Please Help - How to Configure a 5 Axis Head-Head
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24 Jul 2023 19:13 - 24 Jul 2023 19:15 #276163
by IronManDylan
Replied by IronManDylan on topic Please Help - How to Configure a 5 Axis Head-Head
PCW
Okay, I have wired the spindle up that way and have put my VFD back into the 0-10v range. Will test this when I get replacement cable and box installed along with testing everything else. Thank you.
MesaFlash: Okay, I tried the command that you suggested, as well as a bunch of permeations of said command as well as using sudo, and a I kept getting "No 7I96S board found". Also tried with just 7I96. The 7I96S was plugged into my comp via ethernet. Maybe I need to update mesaflash? maybe there is some other issue? However, based on the output you provided, on the 7i85S table 2 - pins 11,12 are step5 pins, and table 2 - 13,14 are dir5 pins. This jibes with where I thought they would be based on the manual. However, it raises the question, does this mean that the - and + sign on step and dir pins can be ignored when comes to wiring stepper drivers?
Aciera
Appreciate the spoiler. Well that worked in the sense that I was able to launch the GUI and see 3 rotary axis. However, the TCP is all messed up when the machine is in "bridgemill" mode. In Vismach, the A axis controls what should be the B axis, the B axis controls what should be the C axis. And the C axis isn't moving anything on Vismach. When it is in TCP mode Vismach shows all the axis moving when I jog one of the A or B rotary axis, so it is still trying to do the kinematics but they are completely wrong and its draws weird archs instead of remaining at the same point. Good news is that in the preview and "identity" mode, the A and C axis are spinning round the same axis, which is good as there are supposed to be two axis aligned with each other, but they should be the B and A axis. So it seems like if we could redirect the axis to the appropriate joints on the machine, everything should just work I would think. Do you happen to know how to do this?
Thank you.
Okay, I have wired the spindle up that way and have put my VFD back into the 0-10v range. Will test this when I get replacement cable and box installed along with testing everything else. Thank you.
MesaFlash: Okay, I tried the command that you suggested, as well as a bunch of permeations of said command as well as using sudo, and a I kept getting "No 7I96S board found". Also tried with just 7I96. The 7I96S was plugged into my comp via ethernet. Maybe I need to update mesaflash? maybe there is some other issue? However, based on the output you provided, on the 7i85S table 2 - pins 11,12 are step5 pins, and table 2 - 13,14 are dir5 pins. This jibes with where I thought they would be based on the manual. However, it raises the question, does this mean that the - and + sign on step and dir pins can be ignored when comes to wiring stepper drivers?
Aciera
Appreciate the spoiler. Well that worked in the sense that I was able to launch the GUI and see 3 rotary axis. However, the TCP is all messed up when the machine is in "bridgemill" mode. In Vismach, the A axis controls what should be the B axis, the B axis controls what should be the C axis. And the C axis isn't moving anything on Vismach. When it is in TCP mode Vismach shows all the axis moving when I jog one of the A or B rotary axis, so it is still trying to do the kinematics but they are completely wrong and its draws weird archs instead of remaining at the same point. Good news is that in the preview and "identity" mode, the A and C axis are spinning round the same axis, which is good as there are supposed to be two axis aligned with each other, but they should be the B and A axis. So it seems like if we could redirect the axis to the appropriate joints on the machine, everything should just work I would think. Do you happen to know how to do this?
Thank you.
Last edit: 24 Jul 2023 19:15 by IronManDylan.
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24 Jul 2023 22:49 - 24 Jul 2023 22:59 #276178
by PCW
Replied by PCW on topic Please Help - How to Configure a 5 Axis Head-Head
For the mesaflash command to work, you would need
1. 7I96S set for 10.10.10.10 IP address (W4, W5 = down,up)
( you need a 7I96S power cycle if you change these jumpers)
2. Host PC setup with a static IPV4 IP address in the same /24 range
(10.10.10.100 suggested). See hm2_eth manual page.
You can verify host IP address setup with the command:
ip a
The 7I96S (and 7I85S) have differential output drivers for the step/dir signals.
