Mesa 7i76e In Position and Drive Enable Question

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09 Aug 2019 07:27 #141717 by thefabricator03
Hi Guys,

I am currently wiring up my new Leadshine ES-D1008 drives and I have a few of questions,

1: The drive in position output and the fault detection output, Do I just wire this to a spare input on the 7i76e?

2: The drive enable input, Do I just wire this to a space output on the 7i76e?

3: I take it I will need to modify my Hal file to suit the in position, fault detection and drive enable signals. Can anyone give me an idea of what that might look like, I have searched for a similar example with no luck.

My old drives where Gecko G320x and I did not have these features on them.

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09 Aug 2019 08:24 #141721 by tommylight
1 yes
2 yes
3 not sure what you can do with "in position", for the rest it is easy, you should already have " stpegen_enable" or "machine_is_enabled" in hal so just add another line to wire that to the 7i76e output. Fault input can be wired to e-stop, or it can be made to disable the drives and stop motion. I would choose the second version.
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09 Aug 2019 09:43 #141729 by thefabricator03
Thanks Tom,

So In position will not be needed?

Why would the controller need to know that the drive is in position? Is that a common signal for servo drives?

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09 Aug 2019 09:50 #141731 by tommylight
Nevet bothered with it, but it might be for reporting back to the controller if used with non realtime communication like RS232 or RS458.

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09 Aug 2019 09:55 #141733 by thefabricator03
Yeah I was thinking the same thing, That's more than likely what is would be used for. Thanks Tom
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09 Aug 2019 09:59 #141735 by tommylight
You are very welcomed, always.

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09 Aug 2019 18:34 #141806 by PCW

thefabricator03 wrote:
3: I take it I will need to modify my Hal file to suit the in position, fault detection and drive enable signals. Can anyone give me an idea of what that might look like, I have searched for a similar example with no luck.

My old drives where Gecko G320x and I did not have these features on them.


From motion manual page:
       joint.N.amp-enable-out OUT BIT
              TRUE if the amplifier for this joint should be enabled

       joint.N.amp-fault-in IN BIT
              Should be driven TRUE if an external fault is detected with  the
              amplifier for this joint
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22 Oct 2019 01:41 #148509 by thefabricator03
Quick question,

I have four drives that have a enable input on them.

Is it bad practice to use one output on the breakout board and daisy chain the enable inputs together?

Or should I use one output per drive?

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22 Oct 2019 02:52 - 22 Oct 2019 02:52 #148514 by PCW
Looks like the nominal input current per enable is 10 mA
You could drive the enables on the ES-D1008 with a 24 V field output
but you would have to change them into real enables (the manual says you can do this is software)

The default behaviour us to disable the drive when the enable input is driven so this will
not work with a field output that's normally off ( off at startup and shutdown and watchdog bite )

You could live with the default behaviour by using the last step/dir channel for enables
You could not drive all enables from one pin (since that would exceed the 24 mA per
output rating of the 7I76e step/dir outputs) but you actually have four 5V outputs
available (Step4+,Step4-,Dir4+,Dir4-) You can use both polarities at once by choosing
the appropriate common (5V or ground) on each enable input.
Last edit: 22 Oct 2019 02:52 by PCW.
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22 Oct 2019 03:07 #148515 by thefabricator03
Thanks PCW,

For simplicity I will set the enable control to be on when the output activates and I will use one output per each enable since I have so many on the 7i76e.

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