Mori MVJR Build Log

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25 Aug 2011 00:36 - 25 Aug 2011 00:41 #12724 by schmidtmotorworks
For anyone that wants it, here is a cad file in parasolid format of the cards and chassis.

I didn't end up using the chassis exactly as drawn here because the boards were too close together to connect the RJ45. But the boards are useful for you to mock-up your own design layout.

Enjoy.

www.schmidtmotorworks.com/mesa_assembly.zip
Attachments:
Last edit: 25 Aug 2011 00:41 by schmidtmotorworks.

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25 Aug 2011 03:54 #12730 by schmidtmotorworks
PCW wrote:

You will have to copy the supplied files to the lib/firmware/hm2/5I23/ directory

You can do this by downloading the zip file, unzipping it, and at the command line typing:

sudo cp SVSS6_8.BIT /lib/firmware/hm2/5i23


Worked perfectly thanks.

For now, I copied the HAL and INI files that were made by pncconfig to start looking at them and try to figure out how to write them manually.

Best Regards

Jon Schmidt

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26 Aug 2011 14:56 #12753 by BigJohnT
Replied by BigJohnT on topic Re:Mori MVJR Build Log
Once you get the skeleton config files from Peter up and running the rest will be fairly easy to get each part going. I started with a basic 5i20 config on my lathe and got each axis set up then worked on the spindle then the I/O. So take it step by step and with help from here and you will end up with a config that you understand how it works so troubleshooting will be much easier for you down the road.

John

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26 Aug 2011 20:39 - 26 Aug 2011 20:40 #12758 by schmidtmotorworks
This is the data I have collected so far about the machine.
I don't think I will need all of the connections it's just all the data.

If I understand correctly, I need to make a HAL file that specifies some things about the machine parameters and pin connections that I will make to all the cards.

I will look again at the sample HAL files and try to find one that shows how the daughter cards are configured.

The skeleton files will help a lot if i can't figure this out myself.

Mori Seiki MVJR 5 axis CNC Mill
1 x 5i23
1x 7i48
2x 7i64
1x 7i44 RJ45

#####################################
Axis Connections
#####################################
Each of the axis have a wiring diagram with the following connections:
(X axis shown below)

Servo?
ATX
BTX
DAX
SGX
SVONX
TGONX
SRDX
OC
FUX
OC
OLX
OC
ALX
OC

Encoders?
M(TG)
L(TG)
C(PG)
D(PG)
A(PG)
B(PG)
R(PG)
S(PG)
H(PG)
G(PG)


#####################################
Spindle Connections
#####################################

ORCM Orientation Pin In (don't know if there is a pin out)
SALRST
SPRD
SPESP
SFR
SRV
ILMT
COMS
(1CN)
COMS
SGS1

(1CN)
ZV ZERO SPEED
SPD SPEED DETECT
SAR SPEED AGREEMENT
TLMT TORQUE DETECT
ERO SPEED ERROR
SAL SPINDLE ALARM


#####################################
Tool Changer Connections
#####################################
TUCL Tool Unclamp
SBLW Air Shot (not found maybe mechanical)
PTU Pot Up
PTD Pot Down

ATCFOR Magazine Arm Forward
ATCREV Magazine Arm Reverse
MGON Magazine Motor
ARMON Main Arm Motor
? Magazine Arm Back
SRDB Brake On


#####################################
Pump Connections
#####################################
CLPT Coolant Pump
SHOT Lube Pump


#####################################
Limit Swtiches
#####################################
LS1 ZERO RETURN X
LS2 ZERO RETURN Y
LS3 ZERO RETURN Z
LS4 ZERO RETURN 4th
LS5 ZERO RETURN 5th

LSX1 Limit Switch X
LSY1 Limit Switch Y
LSZ1 Limit Switch Z

4CLFN 4th Axis Clamp OK
4UCLFN 4th Axis Unclamp OK

ARMDFN Arm Down OK
ORINFN Orientation Pin In OK
OROUTFN Orientation Pin Out OK
ARMHP Arm Home Position OK

LS10 MAGAZINE ROTATION SIGNAL A
LS11 MAGAZINE ROTATION SIGNAL B
LS12 MAGAZINE ROTATION Z
LS14 ARM REDUCING POINT
LS15 ARM DOWN
LS16 POT UP CHECK
LS17 POT DOWN CHECK
LS18 TOOL CLAMP CHECK
LS19 ORIENTATION PIN IN CHECK
LS20 ORIENTATION PIN OUT CHECK
LS21 ARM ORIGIN POINT CHECK

MER.P Air Pressure
TCLFN Tool Clamp OK
TUCL.M Tool Unclamp
PTUFN Pot Up OK
PTDFN Pot Down OK
MGLSA Magazine Signal AA
MGLSB Magazine Signal BB
MGLSC Magazine Signal BB

#####################################
Control Buttons and Switches
#####################################
Some of these may be obsoleted by Touchey?

