7i77 axis enable

dberndt wrote: Edit, reply doesn't seem to quote or reference which post you're replying to, or I'm blind. For clarify this is a reply to Todd, and the word above could probably be reversed.

Thanks, I posted below pretty much the same findings after PCW gave me more insight. But the polarity of what you're saying seems to be the reversed?

TB5-2 is ENAN+ so I'd expect it to wire to DI1?

For quoting you have to choose "quote" from the drop down menu when you press "action", then you can edit what you want quoted or delete what should not be included between the [quote=.....signs.
You might be correct that you need to reverse the enable output pins from the mesa board, you just explained it as you did and PCW was right to conclude you have active high enable on the drives.
Usually (almost always) they are active low.

Thanks all. I think I'm sorted for now. I'm not sure I like how the drive is wired up and powering it's limit switches and such, but it's working fine and I don't think I'm going to mess with it now, unless a solid reason to pops up. Functionally it's doing everything I need it to at this point. I guess the negative to the current setup is the drive's inputs are setup as sourcing and the 7i77s outputs are setup as sourcing, not ideal if I have to connect anything else which at this point I don't believe I do.

Next topic. Servo ready. So I can look at some diagrams and scratch my head for a bit and plumb the servo ready from the drive into say TB8-1. I'm not sure I'll ever have an actual use for this, as I'd expect the servo to be ready before the software is issuing commands anyways. But is there a best practice here, where in software would I plumb servo ready to? What would it accomplish/restrict?

I also have a servo fault input into the servo drive I could hook up, it should cause the servo to come to a halt when flipped. Given that the 7i77 is already driving the enable pin, is there any reason to hook this up? If so what bit of software would I hook it up to?

Also because I'm doing torque control, I've up my servo thread rate to be 250,000 instead of 1,000,000 based on what I've read on PID tuning of torque mode setups. It seems to have helped some, but PID tuning is black magic to me still at this point so maybe it really hasn't. As a byproduct however every once in a while I'll get an error about realtime processing from the hm2....sserial.0.port or some such thing and further to that the message say it won't be repeated but will be counted in hm2....sserial.0.port.errorcount (or some such thing), and when I look for that device with hal monitor, it's not there, something with a similar name is there, but when I monitor that it has 0 errors. Sorry about the names, I realize this is pretty much the worst bug report ever, but the machine with the details is in the garage and off. I'll grab exact naming in future, hopefully just the description is enough for someone to point me in the right direction on this. Should I care?

Servo tuning looks like black magic till you actually start tuning, then step by step everything starts to become clear and after a while it takes about 20 minutes to have a fine tuned servo.
As for serial errors, set a higher servo thread, till you get no errors and then start tuning.
Regards,
Tom

Hello everyone!

I'm on the process of making wiring drawings between my analog drives to a Mesa 7i77. I'm a bit confused about the connections.

I haven't received the actual card yet due to bureaucratic delays, but time presses and I may have to present my project (diploma thesis) without a connected and working set-up. However, I was requested to include all basic wiring drawings in my writing, at least the way I believe they will have to be done... (drive-to-mesa, switches-to-mesa, encoders-to-mesa etc.).

Following the drive and mesa 7i77 manuals I think my connections will look like in the picture bellow. I m also uploading a second picture that explains the 4 drive input pins I'm using. Can anyone at least verify that I m getting the concept right? Using just a power supply, I connected drive pin 27 to the +24V pole and pin 25 to GND and the drive was enabled, I also made the motor rotate by supplying a small voltage to pins 30 and 32 just to test its function.

Thanks in advance!

That looks right (the ENA outputs are just a switch)

I think that all the Vfield 24V pins are commoned on the board, so you only need to connect one of them (then the other pins can be used as 24V supply to other pins).