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5i25+7i77 clonezilla

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13 Dec 2015 18:29 #66927 by bkt
5i25+7i77 clonezilla was created by bkt
A little question:

I have a fresh 5i25 fgpa and fresh 7i77 (never used and buy as new) ... I clone with filezilla a HDD for two identical pc. In the first my project run perfect. In the second one ... It seems That Analog outputs 1 and 4 do not work .... I have to perform a new installation or clone with clonezilla should work ?

I use ubuntu10.04 and LCNC2.7.1 (with JA9)....

Regards
Giorgio

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14 Dec 2015 01:35 #66937 by PCW
Replied by PCW on topic 5i25+7i77 clonezilla
Its pretty difficult to get only partial analog outputs working on a 7I77 (except channel 5 which has a separate enable)
I would check that the hal/ini files are identical on the 2 machines
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14 Dec 2015 17:58 #66977 by bkt
Replied by bkt on topic 5i25+7i77 clonezilla
today I have re-check the connection cable from drive to 7i77 .... for some reason these 2 cable not work .... i not understand why but the encoder cable from drive to mesa have It has some defect in filaments of copper .... probably they were crushed .... yesterday did not seem so ...

Regards
giorgio

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15 Dec 2015 08:31 #67005 by bkt
Replied by bkt on topic 5i25+7i77 clonezilla 
#*******************
#  AXIS X
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
#setp   pid.x.maxerror .0005

#net x-index-enable  <=> pid.x.index-enable   --------commented
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
net x-output        =>  pid.x.output

# ---PWM Generator signals/setup---

setp   hm2_5i25.0.7i77.0.1.analogout0-scalemax  [JOINT_0]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output                             => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd    joint.0.motor-pos-cmd
net x-enable     joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable   hm2_5i25.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.00.counter-mode 0
setp    hm2_5i25.0.encoder.00.filter 1
setp    hm2_5i25.0.encoder.00.index-invert 0
setp    hm2_5i25.0.encoder.00.index-mask 0
setp    hm2_5i25.0.encoder.00.index-mask-invert 0
setp    hm2_5i25.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_5i25.0.encoder.00.position
net x-vel-fb               <=  hm2_5i25.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb  #mux2.0.in0
#net x-index-enable    joint.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable   --------commented
net x-pos-rawcounts        <=  hm2_5i25.0.encoder.00.rawcounts

I make a new cable but the issue is the same ... I try to chande 5i25 + LTP cable ieee + 7i77 with other tha worck for shure .... the issue is the same ... so is not a proble of cable or mesa card .....

I commented 2 row about index ... because in these config non cable and use encoder index. I have missing to make some other modification for run encoder without index??

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15 Dec 2015 14:24 #67014 by PCW
Replied by PCW on topic 5i25+7i77 clonezilla
Can you pinpoint the exact issue?

Is it an encoder problem?

You can check this by watching the raw encoder counts:

That is watching hm2_5i25.0.encoder.XX.rawcounts (XX being the encoder number)
while you rotate the motor shaft
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15 Dec 2015 18:00 - 15 Dec 2015 18:01 #67018 by bkt
Replied by bkt on topic 5i25+7i77 clonezilla
.... I ceck point to point the problem ... :evil: the analogue in of drive is definitevely fault ...... Yesterday run with some problem ... now not bring any input voltage ... :sick:

Any how ... my question is these:

misfortunes aside, my question was this : if you do not use the index signal coming from the drive , I can not connect it and add comment simbol in row with encoder signal as I make in these example or I must write some other command or comment?
#*******************
#  AXIS X
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
#setp   pid.x.maxerror .0005

#net x-index-enable  <=> pid.x.index-enable   [b]--------commented,... some other # or other command????[/b]
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
net x-output        =>  pid.x.output

# ---PWM Generator signals/setup---

setp   hm2_5i25.0.7i77.0.1.analogout0-scalemax  [JOINT_0]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output                             => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd    joint.0.motor-pos-cmd
net x-enable     joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable   hm2_5i25.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.00.counter-mode 0
setp    hm2_5i25.0.encoder.00.filter 1
setp    hm2_5i25.0.encoder.00.index-invert 0
setp    hm2_5i25.0.encoder.00.index-mask 0
setp    hm2_5i25.0.encoder.00.index-mask-invert 0
setp    hm2_5i25.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_5i25.0.encoder.00.position
net x-vel-fb               <=  hm2_5i25.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb  #mux2.0.in0
#net x-index-enable    joint.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable   [b]--------commented[/b]
net x-pos-rawcounts        <=  hm2_5i25.0.encoder.00.rawcounts

And after clonezilla operation I must to do some other or I can simply star the pc as I just do?
Last edit: 15 Dec 2015 18:01 by bkt.

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15 Dec 2015 19:02 #67020 by PCW
Replied by PCW on topic 5i25+7i77 clonezilla
The "#" should be fine to make comments out of active HAL lines (you may have to comment out multiple lines),
_but_ i don't think the index lines are harmful in any way even if left in the HAL file since unless you enable
homing on index or use spindle synchronized motion, the joint.X.index-enable pins will never be set
true so the index logic is never enabled.
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