What Mesa card for that?

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bkt
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18 Aug 2017 09:46 #97694 by bkt

What Mesa card for that? was created by bkt

I have a robot system on 5i26 + 7i76 ... 4axes ... now I would add an other axis .. but with analogue drive mode (so i need 1 encoder input and 1 analogue out at least) ... witch type of card I can add for to do these adictional work??

regards
giorgio

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massimodamassa
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18 Aug 2017 12:38 - 18 Aug 2017 12:41 #97696 by massimodamassa

Replied by massimodamassa on topic What Mesa card for that?

7i33TA

store.mesanet.com/index.php?route=produc...=83_86&product_id=74

Last edit: 18 Aug 2017 12:41 by massimodamassa.

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Todd Zuercher
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18 Aug 2017 13:37 #97699 by Todd Zuercher

Replied by Todd Zuercher on topic What Mesa card for that?

k-1 wrote:
I have a robot system on 5i26 + 7i76 ... 4axes ... now I would add an other axis .. but with analogue drive mode (so i need 1 encoder input and 1 analogue out at least) ... witch type of card I can add for to do these adictional work??

regards
giorgio

Do you mean a 5i25 or 6i25 + 7i76? (I don't think there is a Mesa card called a 5i26.)

Unfortunately the 7i33 will not work with the DB25 FPGA cards. If that is what you have.
If you only need to add one analog axis, and you are not using the encoder counter on the 7i76, you could just add a 7i83 to get some analog output channels. (It would connect to the SmartSerial port on the 7i76.)

If you need more than one encoder, you will need to add a 7i85 or a 7i77. (If you use the 7i77, you wouldn't need the 7i83.)

As far as I know the only options for reading encoders with the DB25 cards, other than a direct single ended connection, are the 7i85(s) and the 7i77.

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bkt
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22 Aug 2017 11:46 - 22 Aug 2017 11:48 #97866 by bkt

Replied by bkt on topic What Mesa card for that?

my error is 6i25 you are in right .... for other project i need to drive 18 servodrive analog+encoder ... I know these I can buy 3pcs 7i77 but connect to only one 6i25 or 5i25 is not possible .... there are some other board can help me to make these project whitout using an DB25 card? with good performances not using rs422 ....

regards
giorgio

Last edit: 22 Aug 2017 11:48 by bkt.

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PCW
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22 Aug 2017 13:53 - 22 Aug 2017 13:58 #97873 by PCW

Replied by PCW on topic What Mesa card for that?

You could use a 7I80DB-25
This has 4 DB25 connectors so could support up to 4 7I77s or 24 Axis of encoder/analog out

Another option would be a 7I80HD (3X 50 pin connectors) with one 7I53 (12X encoder input) and one 7I52 (6X encoder input and 6X SSerial) daughtercards then adding 3x 7I83 for the 18 analog outputs

Last edit: 22 Aug 2017 13:58 by PCW.

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Todd Zuercher
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22 Aug 2017 14:33 - 22 Aug 2017 14:43 #97877 by Todd Zuercher

Replied by Todd Zuercher on topic What Mesa card for that?

Edit: Peter's Idea is better for the 7i52 rather than the 7i48

If you need to connect 18 servos+encoders, I think I would start with a 6i24 (or 5i24 for PCI, or 7i80HD for Ethernet), plus one 7i53 (12 encoders+2 SSports), plus ~~two~~ three 7i83 cards (6 channel analog out SScard). All of that only uses one of the FPGA card's three 50 pin headers. You'd still need 6 more ~~servos, and one 7i48~~ encoders a 7i52 would cover that (header #2 filled). That would leave you with one more 50 pin header and 5 SSports for the rest of your I/O. What card(s) I'd recommend would depend on what kind and how much other I/O you need. ~~If you need lots more I/O I'd suggest adding a SmartSerial interface card on the 3rd 50 pin header (like a 7i44) plus~~ Then add what ever SNoScards would suit your I/O needs~~. But if you don't need a huge amount of other digital I/O and something like~~ or a 7i37TA ~~fills your I/O needs you could use that instead~~ on the 3rd header.

Another option using the DB25 style cards would be to use an Ethernet 7i80DB (it has 4 DB25 ports) plus three 7i77 cards.

(What in the world do you need 18 servos for? Sounds like a fun project. Remember Linuxcnc only supports up to 9 axis of motion. (Not sure what the real joint limit is in Master but the user interfaces stop at 9 there as well.)

Last edit: 22 Aug 2017 14:43 by Todd Zuercher.

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bkt
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23 Aug 2017 11:23 #97912 by bkt

Replied by bkt on topic What Mesa card for that?

