Mesa 7i95

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01 May 2020 07:14 - 01 May 2020 07:16 #166280 by Pro_El
Replied by Pro_El on topic Mesa 7i95
Thanks cmorley for effort adding this great board 7i95 to Pncconf. I do not now but if it is possible please add support in Pncconf to select step/dir or pwm/dir output so we ordinary users have opportunity to change mode and use different control drives.

Thanks for great work..
Last edit: 01 May 2020 07:16 by Pro_El.

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07 Jul 2020 15:56 #173857 by trial31
Replied by trial31 on topic Mesa 7i95
Hi,
first of all: sorry for my English :-)

i try to work with a 7i95 but I have some problems....
I'm using the last master LCNC branch on Debian:

uname -a
Linux MacchinaInfernale 4.9.0-12-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.210-1+deb9u1 (2020-06-07) i686 GNU/Linux

I have started linuxcnc using only gpios input but not with inmux (only inmux.00.input-00 is present)

typing halcmd show pin hm*:
Component Pins:
Owner   Type  Dir         Value  Name
    26  float IN            100  hm2_7i95.0.dpll.01.timer-us
    26  float IN            100  hm2_7i95.0.dpll.02.timer-us
    26  float IN            100  hm2_7i95.0.dpll.03.timer-us
    26  float IN            100  hm2_7i95.0.dpll.04.timer-us
    26  float IN              1  hm2_7i95.0.dpll.base-freq-khz
    26  u32   OUT    0x0000002A  hm2_7i95.0.dpll.ddsize
    26  float OUT     0.4405407  hm2_7i95.0.dpll.phase-error-us
    26  u32   IN     0x00400000  hm2_7i95.0.dpll.plimit
    26  u32   OUT    0x00000018  hm2_7i95.0.dpll.prescale
    26  u32   IN     0x000007D0  hm2_7i95.0.dpll.time-const
    26  s32   OUT             0  hm2_7i95.0.encoder.00.count
    26  s32   OUT             0  hm2_7i95.0.encoder.00.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.00.index-enable <=> a-index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.00.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.00.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.00.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.00.position ==> a-pos-fb
    26  float OUT             0  hm2_7i95.0.encoder.00.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.00.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.00.rawcounts ==> a-pos-rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.00.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.reset
    26  float OUT             0  hm2_7i95.0.encoder.00.velocity ==> a-vel-fb
    26  float OUT             0  hm2_7i95.0.encoder.00.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.01.count
    26  s32   OUT             0  hm2_7i95.0.encoder.01.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.01.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.01.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.01.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.01.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.01.position
    26  float OUT             0  hm2_7i95.0.encoder.01.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.01.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.01.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.01.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.reset
    26  float OUT             0  hm2_7i95.0.encoder.01.velocity
    26  float OUT             0  hm2_7i95.0.encoder.01.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.02.count
    26  s32   OUT             0  hm2_7i95.0.encoder.02.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.02.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.02.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.02.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.02.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.02.position
    26  float OUT             0  hm2_7i95.0.encoder.02.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.02.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.02.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.02.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.reset
    26  float OUT             0  hm2_7i95.0.encoder.02.velocity
    26  float OUT             0  hm2_7i95.0.encoder.02.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.03.count
    26  s32   OUT             0  hm2_7i95.0.encoder.03.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.03.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.03.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.03.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.03.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.03.position
    26  float OUT             0  hm2_7i95.0.encoder.03.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.03.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.03.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.03.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.reset
    26  float OUT             0  hm2_7i95.0.encoder.03.velocity
    26  float OUT             0  hm2_7i95.0.encoder.03.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.04.count
    26  s32   OUT             0  hm2_7i95.0.encoder.04.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.04.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.04.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.04.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.04.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.04.position
    26  float OUT             0  hm2_7i95.0.encoder.04.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.04.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.04.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.04.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.reset
    26  float OUT             0  hm2_7i95.0.encoder.04.velocity
    26  float OUT             0  hm2_7i95.0.encoder.04.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.05.count
    26  s32   OUT             0  hm2_7i95.0.encoder.05.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.05.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.05.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.05.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.05.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.05.position
    26  float OUT             0  hm2_7i95.0.encoder.05.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.05.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.05.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.05.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.reset
    26  float OUT             0  hm2_7i95.0.encoder.05.velocity
    26  float OUT             0  hm2_7i95.0.encoder.05.velocity-rpm
    26  bit   IN          FALSE  hm2_7i95.0.encoder.hires-timestamp
    26  u32   IN     0x007F2815  hm2_7i95.0.encoder.muxed-sample-frequency
    26  s32   IN             -1  hm2_7i95.0.encoder.timer-number
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.000.in ==> min-x
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.000.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.001.in ==> max-x
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.001.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.002.in ==> min-y
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.002.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.003.in ==> max-y
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.003.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.004.in ==> min-z
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.004.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.005.in ==> max-z
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.005.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.006.in ==> home-x
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.006.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.007.in ==> home-y
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.007.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.008.in ==> home-y2
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.008.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.009.in ==> home-z
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.009.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.010.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.010.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.011.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.011.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.012.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.012.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.012.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.013.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.013.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.013.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.014.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.014.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.014.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.015.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.015.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.015.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.016.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.016.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.016.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.017.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.017.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.017.out
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.018.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.018.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.019.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.019.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.020.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.020.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.021.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.021.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.022.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.022.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.023.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.023.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.024.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.024.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.025.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.025.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.026.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.026.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.027.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.027.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.028.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.028.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.029.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.029.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.030.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.030.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.031.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.031.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.032.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.032.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.033.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.033.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.034.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.034.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.035.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.035.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.036.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.036.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.037.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.037.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.038.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.038.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.039.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.039.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.040.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.040.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.041.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.041.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.041.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.042.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.042.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.042.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.043.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.043.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.043.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.044.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.044.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.044.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.045.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.045.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.045.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.046.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.046.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.046.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.047.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.047.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.047.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.048.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.048.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.048.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.049.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.049.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.049.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.050.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.050.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.050.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.051.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.051.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.051.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.052.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.052.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.052.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.053.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.053.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.053.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.054.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.054.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.054.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.055.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.055.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.055.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.056.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.056.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.056.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.057.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.057.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.057.out
    26  s32   OUT            10  hm2_7i95.0.inmux.00.enc0-count
    26  s32   OUT             2  hm2_7i95.0.inmux.00.enc1-count
    26  s32   OUT            -4  hm2_7i95.0.inmux.00.enc2-count
    26  s32   OUT          -124  hm2_7i95.0.inmux.00.enc3-count
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-00
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-00-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-00-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-00
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-00-not
    26  bit   IN          FALSE  hm2_7i95.0.led.CR01
    26  bit   IN          FALSE  hm2_7i95.0.led.CR02
    26  bit   IN          FALSE  hm2_7i95.0.led.CR03
    26  bit   IN          FALSE  hm2_7i95.0.led.CR04
    26  bit   OUT         FALSE  hm2_7i95.0.packet-error
    26  bit   OUT         FALSE  hm2_7i95.0.packet-error-exceeded
    26  s32   OUT             0  hm2_7i95.0.packet-error-level
    26  s32   OUT             0  hm2_7i95.0.read-request.time
    26  s32   OUT        291606  hm2_7i95.0.read.time
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-00 <== spindle-enable
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-01 <== machine-is-enabled
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-02
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-03
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-04
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-05
    26  u32   IN     0x000F4240  hm2_7i95.0.ssr.00.rate
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.00.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.00.counts
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.00.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.00.enable <== x-enable
    26  float IN              0  hm2_7i95.0.stepgen.00.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.00.position-fb ==> x-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.00.velocity-cmd <== x-output
    26  float OUT             0  hm2_7i95.0.stepgen.00.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.01.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.01.counts
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.01.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.01.enable <== y-enable
    26  float IN              0  hm2_7i95.0.stepgen.01.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.01.position-fb ==> y-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.01.velocity-cmd <== y-output
    26  float OUT             0  hm2_7i95.0.stepgen.01.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.02.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.02.counts
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.02.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.02.enable <== y2-enable
    26  float IN              0  hm2_7i95.0.stepgen.02.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.02.position-fb ==> y2-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.02.velocity-cmd <== y2-output
    26  float OUT             0  hm2_7i95.0.stepgen.02.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.03.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.03.counts
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.03.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.03.enable <== z-enable
    26  float IN              0  hm2_7i95.0.stepgen.03.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.03.position-fb ==> z-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.03.velocity-cmd <== z-output
    26  float OUT             0  hm2_7i95.0.stepgen.03.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.04.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.04.counts
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.04.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.04.enable <== a-enable
    26  float IN              0  hm2_7i95.0.stepgen.04.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.04.position-fb
    26  float IN              0  hm2_7i95.0.stepgen.04.velocity-cmd <== a-output
    26  float OUT             0  hm2_7i95.0.stepgen.04.velocity-fb
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.05.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.05.counts
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.05.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.05.enable
    26  float IN              0  hm2_7i95.0.stepgen.05.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.05.position-fb
    26  float IN              0  hm2_7i95.0.stepgen.05.velocity-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.05.velocity-fb
    26  s32   IN             -1  hm2_7i95.0.stepgen.timer-number
    26  bit   I/O         FALSE  hm2_7i95.0.watchdog.has_bit
    26  s32   OUT         46599  hm2_7i95.0.write.time

