Charge pump from Mesa 7i96 in 4+1 config?

msageryd
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06 Jun 2020 11:20 - 06 Jun 2020 12:20 #170347 by msageryd

Charge pump from Mesa 7i96 in 4+1 config? was created by msageryd

I have my 7i96 in 4+1 configuration, because I need a PWM signal for spindle control.

I also need a charge pump signal. I think this should be about 10 kHz. I haven't found any way to disable the need for a charge pump in my controller. (www.cnc-step.com/5-channel-stepper-motor-controller/)

Is it possible to get a 10kHz output from 7i96?

Last edit: 06 Jun 2020 12:20 by msageryd.

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PCW
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06 Jun 2020 14:46 - 06 Jun 2020 14:46 #170369 by PCW

Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?

Hmm that looks like you would have been better off connecting that box to a 7I92
(or the expansion connector of the 7I96) because you could have a 1:1 cable connection

You can use a free stepgen as a charge-pump signal by setting it into velocity mode
with quadrature outputs and setting the velocity to 10000, something like:

setp hm2_7i96.0.stepgen.03.control-type 1     # velocity mode
setp hm2_7i96.0.stepgen.03.step_type 2        # Quadrature so square wave
setp hm2_7i96.0.stepgen.03.maxaccel 0         # default '1' is very slow
setp hm2_7i96.0.stepgen.03.maxvel 0           # don't bound frequency
setp hm2_7i96.0.stepgen.03.steplen 100        # short so won't interfere with frequency setting
setp hm2_7i96.0.stepgen.03.stepspace 100      # short so won't interfere with frequency setting
setp hm2_7i96.0.stepgen.03.velocity-cmd 10000 # set frequency to 10 KHz
net  [some_enable_signal]  hm2_7i96.0.stepgen.03.enable  # only enable charge pump when desired

Last edit: 06 Jun 2020 14:46 by PCW.

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msageryd
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06 Jun 2020 15:04 #170370 by msageryd

Replied by msageryd on topic Charge pump from Mesa 7i96 in 4+1 config?

Wow thanks!
Yeah, I suppose a 7i92 would have been way easier. But I also wanted a serial connection for a remote 7i73 which I'll connect to my physical control panel.

I hooked up the step3+ pin to an osciloscope in the hope to see a frequency. All I get is a steady +5V, even after issuing the commands you stated in halcmd. Shouldn't the signal start to oscillate when I manually set enable to true?
setp hm2_7i96.0.stepgen.03.enable true

I've probably missed something stupid.

I can confirm that I have contact with 7i96 by reading input pins.

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msageryd
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06 Jun 2020 15:31 - 06 Jun 2020 15:44 #170371 by msageryd

Replied by msageryd on topic Charge pump from Mesa 7i96 in 4+1 config?

@PCW In what way could I have a 1-1 connection from the expansion connector? Do you mean that this connector can output step/dir for my axes as well as chargepump, spindle-pwn, e-stop input, limit inputs, etc?

Last edit: 06 Jun 2020 15:44 by msageryd.

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PCW
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06 Jun 2020 15:48 #170372 by PCW

Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?

You need to do all the mentioned setup (especially the control_type and step type)

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PCW
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06 Jun 2020 15:50 #170373 by PCW

Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?

msageryd wrote:
@PCW In what way could I have a 1-1 connection from the expansion connector? Do you mean that this connector can output step/dir for my axes as well as chargepump, spindle-pwn, e-stop input, limit inputs, etc?

Yes, the 7I96 expansion port can emulate any parallel port type configuration with the appropriate firmware

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msageryd
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06 Jun 2020 16:01 - 06 Jun 2020 17:58 #170376 by msageryd

Replied by msageryd on topic Charge pump from Mesa 7i96 in 4+1 config?

Wohoo!
At last I can see the frequency in the oscilloscope. Unfortunately, I don't know what I did. I simply restarted LCNC and halcmd. After issuing the exact same commands again it works.

Last edit: 06 Jun 2020 17:58 by msageryd.

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Zacharius
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21 Jun 2020 20:56 #172275 by Zacharius

Replied by Zacharius on topic Charge pump from Mesa 7i96 in 4+1 config?

hello,
don't you mind to share full hal file for 7i96+7i73?
i'm struggling to get MPG controller working
linuxcnc drops message like Pin 'hm2_7i96.0.7i73.0.1.input-03' does not exist
appreciate any clue on that.

