5i25 + 7i85s +....

PCW
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Moderator

9 years 10 months ago - 9 years 10 months ago #84690 by PCW

Replied by PCW on topic 5i25 + 7i85s +....

Shouldn´t it be:
hm2_5i25.7i85s.encoder.01.position
instead of:
hm2_5i25.0.encoder.01.position?

No, theres no daughtercard name in the hostmot2 pin/parameter names except for sserial devices

For motion pins, you can read the motion man page:

man motion

For available Hostmot2 pins/parameters with you current hardware/firmware you can show them all with

halrun -I
halcmd: loadrt hostmot2
halcmd: loadrt hm2_pci
halcmd: show pin
halcmd show param

Last edit: 9 years 10 months ago by PCW.

The following user(s) said Thank You: Emanresu

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Emanresu
Offline
Senior Member

9 years 10 months ago #84692 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

Thx again, i really appreciate it!

Yep, i remember that from about two days ago. But it just gave me more questions.

In my firmware, i have 3 Step/Dir, 1 PWM, 4 Encoder.

Warning: Spoiler!

IO Connections for P3
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 0 IOPort SSerial 0 RXData1 (In)
14 1 IOPort SSerial 0 TXData1 (Out)
2 2 IOPort PWMGen 0 PWM (Out)
15 3 IOPort PWMGen 0 Dir (Out)
3 4 IOPort StepGen 2 Step (Out)
16 5 IOPort StepGen 2 Dir (Out)
4 6 IOPort StepGen 1 Step (Out)
17 7 IOPort StepGen 1 Dir (Out)
5 8 IOPort StepGen 0 Step (Out)
6 9 IOPort StepGen 0 Dir (Out)
7 10 IOPort MuxedQCountSel 0 MuxSel0 (Out)
8 11 IOPort MuxedQCount 0 MuxQ-A (In)
9 12 IOPort MuxedQCount 0 MuxQ-B (In)
10 13 IOPort MuxedQCount 0 MuxQ-IDX (In)
11 14 IOPort MuxedQCount 1 MuxQ-A (In)
12 15 IOPort MuxedQCount 1 MuxQ-B (In)
13 16 IOPort MuxedQCount 1 MuxQ-IDX (In)

IO Connections for P2
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 17 IOPort SSerial 0 RXData2 (In)
14 18 IOPort SSerial 0 TXData2 (Out)
2 19 IOPort PWMGen 1 PWM (Out)
15 20 IOPort PWMGen 1 Dir (Out)
3 21 IOPort StepGen 6 Step (Out)
16 22 IOPort StepGen 6 Dir (Out)
4 23 IOPort StepGen 5 Step (Out)
17 24 IOPort StepGen 5 Dir (Out)
5 25 IOPort StepGen 4 Step (Out)
6 26 IOPort StepGen 4 Dir (Out)
7 27 IOPort MuxedQCountSel 4 MuxSel0 (Out)
8 28 IOPort MuxedQCount 2 MuxQ-A (In)
9 29 IOPort MuxedQCount 2 MuxQ-B (In)
10 30 IOPort MuxedQCount 2 MuxQ-IDX (In)
11 31 IOPort MuxedQCount 3 MuxQ-A (In)
12 32 IOPort MuxedQCount 3 MuxQ-B (In)
13 33 IOPort MuxedQCount 3 MuxQ-IDX (In)

By "show pin show param" i still see 4 Step/Dir

Warning: Spoiler!

