Mesa 7i92/7i76 combo pin out

Owner Type Dir Value Name 9 float IN 100 hm2_7i92.0.dpll.01.timer-us 9 float IN 100 hm2_7i92.0.dpll.02.timer-us 9 float IN 100 hm2_7i92.0.dpll.03.timer-us 9 float IN 100 hm2_7i92.0.dpll.04.timer-us 9 float IN -1 hm2_7i92.0.dpll.base-freq-khz 9 u32 OUT 0x00000000 hm2_7i92.0.dpll.ddsize 9 float OUT 0 hm2_7i92.0.dpll.phase-error-us 9 u32 IN 0x00400000 hm2_7i92.0.dpll.plimit 9 u32 OUT 0x00000001 hm2_7i92.0.dpll.prescale 9 u32 IN 0x000007D0 hm2_7i92.0.dpll.time-const 9 s32 OUT 0 hm2_7i92.0.encoder.00.count 9 s32 OUT 0 hm2_7i92.0.encoder.00.count-latched 9 bit I/O FALSE hm2_7i92.0.encoder.00.index-enable 9 bit OUT TRUE hm2_7i92.0.encoder.00.input-a 9 bit OUT TRUE hm2_7i92.0.encoder.00.input-b 9 bit OUT FALSE hm2_7i92.0.encoder.00.input-index 9 bit IN FALSE hm2_7i92.0.encoder.00.latch-enable 9 bit IN FALSE hm2_7i92.0.encoder.00.latch-polarity 9 float OUT 0 hm2_7i92.0.encoder.00.position 9 float OUT 0 hm2_7i92.0.encoder.00.position-latched 9 bit OUT FALSE hm2_7i92.0.encoder.00.quad-error 9 bit IN FALSE hm2_7i92.0.encoder.00.quad-error-enable 9 s32 OUT 0 hm2_7i92.0.encoder.00.rawcounts 9 s32 OUT 0 hm2_7i92.0.encoder.00.rawlatch 9 bit IN FALSE hm2_7i92.0.encoder.00.reset 9 float OUT 0 hm2_7i92.0.encoder.00.velocity 9 s32 OUT 0 hm2_7i92.0.encoder.01.count 9 s32 OUT 0 hm2_7i92.0.encoder.01.count-latched 9 bit I/O FALSE hm2_7i92.0.encoder.01.index-enable 9 bit OUT FALSE hm2_7i92.0.encoder.01.input-a 9 bit OUT FALSE hm2_7i92.0.encoder.01.input-b 9 bit OUT TRUE hm2_7i92.0.encoder.01.input-index 9 bit IN FALSE hm2_7i92.0.encoder.01.latch-enable 9 bit IN FALSE hm2_7i92.0.encoder.01.latch-polarity 9 float OUT 0 hm2_7i92.0.encoder.01.position 9 float OUT 0 hm2_7i92.0.encoder.01.position-latched 9 bit OUT FALSE hm2_7i92.0.encoder.01.quad-error 9 bit IN FALSE hm2_7i92.0.encoder.01.quad-error-enable 9 s32 OUT 0 hm2_7i92.0.encoder.01.rawcounts 9 s32 OUT 0 hm2_7i92.0.encoder.01.rawlatch 9 bit IN FALSE hm2_7i92.0.encoder.01.reset 9 float OUT 0 hm2_7i92.0.encoder.01.velocity 9 u32 IN 0x017D7840 hm2_7i92.0.encoder.sample-frequency 9 s32 IN -1 hm2_7i92.0.encoder.timer-number 9 bit OUT FALSE hm2_7i92.0.gpio.000.in 9 bit OUT TRUE hm2_7i92.0.gpio.000.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.001.in 9 bit OUT TRUE hm2_7i92.0.gpio.001.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.002.in 9 bit OUT TRUE hm2_7i92.0.gpio.002.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.003.in 9 bit OUT TRUE hm2_7i92.0.gpio.003.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.004.in 9 bit OUT TRUE hm2_7i92.0.gpio.004.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.005.in 9 bit OUT TRUE hm2_7i92.0.gpio.005.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.006.in 9 bit OUT TRUE hm2_7i92.0.gpio.006.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.007.in 9 bit OUT TRUE hm2_7i92.0.gpio.007.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.008.in 9 bit OUT TRUE hm2_7i92.0.gpio.008.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.009.in 9 bit OUT TRUE hm2_7i92.0.gpio.009.in_not 9 bit OUT TRUE hm2_7i92.0.gpio.010.in 9 bit OUT FALSE hm2_7i92.0.gpio.010.in_not 9 bit IN FALSE hm2_7i92.0.gpio.010.out 9 bit OUT TRUE hm2_7i92.0.gpio.011.in 9 bit OUT FALSE hm2_7i92.0.gpio.011.in_not 9 bit IN FALSE hm2_7i92.0.gpio.011.out 9 bit OUT TRUE hm2_7i92.0.gpio.012.in 9 bit OUT FALSE hm2_7i92.0.gpio.012.in_not 9 bit IN FALSE hm2_7i92.0.gpio.012.out 9 bit OUT TRUE hm2_7i92.0.gpio.013.in 9 bit OUT FALSE hm2_7i92.0.gpio.013.in_not 9 bit IN FALSE hm2_7i92.0.gpio.013.out 9 bit OUT TRUE hm2_7i92.0.gpio.014.in 9 bit OUT FALSE hm2_7i92.0.gpio.014.in_not 9 bit OUT TRUE hm2_7i92.0.gpio.015.in 9 bit OUT FALSE hm2_7i92.0.gpio.015.in_not 9 bit OUT TRUE hm2_7i92.0.gpio.016.in 9 bit OUT FALSE hm2_7i92.0.gpio.016.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.017.in 9 bit OUT TRUE hm2_7i92.0.gpio.017.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.018.in 9 bit OUT TRUE hm2_7i92.0.gpio.018.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.019.in 9 bit OUT TRUE hm2_7i92.0.gpio.019.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.020.in 9 bit OUT TRUE hm2_7i92.0.gpio.020.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.021.in 9 bit OUT TRUE hm2_7i92.0.gpio.021.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.022.in 9 bit OUT TRUE hm2_7i92.0.gpio.022.