3rd stepgen not working on 5i20/7i47/7i31 combo

Hi, all;

I've got a copy of ubuntu 10.04 with linuxcnc on it, and I'm trying to control my milling machine's drives via step/direction pulses. I've gotten to the point where I'm able to control and move X and Y at will, but the Z stepgen isn't showing up where it should be, or isn't working. As background information, I'm running linuxcnc 2.5.1 which I installed from the distro on the home page here. As a side note, I've updated the packages for 10.04, and I know not to update the LTS release.

I've verified that the drive works by connecting the command lines for the Y stepgen to it, and it moves the axis like I'd expect.

I'm using the SVST2_4_7I47 firmware, and in pncconf I request 3 (I've tried 4 too) stepgens, 1 pwmgen, and 1 encoder. According to the PIN file for that firmware, the 3rd stepgen should be present on pins 33 and 35 of the 5i20 connector. This corresponds to the TX8 and TX9 I/Os.

On the 7i47 terminal blocks, TX8 and TX9 are just where I'd expect them to be located, on connector p2 pins 13-18, right next to the TX4-TX7 pins that comprise the other two stepgens.

However, with the step/direction wires connected, I get nothing. I've checked the wiring for continuity, it works ok. I've also tried enabling a 4th stepgen, which gets put on TX10 and TX11, but that doesn't work either.

I don't actually know the step/space periods for my drives, I've got an e-mail sent to the designer asking him if he can tell me (they're cncdrives DG2S-16035 servo drives).

The only other I/O I have defined at the moment are the home switches, which show up on the first three GPIOs on the 7i31 card (which is on the 5i20's second connector).


So, am I totally misunderstanding where this third stepgen is supposed to be?

Erik

Those should be the correct 7I47 pins so this is possibly a pncconf error

can you post your ini and hal files?

also a dmesg list after running linuxcnc may help

(if you have trouble posting the files here, post them on pastebin and post a link here)

Another quick debug check would be to run the hm2-stepper demo
(with one minor change. the firmware name in the ini file needs to be changed to SVST2_4_7I47.BIT)

Good to know I deciphered the pins correctly.


I'll get the files and info posted later tonight, I've about about 7 more hours of day job to make it through

Erik

Okay, here are the files. The dmesg output only has last night's info in it, hopefully I didn't cut out too much of it.

One thing of note is that as I was tuning acceleration and max speed last night, I found pncconf seemed to put odd numbers in for max speed... the settings I entered were 100ipm and 50ipm for Y and Z respectively, and I got what you see below. I did edit the file by hand to put in the X numbers, which is why they look different.

Hmmm.. I can't seem to attach files using the button below. I'll try pasting inline..

Erik




# Generated by PNCconf at Mon Feb 11 18:52:27 2013
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_3pwmgens=0 num_stepgens=3 "
setp hm2_5i20.0.pwmgen.pwm_frequency 100000
setp hm2_5i20.0.pwmgen.pdm_frequency 6000000
setp hm2_5i20.0.watchdog.timeout_ns 10000000

addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread

# external output signals

# external input signals

# --- HOME-X ---
net home-x <= hm2_5i20.0.gpio.025.in

# --- HOME-Y ---
net home-y <= hm2_5i20.0.gpio.027.in

# --- HOME-Z ---
net home-z <= hm2_5i20.0.gpio.029.in

#*******************
# AXIS X
#*******************

# Step Gen signals/setup

setp hm2_5i20.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i20.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i20.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i20.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i20.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i20.0.stepgen.00.step_type 0
setp hm2_5i20.0.stepgen.00.control-type 0
setp hm2_5i20.0.stepgen.00.maxaccel 3.0
setp hm2_5i20.0.stepgen.00.maxvel 4.2

net x-pos-fb axis.0.motor-pos-fb <= hm2_5i20.0.stepgen.00.position-fb
net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
net x-enable axis.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable

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

net home-x => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in

#*******************
# AXIS Y
#*******************

# Step Gen signals/setup

setp hm2_5i20.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_5i20.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_5i20.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_5i20.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_5i20.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_5i20.0.stepgen.01.step_type 0
setp hm2_5i20.0.stepgen.01.control-type 0
setp hm2_5i20.0.stepgen.01.maxaccel 1.9
setp hm2_5i20.0.stepgen.01.maxvel 2.1

net y-pos-fb axis.1.motor-pos-fb <= hm2_5i20.0.stepgen.01.position-fb
net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
net y-enable axis.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable

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

net home-y => axis.1.home-sw-in
net y-neg-limit => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.pos-lim-sw-in