typing mesaflash --device 7i95 --readhmid:
Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA7I95
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 29
  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: MuxedQCount
  There are 6 of MuxedQCount in configuration
  Version: 3
  Registers: 5
  BaseAddress: 3600
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: MuxedQCountSel
  There are 1 of MuxedQCountSel in configuration
  Version: 0
  Registers: 0
  BaseAddress: 0000
  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 6 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSR
  There are 1 of SSR in configuration
  Version: 0
  Registers: 2
  BaseAddress: 7D00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: InMux
  There are 1 of InMux in configuration
  Version: 0
  Registers: 5
  BaseAddress: 8000
  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 Step/DIR+Serial+Encoders
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 0      0   IOPort       StepGen          0        Step/Table1     (Out)
 0      1   IOPort       StepGen          0        Dir/Table2      (Out)
 0      2   IOPort       StepGen          1        Step/Table1     (Out)
 0      3   IOPort       StepGen          1        Dir/Table2      (Out)
 0      4   IOPort       StepGen          2        Step/Table1     (Out)
 0      5   IOPort       StepGen          2        Dir/Table2      (Out)
 0      6   IOPort       StepGen          3        Step/Table1     (Out)
 0      7   IOPort       StepGen          3        Dir/Table2      (Out)
 0      8   IOPort       StepGen          4        Step/Table1     (Out)
 0      9   IOPort       StepGen          4        Dir/Table2      (Out)
 0     10   IOPort       StepGen          5        Step/Table1     (Out)
 0     11   IOPort       StepGen          5        Dir/Table2      (Out)
 0     12   IOPort       SSerial          0        RXData0         (In)
 0     13   IOPort       SSerial          0        TXData0         (Out)
 0     14   IOPort       SSerial          0        TXEn0           (Out)
 0     15   IOPort       SSerial          0        RXData1         (In)
 0     16   IOPort       SSerial          0        TXData1         (Out)
 0     17   IOPort       SSerial          0        TXEn1           (Out)
 0     18   IOPort       MuxedQCount      0        MuxQ-A          (In)
 0     19   IOPort       MuxedQCount      0        MuxQ-B          (In)
 0     20   IOPort       MuxedQCount      0        MuxQ-IDX        (In)
 0     21   IOPort       MuxedQCount      1        MuxQ-A          (In)
 0     22   IOPort       MuxedQCount      1        MuxQ-B          (In)
 0     23   IOPort       MuxedQCount      1        MuxQ-IDX        (In)
 0     24   IOPort       MuxedQCount      2        MuxQ-A          (In)
 0     25   IOPort       MuxedQCount      2        MuxQ-B          (In)
 0     26   IOPort       MuxedQCount      2        MuxQ-IDX        (In)
 0     27   IOPort       MuxedQCountSel   0        MuxSel0         (Out)
 0     28   IOPort       InMux            0        Addr0           (Out)

