Mesa 7i39+5i20

I noticed when I used the backspace key to erase it the last period (of the 4) disappeared with the first keystroke and the next keystroke took out two periods then the third one took out the last one. Sounds like Excel when it tries to correct your entry into a cell and make it a date...

John

You will need to change
hm2_7i43 to hm2_pci in the "loadrt" line.
Elsewhere it will be just a case of swapping 7i43 for 5i20.

Start emc from the command line and see what happens with no motors connected.
dmesg will be useful, it tells you the pin assignments on the 5i20 card.
However, the pinout is designed to let you plug a 50-way header directly between the 5i20 and one or more 7i39s so the pinout is the same on any board, and only matters if you want to break-out unused pins for GPIO. (which you should be able to do with a second connector on the same ribbon cable)

There are two ways to pass a configuration string to the hm2_7i43 or hm2_pci driver. Most of the example configs have the string in the INI file and the hal file reads it from there. My config file is a hand-built one and I don't tend to bother with reading _anything_ from the INI file into the hal file. You probably need to decide which way you want to go, and be consistent.
Settings only get transferred from INI to HAL by use of the [STANZA](setting) format. There is no other linkage between them other than that EMC2 reads the INI file to get the names of the HAL files it needs to run at startup.

b]nikos.chalikias wrote:[/b]

Probably is default driver for hm2_pci

I don't think there is a default firmware, but I could be wrong.

First PWM OUT should be to PINS 19,43 of P2 connector, using different names.
5i20.ini and bldc_sine.hal seem correct (..to me) and they are in the right place. ...attached in next 2 messages
I can not find where SVST8_4.BIT and svtp4_7i39.bit are located. I guess they are to root somewhere...

It does seem that the wrong .BIT file is being loaded into the driver. This is the reason that the pin names (and functions) on the connector are wrong.

You can see what actual BIT files you have available in /lib/firmware/hm2/
You need to choose one which is in the lib/firmware/5i20 directory and has a name which includes "tp", possibly tpen6_6.pin

My hal files were set up to use experimental bit files. I don't know what files (if any) are in the current firmware collection.
You might need to get a firmware update (sudo apt-get update hostmot2-firmware ) or direct download from emergent.unpy.net/01267622561

I do notice that the hal file name specified in your INI file is not the same as the name of the file you have posted. Those definitely need to match.

Yes, that is the right driver. It supports 6 encoders and 6 3-phase PWM generators.
You should definitely use it instead of svtp4_7i49.bit as I think that svtp4_7i30.bit only exists on about 2 hard-drives in the world, and yours is not one of them.

The distinction between Hall and Sinusoidal commutation depends only on the HAL component used (bld3_hall3 or bldc_sine). The Hostmot2 driver simply takes 3 three-phase amplitudes and converts them to phase-locked PWM values on the connector pins.