#*******************
# AXIS Z
#*******************

# Step Gen signals/setup

setp hm2_5i20.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i20.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_5i20.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_5i20.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_5i20.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i20.0.stepgen.02.step_type 0
setp hm2_5i20.0.stepgen.02.control-type 0
setp hm2_5i20.0.stepgen.02.maxaccel 1.2
setp hm2_5i20.0.stepgen.02.maxvel 2.1

net z-pos-fb axis.2.motor-pos-fb <= hm2_5i20.0.stepgen.02.position-fb
net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
net z-enable axis.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable

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

net home-z => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in

#*******************
# SPINDLE S
#*******************

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi

# ---coolant signals---

net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood

# ---probe signal---

net probe-in => motion.probe-input

# ---motion control signals---

net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled

# ---digital in / out signals---

# ---estop signals---

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

# ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

---

end of lagun250.hal

# Generated by PNCconf at Mon Feb 11 18:52:27 2013
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = lagun250
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mill/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i20

[HAL]
HALUI = halui
HALFILE = lagun250.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.33
MAX_LINEAR_VELOCITY = 3.33

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOLCHANGE_QUILL_UP = 1

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 5.0
MIN_FERROR = 5.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 6.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 2500
STEP_SCALE = 9660.7083
MIN_LIMIT = -20.0
MAX_LIMIT = 20.0
HOME_OFFSET = -12.000000
HOME_SEARCH_VEL = 0.316667
HOME_LATCH_VEL = 0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 5.0
MIN_FERROR = 5.0
MAX_VELOCITY = 1.66666666667
MAX_ACCELERATION = 1.5
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 2500
STEP_SCALE = -41615.3587
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
HOME_OFFSET = -7.000000
HOME_SEARCH_VEL = 0.316667
HOME_LATCH_VEL = 0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 5.0
MIN_FERROR = 5.0
MAX_VELOCITY = 1.66666666667
MAX_ACCELERATION = 1.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 2500
STEP_SCALE = 49938.4304
MIN_LIMIT = -5.5
MAX_LIMIT = 0.001
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0

#********************
# Spindle
#********************
[SPINDLE_9]