Owner Type Dir Value Name
5 s32 OUT 0 hm2_5i25.0.encoder.00.count
5 s32 OUT 0 hm2_5i25.0.encoder.00.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.00.index-enable
5 bit OUT FALSE hm2_5i25.0.encoder.00.input-a
5 bit OUT FALSE hm2_5i25.0.encoder.00.input-b
5 bit OUT TRUE hm2_5i25.0.encoder.00.input-index
5 bit IN FALSE hm2_5i25.0.encoder.00.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.00.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.00.position
5 float OUT 0 hm2_5i25.0.encoder.00.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.00.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.00.quad-error-enable
5 s32 OUT 0 hm2_5i25.0.encoder.00.rawcounts
5 s32 OUT 0 hm2_5i25.0.encoder.00.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.00.reset
5 float OUT 0 hm2_5i25.0.encoder.00.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.01.count
5 s32 OUT 0 hm2_5i25.0.encoder.01.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.01.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.01.input-a
5 bit OUT TRUE hm2_5i25.0.encoder.01.input-b
5 bit OUT TRUE hm2_5i25.0.encoder.01.input-index
5 bit IN FALSE hm2_5i25.0.encoder.01.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.01.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.01.position
5 float OUT 0 hm2_5i25.0.encoder.01.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.01.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.01.quad-error-enable
5 s32 OUT 0 hm2_5i25.0.encoder.01.rawcounts
5 s32 OUT 0 hm2_5i25.0.encoder.01.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.01.reset
5 float OUT 0 hm2_5i25.0.encoder.01.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.02.count
5 s32 OUT 0 hm2_5i25.0.encoder.02.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.02.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.02.input-a
5 bit OUT FALSE hm2_5i25.0.encoder.02.input-b
5 bit OUT FALSE hm2_5i25.0.encoder.02.input-index
5 bit IN FALSE hm2_5i25.0.encoder.02.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.02.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.02.position
5 float OUT 0 hm2_5i25.0.encoder.02.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.02.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.02.quad-error-enable
5 s32 OUT 1 hm2_5i25.0.encoder.02.rawcounts
5 s32 OUT 1 hm2_5i25.0.encoder.02.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.02.reset
5 float OUT 0 hm2_5i25.0.encoder.02.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.03.count
5 s32 OUT 0 hm2_5i25.0.encoder.03.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.03.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.03.input-a
5 bit OUT FALSE hm2_5i25.0.encoder.03.input-b
5 bit OUT TRUE hm2_5i25.0.encoder.03.input-index
5 bit IN FALSE hm2_5i25.0.encoder.03.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.03.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.03.position
5 float OUT 0 hm2_5i25.0.encoder.03.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.03.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.03.quad-error-enable
5 s32 OUT 1 hm2_5i25.0.encoder.03.rawcounts
5 s32 OUT 1 hm2_5i25.0.encoder.03.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.03.reset
5 float OUT 0 hm2_5i25.0.encoder.03.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.04.count
5 s32 OUT 0 hm2_5i25.0.encoder.04.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.04.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.04.input-a
5 bit OUT TRUE hm2_5i25.0.encoder.04.input-b
5 bit OUT FALSE hm2_5i25.0.encoder.04.input-index
5 bit IN FALSE hm2_5i25.0.encoder.04.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.04.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.04.position
5 float OUT 0 hm2_5i25.0.encoder.04.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.04.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.04.quad-error-enable
5 s32 OUT 0 hm2_5i25.0.encoder.04.rawcounts
5 s32 OUT 0 hm2_5i25.0.encoder.04.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.04.reset
5 float OUT 0 hm2_5i25.0.encoder.04.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.05.count
5 s32 OUT 0 hm2_5i25.0.encoder.05.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.05.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.05.input-a
5 bit OUT TRUE hm2_5i25.0.encoder.05.input-b
5 bit OUT FALSE hm2_5i25.0.encoder.05.input-index
5 bit IN FALSE hm2_5i25.0.encoder.05.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.05.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.05.position
5 float OUT 0 hm2_5i25.0.encoder.05.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.05.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.05.quad-error-enable
