Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

The answer is sort of. There are inputs on the isolated GPIO section of the 7i76e that can be used for low speed encoder counting (sampled at servo thread speeds). Their inteded purpose is for things like an MPG jog wheel. Also bare inputs on an unused expansion port can be used for high speed encoder counting, but used bare they are 3.3v TTL with no protection for the board. And may require a custom firmware setup.

Hopefully Peter will get back with you soon about the possibility of repairing your 7i76e cards or other options. (He might be on holiday for the weekend, it's Labor day in the US.)

tecno wrote:

andypugh wrote:

net some-signal-name axis.N.motor-position-fb hm2_7i76e.0.encoder.MM.position

Choose the N and MM any way that you fancy.
If you are using a PID component for each axis (this is optional, but pncconf currently sets things up that way) then you also need

net some-signal-name pid.X.feedback

(That is the same "some-signal-name" as the above, and you can combine them all on one line, or split over 3 lines, as you prefer)

Want to have spindle encoder on 4th encoder input, what syntax in hal for this.

net spindle-pos hm2_7i76e.0.encoder.04.position motion.spindle-revs
net spindle-vel hm2_7i76.0.encoder.04.velocity motion,spindle-vel

Is it something like this?

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

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

### --- net some-signal-name pid.X.feedback >> already declared ---
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---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 some-signal-name axis.N.motor-position-fb hm2_7i76e.0.encoder.MM.position -- is the line below to be changed???
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

net spindle-pos hm2_7i76e.0.encoder.04.position motion.spindle-revs ### new added line
net spindle-vel hm2_7i76.0.encoder.04.velocity motion.spindle-vel ### new added line

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

sets spindle-at-speed true

setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 1200
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500

net spindle-enable hm2_7i76e.0.7i76.0.0.spinena
net spindle-vel-cmd-rpm-abs hm2_7i76e.0.7i76.0.0.spinout
net spindle-ccw hm2_7i76e.0.7i76.0.0.spindir

Are above edit OK or something wrong still?

The way to check the encoder inputs on the 7I76E is this:

Make sure the 7I76E encoder inputs are jumpered for TTL mode (W10, W11, W13 in left hand position)

Setup LinuxCNC to watch (not show)

hm2_7i76e.0.encoder.04.input-a
hm2_7i76e.0.encoder.04.input-b
hm2_7i76e.0.encoder.04.input-index

Then ground TB3 pins 7 (A), 10 ( ,13 (Index) (connect them to TB3 pin 15) with a wire and see it in input pin status changes in LinuxCNC.

Make sure that you config line enables all encoders (you can just remove the num_encoders=xx stanza to enable all)

Tests done
#1 7i76e board for lathe is busted as regards pin 13, A/B flickers when shorting.
#2 7i76e board for milling machine seems to be OK so maybe it is so that I have watched wrong encoder like 00

So now edits have to be done to HAL and INI.

andypugh wrote:

tecno wrote:

Are above edit OK or something wrong still?

It is wrong in many ways.

There is almost a PID for closed-loop speed control, but it is set up with rpm command and rps feedback. Luckily this won't be disasterous, because the output doesn't go anywhere.

Why not keep it simple?

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

net spindle-cmd-rpm          motion.spindle-speed-out-abs =>  hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable           motion.spindle-on => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw              motion.spindle-reverse => hm2_7i76e.0.7i76.0.0.spindir
net spindle-index-enable     motion.spindle-index-enable <=>  hm2_7i76e.0.encoder.04.index-enable
net spindle-pos              hm2_7i76e.0.encoder.04.position =>  motion.spindle-revs
net spindle-vel              hm2_7i76.0.encoder.04.velocity => motion.spindle-speed-in

setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 1200
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500

I sure want to keep it simple but PNCCONF and me we are not friends as it fucks up everything as it is not easy to setup.

This is a language barrier and just too much parameters for a beginner, it is as simple as that.

This is what I have edited, kindly have a look.

andypugh wrote:

Yes, it is time to not use pncconf any more. You have a set of config files, now tweak them to suit.
Starting with the spindle section above. You can always add closed-loop spindle control later.

Without closed-loop = no G33.1 ?