Mori MVJR Build Log

setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0

I guess I need to somehow specify the connection to the encoder wires.
Looking at the 7i48 manual it seems that both the servo and the encoder wires connect to the 7i48.
Does anyone know if or how I need to modify these sections?

# ################
# X [0] Axis
# ################

# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
net emcmot.00.enable <= axis.0.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [AXIS_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT

# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 2 #PWM up on pin0, #PWM down on pin1
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale  [AXIS_0]OUTPUT_SCALE

net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value

Honda Pin1 SVONX  SERVO ON At LOW the controller is ready to operate.
Make a sequence so that SVON signal is turned on after power is applied 
to the controller and main circuit.
Adjusting SERVO ON signal to HIGH turns off control power and main
circuit power

Honda Pin 2 (empty)

Honda Pin 3 OL(X) Overload (normally closed)

Honda Pin 4 SRD(X) Servo Ready

Honda Pin 5 TG ON TGONX TG ON turns low when motor exceeds 1/10 of rated speed

Honda Pin 6 BT(X) Motor terminal B

Honda Pin 7 DA(X) (don't know yet)

Honda Pin 8 (empty)

Honda Pin 9 FU(X) FU Signal becomes low when a fuse blows in the servo

Honda Pin 10 AL(X) Alarm (normally closed)

Honda Pin 11 TG ON TGONX TG ON turns low when motor exceeds 1/10 of rated speed

Honda Pin 12 AT(X) Motor Terminal A or Connected to TG terminal + (manual seems contradictary)

Honda Pin 13 SG(X)  Signal grounding

Honda Pin 14 (empty)

Honda Pin 15 (empty) 

Honda Pin 16 OC 

Honda Pin 17 OC 

Honda Pin 18 OC 

Honda Pin 19 OC

Honda Pin 20 Ground

#*******************
#  SPINDLE S
#*******************

# From:
# http://www.linuxcnc.org/docview/html/examples_spindle.html

#-----------------
# Spindle Speed
#-----------------
loadrt scale count=1
addf scale.0 servo-thread
# Gain computation: RPM/Voltage=0.002 Assumes 0-10Volt and 5000 RPM
setp scale.0.gain 0.002
net spindle-speed-scale motion.spindle-speed-out => scale.0.in
net spindle-speed-DAC scale.0.out => <your DAC pin name>
#-----------------
# Spindle Enable
#-----------------
net spindle-enable motion.spindle-on =>       hm2_5i23.0.7i64.0.0.out 

#-----------------
# Spindle Motion
#-----------------
net spindle-fwd     motion.spindle-forward => hm2_5i23.0.7i64.0.0.out 
net spindle-rev     motion.spindle-reverse => hm2_5i23.0.7i64.0.0.out 
net spindle-brake   motion.spindle-brake   => hm2_5i23.0.7i64.0.0.out

#--------------------------------------------------------------------------------
#motion.spindle-revs
#(float, in) For correct operation of spindle synchronized moves, 
#this signal must be hooked to the position pin of the spindle encoder. 
#The spindle encoder position should be scaled such that spindle-revs
#increases by 1.0 for each rotation of the spindle in the clockwise (M3) direction.

net spindle-revs          hm2_5i23.0.7i64.0.0.in  =>  motion.spindle-revs
#--------------------------------------------------------------------------------

#--------------------------------------------------------------------------------
#motion.spindle-at-speed
#(bit, in) Motion will pause until this pin is TRUE, under the following conditions: 
#before the first feed move after each spindle start or speed change; before the start 
#of every chain of spindle-synchronized moves; and if in CSS mode, at every rapid to 
#feed transition. This input can be used to ensure that the spindle is up to speed 
#before starting a cut, or that a lathe spindle in CSS mode has slowed down after a 
#large to small facing pass before starting the next pass at the large diameter. 
#Many VFDs have an "at speed" output. Otherwise, it is easy to generate this signal 
#with the HAL near component, by comparing requested and actual spindle speeds.

net spindle-at-speed      hm2_5i23.0.7i64.0.0.in  =>  motion.spindle-at-speed
#--------------------------------------------------------------------------------

#--------------------------------------------------------------------------------
#motion.spindle-speed-in
#(float, in) Feedback of actual spindle speed in rotations per second. 
#This is used by feed-per-revolution motion (G95). 
#If your spindle encoder driver does not have a velocity output,
#you can generate a suitable one by sending the spindle position through a ddt component

net spindle-speed-in      hm2_5i23.0.7i64.0.0.in  =>  motion.spindle-speed-in
#--------------------------------------------------------------------------------