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.023.in 9 bit OUT TRUE hm2_7i92.0.gpio.023.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.024.in 9 bit OUT TRUE hm2_7i92.0.gpio.024.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.025.in 9 bit OUT TRUE hm2_7i92.0.gpio.025.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.026.in 9 bit OUT TRUE hm2_7i92.0.gpio.026.in_not 9 bit OUT TRUE hm2_7i92.0.gpio.027.in 9 bit OUT FALSE hm2_7i92.0.gpio.027.in_not 9 bit IN FALSE hm2_7i92.0.gpio.027.out 9 bit OUT FALSE hm2_7i92.0.gpio.028.in 9 bit OUT TRUE hm2_7i92.0.gpio.028.in_not 9 bit IN FALSE hm2_7i92.0.gpio.028.out 9 bit OUT TRUE hm2_7i92.0.gpio.029.in 9 bit OUT FALSE hm2_7i92.0.gpio.029.in_not 9 bit IN FALSE hm2_7i92.0.gpio.029.out 9 bit OUT TRUE hm2_7i92.0.gpio.030.in 9 bit OUT FALSE hm2_7i92.0.gpio.030.in_not 9 bit IN FALSE hm2_7i92.0.gpio.030.out 9 bit OUT FALSE hm2_7i92.0.gpio.031.in 9 bit OUT TRUE hm2_7i92.0.gpio.031.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.032.in 9 bit OUT TRUE hm2_7i92.0.gpio.032.in_not 9 bit OUT FALSE hm2_7i92.0.gpio.033.in 9 bit OUT TRUE hm2_7i92.0.gpio.033.in_not 9 bit IN FALSE hm2_7i92.0.led.CR01 9 bit IN FALSE hm2_7i92.0.led.CR02 9 bit IN FALSE hm2_7i92.0.led.CR03 9 bit IN FALSE hm2_7i92.0.led.CR04 9 bit OUT FALSE hm2_7i92.0.packet-error 9 bit OUT FALSE hm2_7i92.0.packet-error-exceeded 9 s32 OUT 0 hm2_7i92.0.packet-error-level 9 s32 OUT 0 hm2_7i92.0.read-request.time 9 s32 OUT 0 hm2_7i92.0.read.time 9 bit IN FALSE hm2_7i92.0.stepgen.00.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.00.counts 9 float OUT 0 hm2_7i92.0.stepgen.00.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.00.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.00.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.00.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.00.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.00.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.00.enable 9 float IN 0 hm2_7i92.0.stepgen.00.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.00.position-fb 9 float IN 0 hm2_7i92.0.stepgen.00.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.00.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.01.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.01.counts 9 float OUT 0 hm2_7i92.0.stepgen.01.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.01.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.01.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.01.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.01.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.01.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.01.enable 9 float IN 0 hm2_7i92.0.stepgen.01.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.01.position-fb 9 float IN 0 hm2_7i92.0.stepgen.01.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.01.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.02.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.02.counts 9 float OUT 0 hm2_7i92.0.stepgen.02.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.02.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.02.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.02.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.02.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.02.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.02.enable 9 float IN 0 hm2_7i92.0.stepgen.02.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.02.position-fb 9 float IN 0 hm2_7i92.0.stepgen.02.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.02.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.03.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.03.counts 9 float OUT 0 hm2_7i92.0.stepgen.03.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.03.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.03.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.03.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.03.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.03.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.03.enable 9 float IN 0 hm2_7i92.0.stepgen.03.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.03.position-fb 9 float IN 0 hm2_7i92.0.stepgen.03.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.03.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.04.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.04.counts 9 float OUT 0 hm2_7i92.0.stepgen.04.