul 2025 07:27 by ziggi.
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