This means both the + and - step/dir outputs are active but have opposite polarities.
for normal (lower speed) step drives, suggested wiring is single ended:
7IXX DRIVE
+5V --> STEP+ (sometimes called PUL+)
+5V --> DIR+
STEP- --> STEP- (sometimes called PUL-)
DIR- --> DIR-
For high speed servo drives (with up to MHz step rates),
the suggested wiring is differential:
7IXX DRIVE
STEP+ --> STEP+
STEP- --> STEP-
DIR+ --> DIR+
DIR- --> DIR-
1. 7I96S set for 10.10.10.10 IP address (W4, W5 = down,up)
( you need a 7I96S power cycle if you change these jumpers)
2. Host PC setup with a static IPV4 IP address in the same /24 range
(10.10.10.100 suggested). See hm2_eth manual page.
You can verify host IP address setup with the command:
ip a
The 7I96S (and 7I85S) have differential output drivers for the step/dir signals.
This means both the + and - step/dir outputs are active but have opposite polarities.
for normal (lower speed) step drives, suggested wiring is single ended:
7IXX DRIVE
+5V --> STEP+ (sometimes called PUL+)
+5V --> DIR+
STEP- --> STEP- (sometimes called PUL-)
DIR- --> DIR-
For high speed servo drives (with up to MHz step rates),
the suggested wiring is differential:
7IXX DRIVE
STEP+ --> STEP+
STEP- --> STEP-
DIR+ --> DIR+
DIR- --> DIR-
Last edit: 24 Jul 2023 22:59 by PCW. Reason: fix table/clarify
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25 Jul 2023 01:58 - 25 Jul 2023 02:09 #276192
by IronManDylan
Replied by IronManDylan on topic Please Help - How to Configure a 5 Axis Head-Head
PCW
Okay I tried modifying the PC file via this link linuxcnc.org/docs/html/man/man9/hm2_eth.9.html and could not get it to work. I have provided images of both the file and the results of ip a command. This is like readying a foreign language to me a little bit, so I apologize if I am missing something obvious. I also tried with the address set as 10.10.10.10 as well as had auto lo and iface lo inet loopback still in the file and those didn't work either.
I modified the 7I96S with the jumpers as you stated, according to the board this puts it in EEPROM mode, so does this mean it is getting the address from the PC?
I am still getting the error "No 7I96S board found" when I try to connect via mesaflash.
Note: I don't think the computer has connected to the board once, it looks like there is a connection status light on the board that I have not seen light up yet.
Okay I tried modifying the PC file via this link linuxcnc.org/docs/html/man/man9/hm2_eth.9.html and could not get it to work. I have provided images of both the file and the results of ip a command. This is like readying a foreign language to me a little bit, so I apologize if I am missing something obvious. I also tried with the address set as 10.10.10.10 as well as had auto lo and iface lo inet loopback still in the file and those didn't work either.
I modified the 7I96S with the jumpers as you stated, according to the board this puts it in EEPROM mode, so does this mean it is getting the address from the PC?
I am still getting the error "No 7I96S board found" when I try to connect via mesaflash.
Note: I don't think the computer has connected to the board once, it looks like there is a connection status light on the board that I have not seen light up yet.
Last edit: 25 Jul 2023 02:09 by IronManDylan.
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25 Jul 2023 02:17 #276195
by tommylight
Replied by tommylight on topic Please Help - How to Configure a 5 Axis Head-Head
enp0s25 instead of eth1, twice
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25 Jul 2023 03:46 - 25 Jul 2023 04:14 #276198
by IronManDylan
Replied by IronManDylan on topic Please Help - How to Configure a 5 Axis Head-Head
Tommy
That worked! The pins are all showing secondary function "none" on the 7I85S, I'm sure theres a jumper that needs to be changed, going to look through the manual now. Edit: doesn't seem like this is a jumper thing, something programmed through mesaflash?
But PCW, you're saying that a stepper motor driver shouldn't be plugged into step+ -> step+ and dir+ -> dir+ ? Should I go change my wiring to:
+5V --> STEP+
+5V --> DIR+
STEP- --> STEP-
DIR- --> DIR-
Was working this way with my other board but will def change it if thats a better way to do things.
Thank you.