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.04.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.04.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.04.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.04.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.04.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.04.enable 9 float IN 0 hm2_7i92.0.stepgen.04.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.04.position-fb 9 float IN 0 hm2_7i92.0.stepgen.04.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.04.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.05.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.05.counts 9 float OUT 0 hm2_7i92.0.stepgen.05.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.05.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.05.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.05.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.05.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.05.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.05.enable 9 float IN 0 hm2_7i92.0.stepgen.05.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.05.position-fb 9 float IN 0 hm2_7i92.0.stepgen.05.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.05.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.06.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.06.counts 9 float OUT 0 hm2_7i92.0.stepgen.06.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.06.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.06.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.06.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.06.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.06.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.06.enable 9 float IN 0 hm2_7i92.0.stepgen.06.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.06.position-fb 9 float IN 0 hm2_7i92.0.stepgen.06.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.06.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.07.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.07.counts 9 float OUT 0 hm2_7i92.0.stepgen.07.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.07.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.07.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.07.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.07.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.07.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.07.enable 9 float IN 0 hm2_7i92.0.stepgen.07.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.07.position-fb 9 float IN 0 hm2_7i92.0.stepgen.07.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.07.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.08.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.08.counts 9 float OUT 0 hm2_7i92.0.stepgen.08.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.08.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.08.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.08.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.08.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.08.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.08.enable 9 float IN 0 hm2_7i92.0.stepgen.08.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.08.position-fb 9 float IN 0 hm2_7i92.0.stepgen.08.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.08.velocity-fb 9 bit IN FALSE hm2_7i92.0.stepgen.09.control-type 9 s32 OUT 0 hm2_7i92.0.stepgen.09.counts 9 float OUT 0 hm2_7i92.0.stepgen.09.dbg_err_at_match 9 float OUT 0 hm2_7i92.0.stepgen.09.dbg_ff_vel 9 float OUT 0 hm2_7i92.0.stepgen.09.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_7i92.0.stepgen.09.dbg_s_to_match 9 s32 OUT 0 hm2_7i92.0.stepgen.09.dbg_step_rate 9 float OUT 0 hm2_7i92.0.stepgen.09.dbg_vel_error 9 bit IN FALSE hm2_7i92.0.stepgen.09.enable 9 float IN 0 hm2_7i92.0.stepgen.09.position-cmd 9 float OUT 0 hm2_7i92.0.stepgen.09.position-fb 9 float IN 0 hm2_7i92.0.stepgen.09.velocity-cmd 9 float OUT 0 hm2_7i92.0.stepgen.09.velocity-fb 9 s32 IN -1 hm2_7i92.0.stepgen.timer-number 9 bit I/O FALSE hm2_7i92.0.watchdog.has_bit 9 s32 OUT 0 hm2_7i92.0.write.time

