7i96 Configuration Tool

hickory43
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13 Mar 2020 23:39 #160100 by hickory43

Replied by hickory43 on topic 7i96 Configuration Tool

Thanks for the reply. I have tried to load the setuptools but have not had any success. says that they have loaded but when try to install the Configuration Tool the same error appears. Any other suggestions?

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Project_Hopeless
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14 Mar 2020 20:45 #160212 by Project_Hopeless

Replied by Project_Hopeless on topic 7i96 Configuration Tool

The Linux Mint I loaded came with Geany python UI.

So I also loaded the IDLE Development Environment, and separately SetUpTools.

I don't know if it mattered, but it was the additional steps I took.

I can just hear some developers cringing right now.

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hickory43
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15 Mar 2020 00:43 #160239 by hickory43

Replied by hickory43 on topic 7i96 Configuration Tool

Thanks, I will keep trying.

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Project_Hopeless
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19 Mar 2020 22:57 #160788 by Project_Hopeless

Replied by Project_Hopeless on topic 7i96 Configuration Tool

Am I really screwed? I would like to invert my over travel limits to NC / always high, so a broken wire is also detected.

# This file was created with the 7i96 Wizard on Mar 15 2020 14:51:19
# If you make changes to this file your screwed

net min-limit-joint-3 joint.3.neg-lim-sw-in <= hm2_7i96.0.gpio.006.in
net max-limit-home-joint-3 joint.3.pos-lim-sw-in <= hm2_7i96.0.gpio.007.in
net max-limit-home-joint-3 joint.3.home-sw-in

Is the edit below the correct way to invert an input. And is it safe to make?

net min-limit-joint-3 joint.3.neg-lim-sw-in <= hm2_7i96.0.gpio.006.in_not
net max-limit-home-joint-3 joint.3.pos-lim-sw-in <= hm2_7i96.0.gpio.007.in_not

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andypugh
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19 Mar 2020 23:02 #160791 by andypugh

Replied by andypugh on topic 7i96 Configuration Tool

That's not the most subtle of comments in the file.
It may be meaning that the config wizard will not be able to work with the file any more if you edit it.

But the HAL and INI are your files, and are specifically designed as plain text for hand editing.

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gusty42
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25 Mar 2020 23:03 #161516 by gusty42

Replied by gusty42 on topic 7i96 Configuration Tool

Thanks JT for helping with the purchase of my 7i96 recently and making this tool!

Just trying to get two stepper motors to turn on the bench the moment. Both in the config tool (PIN tab under RAW OUTPUT - Get Pins) as well as when I try to start up LinuxCNC with my generated HAL/INI, I'm getting an occasional "hm2/hm2_7i96.0: error reading Pin Descriptor 1 (at 0x05c4)" and other failures...

When LinuxCNC does read it properly (less often than not...) and passes HM2 registration I get the following generated report:

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.8.0-pre1-5532-gce4300a57
Machine configuration directory is '/home/cnc/linuxcnc/configs/testcnc'
Machine configuration file is 'testcnc.ini'
INIFILE=/home/cnc/linuxcnc/configs/testcnc/testcnc.ini
VERSION=1.1
PARAMETER_FILE=testcnc.var
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=XY
KINEMATICS=trivkins coordinates=XY
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Found file(REL): ./testcnc.hal
Shutting down and cleaning up LinuxCNC...
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: Hardware address: 00:60:1b:16:01:0c
hm2_eth: discovered 7I96
hm2/hm2_7i96.0: Smart Serial Firmware Version 43
hm2/hm2_7i96.0: 51 I/O Pins used:
hm2/hm2_7i96.0:     IO Pin 000 (TB3-01): IOPort
hm2/hm2_7i96.0:     IO Pin 001 (TB3-02): IOPort
hm2/hm2_7i96.0:     IO Pin 002 (TB3-03): IOPort
hm2/hm2_7i96.0:     IO Pin 003 (TB3-04): IOPort
hm2/hm2_7i96.0:     IO Pin 004 (TB3-05): IOPort
hm2/hm2_7i96.0:     IO Pin 005 (TB3-06): IOPort
hm2/hm2_7i96.0:     IO Pin 006 (TB3-07): IOPort
hm2/hm2_7i96.0:     IO Pin 007 (TB3-08): IOPort
hm2/hm2_7i96.0:     IO Pin 008 (TB3-09): IOPort
hm2/hm2_7i96.0:     IO Pin 009 (TB3-10): IOPort
hm2/hm2_7i96.0:     IO Pin 010 (TB3-11): IOPort
hm2/hm2_7i96.0:     IO Pin 011 (TB3-13/TB3-14): SSR #0, pin Out-00 (Output)
hm2/hm2_7i96.0:     IO Pin 012 (TB3-15/TB3-16): SSR #0, pin Out-01 (Output)
hm2/hm2_7i96.0:     IO Pin 013 (TB3-17/TB3-18): SSR #0, pin Out-02 (Output)
hm2/hm2_7i96.0:     IO Pin 014 (TB3-19/TB3-20): SSR #0, pin Out-03 (Output)
hm2/hm2_7i96.0:     IO Pin 015 (TB3-21/TB3-22): SSR #0, pin Out-04 (Output)
hm2/hm2_7i96.0:     IO Pin 016 (TB3-23/TB3-24): SSR #0, pin Out-05 (Output)
hm2/hm2_7i96.0:     IO Pin 017 (TB1-02/TB1-03): StepGen #0, pin Step (Output)
hm2/hm2_7i96.0:     IO Pin 018 (TB1-04/TB1-05): StepGen #0, pin Direction (Output)
hm2/hm2_7i96.0:     IO Pin 019 (TB1-08/TB1-09): StepGen #1, pin Step (Output)
hm2/hm2_7i96.0:     IO Pin 020 (TB1-10/TB1-11): StepGen #1, pin Direction (Output)
hm2/hm2_7i96.0:     IO Pin 021 (TB1-14/TB1-15): StepGen #2, pin Step (Output)
hm2/hm2_7i96.0:     IO Pin 022 (TB1-16/TB1-17): StepGen #2, pin Direction (Output)
hm2/hm2_7i96.0:     IO Pin 023 (TB1-20/TB1-21): StepGen #3, pin Step (Output)
hm2/hm2_7i96.0:     IO Pin 024 (TB1-22-TB1-23): StepGen #3, pin Direction (Output)
hm2/hm2_7i96.0:     IO Pin 025 (TB2-01/TB2-03): IOPort
hm2/hm2_7i96.0:     IO Pin 026 (TB2-04/TB2-05): IOPort
hm2/hm2_7i96.0:     IO Pin 027 (TB2-07/TB2-08): Encoder #0, pin A (Input)
hm2/hm2_7i96.0:     IO Pin 028 (TB2-10/TB2-11): Encoder #0, pin B (Input)
hm2/hm2_7i96.0:     IO Pin 029 (TB2-13/TB2-14): Encoder #0, pin Index (Input)
hm2/hm2_7i96.0:     IO Pin 030 (TB2-16/TB2-17): IOPort
hm2/hm2_7i96.0:     IO Pin 031 (TB2-18/TB2-19): IOPort
hm2/hm2_7i96.0:     IO Pin 032 (internal): IOPort
hm2/hm2_7i96.0:     IO Pin 033 (internal): SSR #0, pin AC Ref (internal) (Output)
hm2/hm2_7i96.0:     IO Pin 034 (P1-01): IOPort
hm2/hm2_7i96.0:     IO Pin 035 (P1-02): IOPort
hm2/hm2_7i96.0:     IO Pin 036 (P1-03): IOPort
hm2/hm2_7i96.0:     IO Pin 037 (P1-04): IOPort
hm2/hm2_7i96.0:     IO Pin 038 (P1-05): IOPort
hm2/hm2_7i96.0:     IO Pin 039 (P1-06): IOPort
hm2/hm2_7i96.0:     IO Pin 040 (P1-07): IOPort
hm2/hm2_7i96.0:     IO Pin 041 (P1-08): IOPort
hm2/hm2_7i96.0:     IO Pin 042 (P1-09): IOPort
hm2/hm2_7i96.0:     IO Pin 043 (P1-11): IOPort
hm2/hm2_7i96.0:     IO Pin 044 (P1-13): IOPort
hm2/hm2_7i96.0:     IO Pin 045 (P1-15): IOPort
hm2/hm2_7i96.0:     IO Pin 046 (P1-17): IOPort
hm2/hm2_7i96.0:     IO Pin 047 (P1-19): IOPort
hm2/hm2_7i96.0:     IO Pin 048 (P1-21): IOPort
hm2/hm2_7i96.0:     IO Pin 049 (P1-23): IOPort
hm2/hm2_7i96.0:     IO Pin 050 (P1-25): IOPort
hm2/hm2_7i96.0: registered
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
./testcnc.hal:99: parameter or pin 'hm2_7i96.0.pwmgen.00.output-type' not found
2782
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime



