New Project with Mesa 7I96 and THCAD-05

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29 Jun 2021 22:34 #213283 by PCW
TB3 makes sense for ESTOP on a 7I96 but not a 7I76E
All general purpose 24V I/O on a 7I76E would be on
TB5 and TB6. If you connect 24V to 7I76Es TB3
(other than unregulated power on TB3 pins 21,21,22,24)
you will likely have fire and smoke and a non-working 7I76E...
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30 Jun 2021 00:04 #213290 by acourtjester
Thanks for the reply Luckley I did not hook anything to that pin on I/O 3 just selected it no power. I just have gut feeling I do not have a complete picture, I am getting very good help here but the info on the web is all over the place.

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30 Jun 2021 00:21 - 30 Jun 2021 00:23 #213292 by phillc54
"all-home" and "Z both home + limits" will conflict. It looks from the hal file that all home takes precedence as the only connection to the 7i76 is:
net all-home     <=  hm2_7i76e.0.gpio.039.in


you may be able to manually add:
net all-home => joint.2.neg-lim-sw-in
net all-home => joint.2.pos-lim-sw-in
and comment these out:
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net z-pos-limit     =>  joint.2.pos-lim-sw-in
Last edit: 30 Jun 2021 00:23 by phillc54.

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30 Jun 2021 00:48 #213293 by phillc54

My setup now has a single switch for each axis, located on the moving parts, there is a switch trip at each end of travel for that axis.

If each of these is wired back individually then you could use six individual 7i76E inputs as:
X Minimum Limit + Home
X Maximum Limit
Y Minimum Limit + Home
Y Maximum Limit
Z Maximum Limit + Home
Z Minimum Limit

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30 Jun 2021 01:08 - 30 Jun 2021 01:11 #213294 by acourtjester
Thanks PhillC I was hoping not to have to add more wiring, but if that what I need it will get done. I may need to change the panel on the side of the controller for an additional plug/jack.  Lucky I have one additional 5 pin and 6 pin set.
 
 
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Last edit: 30 Jun 2021 01:11 by acourtjester.

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30 Jun 2021 01:38 #213295 by phillc54
You shouldn't have to but it is an option and you have plenty of inputs available. I assumed from the pic on that post and the following statement that you had already changed to individual ones.

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30 Jun 2021 02:02 #213296 by acourtjester
Not yet but I need to get this thing going, I am at a low stage of completion. I am still not getting the basic things going. I cannot seem to understand the formation of the Hal configuration by the things I enter in the Pncconf, and then looking at the Hal and or INI files. As Rod said get the basic file then modify it. Well you first need to understand how and where to make the changes. There seems to be so many options to select.  Again I think it is the syntax of a line so it will not error out when I open the program. I understand the purpose but not the assembly. I have not reached the ah ha moment.   Maybe when I make the changes you listed above and be able to see them in Hal show watch.
Thanks for the help and info

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30 Jun 2021 02:05 #213297 by phillc54
I just ran pncconf and it seems that it doesn't get all-limit-home connected correctly in hal. If you had a single pin for home and limits on all axes you would need the following hal sections to look like:
# --- ALL-LIMIT ---
net all-limit-home     <=  hm2_7i76e.0.gpio.039.in (or whatever pin you used)


#*******************
#  AXIS X JOINT 0
#*******************

# ---setup home / limit switch signals---

net all-limit-home     =>  joint.0.home-sw-in
net all-limit-home     =>  joint.0.neg-lim-sw-in
net all-limit-home     =>  joint.0.pos-lim-sw-in


#*******************
#  AXIS Y JOINT 1
#*******************
# ---setup home / limit switch signals---

net all-limit-home     =>  joint.1.home-sw-in
net all-limit-home     =>  joint.1.neg-lim-sw-in
net all-limit-home     =>  joint.1.pos-lim-sw-in


#*******************
#  AXIS Z JOINT 2
#*******************

# ---setup home / limit switch signals---

net all-limit-home     =>  joint.2.home-sw-in
net all-limit-home     =>  joint.2.neg-lim-sw-in
net all-limit-home     =>  joint.2.pos-lim-sw-in

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30 Jun 2021 02:13 #213298 by acourtjester
Thanks PhillC That is what I needed to see I will plug that in the morning. I think I can change some wiring with the setup I have.

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30 Jun 2021 02:59 - 30 Jun 2021 04:24 #213301 by phillc54
You will also need the the following in the ini file to set up automatic homing:
[JOINT_0]
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.025
HOME_FINAL_VEL = 0.1
HOME_SEQUENCE = 1
#******************************************

[JOINT_1]
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.025
HOME_FINAL_VEL = 0.1
HOME_SEQUENCE = 2
#******************************************

[JOINT_2]
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = 0.025
HOME_FINAL_VEL = 0.1
HOME_SEQUENCE = 0
#******************************************
The first two will probably not be negative for joint 2 if Z axis home is the pos-limit, values you can play around with when it is working.

Because you have combined switches you will need to change the HOME position in each [JOINT_n] section of the ini file so that each axis has moved off the switch to allow the next axis to home. HOME_OFFSET is the actual position of the switch and HOME is the home position where the axis moves to when homing for that axis is complete.

A pretty good description of homing is at:
linuxcnc.org/docs/devel/html/config/ini-homing.html

EDIT: If we had run PnCconf with your config requirements then we would have seen your dilemma. I have posted a PR that attempts to fix the issue. Sorry you had to go through this...
github.com/LinuxCNC/linuxcnc/pull/1201
Last edit: 30 Jun 2021 04:24 by phillc54.
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