That worked! The pins are all showing secondary function "none" on the 7I85S, I'm sure theres a jumper that needs to be changed, going to look through the manual now. Edit: doesn't seem like this is a jumper thing, something programmed through mesaflash?
But PCW, you're saying that a stepper motor driver shouldn't be plugged into step+ -> step+ and dir+ -> dir+ ? Should I go change my wiring to:
+5V --> STEP+
+5V --> DIR+
STEP- --> STEP-
DIR- --> DIR-
Was working this way with my other board but will def change it if thats a better way to do things.
Thank you.
Last edit: 25 Jul 2023 04:14 by IronManDylan.
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25 Jul 2023 06:25 #276202
by Aciera
Indeed, as I was in a rush I didn't check the vismach simulation. One solution is to add the joint for the a axis after those used in the vismach model. So try this:
Replied by Aciera on topic Please Help - How to Configure a 5 Axis Head-Head
However, the TCP is all messed up when the machine is in "bridgemill" mode.
Indeed, as I was in a rush I didn't check the vismach simulation. One solution is to add the joint for the a axis after those used in the vismach model. So try this:
Warning: Spoiler!
[EMC]
VERSION = 1.1
MACHINE = Sim-5Axis Bridge Mill (xyzbcw)
DEBUG = 0
[DISPLAY]
GEOMETRY = XYZCBAW
OPEN_FILE = ./5axisgui.ngc
INCREMENTS = 10 mm, 1 mm, .1 mm
JOG_AXES = XYZC
GEOMETRY = XYZCBW
DISPLAY = axis
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
TOOL_EDITOR = tooledit z diam
#EDITOR = geany
PYVCP = 5axis.xml
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
PARAMETER_FILE = 5axis.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = 5axisgui.hal
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = 5axis_postgui.hal
[HALUI]
# M428:bridgemill (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZABCWY
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_ANGULAR_VELOCITY = 360.0
DEFAULT_LINEAR_VELOCITY = 200.0
MAX_LINEAR_VELOCITY = 346.0
MAX_LINEAR_ACCELERATION = 800.0
DEFAULT_LINEAR_ACCELERATION = 800.0
MAX_ANGULAR_VELOCITY = 360
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = 5axis.tbl
[KINS]
# Note: Supported coordinates are XYZBCW but the W coordinate
# motion is incorporated into the X,Y,Z axes.
# Use of the W coordinate requires a joint (5)
# in order to allow display of W values.
# Use immediate homing for this joint (JOINT_5)
# Note: 5axiskins is misnomer
# (xyzbcw uses 6 joints)
# (xyzbcwy uses 7 joints)
# xyzbcw
# type0:5axiskins, type1:identity, type2:userk
# x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
# JOINTS = 6
# KINEMATICS = 5axiskins
# illustraed below is complex example with duplicate
# coord letters for y, 7 joints total):
# type0:5axiskins, type1:identity, type2:userk
# x:joint0
# y:joint1 AND joint7
# z:joint2
# b:joint3
# c:joint4
# w:joint5
# a:joint6
JOINTS = 7
KINEMATICS = 5axiskins coordinates=xyzbcway
[AXIS_X]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_Y]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_Z]
MIN_LIMIT = -500
MAX_LIMIT = 100
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_A]
MIN_LIMIT = -3600
MAX_LIMIT = 3600
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# B is one-to-one to JOINT_3
[AXIS_B]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# C is one-to-one to JOINT_4
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# W motion is incorporated in Z motion
# but a joint (JOINT_5) must be configured
# to support display of W values
[AXIS_W]
MIN_LIMIT = -100
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = -1
# joints 1 and 6 used for y
[JOINT_7]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = -1
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
# immediate homing for JOINT_5 (w coordinate)
[JOINT_5]
TYPE = LINEAR
MIN_LIMIT = -100
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_6]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
VERSION = 1.1
MACHINE = Sim-5Axis Bridge Mill (xyzbcw)
DEBUG = 0
[DISPLAY]
GEOMETRY = XYZCBAW
OPEN_FILE = ./5axisgui.ngc
INCREMENTS = 10 mm, 1 mm, .1 mm
JOG_AXES = XYZC
GEOMETRY = XYZCBW
DISPLAY = axis
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
TOOL_EDITOR = tooledit z diam
#EDITOR = geany
PYVCP = 5axis.xml
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
PARAMETER_FILE = 5axis.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = 5axisgui.hal
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = 5axis_postgui.hal
[HALUI]
# M428:bridgemill (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZABCWY
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_ANGULAR_VELOCITY = 360.0
DEFAULT_LINEAR_VELOCITY = 200.0
MAX_LINEAR_VELOCITY = 346.0
MAX_LINEAR_ACCELERATION = 800.0
DEFAULT_LINEAR_ACCELERATION = 800.0
MAX_ANGULAR_VELOCITY = 360
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = 5axis.tbl
[KINS]