-----------------------------------------------------------------------
Info report created by linuxcnc_info:
The file:    /tmp/linuxcnc_info.txt
can be posted to a forum or a web site like:
     http://pastebin.com
in order to provide information about the linuxcnc
system and configuration.

                Date: Sun Mar 22 15:51:49 CDT 2020
            UTC Date: Sun Mar 22 20:51:49 UTC 2020
        this program: /usr/bin/linuxcnc_info
              uptime: 15:51:49 up 28 min, 1 user, load average: 0.25, 0.25, 0.31
     lsb_release -sa: Debian Debian GNU/Linux 9.5 (stretch) 9.5 stretch
      which linuxcnc: /usr/bin/linuxcnc
                 pwd: /home/cnc/linuxcnc/configs/testcnc
                USER: cnc
             LOGNAME: cnc
                HOME: /home/cnc
              EDITOR: 
              VISUAL: 
            LANGUAGE: 
                TERM: dumb
           COLORTERM: 
             DISPLAY: :0.0
             DESKTOP: lightdm-xsession
        display size: 1920x1080 pixels (508x285 millimeters)
                PATH: /usr/bin:/home/cnc/linuxcnc/configs/testcnc/bin:/usr/bin:/home/cnc/.local/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games

uname items:
         nodename -n: cnc
      kernel-name -s: Linux
      kernel-vers -v: #1 SMP PREEMPT RT Debian 4.9.110-3+deb9u6 (2018-10-08)
          machine -m: x86_64
        processor -p: unknown
         platform -i: unknown
      oper system -o: GNU/Linux

/proc items:
             cmdline: BOOT_IMAGE=/boot/vmlinuz-4.9.0-8-rt-amd64 root=/dev/sda1 ro quiet
          model name: AMD Athlon(tm) 64 Processor 3000+
               cores: 1
             cpu MHz: 1802.171
             parport: 0000-0000 : parport0
              serial: 0000-0000 : serial 0000-0000 : serial

Versions:
                 gcc: gcc (Debian 6.3.0-18+deb9u1) 6.3.0 20170516
              python: Python 2.7.13
                 git: git version 2.11.0
          git commit: NA
                 tcl: 8.6
                  tk: 8.6
               glade: not_in_PATH
          glade-gtk2: not_in_PATH

linuxcnc_var all:

     LINUXCNCVERSION: 2.8.0-pre1-5532-gce4300a57
LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp
LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples
            REALTIME: /etc/init.d/realtime
                 RTS: uspace
          HALLIB_DIR: /usr/share/linuxcnc/hallib

dpkg -l '*linuxcnc*':
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                Version                      Architecture Description
+++-===================-============================-============-=====================================================================
un  linuxcnc            <none>                       <none>       (no description available)
un  linuxcnc-dev        <none>                       <none>       (no description available)
un  linuxcnc-doc        <none>                       <none>       (no description available)
ii  linuxcnc-doc-en     1:2.7.14                     all          motion controller for CNC machines and robots (English documentation)
un  linuxcnc-sim        <none>                       <none>       (no description available)
un  linuxcnc-sim-dev    <none>                       <none>       (no description available)
ii  linuxcnc-uspace     1:2.8.0~pre1.5532.gce4300a57 amd64        motion controller for CNC machines and robots
ii  linuxcnc-uspace-dev 1:2.8.0~pre1.5532.gce4300a57 amd64        PC based motion controller for real-time Linux