IO Connections for I/O+Expansion
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 0     29   IOPort       InMux            0        Addr1           (Out)
 0     30   IOPort       InMux            0        Addr2           (Out)
 0     31   IOPort       InMux            0        Addr3           (Out)
 0     32   IOPort       InMux            0        Addr4           (Out)
 0     33   IOPort       InMux            0        Data0           (In)
 0     34   IOPort       SSR              0        Out-00          (Out)
 0     35   IOPort       SSR              0        Out-01          (Out)
 0     36   IOPort       SSR              0        Out-02          (Out)
 0     37   IOPort       SSR              0        Out-03          (Out)
 0     38   IOPort       SSR              0        Out-04          (Out)
 0     39   IOPort       SSR              0        Out-05          (Out)
 0     40   IOPort       SSR              0        AC Ref          (Out)
 0     41   IOPort       None           
 0     42   IOPort       None           
 0     43   IOPort       None           
 0     44   IOPort       None           
 0     45   IOPort       None           
 0     46   IOPort       None           
 0     47   IOPort       None           
 0     48   IOPort       None           
 0     49   IOPort       None           
 0     50   IOPort       None           
 0     51   IOPort       None           
 0     52   IOPort       None           
 0     53   IOPort       None           
 0     54   IOPort       None           
 0     55   IOPort       None           
 0     56   IOPort       None           
 0     57   IOPort       None

in linuxcnc "show hal configuration" the value of hm2_7i95.0.gpio.00.in is always false (i tryed to put 12v on pin 0 and ground incom 0/1)

do I have the wrong bit-file on mesa card?

I also become this error in linuxcnc: hm2_7i95.0 error finishng read! iter=296736

I'm arround this problem from a week, I searched everywhere and tryed with lcnc 2.8 first and now with the 2.9master but without finding the problem...

Thankyou for help!
Francesco

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07 Jul 2020 16:09 #173858 by PCW
Replied by PCW on topic Mesa 7i95
if you get "hm2_7i95.0 error finishng read! iter=296736"
This likely means you have lost communications with the card

This might be a 7I95 5V power issue or a real time issue/dropped packets on the host
If its caused by a real time issues or other loss of communications from the
host, the red /init LED should be illuminated (showing a watchdog timeout)
if you lost (and regained) 7I95 power, the red LED will be off

BTW GPIO0 is stepgen0's step output

Not sure why the inmux pins are not showing up, but it may be related to either your hal file
or communication issues
The following user(s) said Thank You: trial31

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07 Jul 2020 16:37 #173862 by trial31
Replied by trial31 on topic Mesa 7i95
Hi,
thankyou for your help!

The red led (cr19) is always on and this error "hm2_7i95.0 error finishng read! iter=296736" appear only after some minutes, i close it and it continue working (at mean I think it is working...:dry: )
The voltage on board is 4.95v ....is that not enough?

Can you look at my files if they are wrong for inmux?