@Tood

(What in the world do you need 18 servos for? Sounds like a fun project. Remember Linuxcnc only supports up to 9 axis of motion. (Not sure what the real joint limit is in Master but the user interfaces stop at 9 there as well.)

just ask to mail list ... with some modification code is possible ... without not possible ... fortunately is for 16/18 axis robot so there are 2 option: rtethernet with exchange of data for cordinate 2 different kinematics on two different Lcnc Pc ... or increase Lcnc code with XX, YY, ZZ, aa, BB, CC etc etc ... I think I test solution 1 and 2 too.

If someone have some other ideas ... welcome.

regards
Giorgio

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andypugh
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29 Aug 2017 23:01 - 29 Aug 2017 23:02 #98168 by andypugh

Replied by andypugh on topic What Mesa card for that?

I don't think you need extra G-code coordinates to drive more joints. And no matter how many joints there are the tool tip position and orientation is completely described by XYZABC.

So, I think that all is needed, in theory, is to increase EMCMOT_MAX_JOINTS
github.com/LinuxCNC/linuxcnc/blob/master...tion/emcmotcfg.h#L23

A bit of work is needed to make Axis display a radio button for all the axes, and currently the number of PIDs in HAL is limited to 16 (easy fix).

But other than that, things seem to work.

halcmd: show pin *motor-pos-cmd
Component Pins:
Owner   Type  Dir         Value  Name
    19  float OUT        0.1009  joint.0.motor-pos-cmd ==> J0:pos-cmd
    19  float OUT        0.1009  joint.1.motor-pos-cmd ==> J1:pos-cmd
    19  float OUT             0  joint.10.motor-pos-cmd ==> J10:pos-cmd
    19  float OUT             0  joint.11.motor-pos-cmd ==> J11:pos-cmd
    19  float OUT        0.1009  joint.12.motor-pos-cmd ==> J12:pos-cmd
    19  float OUT        0.1009  joint.13.motor-pos-cmd ==> J13:pos-cmd
    19  float OUT        0.1009  joint.14.motor-pos-cmd ==> J14:pos-cmd
    19  float OUT        0.1009  joint.15.motor-pos-cmd ==> J15:pos-cmd
    19  float OUT        0.1009  joint.16.motor-pos-cmd ==> J16:pos-cmd
    19  float OUT        0.1009  joint.17.motor-pos-cmd ==> J17:pos-cmd
    19  float OUT        0.1009  joint.2.motor-pos-cmd ==> J2:pos-cmd
    19  float OUT        0.1009  joint.3.motor-pos-cmd ==> J3:pos-cmd
    19  float OUT        0.1009  joint.4.motor-pos-cmd ==> J4:pos-cmd
    19  float OUT        0.1009  joint.5.motor-pos-cmd ==> J5:pos-cmd
    19  float OUT             0  joint.6.motor-pos-cmd ==> J6:pos-cmd
    19  float OUT             0  joint.7.motor-pos-cmd ==> J7:pos-cmd
    19  float OUT             0  joint.8.motor-pos-cmd ==> J8:pos-cmd
    19  float OUT             0  joint.9.motor-pos-cmd ==> J9:pos-cmd

ScreenShot2017-08-29at23.59.01_2017-08-29.png

Last edit: 29 Aug 2017 23:02 by andypugh.

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bkt
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30 Aug 2017 06:58 - 30 Aug 2017 07:02 #98184 by bkt

Replied by bkt on topic What Mesa card for that?

thanks for indicate my the right file.

I not thinks was so big problem modify axis gui. A 19" screen resolution 1280*xxx is big enough for containing all checkbox needed.
Monday I try to improve these modification. If work I will share the result on my github.

regards
giorgio

Last edit: 30 Aug 2017 07:02 by bkt.

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Todd Zuercher
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30 Aug 2017 12:36 #98199 by Todd Zuercher

Replied by Todd Zuercher on topic What Mesa card for that?

You may also find it helpful to know that it is possible to connect, disconnect, slave and unslave different joints to different axis letters using some custom M-codes and some clever hal programming. I've done it on a servo machine.
If you would find it helpful I could share the config files with you for it. That example is only has 4 axis router with 2 Z axis. Normally the 2nd Z is defined as W, but to take advantage of the new trajectory planner only XYZ can be used, so I created this config to temporarily slave the W to the Z so that code using only XYZ can be used to run it. I did this all in hal, and it is very sensitive to thread ordering. It would probably work better and be more robust, if it was done with a custom kinematics file, but I don't have the C programming skills to pull that off (at least not yet).

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