? Emercency Stop
ST Cycle Start
SP Feed Hold
SP NOR Spindle Normal
STOP Spindle Stop
SP REV Spindle Reverse
+X Jog Direction
-X Jog Direction
+Y Jog Direction
-Y Jog Direction
+Z Jog Direction
-Z Jog Direction
+4th 4th +Direction
-4th 4th -Direction
+5th 5th +Direction
-5th 5th -Direction

SP A Spindle Override A
SP B Spindle Override B
SP C Spindle Override C
SP D Spindle Override D

RSW2
MP 1 Multiplier H/S 1
MP 2 Multiplier H/S 2
MP 3 Multiplier H/S 4

RSW3
HS A Axis Selection A
HS B Axis Selection B
HS C Axis Selection C


OV1.M Override 1
OV2.M Override 2
OV4.M Override 4
OV8.M Override 8
OV16.M Override 16

ROV1.M Rapid Override 1
ROV2.M Rapid Override 2

MEM.M Memory Mode
MD MDI Mode
EDT.M Edit Mode
F1.M Function 1
H.M Handle Mode
S.M Step Mode
J.M Jog Mode
RPD.M Rapid Mode
ZRN.M Zero Return Mode
SBK.M Single Block
OSP.M Optional Stop
BDT.M Block Delete
DRN.M Dry Run
SRN.M Sequence Return
ZNG.M Z Axis Neglect

The Manual Pulse Generator has 5 pairs of connections

16
Ground 9

18
Ground 12

4
Ground 1

5
Ground 2

6
Ground 3


#####################################
Control Lamps
#####################################
MEMLP Memory Lamp
DLP MDI LAMP
EDTLP Edit Lamp
F1LP Function 1 Lamp
HLP Handle Lamp
SLP Step Lamp
JLP Jog Lamp
RPDLP Rapid Lamp
ZRNLP Zero Return
SBKLP Single Block Lamp
OSPLP Optional Stop Lamp
BDTLP Block Delete Lamp
DRNLP Dry Run Lamp
SRNLP Sequence Return Lamp
ZNGLP Z Axis Neglect Lamp
CLTONLP Coolant On Lamp
CLTOFLP Coolant Off Lamp
TLMLP Tool Length Lamp
CHIPLP Chip Coolant Lamp
END.M M00/M01 Lamp
M02/M30 Program End Lamp
ATCLP ATC Lamp
4CLLP 4th Clamp Lamp
ORARLP Orientation Arival lamp
ZPX.M Zero Point X Lamp
ZPY.M Zero Point Y Lamp
ZPZ.M Zero Point Z Lamp
ZP4.M Zero Point 4 Lamp
OVRLP Override On Lamp
ERR Error Lamp
STLP Cycle Start Lamp
SPLP Feed Hold Lamp
Last edit: 26 Aug 2011 20:40 by schmidtmotorworks.

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26 Aug 2011 21:30 #12759 by andypugh
Replied by andypugh on topic Re:Mori MVJR Build Log
OK, start with the hm2-servo config.

You might as well delete all the INI files out of there other than 5i23.ini

In the 5i23.ini file change:
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
to
CONFIG="firmware=hm2/5i23/SVSS6_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0 num_sserials=8"

Start EMC2, and see what happens.

(I suspect not a lot, due to enables not being set etc, but bringing up the Axis interface would be a promising start)

Normally I would suggest pncconf, but I think you have too much hardware that is unsupported.

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26 Aug 2011 21:56 #12761 by schmidtmotorworks
andypugh wrote:

OK, start with the hm2-servo config.

You might as well delete all the INI files out of there other than 5i23.ini

In the 5i23.ini file change:
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
to
CONFIG="firmware=hm2/5i23/SVSS6_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0 num_sserials=8"

Start EMC2, and see what happens.

(I suspect not a lot, due to enables not being set etc, but bringing up the Axis interface would be a promising start)

Normally I would suggest pncconf, but I think you have too much hardware that is unsupported.



OK, this is starting to make sense.

If I understand correctly this links the BIT file needed to work with the daughter boards.

Then I need to start specifiying the detail in the HAL file.

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27 Aug 2011 00:36 #12765 by andypugh
Replied by andypugh on topic Re:Mori MVJR Build Log
schmidtmotorworks wrote:

If I understand correctly this links the BIT file needed to work with the daughter boards.

Yes, it chooses a file which supports your features. Some work is likely to be needed to get all the hardware linked to the right pins, but it gets you started.

Then I need to start specifiying the detail in the HAL file.

Yes, and you have a lot of detail.