"BTW GPIO0 is stepgen0's step output"
then all my gpio rference are all wrong(good to know) ...i want to put inmux.00.input-00 but linuxcnc is not starting with inmux.00input-01 because they are not...

hal File
# Generated by PNCconf at Tue Jul  7 10:06:07 2020
# Using LinuxCNC version:  UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=6 num_pwmgens=0 num_stepgens=6 sserial_port_0=00xxxx" 
setp    hm2_7i95.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.a,pid.s

addf hm2_7i95.0.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.y2.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_7i95.0.write         servo-thread

# external output signals

# --- SPINDLE-ENABLE ---
net spindle-enable  =>     hm2_7i95.0.ssr.00.out-00

# --- MACHINE-IS-ENABLED ---
net machine-is-enabled  =>     hm2_7i95.0.ssr.00.out-01


# external input signals

# --- MIN-X ---
net min-x     <=  hm2_7i95.0.gpio.000.in

# --- MAX-X ---
net max-x     <=  hm2_7i95.0.gpio.001.in

# --- MIN-Y ---
net min-y     <=  hm2_7i95.0.gpio.002.in

# --- MAX-Y ---
net max-y     <=  hm2_7i95.0.gpio.003.in

# --- MIN-Z ---
net min-z     <=  hm2_7i95.0.gpio.004.in

# --- MAX-Z ---
net max-z     <=  hm2_7i95.0.gpio.005.in

# --- HOME-X ---
net home-x     <=  hm2_7i95.0.gpio.006.in

# --- HOME-Y ---
net home-y     <=  hm2_7i95.0.gpio.007.in

# --- HOME-Y2 ---
net home-y2     <=  hm2_7i95.0.gpio.008.in

# --- HOME-Z ---
net home-z     <=  hm2_7i95.0.gpio.009.in


#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_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-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i95.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i95.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i95.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i95.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i95.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i95.0.stepgen.00.step_type        0
setp   hm2_7i95.0.stepgen.00.control-type     1
setp   hm2_7i95.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i95.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     <= hm2_7i95.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i95.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i95.0.stepgen.00.enable

# ---setup home / limit switch signals---

net home-x     =>  joint.0.home-sw-in
net min-x     =>  joint.0.neg-lim-sw-in
net max-x     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_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-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# Step Gen signals/setup

setp   hm2_7i95.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i95.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i95.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i95.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i95.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i95.0.stepgen.01.step_type        0
setp   hm2_7i95.0.stepgen.01.control-type     1
setp   hm2_7i95.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i95.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-vel-cmd    <= joint.1.vel-cmd
net y-output     <= hm2_7i95.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i95.0.stepgen.01.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i95.0.stepgen.01.enable

# ---setup home / limit switch signals---

net home-y     =>  joint.1.home-sw-in
net min-y     =>  joint.1.neg-lim-sw-in
net max-y     =>  joint.1.pos-lim-sw-in

#*******************
#  Tandem AXIS Y2 JOINT 2
#*******************

setp   pid.y2.Pgain     [JOINT_2]P
setp   pid.y2.Igain     [JOINT_2]I
setp   pid.y2.Dgain     [JOINT_2]D
setp   pid.y2.bias      [JOINT_2]BIAS
setp   pid.y2.FF0       [JOINT_2]FF0
setp   pid.y2.FF1       [JOINT_2]FF1
setp   pid.y2.FF2       [JOINT_2]FF2
setp   pid.y2.deadband  [JOINT_2]DEADBAND
setp   pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.y2.error-previous-target true
setp   pid.y2.maxerror .0005

net y2-index-enable  <=> pid.y2.index-enable
net y2-enable        =>  pid.y2.enable
net y2-pos-cmd       =>  pid.y2.command
net y2-pos-fb        =>  pid.y2.feedback
net y2-output        <=  pid.y2.output

# Step Gen signals/setup for tandem axis

setp   hm2_7i95.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i95.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i95.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_7i95.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i95.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i95.0.stepgen.02.step_type        0
setp   hm2_7i95.0.stepgen.02.control-type     1
setp   hm2_7i95.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i95.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y2-pos-cmd    <= joint.2.motor-pos-cmd
net y2-vel-cmd    <= joint.2.vel-cmd
net y2-output     <= hm2_7i95.0.stepgen.02.velocity-cmd
net y2-pos-fb     <= hm2_7i95.0.stepgen.02.position-fb
net y2-pos-fb     => joint.2.motor-pos-fb
net y2-enable     <= joint.2.amp-enable-out
net y2-enable     => hm2_7i95.0.stepgen.02.enable

# ---setup home / limit switch signals---

net home-y2     =>  joint.2.home-sw-in
net y2-neg-limit     =>  joint.2.neg-lim-sw-in
net y2-pos-limit     =>  joint.2.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 3
#*******************

setp   pid.z.Pgain     [JOINT_3]P
setp   pid.z.Igain     [JOINT_3]I
setp   pid.z.Dgain     [JOINT_3]D
setp   pid.z.bias      [JOINT_3]BIAS
setp   pid.z.FF0       [JOINT_3]FF0
setp   pid.z.FF1       [JOINT_3]FF1
setp   pid.z.FF2       [JOINT_3]FF2
setp   pid.z.deadband  [JOINT_3]DEADBAND
setp   pid.z.maxoutput [JOINT_3]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-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_7i95.0.stepgen.03.dirsetup        [JOINT_3]DIRSETUP
setp   hm2_7i95.0.stepgen.03.dirhold         [JOINT_3]DIRHOLD
setp   hm2_7i95.0.stepgen.03.steplen         [JOINT_3]STEPLEN
setp   hm2_7i95.0.stepgen.03.stepspace       [JOINT_3]STEPSPACE
setp   hm2_7i95.0.stepgen.03.position-scale  [JOINT_3]STEP_SCALE
setp   hm2_7i95.0.stepgen.03.step_type        0
setp   hm2_7i95.0.stepgen.03.control-type     1
setp   hm2_7i95.0.stepgen.03.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
setp   hm2_7i95.0.stepgen.03.maxvel           [JOINT_3]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.3.motor-pos-cmd
net z-vel-cmd    <= joint.3.vel-cmd
net z-output     <= hm2_7i95.0.stepgen.03.velocity-cmd
net z-pos-fb     <= hm2_7i95.0.stepgen.03.position-fb
net z-pos-fb     => joint.3.motor-pos-fb
net z-enable     <= joint.3.amp-enable-out
net z-enable     => hm2_7i95.0.stepgen.03.enable

