Encoder on 7i95t

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28 Mar 2025 09:30 - 28 Mar 2025 09:36 #325148 by Z3rni3
Encoder on 7i95t was created by Z3rni3
Hello everyone,I’m currently working with LinuxCNC on a Pi5 with a Mesa 7i95T. After getting the configuration for the motors and limit switches working, I’m now trying to set up the encoders (currently just for the X-axis). Unfortunately, I’m still relatively new to this, and I find the .hal configuration a bit overwhelming.
I’m getting the following error when starting up:

Debug file information:
Note: Using POSIX realtime
./main.hal:121: Pin 'joint.0.motor-pos-fb' was already linked to signal 'joint-0-pos-fb'
19234


I’ve attached my .ini and .hal files. Could someone please help me understand which inputs need to be connected where?Thanks in advance for your time and assistance
Attachments:
Last edit: 28 Mar 2025 09:36 by Z3rni3.

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28 Mar 2025 14:20 #325162 by PCW
Replied by PCW on topic Encoder on 7i95t
delete the red text

and change lines like

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb

to net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position

If you want encoder feedback (closed loop) rather than stepgen feedback (open loop)





# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.stepgen.00.velocity-cmd

# ENOCODER
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.scale [JOINT_0](ENCODER_SCALE)

net x-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net x-vel-fb <= hm2_[MESA](BOARD).0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_[MESA](BOARD).0.encoder.00.in
net x-pos-rawcounts <= hm2_[MESA](BOARD).0.encoder.00.rawcounts

# Home
net home-x => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

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