# Note: Supported coordinates are XYZBCW but the W coordinate
# motion is incorporated into the X,Y,Z axes.
# Use of the W coordinate requires a joint (5)
# in order to allow display of W values.
# Use immediate homing for this joint (JOINT_5)
# Note: 5axiskins is misnomer
# (xyzbcw uses 6 joints)
# (xyzbcwy uses 7 joints)
# xyzbcw
# type0:5axiskins, type1:identity, type2:userk
# x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
# JOINTS = 6
# KINEMATICS = 5axiskins
# illustraed below is complex example with duplicate
# coord letters for y, 7 joints total):
# type0:5axiskins, type1:identity, type2:userk
# x:joint0
# y:joint1 AND joint7
# z:joint2
# b:joint3
# c:joint4
# w:joint5
# a:joint6
JOINTS = 7
KINEMATICS = 5axiskins coordinates=xyzbcway
[AXIS_X]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_Y]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_Z]
MIN_LIMIT = -500
MAX_LIMIT = 100
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_A]
MIN_LIMIT = -3600
MAX_LIMIT = 3600
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# B is one-to-one to JOINT_3
[AXIS_B]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# C is one-to-one to JOINT_4
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# W motion is incorporated in Z motion
# but a joint (JOINT_5) must be configured
# to support display of W values
[AXIS_W]
MIN_LIMIT = -100
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = -1
# joints 1 and 6 used for y
[JOINT_7]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = -1
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
# immediate homing for JOINT_5 (w coordinate)
[JOINT_5]
TYPE = LINEAR
MIN_LIMIT = -100
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_6]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
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25 Jul 2023 11:39 #276216
by tommylight
Replied by tommylight on topic Please Help - How to Configure a 5 Axis Head-Head
Do not change any jumpers on 7i96S, only the one that sets the network to 10.10.10.10
Did you flash the 7i96S with firmware for 7i85S?
As for stepper wiring, if it works as you have it, leave it as is. Some drives are picky so need what PCW suggested (single ended wiring), some work in differential mode.
Did you flash the 7i96S with firmware for 7i85S?
As for stepper wiring, if it works as you have it, leave it as is. Some drives are picky so need what PCW suggested (single ended wiring), some work in differential mode.
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25 Jul 2023 19:18 - 25 Jul 2023 19:18 #276251
by IronManDylan
Replied by IronManDylan on topic Please Help - How to Configure a 5 Axis Head-Head
Aciera
Hot damn, that seems to be working! On Vismach anyway, sent it some test code too. Very very excited to see this. I think the next move is to try it on the machine. Thank you so much!
Tommy
Okay, I will leave things wired as is right now. No I have not flashed anything. Do I need to? Mesaflash is showing that the 7I85S is connected, even though there is no secondary func on the i/o pins. I think this and pin configuration in LCNC are the last two hurdles before testing on the machine. Well, I think I have a bum stepper driver that needs to be replaced, but other than that..
Hot damn, that seems to be working! On Vismach anyway, sent it some test code too. Very very excited to see this. I think the next move is to try it on the machine. Thank you so much!
Tommy
Okay, I will leave things wired as is right now. No I have not flashed anything. Do I need to? Mesaflash is showing that the 7I85S is connected, even though there is no secondary func on the i/o pins. I think this and pin configuration in LCNC are the last two hurdles before testing on the machine. Well, I think I have a bum stepper driver that needs to be replaced, but other than that..
Last edit: 25 Jul 2023 19:18 by IronManDylan.