I believe I setup an IPv4 route properly as well to "Use this connection only for the resources on its network"

uname -a
Linux cnc 4.9.0-8-rt-amd64 #1 SMP PREEMPT RT Debian 4.9.110-3+deb9u6 (2018-10-08) x86_64 GNU/Linux

Any feedback on what I'm doing wrong would be much appreciated! Thanks!
Matt

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tommylight
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Moderator

25 Mar 2020 23:12 #161517 by tommylight

Replied by tommylight on topic 7i96 Configuration Tool

Check your testcnc.hal if there is a PWM loaded at this line
loadrt hm2_eth ................num_encoder..........num_stepgens ..............num PWM
Not sure how that is all there, just from memory, i think you should have a PWM loaded there.
The error says
./testcnc.hal:99: parameter or pin 'hm2_7i96.0.pwmgen.00.output-type' not found
Or it might not been added to the servo thread.
Upload your hal and ini files so we can have a look.

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PCW
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25 Mar 2020 23:36 - 25 Mar 2020 23:39 #161520 by PCW

Replied by PCW on topic 7i96 Configuration Tool

I'm getting an occasional "hm2/hm2_7i96.0: error reading Pin Descriptor 1 (at 0x05c4)" and other failures...

This sounds like you are possibly losing packets or something similarly dire like power supply issues

can you ping the card without losing any packets?

Last edit: 25 Mar 2020 23:39 by PCW.

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gusty42
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26 Mar 2020 02:39 #161532 by gusty42

Replied by gusty42 on topic 7i96 Configuration Tool

This sounds like you are possibly losing packets or something similarly dire like power supply issues

can you ping the card without losing any packets?

Thanks for the help guys! I can ping it and usually get a ~.14ms reply, but every so often it fluctuates to .5 or even 1000ms delay. I'm using a brand new Mean Well RD-65B dual voltage power supply: 5V @4.0A, 24V @2A. Obviously only running the Mesa card off 5V. I did have an issue with my Network Connections giving me a "device not managed" error and had to edit my networkmanager.conf file to say "true" under [ifupdown] to let me set a static IP in the manager. Thoughts?

Also, this is pretty much my first attempt to make a HAL and INI files... not running a spindle right now, but also don't see the "num_PWM" like you were expecting.

HAL

# This file was created with the 7i96 Wizard on Mar 19 2020 19:40:47
# If you make changes to this file DO NOT run the configuration tool again!
# This file will be replaced with a new file if you do!

# kinematics
loadrt [KINS]KINEMATICS

# motion controller
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

# standard components
loadrt pid num_chan=2 

# hostmot2 driver
loadrt hostmot2

loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](IPADDRESS) config="num_encoders=[HOSTMOT2](ENCODERS) num_stepgens=[HOSTMOT2](STEPGENS) sserial_port_0=[HOSTMOT2](SSERIAL_PORT)"
setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000

# THREADS
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
setp hm2_[HOSTMOT2](BOARD).0.dpll.01.timer-us -100
setp hm2_[HOSTMOT2](BOARD).0.stepgen.timer-number 1 
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread

# Joint 0
# axis enable chain
newsig emcmot.0.enable bit
sets emcmot.0.enable FALSE
net emcmot.0.enable <= joint.0.amp-enable-out
net emcmot.0.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable pid.0.enable

# position command and feedback
net emcmot.0.pos-cmd joint.0.motor-pos-cmd => pid.0.command
net motor.0.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb joint.0.motor-pos-fb pid.0.feedback
net motor.0.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd
setp pid.0.error-previous-target true

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1

setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.0.maxerror [JOINT_0]MAX_ERROR