# Generated by PNCconf at Mon Sep 26 15:25:22 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.a.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread # external output signals # external input signals # --- MIN-HOME-X --- #net min-home-x <= hm2_[HOSTMOT2](BOARD).0.gpio.017.in # --- MIN-HOME-Y --- #net min-home-y <= hm2_[HOSTMOT2](BOARD).0.gpio.018.in # --- MIN-HOME-Z --- #net min-home-z <= hm2_[HOSTMOT2](BOARD).0.gpio.019.in # --- MIN-HOME-A --- #net min-home-a <= hm2_[HOSTMOT2](BOARD).0.gpio.020.in #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror .0005 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # Step Gen signals/setup setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable # ---setup home / limit switch signals--- net min-home-x => axis.0.home-sw-in net min-home-x => axis.0.neg-lim-sw-in #net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* setp pid.y.Pgain [AXIS_1]P setp pid.y.Igain [AXIS_1]I setp pid.y.Dgain [AXIS_1]D setp pid.y.bias [AXIS_1]BIAS setp pid.y.FF0 [AXIS_1]FF0 setp pid.y.FF1 [AXIS_1]FF1 setp pid.y.FF2 [AXIS_1]FF2 setp pid.y.deadband [AXIS_1]DEADBAND setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT setp pid.y.error-previous-target true setp pid.y.maxerror .0005 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output # Step Gen signals/setup setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= axis.1.motor-pos-cmd net y-vel-cmd <= axis.1.joint-vel-cmd net y-output <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb net y-pos-fb => axis.1.motor-pos-fb net y-enable <= axis.1.amp-enable-out net y-enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable # ---setup home / limit switch signals--- net min-home-y => axis.1.home-sw-in net min-home-y => axis.1.neg-lim-sw-in #net y-pos-limit => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT setp pid.z.error-previous-target true setp pid.z.maxerror .0005 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.control-type 1 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable # ---setup home / limit switch signals--- net min-home-z => axis.2.home-sw-in net min-home-z => axis.2.neg-lim-sw-in #net z-pos-limit => axis.2.pos-lim-sw-in #******************* # AXIS A #******************* setp pid.a.Pgain [AXIS_3]P setp pid.a.Igain [AXIS_3]I setp pid.a.Dgain [AXIS_3]D setp pid.a.bias [AXIS_3]BIAS setp pid.a.FF0 [AXIS_3]FF0 setp pid.a.FF1 [AXIS_3]FF1 setp pid.a.FF2 [AXIS_3]FF2 setp pid.a.deadband [AXIS_3]DEADBAND setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT setp pid.a.error-previous-target true setp pid.a.maxerror .0005 net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-pos-cmd => pid.a.command net a-vel-cmd => pid.a.command-deriv net a-pos-fb => pid.a.feedback net a-output => pid.a.output # Step Gen signals/setup setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirsetup [AXIS_3]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirhold [AXIS_3]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.steplen [AXIS_3]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.stepspace [AXIS_3]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-scale [AXIS_3]STEP_SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.control-type 1 setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd <= axis.3.motor-pos-cmd net a-vel-cmd <= axis.3.joint-vel-cmd net a-output <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.velocity-cmd net a-pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb net a-pos-fb => axis.3.motor-pos-fb net a-enable <= axis.3.amp-enable-out net a-enable => hm2_[HOSTMOT2](BOARD).0.stepgen.03.enable # ---setup home / limit switch signals--- net min-home-a => axis.3.home-sw-in net min-home-a => axis.3.neg-lim-sw-in #net a-pos-limit => axis.3.pos-lim-sw-in #******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net joint-select-d halui.joint.3.select net a-is-homed halui.joint.3.is-homed net jog-a-pos halui.jog.3.plus net jog-a-neg halui.jog.3.minus net jog-a-analog halui.jog.3.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# Generated by PNCconf at Mon Sep 26 15:25:22 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again [HOSTMOT2] DRIVER=hm2_eth board_ip="10.10.10.10" BOARD=7i92 CONFIG="num_encoders=0 num_stepgens=4" [EMC] MACHINE = sentry DEBUG = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/sentry/linuxcnc/nc_files INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 1.000000 MIN_LINEAR_VELOCITY = 0.016670 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xyz [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [HAL] HALUI = halui HALFILE = sentry.