5i25 + 7i85s +....

Try swapping TX6 and TX7 It looks like the PWM is on TX6 and direction on TX7

Hello together, (sorry,... German...)

im replying to this post cuz i noticed someone with an working 5i25+7i85s combination

I usually try to get my experiance by manuals and/or try and error...
But after 3 Days with Google as best friend, i guess it will take me a year to become a HAL-Error analytics Professor
by my selfe.

Situation:
Firmware is 5i25_7i85sspx2 ( 3x Step/Dir + 1x PWM + 4 Encoder )
I did a quick configuration with PnCConf and ended up with this....

Error Message:
"x-pos-fb" can not add OUT pin "hm2_5i25.encoder.01.position", it already has OUT pin "hm2_5i25.0.stepgen.02.position-fb"

Part of the HAL-File:

# ---closedloop stepper signals---

net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_5i25.0.stepgen.02.velocity-cmd
net x-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.02.enable

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

setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_0]ENCODER_SCALE

net x-pos-fb <= hm2_5i25.0.encoder.01.position
net x-vel-fb <= hm2_5i25.0.encoder.01.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts

I guess i understand, the conflict. But why does this happen, and what im supposed to do now?

After an Google Oddysee i just noticed, im not the only one with such beginner Problems.
But no one seems to have my Problem. ( 1 or 2 in Russia... but i allready struggle with 2 Languages... dont need a 3rd one )


I hope its just a piece of Cake for you Guys. And thx for any Help!

Are you using encoder feedback? If so the position feedback must come from
the encoder, not the stepgen so if this is a pncconf created hal file its a pncconf
bug that must be fixed by hand editing the hal file

Thx for your Reply!

Well, thats the point, where i get lost of Track.
Your information sounds simple, but im not able to do it.

I understand, HAL is kind a like a network of signals linked to each other.
But i dont get the coherencies.
Maybe my way of thinking as an electronics engineer is just confusing me.

Im not able to see those wires to the single components.
-Where does hm2_5i25.0.stepgen.02.position-fb come from?
- FB = Feedback? So it sounds right for x-pos-fb
- Also hm2_5i25.0.encoder.01.position seems like an perfeckt match.

So where is the beginning?
-> +5V from the Screwterminal reach the logic...
-> a "name" is generated for the Terminal -> hm2_5i25.0.encoder.01.position
-> x-pos-fb gets its dependence by "net x-pos-fb <= hm2_5i25.0.encoder.01.position"

So... when and where was "x-pos-fb" generated???

Im really sorry about my stupide questions. But i run in circles whenever i look into the HAL.
On the other hand it seems just es simple as TTL-Logic.... i just miss "something"...

And Yes: I use the Encoder output from the Servodrive. Later ill replace it with Linearscales.

It might be helpful to first familiarize you self a bit with basic hal concepts:

linuxcnc.org/docs/2.5/html/hal/basic_hal.html

Basically pins like hm2_5i25.0.stepgen.02.position-fb are hal pins that connect to hardware,
(man hostmot2 will give you the base names of all possible Hostmot2 hardware pins)
Pins like axis.0.motor-pos-fb are hal pins that connect to LinuxCNCs functional blocks
(man motion will list most of the motion related pins)

LinuxCNC customization to a particular interface hardware set and control type
largely consists of connection of LinuxCNCs functional blocks to the specific
interface hardware that you are using.

Pin connections between the different LinuxCNC modules are done with net commands

for example

net x-pos-fb hm2_5i25.0.encoder.01.position
net x-pos-fb pid.0.feedback

Connects a hardware encoder position pin to a PID components feedback input

as will the equivalent:

net x-pos-fb hm2_5i25.0.encoder.01.position pid.0.feedback

Note that the first token after the net command is the signal name, x-pos-fb in this case
If the signal name does not exist, it is created by the first net command
Also note that the signal names are arbitrary so

net blue-tubas hm2_5i25.0.encoder.01.position
net blue-tubas pid.0.feedback

is equivalent to the previous net pair (though perhaps a bit harder to read)

Well, i allready read the Tutorial from your link and also the LinuxCNC_HAL_Manual.
( Maybe to often and i need a break )

In my understanding x-pos-fb is my wire...
It comes to live and gets its name when i cut it from the spool.
Now i have two endings, and im allowed to connect a single input and multible outputs.
It feels simple to me, but i dont geht the whole picture.

Is there some kind of an list with all existing joints and an explanation?

For Example... what happens if i just delete the Line:
net x-pos-fb <= hm2_5i25.0.stepgen.02.position-fb

In my understanding, i just dont need it, cuz ill get the encoder Information by:
net x-pos-fb <= hm2_5i25.0.encoder.01.position
and send it to:
net x-pos-fb => axis.0.motor-pos-fb

Atleast im not even sure, if my setup is right....
Shouldn´t it be:
hm2_5i25.7i85s.encoder.01.position
instead of:
hm2_5i25.0.encoder.01.position?

Or doesnt it matter because its an path trough anyway. (System doesnt know, whats behind the 5i25)