Mesa 5i20 - 7I52S support

Which bitfile are you using?

(Also HALSCOPE will not be terribly useful as the encoder signals are multiplexed)

I use SV6LA_7I52S.BIT.

I use halscope just to check that somethinh is comming in, and it seems I receive signals. What bothers me is that position does not change at all, not that change wrong.

Can you verify that both A and B inputs are changing (LED or voltmeter on inputs)
Also is the encoder output differential are single ended? and is the 7I52S jumpered to match ?

As I checked with voltmeter, A and B inputs changed between 0V and 4V as I turned encoder.

Encoder is deferential, I connect A, -A, B, -B and IX, -IX. Jumbers are at default location (down) for RS-422

Can you post your dmesg?
When you say position is not changing, did you look at the hardware encoder position signal with HALMETER?
hm2_5i20.0.encoder.00.count for example

I tried analog configuration with 7I33TA. I just plug in the same encoder, change default jumper position to RS-422 and encoder works (I see position on AXIS)

couple of things:
Did you do an open loop test in pncconf? This would eliminate EMC as a problem.
can you open halmeter and see if ANY of the encoders are counting (its possible that wiring is wrong or pncconf got the encoder number wrong)
Please post the HAL file so we can look for any obvious errors.

Chris m

As i say, encoder works with 7I33 analog card - same wiring.

I checked all 4 defined encoder-count. No change in any. I also physically connect to different position on the 7I52S - no change

This is part of dmesg, I also attached .hal file

[13900.458096] I-pipe: Domain RTAI registered.
[13900.458106] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[13900.458110] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[13900.458119] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[13900.458122] PIPELINE layers:
[13900.458127] f8538e20 9ac15d93 RTAI 200
[13900.458130] c085cb20 0 Linux 100
[13900.493757] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[13900.493955] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[13900.493968] RTAI[sched]: hard timer type/freq = APIC/8313020(Hz); default timing: periodic; linear timed lists.
[13900.493973] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2394007000 hz.
[13900.493977] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[13900.494105] RTAI[usi]: enabled.
[13900.659871] RTAI[math]: loaded.
[13900.778355] probe_parport 00:08: activated
[13900.788928] hm2: loading Mesa HostMot2 driver version 0.15
[13900.794515] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[13900.794557] hm2_pci: discovered 5i20 at 0000:02:01.0
[13900.794644] hm2_5i20.0: firmware: requesting hm2/5i20/SV6LA_7I52S.BIT
[13900.924501] hm2/hm2_5i20.0: 72 I/O Pins used:
[13900.924509] hm2/hm2_5i20.0: IO Pin 000 (P2-01): IOPort
[13900.924514] hm2/hm2_5i20.0: IO Pin 001 (P2-03): Muxed Encoder #0, pin Muxed A (Input)
[13900.924519] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Muxed Encoder #0, pin Muxed B (Input)
[13900.924524] hm2/hm2_5i20.0: IO Pin 003 (P2-07): Muxed Encoder #0, pin Muxed Index (Input)
[13900.924529] hm2/hm2_5i20.0: IO Pin 004 (P2-09): Muxed Encoder #1, pin Muxed A (Input)
[13900.924534] hm2/hm2_5i20.0: IO Pin 005 (P2-11): Muxed Encoder #1, pin Muxed B (Input)
[13900.924540] hm2/hm2_5i20.0: IO Pin 006 (P2-13): Muxed Encoder #1, pin Muxed Index (Input)
[13900.924544] hm2/hm2_5i20.0: IO Pin 007 (P2-15): IOPort
[13900.924548] hm2/hm2_5i20.0: IO Pin 008 (P2-17): IOPort
[13900.924552] hm2/hm2_5i20.0: IO Pin 009 (P2-19): IOPort
[13900.924557] hm2/hm2_5i20.0: IO Pin 010 (P2-21): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[13900.924562] hm2/hm2_5i20.0: IO Pin 011 (P2-23): IOPort
[13900.924566] hm2/hm2_5i20.0: IO Pin 012 (P2-25): IOPort
[13900.924570] hm2/hm2_5i20.0: IO Pin 013 (P2-27): IOPort
[13900.924574] hm2/hm2_5i20.0: IO Pin 014 (P2-29): IOPort
[13900.924578] hm2/hm2_5i20.0: IO Pin 015 (P2-31): PWMGen #3, pin Out0 (PWM or Up) (Output)
[13900.924583] hm2/hm2_5i20.0: IO Pin 016 (P2-33): PWMGen #3, pin Not-Enable (Output)
[13900.924588] hm2/hm2_5i20.0: IO Pin 017 (P2-35): PWMGen #2, pin Out0 (PWM or Up) (Output)
[13900.924593] hm2/hm2_5i20.0: IO Pin 018 (P2-37): PWMGen #2, pin Not-Enable (Output)
[13900.924598] hm2/hm2_5i20.0: IO Pin 019 (P2-39): PWMGen #1, pin Out0 (PWM or Up) (Output)
[13900.924603] hm2/hm2_5i20.0: IO Pin 020 (P2-41): PWMGen #1, pin Not-Enable (Output)
[13900.924608] hm2/hm2_5i20.0: IO Pin 021 (P2-43): PWMGen #0, pin Out0 (PWM or Up) (Output)
[13900.924613] hm2/hm2_5i20.0: IO Pin 022 (P2-45): PWMGen #0, pin Not-Enable (Output)
[13900.924618] hm2/hm2_5i20.0: IO Pin 023 (P2-47): IOPort
[13900.924622] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort

If I get a chance today I'll try and duplicate this could possibley be a bad bit file (since its custom thats more likely)

cmorley wrote:

couple of things:
Did you do an open loop test in pncconf? This would eliminate EMC as a problem.
can you open halmeter and see if ANY of the encoders are counting (its possible that wiring is wrong or pncconf got the encoder number wrong)
Chris m

I run open loop test for all axes and there is no encoder count anywhere.