---

end of lagun250.ini

[ 807.217531] hm2: loading Mesa HostMot2 driver version 0.15
[ 807.221183] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 807.221229] hm2_pci: discovered 5i20 at 0000:02:08.0
[ 807.221999] hm2_5i20.0: firmware: requesting hm2/5i20/SVST2_4_7I47.BIT
[ 807.337838] hm2/hm2_5i20.0: 72 I/O Pins used:
[ 807.337846] hm2/hm2_5i20.0: IO Pin 000 (P2-01): StepGen #0, pin Step (Output)
[ 807.337851] hm2/hm2_5i20.0: IO Pin 001 (P2-03): StepGen #0, pin Direction (Output)
[ 807.337856] hm2/hm2_5i20.0: IO Pin 002 (P2-05): StepGen #1, pin Step (Output)
[ 807.337861] hm2/hm2_5i20.0: IO Pin 003 (P2-07): StepGen #1, pin Direction (Output)
[ 807.337866] hm2/hm2_5i20.0: IO Pin 004 (P2-09): Encoder #0, pin A (Input)
[ 807.337870] hm2/hm2_5i20.0: IO Pin 005 (P2-11): IOPort
[ 807.337875] hm2/hm2_5i20.0: IO Pin 006 (P2-13): Encoder #0, pin B (Input)
[ 807.337879] hm2/hm2_5i20.0: IO Pin 007 (P2-15): IOPort
[ 807.337884] hm2/hm2_5i20.0: IO Pin 008 (P2-17): Encoder #0, pin Index (Input)
[ 807.337888] hm2/hm2_5i20.0: IO Pin 009 (P2-19): IOPort
[ 807.337892] hm2/hm2_5i20.0: IO Pin 010 (P2-21): IOPort
[ 807.337896] hm2/hm2_5i20.0: IO Pin 011 (P2-23): IOPort
[ 807.337900] hm2/hm2_5i20.0: IO Pin 012 (P2-25): IOPort
[ 807.337904] hm2/hm2_5i20.0: IO Pin 013 (P2-27): IOPort
[ 807.337908] hm2/hm2_5i20.0: IO Pin 014 (P2-29): IOPort
[ 807.337912] hm2/hm2_5i20.0: IO Pin 015 (P2-31): IOPort
[ 807.337917] hm2/hm2_5i20.0: IO Pin 016 (P2-33): StepGen #2, pin Step (Output)
[ 807.337922] hm2/hm2_5i20.0: IO Pin 017 (P2-35): StepGen #2, pin Direction (Output)
[ 807.337926] hm2/hm2_5i20.0: IO Pin 018 (P2-37): IOPort
[ 807.337930] hm2/hm2_5i20.0: IO Pin 019 (P2-39): IOPort
[ 807.337935] hm2/hm2_5i20.0: IO Pin 020 (P2-41): PWMGen #0, pin Out0 (PWM or Up) (Output)
[ 807.337940] hm2/hm2_5i20.0: IO Pin 021 (P2-43): PWMGen #0, pin Out1 (Dir or Down) (Output)
[ 807.337944] hm2/hm2_5i20.0: IO Pin 022 (P2-45): IOPort
[ 807.337948] hm2/hm2_5i20.0: IO Pin 023 (P2-47): IOPort
[ 807.337952] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort
[ 807.337956] hm2/hm2_5i20.0: IO Pin 025 (P3-03): IOPort
[ 807.337960] hm2/hm2_5i20.0: IO Pin 026 (P3-05): IOPort
[ 807.337964] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort
[ 807.337968] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort
[ 807.337972] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort
[ 807.337976] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort
[ 807.337980] hm2/hm2_5i20.0: IO Pin 031 (P3-15): IOPort
[ 807.337984] hm2/hm2_5i20.0: IO Pin 032 (P3-17): IOPort
[ 807.337988] hm2/hm2_5i20.0: IO Pin 033 (P3-19): IOPort
[ 807.337992] hm2/hm2_5i20.0: IO Pin 034 (P3-21): IOPort
[ 807.337996] hm2/hm2_5i20.0: IO Pin 035 (P3-23): IOPort
[ 807.338000] hm2/hm2_5i20.0: IO Pin 036 (P3-25): IOPort
[ 807.338004] hm2/hm2_5i20.0: IO Pin 037 (P3-27): IOPort
[ 807.338008] hm2/hm2_5i20.0: IO Pin 038 (P3-29): IOPort
[ 807.338011] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort
[ 807.338015] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort
[ 807.338019] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort
[ 807.338023] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort
[ 807.338027] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort
[ 807.338031] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort
[ 807.338035] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort
[ 807.338039] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort
[ 807.338043] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort
[ 807.338047] hm2/hm2_5i20.0: IO Pin 048 (P4-01): IOPort
[ 807.338051] hm2/hm2_5i20.0: IO Pin 049 (P4-03): IOPort
[ 807.338055] hm2/hm2_5i20.0: IO Pin 050 (P4-05): IOPort
[ 807.338059] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort
[ 807.338063] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort
[ 807.338067] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort
[ 807.338071] hm2/hm2_5i20.0: IO Pin 054 (P4-13): IOPort
[ 807.338075] hm2/hm2_5i20.0: IO Pin 055 (P4-15): IOPort
[ 807.338079] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort
[ 807.338083] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort
[ 807.338087] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort
[ 807.338091] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort
[ 807.338095] hm2/hm2_5i20.0: IO Pin 060 (P4-25): IOPort
[ 807.338099] hm2/hm2_5i20.0: IO Pin 061 (P4-27): IOPort
[ 807.338103] hm2/hm2_5i20.0: IO Pin 062 (P4-29): IOPort
[ 807.338107] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort
[ 807.338111] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort
[ 807.338114] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort
[ 807.338118] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort
[ 807.338122] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort
[ 807.338126] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort
[ 807.338130] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort
[ 807.338134] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort
[ 807.338138] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort
[ 807.338317] hm2/hm2_5i20.0: registered
[ 807.338321] hm2_5i20.0: initialized AnyIO board at 0000:02:08.0
[ 857.275595] hm2_5i20.0: dropping AnyIO board at 0000:02:08.0
[ 857.275605] hm2/hm2_5i20.0: unregistered
[ 857.275663] hm2_pci: driver unloaded
[ 857.280660] hm2: unloading

Looks OK as far as I can tell. Flat cable problem maybe?

Hmm, frustrating.

Well, it's either got to be the flat cable or the board itself. I'll see if I can't pick up a spare cable at lunch today just in case.

I've worked out all the other issues I've been having with my build, so as soon as I can make the Z axis work, I'm in business

Thanks,
Erik

If I get a chance today. I'll try that hardware setup with the
hm2-stepper config and make sure there's nothing funny

Thanks.

In addition to the cable, I'm going to try updating linuxcnc to the latest build and see if that changes anything.

Erik

Using 2.5.1 and the stock SVST4_2_7I47 bitfile with the hm2-stepper demo config
(with just the firmware name changed to SVST4_2_7I47.BIT ), everything works as expected:

TX4 = STEP0
TX5 = DIR0

TX6 = STEP1
TX7 = DIR1

TX8 = STEP2
TX9 = DIR2

So I would start suspecting cables/cards
but try with the hm2-stepper demo first so we are on the same page