# ---setup home / limit switch signals---

net home-z     =>  joint.3.home-sw-in
net min-z     =>  joint.3.neg-lim-sw-in
net max-z     =>  joint.3.pos-lim-sw-in

#*******************
#  AXIS A JOINT 4
#*******************

setp   pid.a.Pgain     [JOINT_4]P
setp   pid.a.Igain     [JOINT_4]I
setp   pid.a.Dgain     [JOINT_4]D
setp   pid.a.bias      [JOINT_4]BIAS
setp   pid.a.FF0       [JOINT_4]FF0
setp   pid.a.FF1       [JOINT_4]FF1
setp   pid.a.FF2       [JOINT_4]FF2
setp   pid.a.deadband  [JOINT_4]DEADBAND
setp   pid.a.maxoutput [JOINT_4]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-pos-fb        =>  pid.a.feedback
net a-output        <=  pid.a.output

# Step Gen signals/setup

setp   hm2_7i95.0.stepgen.04.dirsetup        [JOINT_4]DIRSETUP
setp   hm2_7i95.0.stepgen.04.dirhold         [JOINT_4]DIRHOLD
setp   hm2_7i95.0.stepgen.04.steplen         [JOINT_4]STEPLEN
setp   hm2_7i95.0.stepgen.04.stepspace       [JOINT_4]STEPSPACE
setp   hm2_7i95.0.stepgen.04.position-scale  [JOINT_4]STEP_SCALE
setp   hm2_7i95.0.stepgen.04.step_type        0
setp   hm2_7i95.0.stepgen.04.control-type     1
setp   hm2_7i95.0.stepgen.04.maxaccel         [JOINT_4]STEPGEN_MAXACCEL
setp   hm2_7i95.0.stepgen.04.maxvel           [JOINT_4]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net a-pos-cmd    <= joint.4.motor-pos-cmd
net a-vel-cmd    <= joint.4.vel-cmd
net a-output     <= hm2_7i95.0.stepgen.04.velocity-cmd
#net a-pos-fb     <= hm2_7i95.0.stepgen.04.position-fb
net a-pos-fb     => joint.4.motor-pos-fb
net a-enable     <= joint.4.amp-enable-out
net a-enable     => hm2_7i95.0.stepgen.04.enable

# ---Encoder feedback signals/setup---

setp    hm2_7i95.0.encoder.00.counter-mode 0
setp    hm2_7i95.0.encoder.00.filter 1
setp    hm2_7i95.0.encoder.00.index-invert 0
setp    hm2_7i95.0.encoder.00.index-mask 0
setp    hm2_7i95.0.encoder.00.index-mask-invert 0
setp    hm2_7i95.0.encoder.00.scale  [JOINT_4]ENCODER_SCALE

net a-pos-fb               <=  hm2_7i95.0.encoder.00.position
net a-vel-fb               <=  hm2_7i95.0.encoder.00.velocity
net a-pos-fb               =>  joint.4.motor-pos-fb
net a-index-enable    joint.4.index-enable  <=>  hm2_7i95.0.encoder.00.index-enable
net a-pos-rawcounts        <=  hm2_7i95.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net a-home-sw     =>  joint.4.home-sw-in
net a-neg-limit     =>  joint.4.neg-lim-sw-in
net a-pos-limit     =>  joint.4.pos-lim-sw-in

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]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        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net axis-select-a  halui.axis.a.select
net jog-a-pos      halui.axis.a.plus
net jog-a-neg      halui.axis.a.minus
net jog-a-analog   halui.axis.a.analog
net a-is-homed     halui.joint.3.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.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

INI File
# Generated by PNCconf at Tue Jul  7 10:06:07 2020
# Using LinuxCNC version:  UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = test2
DEBUG = 0
VERSION = 1.1

[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/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
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
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i95.0

[HAL]
HALUI = halui
HALFILE = test2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH

[TRAJ]
COORDINATES =  XYYZA
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 6.67
MAX_LINEAR_VELOCITY = 66.67

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.0
MAX_LIMIT = 540.0

[JOINT_0]
TYPE = LINEAR
HOME = 520.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
# 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 = 83.33
STEPGEN_MAXACCEL = 937.50
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 540.0
HOME_OFFSET = 550.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.0
MAX_LIMIT = 950.0

[JOINT_1]
TYPE = LINEAR
HOME = 20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
# 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 = 83.33
STEPGEN_MAXACCEL = 937.50
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 950.0
HOME_OFFSET = -10.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO

[JOINT_2]
TYPE = LINEAR
HOME = 20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
# 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 = 83.33
STEPGEN_MAXACCEL = 937.50
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 950.0
HOME_OFFSET = -10.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.0
MAX_LIMIT = 250.0

[JOINT_3]
TYPE = LINEAR
HOME = 30.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 750.0
# 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 = 62.50
STEPGEN_MAXACCEL = 937.50
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 250.0
HOME_OFFSET = 50.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
#******************************************

#******************************************
[AXIS_A]
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
# 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 = 450.00
STEPGEN_MAXACCEL = 1500.00
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
ENCODER_SCALE = 5.6889
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 4.4444
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
#******************************************

[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2000.0

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More
07 Jul 2020 16:43 #173865 by trial31
Replied by trial31 on topic Mesa 7i95
Now with "halcmd show pin hm*" I see all pin correctly.....it look like after cleening error "hm2_7i95.0 error finishng read! iter=296736" it is changing the pin list.....i will make some test about it...