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26 Jul 2023 19:48 #276321
by IronManDylan
Replied by IronManDylan on topic Please Help - How to Configure a 5 Axis Head-Head
Got the board flashed and all the pins connected! The driver that was off just had a loose wire. Hopefully will get the machine moving this evening or early tomorrow. The question I have right now is wether I should be using pncconf to get everything talking nicely or if I need to be editing files because I am using an unusual bridgemill adaption.
Also, am thinking about some kind of subroutine to set tool hight relative to machine position (first would need to determine where rotation center is relative to machine position but I have some ideas for this). I have a tool probe but my machine has a collet system so tool setting is not repeatable.
Also, am thinking about some kind of subroutine to set tool hight relative to machine position (first would need to determine where rotation center is relative to machine position but I have some ideas for this). I have a tool probe but my machine has a collet system so tool setting is not repeatable.
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27 Jul 2023 20:19 - 27 Jul 2023 20:25 #276399
by IronManDylan
Replied by IronManDylan on topic Please Help - How to Configure a 5 Axis Head-Head
So, I set up a test configuration using pncconf, and was able to get my linear axis moving on the machine (there is not an option for setting up a 5 or 6 axis on this wizard, so only linear axis are moving). I haven't configured the step scaling or tuned the motors, as I plan to address that later. Just wanted to get things moving initially.
So I can modify the test config with the .pncconf file, but there is not one of those in the bridgemill set up. So what I think needs to be done is a .hal file needs to be either modified or added to the birdgemill configuration to get it talking to the 7I96S. The naming scheme on the test configuration was test.ini and test.hal. There is a 5axis.ini file on the bridgemill config, but not a 5axis.hal. Which leads me to believe that this needs to be added to the configuration. But I am unsure. There are a total of 19 .hal files in the bridgemill file. My suspicion is that bridgemill was set up to test 5 axis TCP kinematics, but that no mesa set up was added.
Or maybe a few lines of code need to be added to one of these existing .hal files, but I have no idea which one would need that or where and what needs to be added. The 5axis_cmds.hal file has a lot of net setup commands so maybe somewhere in there. Also, the core_servo.hal file has some of the same PID set up as the test.hal file. I did notice in the 5axisgui.hal and 5axis_postgui.hal file that the axis change that Aciera helped me add to the .ini file does not reflect the A axis that we added there, this should probably be changed? When I try to launch the bridgemill I am getting an error that I believe is related to this. I have attached a photo as well as the output when I click 'YES".
I am watching YouTube videos about hal files trying to gain a better understanding, but this is a deep area to dive into. So if anyone has any guidance or suggestions or other form of help, I am all ears. I'm sure this is an easy fix if this is your field, but I am pretty lost here.
So I can modify the test config with the .pncconf file, but there is not one of those in the bridgemill set up. So what I think needs to be done is a .hal file needs to be either modified or added to the birdgemill configuration to get it talking to the 7I96S. The naming scheme on the test configuration was test.ini and test.hal. There is a 5axis.ini file on the bridgemill config, but not a 5axis.hal. Which leads me to believe that this needs to be added to the configuration. But I am unsure. There are a total of 19 .hal files in the bridgemill file. My suspicion is that bridgemill was set up to test 5 axis TCP kinematics, but that no mesa set up was added.
Or maybe a few lines of code need to be added to one of these existing .hal files, but I have no idea which one would need that or where and what needs to be added. The 5axis_cmds.hal file has a lot of net setup commands so maybe somewhere in there. Also, the core_servo.hal file has some of the same PID set up as the test.hal file. I did notice in the 5axisgui.hal and 5axis_postgui.hal file that the axis change that Aciera helped me add to the .ini file does not reflect the A axis that we added there, this should probably be changed? When I try to launch the bridgemill I am getting an error that I believe is related to this. I have attached a photo as well as the output when I click 'YES".
I am watching YouTube videos about hal files trying to gain a better understanding, but this is a deep area to dive into. So if anyone has any guidance or suggestions or other form of help, I am all ears. I'm sure this is an easy fix if this is your field, but I am pretty lost here.
Last edit: 27 Jul 2023 20:25 by IronManDylan.
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