Mori MVJR Build Log

Here is a skeleton hal/ini file for 5 axis probably lots wrong with the EMC interface/axis etc but the encoders/5 PID loops work
and the sserial works, but there seems to be a startup bug with sserial we need to look into
(starts most times but sometimes fails to start)

freeby.mesanet.com/i23ss.zip has the hal and .ini file

7I44 is not too useful for GPIO as its is a terminated RS-422 interface so has low input impedance (100 Ohm) differential inputs
its really designed as a high speed RS-422 link

PCW wrote:

Here is a skeleton hal/ini file for 5 axis probably lots wrong with the EMC interface/axis etc but the encoders/5 PID loops work
and the sserial works, but there seems to be a startup bug with sserial we need to look into
(starts most times but sometimes fails to start)

freeby.mesanet.com/i23ss.zip has the hal and .ini file

7I44 is not too useful for GPIO as its is a terminated RS-422 interface so has low input impedance (100 Ohm) differential inputs
its really designed as a high speed RS-422 link

Thanks a million, that HAL file really helped me understand how the 7i64 ties in!

EMC2 started fine. I just restarted it 5 times, no problem.

I put the files in with the others in the hm2-servo folder.
I notice the new files you made have "ss" added to them, is the idea that I will get rid of the old files and rename these?

As suggested, I ran the pins file and bootmsg.

Do these look right?

Here is bootmsg.txt

And here is pins.txt

If these are right, then I think I am ready to start fine tuning the HAL file.

If I understand correctly, I should not use pncconfig any more right?

Kind of lost about the tool changer but that can be postponed until everything else is working.

Thanks so much for everyones help, I never could have made it this far alone.

andypugh wrote:

schmidtmotorworks wrote:

Kind of lost about the tool changer but that can be postponed until everything else is working.

Toolchangers are all so different that you pretty much always have to hand code them.
There are a few ways of doing it, using Classic Ladder if you are familiar with PLCs, in a C-code realtime component if you are comfortable with C, in Python if you are familiar with that (probably)

I have a feeling that someone already has a Mori toolchanger working with EMC2. I can't remember who it is, though.

Chris Radek (the author of Touchy) did this one that is just like mine (in fact he wrote Touchy for this build) , he mentioned something about doing something special for the tool changer. Looking at the pictures, I think he may have used a different type of cards than the mesa cards I used, they look a little different or maybe it is just some colored connectors.

Here is a web page Bill made of the build.

geektrap.com/bill/01248711886

I sent them email telling about this build log but I don't think they read email very often or have moved on to other interests.

One of my goals on this project is to compile a detailed set of instructions and files that anyone could follow for a similar machine.
I am learning so much from this it would be a shame for someone else to all the same steps when so much of it could be explained step by step. Maybe for someone with more experience with electronic machines the steps seem more obvious than they are for me.