Component Pins:
Owner   Type  Dir         Value  Name
    26  float IN            100  hm2_7i95.0.dpll.01.timer-us
    26  float IN            100  hm2_7i95.0.dpll.02.timer-us
    26  float IN            100  hm2_7i95.0.dpll.03.timer-us
    26  float IN            100  hm2_7i95.0.dpll.04.timer-us
    26  float IN              1  hm2_7i95.0.dpll.base-freq-khz
    26  u32   OUT    0x0000002A  hm2_7i95.0.dpll.ddsize
    26  float OUT   -0.06875279  hm2_7i95.0.dpll.phase-error-us
    26  u32   IN     0x00400000  hm2_7i95.0.dpll.plimit
    26  u32   OUT    0x00000018  hm2_7i95.0.dpll.prescale
    26  u32   IN     0x000007D0  hm2_7i95.0.dpll.time-const
    26  s32   OUT             0  hm2_7i95.0.encoder.00.count
    26  s32   OUT             0  hm2_7i95.0.encoder.00.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.00.index-enable <=> a-index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.00.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.00.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.00.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.00.position ==> a-pos-fb
    26  float OUT             0  hm2_7i95.0.encoder.00.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.00.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.00.rawcounts ==> a-pos-rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.00.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.00.reset
    26  float OUT             0  hm2_7i95.0.encoder.00.velocity ==> a-vel-fb
    26  float OUT             0  hm2_7i95.0.encoder.00.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.01.count
    26  s32   OUT             0  hm2_7i95.0.encoder.01.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.01.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.01.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.01.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.01.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.01.position
    26  float OUT             0  hm2_7i95.0.encoder.01.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.01.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.01.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.01.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.01.reset
    26  float OUT             0  hm2_7i95.0.encoder.01.velocity
    26  float OUT             0  hm2_7i95.0.encoder.01.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.02.count
    26  s32   OUT             0  hm2_7i95.0.encoder.02.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.02.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.02.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.02.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.02.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.02.position
    26  float OUT             0  hm2_7i95.0.encoder.02.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.02.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.02.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.02.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.02.reset
    26  float OUT             0  hm2_7i95.0.encoder.02.velocity
    26  float OUT             0  hm2_7i95.0.encoder.02.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.03.count
    26  s32   OUT             0  hm2_7i95.0.encoder.03.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.03.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.03.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.03.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.03.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.03.position
    26  float OUT             0  hm2_7i95.0.encoder.03.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.03.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.03.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.03.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.03.reset
    26  float OUT             0  hm2_7i95.0.encoder.03.velocity
    26  float OUT             0  hm2_7i95.0.encoder.03.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.04.count
    26  s32   OUT             0  hm2_7i95.0.encoder.04.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.04.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.04.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.04.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.04.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.04.position
    26  float OUT             0  hm2_7i95.0.encoder.04.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.04.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.04.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.04.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.04.reset
    26  float OUT             0  hm2_7i95.0.encoder.04.velocity
    26  float OUT             0  hm2_7i95.0.encoder.04.velocity-rpm
    26  s32   OUT             0  hm2_7i95.0.encoder.05.count
    26  s32   OUT             0  hm2_7i95.0.encoder.05.count-latched
    26  bit   I/O         FALSE  hm2_7i95.0.encoder.05.index-enable
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.05.input-a
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.05.input-b
    26  bit   OUT          TRUE  hm2_7i95.0.encoder.05.input-index
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.latch-enable
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.latch-polarity
    26  float OUT             0  hm2_7i95.0.encoder.05.position
    26  float OUT             0  hm2_7i95.0.encoder.05.position-latched
    26  bit   OUT         FALSE  hm2_7i95.0.encoder.05.quad-error
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.quad-error-enable
    26  s32   OUT             0  hm2_7i95.0.encoder.05.rawcounts
    26  s32   OUT             0  hm2_7i95.0.encoder.05.rawlatch
    26  bit   IN          FALSE  hm2_7i95.0.encoder.05.reset
    26  float OUT             0  hm2_7i95.0.encoder.05.velocity
    26  float OUT             0  hm2_7i95.0.encoder.05.velocity-rpm
    26  bit   IN          FALSE  hm2_7i95.0.encoder.hires-timestamp
    26  u32   IN     0x007F2815  hm2_7i95.0.encoder.muxed-sample-frequency
    26  s32   IN             -1  hm2_7i95.0.encoder.timer-number
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.000.in ==> min-x
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.000.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.001.in ==> max-x
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.001.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.002.in ==> min-y
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.002.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.003.in ==> max-y
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.003.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.004.in ==> min-z
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.004.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.005.in ==> max-z
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.005.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.006.in ==> home-x
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.006.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.007.in ==> home-y
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.007.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.008.in ==> home-y2
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.008.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.009.in ==> home-z
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.009.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.010.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.010.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.011.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.011.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.012.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.012.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.012.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.013.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.013.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.013.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.014.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.014.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.014.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.015.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.015.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.015.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.016.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.016.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.016.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.017.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.017.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.017.out
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.018.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.018.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.019.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.019.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.020.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.020.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.021.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.021.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.022.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.022.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.023.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.023.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.024.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.024.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.025.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.025.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.026.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.026.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.027.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.027.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.028.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.028.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.029.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.029.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.030.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.030.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.031.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.031.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.032.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.032.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.033.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.033.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.034.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.034.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.035.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.035.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.036.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.036.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.037.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.037.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.038.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.038.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.039.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.039.in_not
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.040.in
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.040.in_not
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.041.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.041.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.041.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.042.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.042.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.042.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.043.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.043.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.043.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.044.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.044.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.044.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.045.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.045.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.045.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.046.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.046.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.046.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.047.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.047.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.047.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.048.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.048.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.048.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.049.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.049.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.049.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.050.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.050.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.050.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.051.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.051.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.051.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.052.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.052.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.052.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.053.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.053.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.053.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.054.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.054.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.054.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.055.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.055.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.055.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.056.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.056.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.056.out
