7i77 testers wanted

Thanks for the help with C axis setup. I still have a problem with following errors - I changed the FERROR value in the INI file to 1.0 and MIN_FERROR to 0.5 and I still get a following error and no motion when I try to use the jog buttons in AXIS. When I try to use MDI I always get some kind of complaint about being out of range of one of the joints. Any brainstorms would be appreciated.

EDIT: Actuallty I get a tiny jolt of motion before I get the following error. Something's working. It's as if it thinks the encoder direction is reversed.

EDIT AGAIN: Got it moving, just needed a lot more proportional gain.

excellent. does it still error in MDI? maybe the min-limit max_limt range is to high ?

by the way there is a option for rotary tables in linuxcnc 2.5 that PNCconf doesn't know about yet. from the manual:

WRAPPED_ROTARY = 1 - When this is set to 1 for an ANGULAR axis the axis will move 0-359.999 degrees. Positive Numbers will move the axis in a positive direction and negative numbers will move the axis in the negative direction.

I've been playing around with the jog buttons for the moment to try to tune my gains a bit better. It took me a little while to figure out how to properly use the HAL scope but I think it's going to be an excellent tool for that.

I can't seem to run the table in MDI - when I give a g0 c90 command it says "Linear move in MDI would exceed joint 2's negative limit". I'm not sure if I'm using bad syntax or it's misinterpreting the command as a linear move command.

Thanks a lot though, this is major progress. Very exciting.

that is weird as joint 2 is the Z axis....
X 0
Y 1
Z 2
A 3
B 4
C 5
I'm sorry I have no experience with a rotary axis - hopefully someone else will chime in.

Yeah I thought that was weird also. I'll have to do more research but for the moment I have lots of tuning work to do.

Thanks for the heads up on the wrapped rotary option. I'll have to decide if that's useful.

Is here a room for newbee ?
I have downloaded the file from first page and it works for me. But I am using only one 7i77 with a 5i25. while it's default configuration is for 2*7i77.

on the mesa config page change the number of components to:
encoders 6
serial channels 3

then you are configured for only one 7i77 - though unless you are using the extra pins on the 5i25 for GPIO, it doesn't really matter.

I might add that if you are using the latest RELEASED version of linuxcnc there are a few bugs in PNCconf.
Most are easy to spot misspelled HAL pinnames - but this means the openloop test doesn't work.
the latest buildbot version has the latest bugfixes. (pinnames right, openloop test works)

Thanks Cmorley

I will upgrade to latest buildbot and will try as you said.

"PLEASE IGNORE THIS MASSAGE AS I HAVE SOLVED IT BY JUST POWERING UP W1 AND W2 CONNECTORS IN 5I25 CARD"


Tried with a basic configuration and with new buildbot. And I got this error.

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0-39-ga3ca877
Machine configuration directory is '/home/ish/linuxcnc/configs/my_LinuxCNC_machine'
Machine configuration file is 'my_LinuxCNC_machine.ini'
INIFILE=/home/ish/linuxcnc/configs/my_LinuxCNC_machine/my_LinuxCNC_machine.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Killing task linuxcncsvr, PID=1558
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Can not find -sec EMC -var NML_FILE -num 1
my_LinuxCNC_machine.hal:52: parameter or pin 'hm2_5i25.0.7i77.0.1.analogout0-scalemax' not found
1558
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 66.263304] I-pipe: Domain RTAI registered.
[ 66.263311] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 66.263313] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 66.263318] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 66.263320] PIPELINE layers:
[ 66.263322] fbbd5e20 9ac15d93 RTAI 200
[ 66.263324] c085cb20 0 Linux 100
[ 66.291362] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 66.291435] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 66.291439] RTAI[sched]: hard timer type/freq = APIC/12499938(Hz); default timing: periodic; linear timed lists.
[ 66.291442] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2299641000 hz.
[ 66.291444] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 66.291499] RTAI[usi]: enabled.
[ 66.346324] RTAI[math]: loaded.
[ 66.488036] hm2: loading Mesa HostMot2 driver version 0.15
[ 66.490729] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 66.491109] ACPI: PCI Interrupt Link [LNKA] enabled at IRQ 10
[ 66.491114] hm2_pci 0000:01:06.0: PCI INT A -> Link[LNKA] -> GSI 10 (level, low) -> IRQ 10
[ 66.491117] hm2_pci: discovered 5i25 at 0000:01:06.0
[ 66.491846] hm2/hm2_5i25.0: Smart Serial Firmware Version 33
[ 66.523541] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 66.523545] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 66.523547] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 66.523550] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 66.523552] hm2/hm2_5i25.0: IO Pin 003 (P3-15): IOPort
[ 66.523554] hm2/hm2_5i25.0: IO Pin 004 (P3-03): IOPort
[ 66.523556] hm2/hm2_5i25.0: IO Pin 005 (P3-16): IOPort
[ 66.523558] hm2/hm2_5i25.0: IO Pin 006 (P3-04): IOPort
[ 66.523561] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 66.523564] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 66.523567] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 66.523570] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 66.523573] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 66.523576] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 66.523579] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 66.523582] hm2/hm2_5i25.0: IO Pin 014 (P3-11): IOPort
[ 66.523584] hm2/hm2_5i25.0: IO Pin 015 (P3-12): IOPort
[ 66.523586] hm2/hm2_5i25.0: IO Pin 016 (P3-13): IOPort
[ 66.523588] hm2/hm2_5i25.0: IO Pin 017 (P2-01): IOPort
[ 66.523590] hm2/hm2_5i25.0: IO Pin 018 (P2-14): IOPort
[ 66.523592] hm2/hm2_5i25.0: IO Pin 019 (P2-02): IOPort
[ 66.523595] hm2/hm2_5i25.0: IO Pin 020 (P2-15): IOPort
[ 66.523597] hm2/hm2_5i25.0: IO Pin 021 (P2-03): IOPort
[ 66.523599] hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort
[ 66.523601] hm2/hm2_5i25.0: IO Pin 023 (P2-04): IOPort
[ 66.523604] hm2/hm2_5i25.0: IO Pin 024 (P2-17): Muxed Encoder Select #3, pin Mux Select 0 (Output)
[ 66.523606] hm2/hm2_5i25.0: IO Pin 025 (P2-05): IOPort
[ 66.523608] hm2/hm2_5i25.0: IO Pin 026 (P2-06): IOPort
[ 66.523611] hm2/hm2_5i25.0: IO Pin 027 (P2-07): IOPort
[ 66.523613] hm2/hm2_5i25.0: IO Pin 028 (P2-08): IOPort
[ 66.523615] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 66.523617] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 66.523619] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 66.523621] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 66.523623] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 66.523668] hm2/hm2_5i25.0: registered
[ 66.523670] hm2_5i25.0: initialized AnyIO board at 0000:01:06.0
[ 66.827945] hm2_5i25.0: dropping AnyIO board at 0000:01:06.0
[ 66.827951] hm2/hm2_5i25.0: unregistered
[ 66.827969] hm2_pci 0000:01:06.0: PCI INT A disabled
[ 66.828673] hm2_pci: driver unloaded
[ 66.830420] hm2: unloading
[ 66.876027] RTAI[math]: unloaded.
[ 66.912095] SCHED releases registered named ALIEN RTGLBH
[ 66.928446] RTAI[malloc]: unloaded.
[ 67.028022] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 67.029938] I-pipe: Domain RTAI unregistered.
[ 67.029945] RTAI[hal]: unmounted.

Now finally it shows "joint 2 following error" when I try to run as simulation mode. Is it necessary to hook it up with machine and most probably with encoders ? Or it's something else I need to re-configure ?