5 s32 OUT 0 hm2_5i25.0.encoder.05.rawcounts
5 s32 OUT 0 hm2_5i25.0.encoder.05.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.05.reset
5 float OUT 0 hm2_5i25.0.encoder.05.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.06.count
5 s32 OUT 0 hm2_5i25.0.encoder.06.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.06.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.06.input-a
5 bit OUT TRUE hm2_5i25.0.encoder.06.input-b
5 bit OUT FALSE hm2_5i25.0.encoder.06.input-index
5 bit IN FALSE hm2_5i25.0.encoder.06.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.06.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.06.position
5 float OUT 0 hm2_5i25.0.encoder.06.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.06.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.06.quad-error-enable
5 s32 OUT 0 hm2_5i25.0.encoder.06.rawcounts
5 s32 OUT 0 hm2_5i25.0.encoder.06.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.06.reset
5 float OUT 0 hm2_5i25.0.encoder.06.velocity
5 s32 OUT 0 hm2_5i25.0.encoder.07.count
5 s32 OUT 0 hm2_5i25.0.encoder.07.count-latched
5 bit I/O FALSE hm2_5i25.0.encoder.07.index-enable
5 bit OUT TRUE hm2_5i25.0.encoder.07.input-a
5 bit OUT TRUE hm2_5i25.0.encoder.07.input-b
5 bit OUT FALSE hm2_5i25.0.encoder.07.input-index
5 bit IN FALSE hm2_5i25.0.encoder.07.latch-enable
5 bit IN FALSE hm2_5i25.0.encoder.07.latch-polarity
5 float OUT 0 hm2_5i25.0.encoder.07.position
5 float OUT 0 hm2_5i25.0.encoder.07.position-latched
5 bit OUT FALSE hm2_5i25.0.encoder.07.quad-error
5 bit IN FALSE hm2_5i25.0.encoder.07.quad-error-enable
5 s32 OUT 0 hm2_5i25.0.encoder.07.rawcounts
5 s32 OUT 0 hm2_5i25.0.encoder.07.rawlatch
5 bit IN FALSE hm2_5i25.0.encoder.07.reset
5 float OUT 0 hm2_5i25.0.encoder.07.velocity
5 u32 IN 0x007F2815 hm2_5i25.0.encoder.muxed-sample-frequency
5 bit OUT TRUE hm2_5i25.0.gpio.000.in
5 bit OUT FALSE hm2_5i25.0.gpio.000.in_not
5 bit IN FALSE hm2_5i25.0.gpio.000.out
5 bit OUT TRUE hm2_5i25.0.gpio.001.in
5 bit OUT FALSE hm2_5i25.0.gpio.001.in_not
5 bit IN FALSE hm2_5i25.0.gpio.001.out
5 bit OUT FALSE hm2_5i25.0.gpio.002.in
5 bit OUT TRUE hm2_5i25.0.gpio.002.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.003.in
5 bit OUT TRUE hm2_5i25.0.gpio.003.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.004.in
5 bit OUT TRUE hm2_5i25.0.gpio.004.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.005.in
5 bit OUT TRUE hm2_5i25.0.gpio.005.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.006.in
5 bit OUT TRUE hm2_5i25.0.gpio.006.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.007.in
5 bit OUT TRUE hm2_5i25.0.gpio.007.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.008.in
5 bit OUT TRUE hm2_5i25.0.gpio.008.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.009.in
5 bit OUT TRUE hm2_5i25.0.gpio.009.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.010.in
5 bit OUT TRUE hm2_5i25.0.gpio.010.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.011.in
5 bit OUT FALSE hm2_5i25.0.gpio.011.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.012.in
5 bit OUT FALSE hm2_5i25.0.gpio.012.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.013.in
5 bit OUT TRUE hm2_5i25.0.gpio.013.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.014.in
5 bit OUT FALSE hm2_5i25.0.gpio.014.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.015.in
5 bit OUT TRUE hm2_5i25.0.gpio.015.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.016.in
5 bit OUT TRUE hm2_5i25.0.gpio.016.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.017.in
5 bit OUT FALSE hm2_5i25.0.gpio.017.in_not
5 bit IN FALSE hm2_5i25.0.gpio.017.out
5 bit OUT TRUE hm2_5i25.0.gpio.018.in
5 bit OUT FALSE hm2_5i25.0.gpio.018.in_not
5 bit IN FALSE hm2_5i25.0.gpio.018.out
5 bit OUT FALSE hm2_5i25.0.gpio.019.in
5 bit OUT TRUE hm2_5i25.0.gpio.019.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.020.in
5 bit OUT TRUE hm2_5i25.0.gpio.020.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.021.in
5 bit OUT TRUE hm2_5i25.0.gpio.021.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.022.in
5 bit OUT TRUE hm2_5i25.0.gpio.022.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.023.in
5 bit OUT TRUE hm2_5i25.0.gpio.023.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.024.in
5 bit OUT TRUE hm2_5i25.0.gpio.024.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.025.in
5 bit OUT TRUE hm2_5i25.0.gpio.025.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.026.in
5 bit OUT TRUE hm2_5i25.0.gpio.026.in_not
5 bit OUT FALSE hm2_5i25.0.gpio.027.in
5 bit OUT TRUE hm2_5i25.0.gpio.027.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.028.in