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 4 COORDINATES = X Y Z A MAX_ANGULAR_VELOCITY = 360.00 DEFAULT_ANGULAR_VELOCITY = 36.00 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.10 MAX_LINEAR_VELOCITY = 1.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 1.25 STEPGEN_MAXACCEL = 37.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 2000 STEP_SCALE = 2000.0 MIN_LIMIT = -0.001 MAX_LIMIT = 8.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -0.050000 HOME_LATCH_VEL = -0.016667 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #******************** # Axis Y #******************** [AXIS_1] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 1.25 STEPGEN_MAXACCEL = 37.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 2000 STEP_SCALE = 2000.0 MIN_LIMIT = -0.001 MAX_LIMIT = 8.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -0.050000 HOME_LATCH_VEL = -0.016667 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 1.25 STEPGEN_MAXACCEL = 37.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 2000 STEP_SCALE = 2000.0 MIN_LIMIT = -4.0 MAX_LIMIT = 0.001 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -0.050000 HOME_LATCH_VEL = -0.016667 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 #******************** # Axis A #******************** [AXIS_3] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 10 MAX_ACCELERATION = 20 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 20 STEPGEN_MAXACCEL = 30 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 2000 STEP_SCALE = 2000.0 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -2.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 3 #******************** # Spindle #******************** [SPINDLE_9] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000

BOARD=7i92 CONFIG="num_encoders=0 num_stepgens=4"

sentry@Sentry:~$ mesaflash --device 7i92 --addr 10.10.10.10 --readhmid Configuration Name: HOSTMOT2 General configuration information: BoardName : MESA7I92 FPGA Size: 9 KGates FPGA Pins: 144 Number of IO Ports: 2 Width of one I/O port: 17 Clock Low frequency: 100.0000 MHz Clock High frequency: 200.0000 MHz IDROM Type: 3 Instance Stride 0: 4 Instance Stride 1: 64 Register Stride 0: 256 Register Stride 1: 256 Modules in configuration: Module: DPLL There are 1 of DPLL in configuration Version: 0 Registers: 7 BaseAddress: 7000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: WatchDog There are 1 of WatchDog in configuration Version: 0 Registers: 3 BaseAddress: 0C00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: IOPort There are 2 of IOPort in configuration Version: 0 Registers: 5 BaseAddress: 1000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: QCount There are 1 of QCount in configuration Version: 2 Registers: 5 BaseAddress: 3000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: SSerial There are 1 of SSerial in configuration Version: 0 Registers: 6 BaseAddress: 5B00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 64 bytes Module: StepGen There are 5 of StepGen in configuration Version: 2 Registers: 10 BaseAddress: 2000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: LED There are 1 of LED in configuration Version: 0 Registers: 1 BaseAddress: 0200 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Configuration pin-out: IO Connections for P2 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 0 IOPort StepGen 0 Dir/Table2 (Out) 14 1 IOPort StepGen 0 Step/Table1 (Out) 2 2 IOPort StepGen 1 Dir/Table2 (Out) 15 3 IOPort StepGen 1 Step/Table1 (Out) 3 4 IOPort StepGen 2 Dir/Table2 (Out) 16 5 IOPort StepGen 2 Step/Table1 (Out) 4 6 IOPort StepGen 3 Dir/Table2 (Out) 17 7 IOPort StepGen 3 Step/Table1 (Out) 5 8 IOPort StepGen 4 Dir/Table2 (Out) 6 9 IOPort StepGen 4 Step/Table1 (Out) 7 10 IOPort SSerial 0 TXData1 (Out) 8 11 IOPort SSerial 0 RXData1 (In) 9 12 IOPort SSerial 0 TXData2 (Out) 10 13 IOPort SSerial 0 RXData2 (In) 11 14 IOPort QCount 0 Quad-IDX (In) 12 15 IOPort QCount 0 Quad-B (In) 13 16 IOPort QCount 0 Quad-A (In) IO Connections for P1 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 17 IOPort None 14 18 IOPort None 2 19 IOPort None 15 20 IOPort None 3 21 IOPort None 16 22 IOPort None 4 23 IOPort None 17 24 IOPort None 5 25 IOPort None 6 26 IOPort None 7 27 IOPort None 8 28 IOPort None 9 29 IOPort None 10 30 IOPort None 11 31 IOPort None 12 32 IOPort None 13 33 IOPort None sentry@Sentry:~$