# Joint 1
# axis enable chain
newsig emcmot.1.enable bit
sets emcmot.1.enable FALSE
net emcmot.1.enable <= joint.1.amp-enable-out
net emcmot.1.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable pid.1.enable

# position command and feedback
net emcmot.1.pos-cmd joint.1.motor-pos-cmd => pid.1.command
net motor.1.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb joint.1.motor-pos-fb pid.1.feedback
net motor.1.command pid.1.output hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd
setp pid.1.error-previous-target true

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1

setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.1.maxerror [JOINT_1]MAX_ERROR

# Spindle
setp hm2_7i96.0.pwmgen.00.output-type 0
setp hm2_7i96.0.pwmgen.00.scale [SPINDLE]MAX_RPM
setp hm2_7i96.0.pwmgen.pwm_frequency [SPINDLE]PWM_FREQUENCY

# Standard I/O Block - EStop, Etc
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

INI

# This file was created with the 7i96 Wizard on Mar 19 2020 19:40:47
# Changes to most things are ok and will be read by the wizard

[EMC]
VERSION = 1.1
MACHINE = testcnc
DEBUG = 0x00000000

[HOSTMOT2]
DRIVER = hm2_eth
IPADDRESS = "10.10.10.10"
BOARD = 7i96
STEPGENS = 4
ENCODERS = 1
SSERIAL_PORT = 1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = COMMANDED
MAX_FEED_OVERRIDE = 1.2
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=XY
JOINTS = 2

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = testcnc.var

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XY
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 10

[HAL]
HALFILE = testcnc.hal
HALFILE = io.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui.hal

[HALUI]

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15

[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15

[JOINT_0]
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15
TYPE = LINEAR
SCALE = 1600
STEPGEN_MAX_VEL = 12.0
STEPGEN_MAX_ACC = 18.0
FERROR = 0.0002
MIN_FERROR = 0.0001
DIRSETUP = 5500
DIRHOLD = 2500
STEPLEN = 3000
STEPSPACE = 4000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = .5
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_1]
AXIS = Y
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15
TYPE = LINEAR
SCALE = 1600
STEPGEN_MAX_VEL = 12.0
STEPGEN_MAX_ACC = 18.0
FERROR = 0.0002
MIN_FERROR = 0.0001
DIRSETUP = 5500
DIRHOLD = 2500
STEPLEN = 3000
STEPSPACE = 4000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = .5
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[SPINDLE]
SPINDLE_TYPE = False
SCALE = 
PWM_FREQUENCY = 20000
MAX_RPM = 
MIN_RPM = 
DEADBAND = 
P = 
I = 
D = 
FF0 = 
FF1 = 
FF2 = 
BIAS = 
MAX_ERROR = 

[INPUTS]
# DO NOT change the input text
INPUT_0 = Home
INPUT_JOINT_0 = 0
INPUT_1 = Home
INPUT_JOINT_1 = 1
INPUT_2 = Select
INPUT_JOINT_2 = False
INPUT_3 = Select
INPUT_JOINT_3 = False
INPUT_4 = Select
INPUT_JOINT_4 = False
INPUT_5 = Select
INPUT_JOINT_5 = False
INPUT_6 = Select
INPUT_JOINT_6 = False
INPUT_7 = Select
INPUT_JOINT_7 = False
INPUT_8 = Select
INPUT_JOINT_8 = False
INPUT_9 = Select
INPUT_JOINT_9 = False
INPUT_10 = Select
INPUT_JOINT_10 = False

[OUTPUTS]
# DO NOT change the output text
OUTPUT_0 = Select
OUTPUT_1 = Select
OUTPUT_2 = Select
OUTPUT_3 = Select
OUTPUT_4 = Select

[OPTIONS]
MANUAL_TOOL_CHANGE = False
HALUI = False
PYVCP = False
GLADEVCP = False
LADDER = False

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PCW
Offline
Moderator

26 Mar 2020 03:47 #161536 by PCW

Replied by PCW on topic 7i96 Configuration Tool

if you get occasionally 1 ms ping times, I would guess something is broken in your real time setup or network hardware

What PC hardware do you have?

What does

ip a

report?

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