5 bit OUT FALSE hm2_5i25.0.gpio.028.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.029.in
5 bit OUT FALSE hm2_5i25.0.gpio.029.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.030.in
5 bit OUT FALSE hm2_5i25.0.gpio.030.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.031.in
5 bit OUT FALSE hm2_5i25.0.gpio.031.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.032.in
5 bit OUT FALSE hm2_5i25.0.gpio.032.in_not
5 bit OUT TRUE hm2_5i25.0.gpio.033.in
5 bit OUT FALSE hm2_5i25.0.gpio.033.in_not
5 bit IN FALSE hm2_5i25.0.led.CR01
5 bit IN FALSE hm2_5i25.0.led.CR02
5 bit IN FALSE hm2_5i25.0.pwmgen.00.enable
5 float IN 0 hm2_5i25.0.pwmgen.00.value
5 bit IN FALSE hm2_5i25.0.pwmgen.01.enable
5 float IN 0 hm2_5i25.0.pwmgen.01.value
5 s32 OUT 0 hm2_5i25.0.read.time
5 s32 OUT 0 hm2_5i25.0.read_gpio.time
5 bit IN FALSE hm2_5i25.0.stepgen.00.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.00.counts
5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.00.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.00.enable
5 float IN 0 hm2_5i25.0.stepgen.00.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.00.position-fb
5 float IN 0 hm2_5i25.0.stepgen.00.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.00.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.01.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.01.counts
5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.01.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.01.enable
5 float IN 0 hm2_5i25.0.stepgen.01.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.01.position-fb
5 float IN 0 hm2_5i25.0.stepgen.01.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.01.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.02.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.02.counts
5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.02.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.02.enable
5 float IN 0 hm2_5i25.0.stepgen.02.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.02.position-fb
5 float IN 0 hm2_5i25.0.stepgen.02.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.02.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.03.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.03.counts
5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.03.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.03.enable
5 float IN 0 hm2_5i25.0.stepgen.03.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.03.position-fb
5 float IN 0 hm2_5i25.0.stepgen.03.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.03.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.04.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.04.counts
5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.04.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.04.enable
5 float IN 0 hm2_5i25.0.stepgen.04.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.04.position-fb
5 float IN 0 hm2_5i25.0.stepgen.04.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.04.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.05.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.05.counts
5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.05.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.05.enable
5 float IN 0 hm2_5i25.0.stepgen.05.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.05.position-fb
5 float IN 0 hm2_5i25.0.stepgen.05.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.05.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.06.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.06.counts
5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.06.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.06.enable
5 float IN 0 hm2_5i25.0.stepgen.06.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.06.position-fb
5 float IN 0 hm2_5i25.0.stepgen.06.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.06.velocity-fb
5 bit IN FALSE hm2_5i25.0.stepgen.07.control-type
5 s32 OUT 0 hm2_5i25.0.stepgen.07.counts
5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_err_at_match
5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_ff_vel
5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_pos_minus_prev_cmd
5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_s_to_match
5 s32 OUT 0 hm2_5i25.0.stepgen.07.dbg_step_rate
5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_vel_error
5 bit IN FALSE hm2_5i25.0.stepgen.07.enable
5 float IN 0 hm2_5i25.0.stepgen.07.position-cmd
5 float OUT 0 hm2_5i25.0.stepgen.07.position-fb
5 float IN 0 hm2_5i25.0.stepgen.07.velocity-cmd
5 float OUT 0 hm2_5i25.0.stepgen.07.velocity-fb
5 bit I/O FALSE hm2_5i25.0.watchdog.has_bit
5 s32 OUT 0 hm2_5i25.0.write.time
5 s32 OUT 0 hm2_5i25.0.write_gpio.time

