pncconf Clearpath SDSK settings

fully_defined wrote:

 
"Help" is a strong word for what's happening here.

You seem to be getting frustrated.  Maybe I can help.

Correct me if I'm wrong, but your situation is that you have a Mesa 7i96s and Clearpath SDSK motors.  You want to:

• Set some rational values for max velocity and accel
• Connect the HLFB pins to the 7i96s
• Make LCNC do something with the HLFB signals

Have I got it right?

spumco wrote:

fully_defined wrote:

 
"Help" is a strong word for what's happening here.

You seem to be getting frustrated.  Maybe I can help.

Correct me if I'm wrong, but your situation is that you have a Mesa 7i96s and Clearpath SDSK motors.  You want to:

• Set some rational values for max velocity and accel
• Connect the HLFB pins to the 7i96s
• Make LCNC do something with the HLFB signals
  
  
  Have I got it right?

Yes, and thank you for engaging.

Those points are just what are directly in front of me, right now. It's mostly because I am at the pncconf stage, and there isn't a selection for setting the pins for drive fault there. I am not hung up on moving on, as long as I know where I need to set this function. I have LinuxCNC forum people telling me they have no idea how Clearpath HLFB works and Teknic saying they have no idea how LinuxCNC works, and here I am, stuck in the middle. That's why I thought maybe seeing an existing configuration would skip the middlemen and I could just copy someone else's homework.

Beyond that, I also need to know what to expect when homing the dual-Y gantry axis. There is more I'd like to learn about autosquaring too, but that's just one thing out of a long list.

fully_defined wrote:

spumco wrote:

fully_defined wrote:

 
"Help" is a strong word for what's happening here.

You seem to be getting frustrated.  Maybe I can help.

Correct me if I'm wrong, but your situation is that you have a Mesa 7i96s and Clearpath SDSK motors.  You want to:

• Set some rational values for max velocity and accel
• Connect the HLFB pins to the 7i96s
• Make LCNC do something with the HLFB signals
  
  
  Have I got it right?
  
  
  
  
  Yes, and thank you for engaging.
  
  Those points are just what are directly in front of me, right now. It's mostly because I am at the pncconf stage, and there isn't a selection for setting the pins for drive fault there. I am not hung up on moving on, as long as I know where I need to set this function. I have LinuxCNC forum people telling me they have no idea how Clearpath HLFB works and Teknic saying they have no idea how LinuxCNC works, and here I am, stuck in the middle. That's why I thought maybe seeing an existing configuration would skip the middlemen and I could just copy someone else's homework.
  
  Beyond that, I also need to know what to expect when homing the dual-Y gantry axis. There is more I'd like to learn about autosquaring too, but that's just one thing out of a long list.

Some of these features will likely not be supported by pnccconf

It seems this post gives you some options for HLFB. 
www.forum.linuxcnc.org/10-advanced-confi...with-hlfb-mesa-7i76e
I think I would use servo-on and use  a charge pump which I think pncconf supports

The drive error is connected to 
joint.N.amp-fault-in 
ref: linuxcnc.org/docs/stable/html/man/man9/m....9.html#JOINT%20PINS

Squaring the gantry is dealt with when homing
linuxcnc.org/docs/stable/html/config/ini-homing.html
Paired joints (eg your gantry motors) will have a negative HOME_SEQUENCE of the same value
Usually you will also use a HOME_OFFSET
You can  square the gantry by editing the HOME_OFFSETS. eg  if one side is out by 2mm, the HOME_OFFSET needs be 2mm different to the other side.


 

fully_defined wrote:

Ok, we'll solve this in steps.

• First...a little background and perhaps some context.
  • As @rodw pointed out, PNCconf is not able to cover every hardware configuration available.  I know Clearpaths are pretty common now, but they weren't when PNCconf was created.  And there aren't a ton of folks using Clearpaths with LCNC now - at least not those who have reported/described/posted plenty of helpful configs to copy.
  • This means the HLFB signal is not 'typical' - especially since Teknic has made a boatload of different options available through that single output.
  • What you're gonna have to do is some manual editing of the HAL file once you get a basic configuration working (i.e. motors move like you want, more or less).
  • Note that the HAL file (or files, you can have more than one) is simply a text file with a bunch of what looks like gibberish... but represents a configuration of what logical functions inside LCNC are connected to various hardware.
  • Once you get a really basic config you (we) will then edit the HAL file to include the HLFB function.
• Can you get through PNCconf far enough to get the motors turning?
• Have you decided what function you want the HLFB signal to accomplish?
  • Simple motor fault?
  • Something exotic, like PWM output of motor load?
• Gantry homing/squaring
  • Clearpaths have home-to-hardstop and other features, but to keep everything simple you will disregard all the Teknic features and treat them like 'dumb' motors - albeit with encoders and fault outputs.
  • Clearpaths will be programmed to 'home in place' (I think that's the term/concept) - so they will never be internally homed.
  • At drive enable, they will just sit there until you tell LCNC to start the homing sequence.
    • LCNC will command both motors to move towards the limit switch(s), and LCNC will manage moving to the switch, then backing off until the switch just clears, then moving back until the switch just triggers.
  • The exact homing process is adjustable in LCNC, but be advised it can be annoying to wrap you head around the homing terminology.  This may be painful for you - it is for me, even now.
  • Two limit switches are require; one on each Y-axis side.

So far so good?  Lets get the motors turning (on the bench) and then proceed.