Mesa 7i97 setup problem

Since the 7I97 is not supported by pncconf its best to start out with a basic hal/ini file set
and modify it to suit your hardware, here is a very basic hal/ini file set for a 7I97:

 

@PWC, do you see any chance to correct the analog servo "drift" via software/hal?
The servo drive seems to not have a potentiometer for setting the drift.
The PWM offset is only a bit, so no chance their either.

Regards
Daniel

BTW: this is for an open loop test setup, there is no encoder feedback.
 

You can use the PID offset to get within 1/2 bit (~2.5 mV) so that should get
down to say 0.5 RPM, but note that analog drives will always drift when open loop
(and the drift may change with temperature etc)

Just to ensure - for a "normal" -10/10V analog interface, I do connect the drive to the corr. GND + AOUT of the 7i97 and use this setup:

setp   [HMOT](CARD0).pwmgen.02.output-type 1 #PWM pin0
setp   [HMOT](CARD0).pwmgen.02.offset-mode 1 # offset mode so 50% = 0
setp   [HMOT](CARD0).pwmgen.02.scale   [JOINT_2]OUTPUT_SCALE

I had to support someone via remote, we checked encoder scaling and position + velocity feedback - which is correct. The motors stand still with enable connected an on, and w/o connection of the analog voltage of the mesa.

After connection of the Mesa analog output, the motor runs away.
Small P value, no I/D/FFx. Just to be sure I also inverted the output scale but it ran away, same direction.

I wonder whether there is some connection issue / pwm offset or similar. Seems I have to travel there...

Regards,
Daniel

That looks correct

I would unlink the PWM value pin from the PID output in the hal file
and try setting analog output values directly (via setp in halcmd) to test.

Hello guys!

I have new 7i97 card. All axis can work. I make a ladder to hidraulic l, lube, and some options. All working. But i have problem with my card. First 4 Axis enable channels are bad. I use HAL config window on Linuxcnc software. If i type "setp hm2_7i97.0.pwmgen.00.enable 1"
the motion control first 4 (pwm.en.0,1,2,3) channel up to 5V. If i try it another one (1,2, or 3) motion control do nothing, but i can see on HAL pin watch window the output is active.

So teh first 4 pwm en channel I can control with pwm.00 signal. 00 signal turn on all 4 channel on the board. In HAL cfg window only the 00 on 1.