Spinx1 to 7i85

OT-CNC
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Platinum Member

07 Nov 2015 07:03 #64935 by OT-CNC

Replied by OT-CNC on topic Spinx1 to 7i85

Hi PCW,

I'm sorry to be a pain about this. Any updates on the firmware progress?

Thanks again for your time, your help is much appreciated.

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PCW
Away
Moderator

07 Nov 2015 12:23 #64947 by PCW

Replied by PCW on topic Spinx1 to 7i85

freeby.mesanet.com/5i25_7i85sspx2.bit
has the 4th stepgen replaced with PWM and DIR

The following user(s) said Thank You: OT-CNC

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OT-CNC
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09 Nov 2015 15:18 #65014 by OT-CNC

Replied by OT-CNC on topic Spinx1 to 7i85

Thank you PCW :woohoo:

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OT-CNC
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Platinum Member

09 Nov 2015 15:46 #65016 by OT-CNC

Replied by OT-CNC on topic Spinx1 to 7i85

I updated the firmware and ran dmesg.

If I understand correctly, the PWM is found on differential output 6 and 7 on my 5i85. I read the hostmot2 driver documentation but need some further guidance on how to connect the signals properly. What is next?
What pwm frequency can I use with the 5i25 and spin x? What setting to get direction signal from pwm pin? How to implement the pwm enable in hostmot2?

Is there an output available to wire the spinx enable pin?

Ideally I need the configuration parts to copy into my hal and ini to get this working. Do you have a sample config I can work with?

Thank you!

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andypugh
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09 Nov 2015 16:11 #65022 by andypugh

Replied by andypugh on topic Spinx1 to 7i85

OT-CNC wrote:
Ideally I need the configuration parts to copy into my hal and ini to get this working. Do you have a sample config I can work with?

Can you do the following to get a HAL pin list, then I can write a HAL section without guesswork.
open a terminal and type

halrun
loadrt hostmot2
loadrt hm2_pci
show pin
show param

Then copy and paste the whole output of the terminal session into a text file and attach it to a post here.

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OT-CNC
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Platinum Member

10 Nov 2015 01:43 #65054 by OT-CNC

Replied by OT-CNC on topic Spinx1 to 7i85

Sweet, here is the output of the terminal session:

5  float OUT             0  hm2_5i25.0.encoder.02.position
     5  float OUT             0  hm2_5i25.0.encoder.02.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.02.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.02.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.02.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.02.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
     5  float OUT             0  hm2_5i25.0.encoder.02.velocity
     5  s32   OUT             0  hm2_5i25.0.encoder.03.count
     5  s32   OUT             0  hm2_5i25.0.encoder.03.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.03.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.03.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.03.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.03.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.03.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.03.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.03.position
     5  float OUT             0  hm2_5i25.0.encoder.03.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.03.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.03.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.03.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.03.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.03.reset
     5  float OUT             0  hm2_5i25.0.encoder.03.velocity
     5  s32   OUT             0  hm2_5i25.0.encoder.04.count
     5  s32   OUT             0  hm2_5i25.0.encoder.04.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.04.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.04.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.04.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.04.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.04.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.04.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.04.position
     5  float OUT             0  hm2_5i25.0.encoder.04.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.04.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.04.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.04.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.04.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.04.reset
     5  float OUT             0  hm2_5i25.0.encoder.04.velocity
     5  s32   OUT             0  hm2_5i25.0.encoder.05.count
     5  s32   OUT             0  hm2_5i25.0.encoder.05.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.05.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.05.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.05.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.05.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.05.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.05.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.05.position
     5  float OUT             0  hm2_5i25.0.encoder.05.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.05.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.05.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.05.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.05.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.05.reset
     5  float OUT             0  hm2_5i25.0.encoder.05.velocity
     5  s32   OUT             0  hm2_5i25.0.encoder.06.count
     5  s32   OUT             0  hm2_5i25.0.encoder.06.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.06.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.06.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.06.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.06.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.06.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.06.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.06.position
     5  float OUT             0  hm2_5i25.0.encoder.06.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.06.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.06.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.06.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.06.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.06.reset
     5  float OUT             0  hm2_5i25.0.encoder.06.velocity
     5  s32   OUT             0  hm2_5i25.0.encoder.07.count
     5  s32   OUT             0  hm2_5i25.0.encoder.07.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.07.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.07.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.07.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.07.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.07.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.07.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.07.position
     5  float OUT             0  hm2_5i25.0.encoder.07.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.07.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.07.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.07.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.07.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.07.reset
     5  float OUT             0  hm2_5i25.0.encoder.07.velocity
     5  u32   IN     0x007F2815  hm2_5i25.0.encoder.muxed-sample-frequency
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
     5  bit   IN          FALSE  hm2_5i25.0.led.CR01
     5  bit   IN          FALSE  hm2_5i25.0.led.CR02
     5  bit   IN          FALSE  hm2_5i25.0.pwmgen.00.enable
     5  float IN              0  hm2_5i25.0.pwmgen.00.value
     5  bit   IN          FALSE  hm2_5i25.0.pwmgen.01.enable
     5  float IN              0  hm2_5i25.0.pwmgen.01.value
     5  s32   OUT             0  hm2_5i25.0.read.time
     5  s32   OUT             0  hm2_5i25.0.read_gpio.time
     5  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
     5  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.port_state
     5  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.00.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.00.counts
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.00.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.00.enable
     5  float IN              0  hm2_5i25.0.stepgen.00.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.00.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.00.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.00.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.01.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.01.counts
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.01.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.01.enable
     5  float IN              0  hm2_5i25.0.stepgen.01.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.01.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.01.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.01.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.02.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.02.counts
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.02.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.02.enable
     5  float IN              0  hm2_5i25.0.stepgen.02.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.02.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.02.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.02.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.03.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.03.counts
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.03.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.03.enable
     5  float IN              0  hm2_5i25.0.stepgen.03.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.03.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.03.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.03.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.04.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.04.counts
     5  float OUT             0  hm2_5i25.0.stepgen.04.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.04.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.04.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.04.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.04.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.04.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.04.enable
     5  float IN              0  hm2_5i25.0.stepgen.04.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.04.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.04.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.04.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.05.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.05.counts
     5  float OUT             0  hm2_5i25.0.stepgen.05.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.05.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.05.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.05.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.05.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.05.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.05.enable
     5  float IN              0  hm2_5i25.0.stepgen.05.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.05.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.05.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.05.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.06.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.06.counts
     5  float OUT             0  hm2_5i25.0.stepgen.06.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.06.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.06.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.06.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.06.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.06.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.06.enable
     5  float IN              0  hm2_5i25.0.stepgen.06.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.06.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.06.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.06.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.07.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.07.counts
     5  float OUT             0  hm2_5i25.0.stepgen.07.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.07.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.07.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.07.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.07.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.07.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.07.enable
     5  float IN              0  hm2_5i25.0.stepgen.07.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.07.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.07.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.07.velocity-fb
     5  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  s32   OUT             0  hm2_5i25.0.write.time
     5  s32   OUT             0  hm2_5i25.0.write_gpio.time

