Klopp FA7/810M Retrofit

PCW wrote:

There is no graphic configurator for the 7I97 but it
has driver support in LinuxCNC 2.8.1

This does mean that you will have to hand edit a close hal file
to change some names to make a working 7i97 hal configuration

Heres a basic example:

File Attachment:

File Name: basic7i97_...09-2.zip
File Size:5 KB

Okay thank you very much, this has gotten me a lot further. I now have a running LinuxCNC and I'm able to access the card with the HAL files.
However now I'm struggling with accessing the 7i73 and 7i74 connected to it.
If I understood right, I'd need a different Bitfile to flash on the 7i97, is that true or can I just make a change in my HAL files?
Coding an own Bitfile seems kinda impossible with 0 experience..
I found a 7i97_7i74D.bit, but nothing with a 7i73

Sserial cards in general do not need specific bitfile support
(You just need a bitfile with enough sserial channels)

If you have a 7I74 you will need the 7i97_7i74D.bit
firmware to be able to connect sserial devices to the 7I74
because the default 7I97 firmware just has GPIO
on the expansion port

It seems like everytime I'm making some progress, a new problem arises.

I have configured my .hal a bit and tried to test everything, but LinuxCNC is very slow.
It takes almost a minute to start the program and everytime you press a button in the GUI, it either doesn't react at all or a press takes 5 seconds. It's not really possible to work that way. I'm using axis, but gmoccapy has the same problem.

When using the example sims, everything is fine and fast, so it has something to do with either the 7i97 or the .hal/.ini.

When pinging the card I get response times around 0.3 ms, so that should be fast enough. CPU usage is also not that high (6-10%).

Does anyone have an idea how to fix that problem?
(The .hal is not completely configured yet, thats why some lines are commented out)

This (long delays) is due to a mismatch between pncconfs polling time
due to a recent update (newer GUIs use ms, older ones used seconds)
(so you get rather a glacial 100 second polling time with some GUIs)

One fix is to change any polling times in the ini or hal from 100 to 0.1
or update to the latest master that has every thing fixed

Wow you really seem to know everything about this, it works now (of course)

I can now access and control all of the boards, so I hope I will see some motion soon.

However with the 7i97 analog output I noticed that when you press emergency stop or it runs into the joint following error, the +-10V pins give out constant +14V, even though they should be turned off.
I guess it's not really that big of a problem when you have the axis enable wired correctly, but it's nowhere stated in the manual and I'm not sure if 14V may damage the servo drives?

Is this behaviour intended?

14V output should not be possible and you should get 0V if PWM is disabled
It may be that the 7i97_7i74d bitfile needs an update as there was a bug in earlier bitfiles.
The standard bitfile was updated but it may be that the 7i79_7i74 bitfile was not.

Here is an updated bitfile:

Unfortunatly the new bitfile didn‘t fix the problem, still 14V even though PWM value is 0.
Occurs on every used analog output, the unused output 4 shows 0V.

Did you power cycle the 7I97 after writing the new bitfile?

Yes I did. Also Flashed a few times, both the fallback and the „real“ storage

Is PWM enable 0 connected in the hal file?