7i76e+7i85s Mesa Integration

I ordered a 7i76e +7i85s cards ...
Actually I'm facing some problems to integrate them , i used the firmware 7i76e_7i76x1_7i85sx1D.bit ,
the 7i76e card connected 100% , for the 5 axis , but when I increased the axes to 6th , I got a message as attached photo ..
Any help please ..

You (or pncconf) did not create a pid.c in the loadrt pid line

Ooops .. you are right ..

Thank you very much

Now I got access to the machine , but I got [ joint 5 following Error]

tried to change in velocity , acceleration , FERROR ... but still same error
By the way still I did not connect the actual servo , just I'm working with the card ... I'm intended to use clear path servo motor
Any Help ..

Thanks


here is the part of C axis of the ini file
#******************************************
[AXIS_C]
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 450.00
STEPGEN_MAXACCEL = 1500.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 1.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
#******************************************

& the part of hal file

#*******************
# AXIS C JOINT 5
#*******************

setp pid.c.Pgain [JOINT_5]P
setp pid.c.Igain [JOINT_5]I
setp pid.c.Dgain [JOINT_5]D
setp pid.c.bias [JOINT_5]BIAS
setp pid.c.FF0 [JOINT_5]FF0
setp pid.c.FF1 [JOINT_5]FF1
setp pid.c.FF2 [JOINT_5]FF2
setp pid.c.deadband [JOINT_5]DEADBAND
setp pid.c.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.c.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.c.maxerror 0.012700

net c-index-enable <=> pid.c.index-enable
net c-enable => pid.c.enable
net c-pos-cmd => pid.c.command
net c-pos-fb => pid.c.feedback
net c-output <= pid.c.output

# Step Gen signals/setup

setp hm2_7i76e.0.stepgen.05.dirsetup [JOINT_5]DIRSETUP
setp hm2_7i76e.0.stepgen.05.dirhold [JOINT_5]DIRHOLD
setp hm2_7i76e.0.stepgen.05.steplen [JOINT_5]STEPLEN
setp hm2_7i76e.0.stepgen.05.stepspace [JOINT_5]STEPSPACE
setp hm2_7i76e.0.stepgen.05.position-scale [JOINT_5]STEP_SCALE
setp hm2_7i76e.0.stepgen.05.step_type 0
setp hm2_7i76e.0.stepgen.05.control-type 1
setp hm2_7i76e.0.stepgen.05.maxaccel [JOINT_5]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.05.maxvel [JOINT_5]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net c-pos-cmd <= joint.5.motor-pos-cmd
net c-vel-cmd <= joint.5.vel-cmd
net c-output <= hm2_7i76e.0.stepgen.05.velocity-cmd
net c-pos-fb <= hm2_7i76e.0.stepgen.05.position-fb
net c-pos-fb => joint.5.motor-pos-fb
net c-enable <= joint.5.amp-enable-out
net c-enable => hm2_7i76e.0.stepgen.05.enable

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

net c-home-sw => joint.5.home-sw-in
net c-neg-limit => joint.5.neg-lim-sw-in
net c-pos-limit => joint.5.pos-lim-sw-in

Do you have the required addf statement for pid.c?

Unfortunately ... I do not have ...

I established addf component .
It works ... thank you for help ...