halcmd: show param
Parameters:
Owner   Type  Dir         Value  Name
     5  u32   RO     0x00000009  hm2_5i25.0.7i84.0.0.nvbaudrate
     5  u32   RO     0x00000000  hm2_5i25.0.7i84.0.0.nvencmode0
     5  u32   RO     0x00000000  hm2_5i25.0.7i84.0.0.nvencmode1
     5  u32   RO     0x18000021  hm2_5i25.0.7i84.0.0.nvunitnumber
     5  u32   RO     0x00000032  hm2_5i25.0.7i84.0.0.nvwatchdogtimeout
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-00-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-01-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-02-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-03-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-04-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-05-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-06-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-07-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-08-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-09-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-10-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-11-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-12-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-13-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-14-invert
     5  bit   RW          FALSE  hm2_5i25.0.7i84.0.0.output-15-invert
     5  u32   RO     0x0000000E  hm2_5i25.0.7i84.0.0.swrevision
     5  bit   RW          FALSE  hm2_5i25.0.encoder.00.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.00.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.00.scale
     5  float RW            0.5  hm2_5i25.0.encoder.00.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.01.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.01.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.01.scale
     5  float RW            0.5  hm2_5i25.0.encoder.01.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.02.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.02.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.02.scale
     5  float RW            0.5  hm2_5i25.0.encoder.02.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.03.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.03.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.03.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.03.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.03.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.03.scale
     5  float RW            0.5  hm2_5i25.0.encoder.03.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.04.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.04.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.04.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.04.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.04.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.04.scale
     5  float RW            0.5  hm2_5i25.0.encoder.04.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.05.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.05.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.05.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.05.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.05.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.05.scale
     5  float RW            0.5  hm2_5i25.0.encoder.05.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.06.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.06.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.06.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.06.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.06.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.06.scale
     5  float RW            0.5  hm2_5i25.0.encoder.06.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.encoder.07.counter-mode
     5  bit   RW           TRUE  hm2_5i25.0.encoder.07.filter
     5  bit   RW          FALSE  hm2_5i25.0.encoder.07.index-invert
     5  bit   RW          FALSE  hm2_5i25.0.encoder.07.index-mask
     5  bit   RW          FALSE  hm2_5i25.0.encoder.07.index-mask-invert
     5  float RW              1  hm2_5i25.0.encoder.07.scale
     5  float RW            0.5  hm2_5i25.0.encoder.07.vel-timeout
     5  bit   RW          FALSE  hm2_5i25.0.gpio.001.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.001.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.002.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.002.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.003.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.003.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.004.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.004.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.005.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.005.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.006.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.006.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.007.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.007.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.008.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.008.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.009.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.009.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.010.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.010.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.017.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.017.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.017.is_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.018.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.018.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.018.is_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.019.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.019.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.020.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.020.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.021.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.021.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.022.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.022.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.023.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.023.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.024.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.024.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.025.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.025.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.026.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.026.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.gpio.027.invert_output
     5  bit   RW          FALSE  hm2_5i25.0.gpio.027.is_opendrain
     5  bit   RW          FALSE  hm2_5i25.0.io_error
     5  s32   RW              1  hm2_5i25.0.pwmgen.00.output-type
     5  float RW              1  hm2_5i25.0.pwmgen.00.scale
     5  s32   RW              1  hm2_5i25.0.pwmgen.01.output-type
     5  float RW              1  hm2_5i25.0.pwmgen.01.scale
     5  u32   RW     0x00004E20  hm2_5i25.0.pwmgen.pdm_frequency
     5  u32   RW     0x00004E20  hm2_5i25.0.pwmgen.pwm_frequency
     5  s32   RW              0  hm2_5i25.0.read.tmax
     5  bit   RO          FALSE  hm2_5i25.0.read.tmax-increased
     5  s32   RW              0  hm2_5i25.0.read_gpio.tmax
     5  bit   RO          FALSE  hm2_5i25.0.read_gpio.tmax-increased
     5  u32   RW     0x00000001  hm2_5i25.0.sserial.port-0.fault-dec
     5  u32   RW     0x0000000A  hm2_5i25.0.sserial.port-0.fault-inc
     5  u32   RW     0x000000C8  hm2_5i25.0.sserial.port-0.fault-lim
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.00.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.00.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.00.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.00.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.00.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.00.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.00.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.00.stepspace
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.00.table-data-0
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.00.table-data-1
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.00.table-data-2
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.00.table-data-3
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.01.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.01.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.01.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.01.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.01.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.01.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.01.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.01.stepspace
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.01.table-data-0
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.01.table-data-1
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.01.table-data-2
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.01.table-data-3
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.02.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.02.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.02.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.02.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.02.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.02.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.02.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.02.stepspace
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.02.table-data-0
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.02.table-data-1
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.02.table-data-2
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.02.table-data-3
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.03.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.03.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.03.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.03.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.03.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.03.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.03.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.03.stepspace
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.04.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.04.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.04.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.04.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.04.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.04.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.04.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.04.stepspace
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.04.table-data-0
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.04.table-data-1
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.04.table-data-2
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.04.table-data-3
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.05.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.05.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.05.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.05.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.05.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.05.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.05.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.05.stepspace
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.05.table-data-0
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.05.table-data-1
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.05.table-data-2
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.05.table-data-3
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.06.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.06.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.06.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.06.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.06.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.06.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.06.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.06.stepspace
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.06.table-data-0
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.06.table-data-1
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.06.table-data-2
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.06.table-data-3
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.07.dirhold
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.07.dirsetup
     5  float RW              1  hm2_5i25.0.stepgen.07.maxaccel
     5  float RW              0  hm2_5i25.0.stepgen.07.maxvel
     5  float RW              1  hm2_5i25.0.stepgen.07.position-scale
     5  u32   RW     0x00000000  hm2_5i25.0.stepgen.07.step_type
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.07.steplen
     5  u32   RW     0x00077FE2  hm2_5i25.0.stepgen.07.stepspace
     5  u32   RW     0x004C4B40  hm2_5i25.0.watchdog.timeout_ns
     5  s32   RW              0  hm2_5i25.0.write.tmax
     5  bit   RO          FALSE  hm2_5i25.0.write.tmax-increased
     5  s32   RW              0  hm2_5i25.0.write_gpio.tmax
     5  bit   RO          FALSE  hm2_5i25.0.write_gpio.tmax-increased

halcmd:

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andypugh
Offline
Moderator

10 Nov 2015 10:34 - 10 Nov 2015 10:40 #65066 by andypugh

Replied by andypugh on topic Spinx1 to 7i85

Your message came in at 0143 my time, hence the delay.
The output is truncated, the pins start at encoder.02, so I am having to guess what the 7i84 GPIO pins are called

If you look at the pin list you will see the new HAL pins/params

5 bit IN FALSE hm2_5i25.0.pwmgen.00.enable
5 float IN 0 hm2_5i25.0.pwmgen.00.value
5 bit IN FALSE hm2_5i25.0.pwmgen.01.enable
5 float IN 0 hm2_5i25.0.pwmgen.01.value
and
5 s32 RW 1 hm2_5i25.0.pwmgen.00.output-type
5 float RW 1 hm2_5i25.0.pwmgen.00.scale
5 s32 RW 1 hm2_5i25.0.pwmgen.01.output-type
5 float RW 1 hm2_5i25.0.pwmgen.01.scale

pwmgen.01 is probably on the internal header, ans pwmgen.00 will be the one where the stepper used to be.
You will use a GPIO pin to operate the enable.
the motion pins are documented here: linuxcnc.org/docs/html/man/man9/motion.9.html

# pwm / dir mode and PWM rather than PDM
setp  hm2_5i25.0.pwmgen.00.output-type 1
# this should be the spindle speed at 10V output, ie max spindle speed
setp  hm2_5i25.0.pwmgen.00.scale 2500
# set the PWM frequency to 5kHz
setp hm2_5i25.0.pwmgen.pwm_frequency 5000
# connect the spindle speed command to the pwmgen
net spindle-speed motion.spindle-speed-out => hm2_5i25.0.pwmgen.00.value
# connect the spindle enable to GPIO 0. You can change this
net spindle-enable motion.spindle-on =>  hm2_5i25.0.7i84.0.0.output-00
# the SPINX1 has a /enable (low to enable)
setp hm2_5i25.0.7i84.0.0.output-00-invert 1

Last edit: 10 Nov 2015 10:40 by andypugh.

The following user(s) said Thank You: OT-CNC

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OT-CNC
Offline
Platinum Member

10 Nov 2015 15:46 #65077 by OT-CNC

Replied by OT-CNC on topic Spinx1 to 7i85

The time stamp looks correct for England. I'm in New York so 8:45 pm or so is about right for when I sent it. Oddly the time stamps do not show the correct local time anymore. No delay on your end, I appreciate your quick responses!

I will implement what you outlined.
The 7i84 gpio's are all on 24v so I'm stuck with the 5i25 second unused connector for 5v output signals which I don't want to use as my computer does not have an extra spot to mount a connector without hacking the case. I can do that if I can't find another workaround.

Since this is a lathe and I'm using X and Z, could the unused Y step pin be used for an enable?

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PCW
Away
Moderator

10 Nov 2015 16:16 #65078 by PCW

Replied by PCW on topic Spinx1 to 7i85

Sure, if you only enable 2 stepgens in the hal file (stepgen 0 and 1),
stepgen 2s pins are available as GPIO

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andypugh
Offline
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10 Nov 2015 16:33 #65079 by andypugh

Replied by andypugh on topic Spinx1 to 7i85

OT-CNC wrote:
Since this is a lathe and I'm using X and Z, could the unused Y step pin be used for an enable?

Yes, you have 4 step/dir pairs per connector, and if you set num_stepgens=2 in the config then all 4 of those pins (on each header) become available as GPIO.

If you compare the show params list above with a similar one done after the config change you will see some "is-output" paramters appear which will help you spot which HAL pins are your newly-available GPIO pins.
Ah, and you need to "setp" them to outputs too.

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Spinx1 to 7i85

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