    26  bit   OUT          TRUE  hm2_7i95.0.gpio.057.in
    26  bit   OUT         FALSE  hm2_7i95.0.gpio.057.in_not
    26  bit   IN          FALSE  hm2_7i95.0.gpio.057.out
    26  s32   OUT             0  hm2_7i95.0.inmux.00.enc0-count
    26  s32   OUT             0  hm2_7i95.0.inmux.00.enc1-count
    26  s32   OUT             0  hm2_7i95.0.inmux.00.enc2-count
    26  s32   OUT             0  hm2_7i95.0.inmux.00.enc3-count
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-00
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-00-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-00-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-01
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-01-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-01-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-02
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-02-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-02-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-03
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-03-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-03-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-04
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-04-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-04-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-05
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-05-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-05-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-06
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-06-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-06-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-07
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-07-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-07-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-08
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-08-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-08-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-09
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-09-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-09-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-10
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-10-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-10-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-11
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-11-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-11-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-12
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-12-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-12-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-13
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-13-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-13-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-14
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-14-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-14-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-15
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-15-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-15-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-16
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-16-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-16-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-17
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-17-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-17-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-18
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-18-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-18-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-19
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-19-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-19-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-20
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-20-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-20-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-21
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-21-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-21-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-22
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-22-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-22-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.input-23
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.input-23-not
    26  bit   IN          FALSE  hm2_7i95.0.inmux.00.input-23-slow
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-00
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-00-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-01
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-01-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-02
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-02-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-03
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-03-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-04
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-04-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-05
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-05-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-06
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-06-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-07
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-07-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-08
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-08-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-09
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-09-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-10
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-10-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-11
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-11-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-12
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-12-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-13
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-13-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-14
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-14-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-15
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-15-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-16
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-16-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-17
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-17-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-18
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-18-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-19
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-19-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-20
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-20-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-21
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-21-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-22
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-22-not
    26  bit   OUT         FALSE  hm2_7i95.0.inmux.00.raw-input-23
    26  bit   OUT          TRUE  hm2_7i95.0.inmux.00.raw-input-23-not
    26  bit   IN          FALSE  hm2_7i95.0.led.CR01
    26  bit   IN          FALSE  hm2_7i95.0.led.CR02
    26  bit   IN          FALSE  hm2_7i95.0.led.CR03
    26  bit   IN          FALSE  hm2_7i95.0.led.CR04
    26  bit   OUT          TRUE  hm2_7i95.0.packet-error
    26  bit   OUT          TRUE  hm2_7i95.0.packet-error-exceeded
    26  s32   OUT            10  hm2_7i95.0.packet-error-level
    26  s32   OUT             0  hm2_7i95.0.read-request.time
    26  s32   OUT           350  hm2_7i95.0.read.time
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-00 <== spindle-enable
    26  bit   IN           TRUE  hm2_7i95.0.ssr.00.out-01 <== machine-is-enabled
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-02
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-03
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-04
    26  bit   IN          FALSE  hm2_7i95.0.ssr.00.out-05
    26  u32   IN     0x000F4240  hm2_7i95.0.ssr.00.rate
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.00.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.00.counts
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.00.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.00.dbg_vel_error
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.00.enable <== x-enable
    26  float IN              0  hm2_7i95.0.stepgen.00.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.00.position-fb ==> x-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.00.velocity-cmd <== x-output
    26  float OUT             0  hm2_7i95.0.stepgen.00.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.01.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.01.counts
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.01.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.01.dbg_vel_error
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.01.enable <== y-enable
    26  float IN              0  hm2_7i95.0.stepgen.01.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.01.position-fb ==> y-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.01.velocity-cmd <== y-output
    26  float OUT             0  hm2_7i95.0.stepgen.01.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.02.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.02.counts
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.02.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.02.dbg_vel_error
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.02.enable <== y2-enable
    26  float IN              0  hm2_7i95.0.stepgen.02.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.02.position-fb ==> y2-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.02.velocity-cmd <== y2-output
    26  float OUT             0  hm2_7i95.0.stepgen.02.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.03.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.03.counts
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.03.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.03.dbg_vel_error
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.03.enable <== z-enable
    26  float IN              0  hm2_7i95.0.stepgen.03.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.03.position-fb ==> z-pos-fb
    26  float IN              0  hm2_7i95.0.stepgen.03.velocity-cmd <== z-output
    26  float OUT             0  hm2_7i95.0.stepgen.03.velocity-fb
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.04.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.04.counts
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.04.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.04.dbg_vel_error
    26  bit   IN           TRUE  hm2_7i95.0.stepgen.04.enable <== a-enable
    26  float IN              0  hm2_7i95.0.stepgen.04.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.04.position-fb
    26  float IN              0  hm2_7i95.0.stepgen.04.velocity-cmd <== a-output
    26  float OUT             0  hm2_7i95.0.stepgen.04.velocity-fb
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.05.control-type
    26  s32   OUT             0  hm2_7i95.0.stepgen.05.counts
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_err_at_match
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_ff_vel
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_s_to_match
    26  s32   OUT             0  hm2_7i95.0.stepgen.05.dbg_step_rate
    26  float OUT             0  hm2_7i95.0.stepgen.05.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i95.0.stepgen.05.enable
    26  float IN              0  hm2_7i95.0.stepgen.05.position-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.05.position-fb
    26  float IN              0  hm2_7i95.0.stepgen.05.velocity-cmd
    26  float OUT             0  hm2_7i95.0.stepgen.05.velocity-fb
    26  s32   IN             -1  hm2_7i95.0.stepgen.timer-number
    26  bit   I/O         FALSE  hm2_7i95.0.watchdog.has_bit
    26  s32   OUT           259  hm2_7i95.0.write.time