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PCW
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22 Jun 2020 02:07 #172295 by PCW

Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?

Did you list the available hardware pins?

with

halcmd show pin hm2*

(when linuxcnc is running)

The following user(s) said Thank You: Zacharius

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Zacharius
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22 Jun 2020 06:51 - 22 Jun 2020 07:12 #172301 by Zacharius

Replied by Zacharius on topic Charge pump from Mesa 7i96 in 4+1 config?

Sure, this example above is how pncconf created example pin in hal.- linuxcnc 2.9
basically what want to achieve there (connected to 7i73) is 2004 LCD + axis selector (multi position switch) + increment selector (multi position switch) + 11 buttons + 100ppr hand wheel for all axes

here is the output from command
and i probably see the issue

hm2_7i96.0.7i73.0.0.input-03
which helped a bit but still have no blind idea how to setup LCD to work and join all the things together
7i73 in 4x8keypad + lcd mode by jumpers
LCD, handwheel are connected as per manual

olo@debian:~$ halcmd show pin hm2
Component Pins:
Owner   Type  Dir         Value  Name
    26  s32   OUT    2097400000  hm2_7i96.0.0.debug
    26  u32   IN     0x00000000  hm2_7i96.0.7i73.0.0.display
    26  s32   OUT             1  hm2_7i96.0.7i73.0.0.enc0.count
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc0.index-enable
    26  float OUT             1  hm2_7i96.0.7i73.0.0.enc0.position
    26  s32   OUT             1  hm2_7i96.0.7i73.0.0.enc0.rawcounts
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc0.reset
    26  s32   OUT             0  hm2_7i96.0.7i73.0.0.enc1.count
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc1.index-enable
    26  float OUT             0  hm2_7i96.0.7i73.0.0.enc1.position
    26  s32   OUT             0  hm2_7i96.0.7i73.0.0.enc1.rawcounts
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc1.reset
    26  s32   OUT             0  hm2_7i96.0.7i73.0.0.enc2.count
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc2.index-enable
    26  float OUT             0  hm2_7i96.0.7i73.0.0.enc2.position
    26  s32   OUT             0  hm2_7i96.0.7i73.0.0.enc2.rawcounts
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc2.reset
    26  s32   OUT             0  hm2_7i96.0.7i73.0.0.enc3.count
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc3.index-enable
    26  float OUT             0  hm2_7i96.0.7i73.0.0.enc3.position
    26  s32   OUT             0  hm2_7i96.0.7i73.0.0.enc3.rawcounts
    26  bit   I/O         FALSE  hm2_7i96.0.7i73.0.0.enc3.reset
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-00
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-00-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-01
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-01-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-02
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-02-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-03
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-03-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-04
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-04-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-05
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-05-not
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-06
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-06-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-07
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-07-not
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-08
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-08-not
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-09
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-09-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-10
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-10-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-11
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-11-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-12
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-12-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-13
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-13-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-14
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-14-not
    26  bit   OUT          TRUE  hm2_7i96.0.7i73.0.0.input-15
    26  bit   OUT         FALSE  hm2_7i96.0.7i73.0.0.input-15-not
    26  u32   OUT    0x00000040  hm2_7i96.0.7i73.0.0.keycode
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-00
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-01
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-02
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-03
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-04
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-05
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-06
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-07
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-08
    26  bit   IN          FALSE  hm2_7i96.0.7i73.0.0.output-09
    26  float IN            100  hm2_7i96.0.dpll.01.timer-us
    26  float IN            100  hm2_7i96.0.dpll.02.timer-us
    26  float IN            100  hm2_7i96.0.dpll.03.timer-us
    26  float IN            100  hm2_7i96.0.dpll.04.timer-us
    26  float IN      0.7692308  hm2_7i96.0.dpll.base-freq-khz
    26  u32   OUT    0x0000002A  hm2_7i96.0.dpll.ddsize
    26  float OUT    -0.9942497  hm2_7i96.0.dpll.phase-error-us
    26  u32   IN     0x00400000  hm2_7i96.0.dpll.plimit
    26  u32   OUT    0x0000001F  hm2_7i96.0.dpll.prescale
    26  u32   IN     0x000007D0  hm2_7i96.0.dpll.time-const
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.000.in ==> min-home-x
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.000.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.000.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.001.in ==> min-home-y
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.001.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.001.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.002.in ==> max-home-z