Something else you might as well do now, is add

HALUI=halui

in the [HAL] section of the INI. That gives you hal pin interfaces to the things you can do in the GUI, so that you can wire hardware versions of the GUI buttons (run, pause, jog etc)

Once EMC2 is loaded up, you can look at all the HAL pins in machine-show hal config. With your hardware you are going to have an huge number.

In fact, I suggest getting a list of them.
Open a new terminal window with EMC2 running, and type

halcmd show pin > pins.txt

That will create a list of the HAL pins you have available. You will probably only use a small fraction of them.

One thing to check in that file is that you can see the 7i64 pins, and encoder counts and pwms etc for the servo control.

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27 Aug 2011 02:48 #12767 by schmidtmotorworks
I made a copy of hm2-servo and started looking at it. I'm starting to see how it works.

Then, I set this CONFIG to this

CONFIG="firmware=hm2/5i23/SVSS6_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0 num_sserials=8"

and restarted but got this (I think this is what you expected)
(maybe I'll set the CONFIG back the way it was for now, until I can figure out how to make it run with SVSS6_8.BIT)

Print file information:
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.4.6
Machine configuration directory is '/home/mvjr/emc2/configs/hm2-servo'
Machine configuration file is '5i23.ini'
INIFILE=/home/mvjr/emc2/configs/hm2-servo/5i23.ini
PARAMETER_FILE=hm2-servo.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=axis
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=2522
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
hm2-servo.hal:48: parameter or pin 'hm2_5i23.0.pwmgen.pwm_frequency' not found
2522
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 1152.314901] I-pipe: Domain RTAI registered.
[ 1152.314921] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 1152.314929] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 1152.315055] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1152.315063] PIPELINE layers:
[ 1152.315071] fb01de20 9ac15d93 RTAI 200
[ 1152.315078] c085cb20 0 Linux 100
[ 1152.365400] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1152.366484] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 1152.366498] RTAI[sched]: hard timer type/freq = APIC/10416768(Hz); default timing: periodic; linear timed lists.
[ 1152.366506] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1666469000 hz.
[ 1152.366512] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1152.366790] RTAI[usi]: enabled.
[ 1152.442596] RTAI[math]: loaded.
[ 1152.570197] hm2: loading Mesa HostMot2 driver version 0.15
[ 1152.578214] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.6
[ 1152.578302] hm2_pci 0000:05:00.0: PCI INT A -> GSI 21 (level, low) -> IRQ 21
[ 1152.578313] hm2_pci: discovered 5i23 at 0000:05:00.0
[ 1152.578477] hm2/hm2_5i23.0: invalid token in config string: "num_sserials=8"
[ 1152.578490] hm2_5i23.0: board fails HM2 registration
[ 1152.578515] hm2_pci 0000:05:00.0: PCI INT A disabled
[ 1152.578538] hm2_pci: probe of 0000:05:00.0 failed with error -22
[ 1153.222212] hm2_pci: driver unloaded
[ 1153.228509] hm2: unloading
[ 1153.315834] RTAI[math]: unloaded.
[ 1153.366125] SCHED releases registered named ALIEN RTGLBH
[ 1153.434308] RTAI[malloc]: unloaded.
[ 1153.532035] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1153.538455] I-pipe: Domain RTAI unregistered.
[ 1153.538607] RTAI[hal]: unmounted.

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27 Aug 2011 10:06 #12769 by andypugh
Replied by andypugh on topic Re:Mori MVJR Build Log
schmidtmotorworks wrote:

EMC2 - 2.4.6
...
[ 1152.578477] hm2/hm2_5i23.0: invalid token in config string: "num_sserials=8"


The problem is that the 7i64 isn't supported by EMC2 version 2.4.6, it requires the 2.5 pre-release.

You should be able to get the other cards running with 2.4.6 simply by omitting the "num_sserials=8" part, but the Smart Serial devics won't be recognised.

To upgrade to 2.5 follow the instructions here: buildbot.linuxcnc.org

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27 Aug 2011 12:44 - 27 Aug 2011 12:45 #12775 by BigJohnT
Replied by BigJohnT on topic Re:Mori MVJR Build Log
As soon as you get the skeleton from Peter and have the firmware loaded and open up your config after clearing the dmesg then you run dmesg again with a redirect to a text file. This will contain your pin outs for your cards.

www.linuxcnc.org/docview/html/common_Linux_FAQ.html#r1_6_6

In the mean time you have to figure out if the list you now have is input or outputs and what the connections to your drive and encoder feedback are. Hint you get the encoders to work first!!!

The encoder and servo connections don't look like what goes between the controller and the drive and encoder.

Normally 2 wires for +-10vdc for velocity input and an enable line at the least.

Encoders should have something like A, ~A, B, ~B, Z, ~Z and power and ground

I was in the middle of posting this yesterday but lost my internet connection...

John
Last edit: 27 Aug 2011 12:45 by BigJohnT.

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