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07 Jul 2020 17:13 #173871 by trial31
Replied by trial31 on topic Mesa 7i95
Sorry but I'm quite confused...now LinuxCnc is not starting anymore..
is like the Hal file is wrong but is not changed...

that's the error:
hm2/hm2_7i95.0: Low Level init 0.15
board fails HM2 registration

taked from:
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 - 2.9.0~pre0
Machine configuration directory is '/home/cnc/linuxcnc/configs/test2'
Machine configuration file is 'test2.ini'
INIFILE=/home/cnc/linuxcnc/configs/test2/test2.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYYZA
KINEMATICS=trivkins coordinates=XYYZA kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Found file(REL): ./test2.hal
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script

trivkins: coordinates:XYYZA
   Joint 0 ==> Axis X
   Joint 1 ==> Axis Y
   Joint 2 ==> Axis Y
   Joint 3 ==> Axis Z
   Joint 4 ==> Axis A

hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 192.168.1.121: INFO: Hardware address (MAC): 00:60:1b:15:00:0d
hm2_eth: discovered 7I95
hm2/hm2_7i95.0: Low Level init 0.15
board fails HM2 registration
hm2_eth: in hm2_eth_reset
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
hm2/hm2_7i95.0: error reading Pin Descriptor 48 (at 0x0680)
hm2_eth: rtapi_app_main: Input/output error (-5)
./test2.hal:9: waitpid failed /usr/bin/rtapi_app hm2_eth
./test2.hal:9: /usr/bin/rtapi_app exited without becoming ready
./test2.hal:9: insmod for hm2_eth failed, returned -1
6858
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

I checked again the power supply is 4.95v (a standard PC power supply with 5v 15A) and is nothing connected to the mesa card..only ethernet cable and 0/5v power..

any help is welcome...

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07 Jul 2020 17:48 #173875 by PCW
Replied by PCW on topic Mesa 7i95
Sounds like there is a very basic communication error (dropped packets):

hm2_eth: rtapi_app_main: Input/output error (-5)

Can you ping the card reliably?

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07 Jul 2020 18:09 #173880 by trial31
Replied by trial31 on topic Mesa 7i95
Yes, ping is in range 0.120-0.140ms max 0.150ms

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07 Jul 2020 18:23 #173885 by trial31
Replied by trial31 on topic Mesa 7i95
To reassume

Sometimes LCNC started sometimes not(with error posted before hm2_eth: rtapi_app_main: Input/output error (-5))

when start:
1) after some times (max 2 minutes) I receive "error finisching read! iter=xxxx" and the "hm2_7i95.io_error become true"
2) hal configuration-->pins-hm2_7i955.0.0inmux sometimes contains all input sometimes only the number 00.

The board is with power supply on 4.95v and 15A.

What I have not written is that on the same pc I have 2 ethernet boards. One for Mesa and one for Internet navigation. The two boards are on different subnets (eth0 on 192.168.0.x for internet and eth1 for mesa tryed with 192.168.1.x and 10.10.10.x)
Ping is working between 0.120 and 0.140ms max sometimes 0.150ms

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07 Jul 2020 18:26 - 07 Jul 2020 18:29 #173887 by PCW
Replied by PCW on topic Mesa 7i95
What kind of latency test results do you get?

Also you might try another power supply

A 15 A supply may not regulate properly with the ~300 mA load a 7I95 presents
A 1A supply is more that enough
Last edit: 07 Jul 2020 18:29 by PCW.
The following user(s) said Thank You: trial31

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