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.002.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.002.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.003.in ==> max-x
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.003.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.003.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.004.in ==> max-y
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.004.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.004.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.005.in ==> min-z
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.005.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.005.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.006.in ==> home-a
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.006.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.006.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.007.in ==> estop-ext
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.007.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.007.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.008.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.008.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.008.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.009.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.009.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.009.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.010.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.010.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.010.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.011.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.011.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.012.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.012.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.013.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.013.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.014.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.014.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.015.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.015.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.016.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.016.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.017.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.017.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.018.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.018.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.019.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.019.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.020.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.020.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.021.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.021.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.022.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.022.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.023.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.023.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.024.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.024.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.025.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.025.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.025.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.026.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.026.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.026.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.027.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.027.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.027.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.028.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.028.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.028.out
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.029.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.029.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.029.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.030.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.030.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.031.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.031.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.032.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.032.in_not
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.033.in
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.033.in_not
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.034.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.034.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.034.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.035.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.035.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.035.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.036.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.036.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.036.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.037.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.037.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.037.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.038.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.038.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.038.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.039.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.039.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.039.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.040.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.040.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.040.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.041.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.041.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.041.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.042.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.042.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.042.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.043.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.043.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.043.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.044.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.044.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.044.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.045.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.045.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.045.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.046.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.046.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.046.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.047.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.047.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.047.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.048.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.048.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.048.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.049.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.049.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.049.out
    26  bit   OUT          TRUE  hm2_7i96.0.gpio.050.in
    26  bit   OUT         FALSE  hm2_7i96.0.gpio.050.in_not
    26  bit   IN          FALSE  hm2_7i96.0.gpio.050.out
    26  bit   IN          FALSE  hm2_7i96.0.led.CR01
    26  bit   IN          FALSE  hm2_7i96.0.led.CR02
    26  bit   IN          FALSE  hm2_7i96.0.led.CR03
    26  bit   IN          FALSE  hm2_7i96.0.led.CR04
    26  bit   OUT         FALSE  hm2_7i96.0.packet-error
    26  bit   OUT         FALSE  hm2_7i96.0.packet-error-exceeded
    26  s32   OUT             0  hm2_7i96.0.packet-error-level
    26  s32   OUT             0  hm2_7i96.0.read-request.time
    26  s32   OUT        724273  hm2_7i96.0.read.time
    26  u32   OUT    0x00000000  hm2_7i96.0.sserial.port-0.fault-count
    26  u32   OUT    0x00000003  hm2_7i96.0.sserial.port-0.port_state
    26  u32   OUT    0x00000000  hm2_7i96.0.sserial.port-0.port_state2
    26  u32   OUT    0x00000000  hm2_7i96.0.sserial.port-0.port_state3
    26  bit   IN           TRUE  hm2_7i96.0.sserial.port-0.run
    26  bit   IN          FALSE  hm2_7i96.0.ssr.00.out-00
    26  bit   IN          FALSE  hm2_7i96.0.ssr.00.out-01
    26  bit   IN          FALSE  hm2_7i96.0.ssr.00.out-02
    26  bit   IN          FALSE  hm2_7i96.0.ssr.00.out-03
    26  bit   IN          FALSE  hm2_7i96.0.ssr.00.out-04
    26  bit   IN          FALSE  hm2_7i96.0.ssr.00.out-05
    26  u32   IN     0x000F4240  hm2_7i96.0.ssr.00.rate
    26  bit   IN           TRUE  hm2_7i96.0.stepgen.00.control-type
    26  s32   OUT             0  hm2_7i96.0.stepgen.00.counts
    26  float OUT             0  hm2_7i96.0.stepgen.00.dbg_err_at_match
    26  float OUT             0  hm2_7i96.0.stepgen.00.dbg_ff_vel
    26  float OUT             0  hm2_7i96.0.stepgen.00.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i96.0.stepgen.00.dbg_s_to_match
    26  s32   OUT             0  hm2_7i96.0.stepgen.00.dbg_step_rate
    26  float OUT             0  hm2_7i96.0.stepgen.00.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i96.0.stepgen.00.enable <== x-enable
    26  float IN              0  hm2_7i96.0.stepgen.00.position-cmd
    26  float OUT            -0  hm2_7i96.0.stepgen.00.position-fb ==> x-pos-fb
    26  float IN              0  hm2_7i96.0.stepgen.00.velocity-cmd <== x-output
    26  float OUT             0  hm2_7i96.0.stepgen.00.velocity-fb
    26  bit   IN           TRUE  hm2_7i96.0.stepgen.01.control-type
    26  s32   OUT             0  hm2_7i96.0.stepgen.01.counts
    26  float OUT             0  hm2_7i96.0.stepgen.01.dbg_err_at_match
    26  float OUT             0  hm2_7i96.0.stepgen.01.dbg_ff_vel
    26  float OUT             0  hm2_7i96.0.stepgen.01.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i96.0.stepgen.01.dbg_s_to_match
    26  s32   OUT             0  hm2_7i96.0.stepgen.01.dbg_step_rate
    26  float OUT             0  hm2_7i96.0.stepgen.01.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i96.0.stepgen.01.enable <== y-enable
    26  float IN              0  hm2_7i96.0.stepgen.01.position-cmd
    26  float OUT            -0  hm2_7i96.0.stepgen.01.position-fb ==> y-pos-fb
    26  float IN              0  hm2_7i96.0.stepgen.01.velocity-cmd <== y-output
    26  float OUT             0  hm2_7i96.0.stepgen.01.velocity-fb
    26  bit   IN           TRUE  hm2_7i96.0.stepgen.02.control-type
    26  s32   OUT             0  hm2_7i96.0.stepgen.02.counts
    26  float OUT             0  hm2_7i96.0.stepgen.02.dbg_err_at_match
    26  float OUT             0  hm2_7i96.0.stepgen.02.dbg_ff_vel
    26  float OUT             0  hm2_7i96.0.stepgen.02.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i96.0.stepgen.02.dbg_s_to_match
    26  s32   OUT             0  hm2_7i96.0.stepgen.02.dbg_step_rate
    26  float OUT             0  hm2_7i96.0.stepgen.02.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i96.0.stepgen.02.enable <== z-enable
    26  float IN              0  hm2_7i96.0.stepgen.02.position-cmd
    26  float OUT             0  hm2_7i96.0.stepgen.02.position-fb ==> z-pos-fb
    26  float IN              0  hm2_7i96.0.stepgen.02.velocity-cmd <== z-output
    26  float OUT             0  hm2_7i96.0.stepgen.02.velocity-fb
    26  bit   IN          FALSE  hm2_7i96.0.stepgen.03.control-type
    26  s32   OUT             0  hm2_7i96.0.stepgen.03.counts
    26  float OUT             0  hm2_7i96.0.stepgen.03.dbg_err_at_match
    26  float OUT             0  hm2_7i96.0.stepgen.03.dbg_ff_vel
    26  float OUT             0  hm2_7i96.0.stepgen.03.dbg_pos_minus_prev_cmd
    26  float OUT             0  hm2_7i96.0.stepgen.03.dbg_s_to_match
    26  s32   OUT             0  hm2_7i96.0.stepgen.03.dbg_step_rate
    26  float OUT             0  hm2_7i96.0.stepgen.03.dbg_vel_error
    26  bit   IN          FALSE  hm2_7i96.0.stepgen.03.enable
    26  float IN              0  hm2_7i96.0.stepgen.03.position-cmd
    26  float OUT             0  hm2_7i96.0.stepgen.03.position-fb
    26  float IN              0  hm2_7i96.0.stepgen.03.velocity-cmd
    26  float OUT             0  hm2_7i96.0.stepgen.03.velocity-fb
    26  s32   IN             -1  hm2_7i96.0.stepgen.timer-number
    26  bit   I/O         FALSE  hm2_7i96.0.watchdog.has_bit
    26  s32   OUT         39479  hm2_7i96.0.write.time

Last edit: 22 Jun 2020 07:12 by Zacharius.

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