halcmd: show param
Parameters:
Owner Type Dir Value Name
5 bit RW FALSE hm2_5i25.0.encoder.00.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.00.filter
5 bit RW FALSE hm2_5i25.0.encoder.00.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.00.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.00.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.00.scale
5 float RW 0.5 hm2_5i25.0.encoder.00.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.01.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.01.filter
5 bit RW FALSE hm2_5i25.0.encoder.01.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.01.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.01.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.01.scale
5 float RW 0.5 hm2_5i25.0.encoder.01.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.02.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.02.filter
5 bit RW FALSE hm2_5i25.0.encoder.02.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.02.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.02.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.02.scale
5 float RW 0.5 hm2_5i25.0.encoder.02.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.03.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.03.filter
5 bit RW FALSE hm2_5i25.0.encoder.03.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.03.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.03.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.03.scale
5 float RW 0.5 hm2_5i25.0.encoder.03.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.04.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.04.filter
5 bit RW FALSE hm2_5i25.0.encoder.04.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.04.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.04.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.04.scale
5 float RW 0.5 hm2_5i25.0.encoder.04.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.05.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.05.filter
5 bit RW FALSE hm2_5i25.0.encoder.05.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.05.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.05.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.05.scale
5 float RW 0.5 hm2_5i25.0.encoder.05.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.06.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.06.filter
5 bit RW FALSE hm2_5i25.0.encoder.06.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.06.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.06.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.06.scale
5 float RW 0.5 hm2_5i25.0.encoder.06.vel-timeout
5 bit RW FALSE hm2_5i25.0.encoder.07.counter-mode
5 bit RW TRUE hm2_5i25.0.encoder.07.filter
5 bit RW FALSE hm2_5i25.0.encoder.07.index-invert
5 bit RW FALSE hm2_5i25.0.encoder.07.index-mask
5 bit RW FALSE hm2_5i25.0.encoder.07.index-mask-invert
5 float RW 1 hm2_5i25.0.encoder.07.scale
5 float RW 0.5 hm2_5i25.0.encoder.07.vel-timeout
5 bit RW FALSE hm2_5i25.0.gpio.000.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.000.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.000.is_output
5 bit RW FALSE hm2_5i25.0.gpio.001.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.001.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.001.is_output
5 bit RW FALSE hm2_5i25.0.gpio.002.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.002.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.003.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.003.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.004.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.004.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.005.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.005.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.006.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.006.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.007.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.007.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.008.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.008.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.009.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.009.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.010.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.010.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.017.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.017.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.017.is_output
5 bit RW FALSE hm2_5i25.0.gpio.018.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.018.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.018.is_output
5 bit RW FALSE hm2_5i25.0.gpio.019.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.019.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.020.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.020.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.021.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.021.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.022.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.022.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.023.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.023.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.024.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.024.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.025.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.025.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.026.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.026.is_opendrain
5 bit RW FALSE hm2_5i25.0.gpio.027.invert_output
5 bit RW FALSE hm2_5i25.0.gpio.027.is_opendrain
5 bit RW FALSE hm2_5i25.0.io_error
5 s32 RW 1 hm2_5i25.0.pwmgen.00.output-type
5 float RW 1 hm2_5i25.0.pwmgen.00.scale
5 s32 RW 1 hm2_5i25.0.pwmgen.01.output-type
5 float RW 1 hm2_5i25.0.pwmgen.01.scale
5 u32 RW 0x00004E20 hm2_5i25.0.pwmgen.pdm_frequency
5 u32 RW 0x00004E20 hm2_5i25.0.pwmgen.pwm_frequency
5 s32 RW 0 hm2_5i25.0.read.tmax
5 bit RO FALSE hm2_5i25.0.read.tmax-increased
5 s32 RW 0 hm2_5i25.0.read_gpio.tmax
5 bit RO FALSE hm2_5i25.0.read_gpio.tmax-increased
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.00.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.00.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.00.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.00.maxvel
5 float RW 1 hm2_5i25.0.stepgen.00.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.00.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.00.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.00.stepspace
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.00.table-data-0
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.00.table-data-1
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.00.table-data-2
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.00.table-data-3
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.01.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.01.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.01.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.01.maxvel
5 float RW 1 hm2_5i25.0.stepgen.01.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.01.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.01.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.01.stepspace
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.01.table-data-0
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.01.table-data-1
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.01.table-data-2
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.01.table-data-3
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.02.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.02.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.02.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.02.maxvel
5 float RW 1 hm2_5i25.0.stepgen.02.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.02.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.02.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.02.stepspace
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.02.table-data-0
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.02.table-data-1
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.02.table-data-2
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.02.table-data-3
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.03.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.03.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.03.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.03.maxvel
5 float RW 1 hm2_5i25.0.stepgen.03.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.03.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.03.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.03.stepspace
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.04.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.04.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.04.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.04.maxvel
5 float RW 1 hm2_5i25.0.stepgen.04.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.04.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.04.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.04.stepspace
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.04.table-data-0
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.04.table-data-1
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.04.table-data-2
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.04.table-data-3
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.05.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.05.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.05.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.05.maxvel
5 float RW 1 hm2_5i25.0.stepgen.05.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.05.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.05.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.05.stepspace
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.05.table-data-0
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.05.table-data-1
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.05.table-data-2
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.05.table-data-3
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.06.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.06.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.06.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.06.maxvel
5 float RW 1 hm2_5i25.0.stepgen.06.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.06.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.06.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.06.stepspace
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.06.table-data-0
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.06.table-data-1
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.06.table-data-2
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.06.table-data-3
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.07.dirhold
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.07.dirsetup
5 float RW 1 hm2_5i25.0.stepgen.07.maxaccel
5 float RW 0 hm2_5i25.0.stepgen.07.maxvel
5 float RW 1 hm2_5i25.0.stepgen.07.position-scale
5 u32 RW 0x00000000 hm2_5i25.0.stepgen.07.step_type
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.07.steplen
5 u32 RW 0x00077FE2 hm2_5i25.0.stepgen.07.stepspace
5 u32 RW 0x004C4B40 hm2_5i25.0.watchdog.timeout_ns
5 s32 RW 0 hm2_5i25.0.write.tmax
5 bit RO FALSE hm2_5i25.0.write.tmax-increased
5 s32 RW 0 hm2_5i25.0.write_gpio.tmax
5 bit RO FALSE hm2_5i25.0.write_gpio.tmax-increased

Well, lets make my Spoilers complete....

HAL - File

Warning: Spoiler!

# Generated by PNCconf at Sun Dec 25 15:40:27 2016
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=8 num_pwmgens=2 num_stepgens=8 sserial_port_0=00xxxx"
setp hm2_5i25.0.pwmgen.pwm_frequency 20000
setp hm2_5i25.0.pwmgen.pdm_frequency 6000000
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write servo-thread

# external output signals

# external input signals

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

setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005

net x-index-enable <=> pid.x.index-enable
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

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [AXIS_0]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [AXIS_0]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [AXIS_0]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 1
setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.maxvel [AXIS_0]STEPGEN_MAXVEL

# ---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

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

net x-home-sw => 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
#*******************

setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005

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

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 1
setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= axis.1.motor-pos-cmd
net y-vel-cmd <= axis.1.joint-vel-cmd
net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
#net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-fb => axis.1.motor-pos-fb
net y-enable <= axis.1.amp-enable-out
net y-enable => hm2_5i25.0.stepgen.01.enable

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

setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_1]ENCODER_SCALE

net y-pos-fb <= hm2_5i25.0.encoder.02.position
net y-vel-fb <= hm2_5i25.0.encoder.02.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts

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

net y-home-sw => 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
#*******************

setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005

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

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 1
setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [AXIS_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output <= hm2_5i25.0.stepgen.00.velocity-cmd
#net z-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_5i25.0.stepgen.00.enable

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

setp hm2_5i25.0.encoder.03.counter-mode 0
setp hm2_5i25.0.encoder.03.filter 1
setp hm2_5i25.0.encoder.03.index-invert 0
setp hm2_5i25.0.encoder.03.index-mask 0
setp hm2_5i25.0.encoder.03.index-mask-invert 0
setp hm2_5i25.0.encoder.03.scale [AXIS_2]ENCODER_SCALE

net z-pos-fb <= hm2_5i25.0.encoder.03.position
net z-vel-fb <= hm2_5i25.0.encoder.03.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.03.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.03.rawcounts

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

net z-home-sw => 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
#*******************

setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
setp pid.s.maxerror .0005

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

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

setp hm2_5i25.0.pwmgen.00.output-type 1
setp hm2_5i25.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE

net spindle-output => hm2_5i25.0.pwmgen.00.value
net machine-is-enabled => hm2_5i25.0.pwmgen.00.enable

# ---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 [SPINDLE_9]ENCODER_SCALE

net spindle-revs <= hm2_5i25.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.00.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.00.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= 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-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

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

sets spindle-at-speed true

# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.

#setp scale.spindle.gain 60
#setp lowpass.spindle.gain 1.000000
#net spindle-vel-fb-rps => scale.spindle.in
#net spindle-fb-rpm scale.spindle.out => abs.spindle.in
#net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
#net spindle-fb-rpm-abs-filtered lowpass.spindle.out

#******************************
# 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

Im just afraid to make a helping hand bugged with that many text to rawl through...
It has Time!

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Emanresu
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Senior Member

9 years 10 months ago #84780 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

I got it!
Feels so good to see after being blind! I blame the X-mas trouble....

For some Reason i figured out "axis" as the "real world axis" not as the user interface.
And all my following confusion based on it....

Well then... just two more Question:

Whats the difference between hm2_5i25.0.stepgen.XX.position-fb and hm2_5i25.0.encoder.XX.position?

hm2_5i25.0.stepgen.XX.position-fb = "Hello im hm2_5i25, I sent my steps, so the axis should be at..." ?
hm2_5i25.0.encoder.XX.position = "Hello im hm2_5i25, Im counting the encoder and this is my result" ?

Where exactly does the PID "operate" ? Axis or FPGA

I guess axis. Otherwise you wont need to send hm2_5i25.0.encoder.XX.position to axis.X.motor-pos-fb by X-pos-fb right?

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PCW
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Moderator

9 years 10 months ago #84781 by PCW

Replied by PCW on topic 5i25 + 7i85s +....

Whats the difference between hm2_5i25.0.stepgen.XX.position-fb and hm2_5i25.0.encoder.XX.position?

One is the local feedback from the stepgen the other is external position feedback from an encoder, they are used similarly

hm2_5i25.0.stepgen.XX.position-fb = Here's where the stepgen position is currently, use PID to check against the commanded position and adjust course as needed by adjusting the velocity

hm2_5i25.0.encoder.XX.position = Here's where the encoder position is currently, use PID to check against the commanded position and adjust course as needed by adjusting the velocity

Where exactly does the PID "operate" ? Axis or FPGA

I guess axis. Otherwise you wont need to send hm2_5i25.0.encoder.XX.position to axis.X.motor-pos-fb by X-pos-fb right?

Yes, the PID component performs the PID calculations every servo thread invocation in LinuxCNC

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Emanresu
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Senior Member

9 years 10 months ago #84782 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

Check!

Hm,... so the most important controlling circuit happens Software based. Good to know!

And sorry, but i found something more....

Where is the "go to" Signal from Axis to 5i25?

I see:
net X-pos-cmd <= axis.2.motor-pos-cmd
net X-vel-cmd <= axis.2.joint-vel-cmd

But there is nothing like:
net z-pos-cmd => hm2_5i25.0.stepgen.XX.positon
net z-vel-cmd => hm2_5i25.0.stepgen.XX.velocity

Also there are more open links leading to nowhere. (as far as i notice) Like:

net z-vel-fb <= hm2_5i25.0.encoder.XX.velocity

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PCW
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9 years 10 months ago #84784 by PCW

Replied by PCW on topic 5i25 + 7i85s +....

net z-pos-cmd => hm2_5i25.0.stepgen.XX.position is possible using the built in position mode of the
stepgen, it just not quite as robust as the PID mode so pncconf uses the PID mode

In the PID stepgen control mode the equivalent of net z-vel-cmd => hm2_5i25.0.stepgen.XX.velocity
happens automatically due the the FF1 term

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