7i76e with 7i85S to control 9 steppers

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17 May 2018 00:55 #110799 by cogzoid
cogzoid created the topic: 7i76e with 7i85S to control 9 steppers
Hello,

I've got a non-machining related robot and we're upgrading our 3 Arduinos running GRBL to a LinuxCNC/Mesa set up. I know it's not a perfect fit, but I'm hoping that I can utilize the LinuxCNC stuff to get us most of the way there. However, I'm new to LinuxCNC and FPGAs in general, and the learning curve is steep.

Here's where I'm at right now. I've got Linux 3.2.0-6-rt-686-pae running on my machine. I've set up the mesa board to be on 10.10.10.10 and can connect to it. I flashed the 7i76e_7i76x1_7i85sx1D.bit bitfile to the board.

However, I'm not sure how to set up the boards using PncConf wizard. I can set up the outputs of XYZAS, but I'm not sure how to set up the 7i85S Dir/Step ports. To be clear, I'm not sure if I should be using PncConf wizard at all.

I used mesaflash --readhmid to look at the ins and outs, and I can see all 9 Pulse/Dir pairs that I'll need. Any want to help point me in the right direction on how to get this all set up?
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17 May 2018 02:54 #110804 by PCW
PCW replied the topic: 7i76e with 7i85S to control 9 steppers
I think I would use pncconf to make a config file set for a standard 7I76e and simple machine (say 3 axis mill)
as a starting point and then add the additional hal/ini file boilerplate for the added axis/joints to the
hal/ini files by copy pasting the existing per axis motion connections and renumbering them
(renumbering stepgens, joint/axis numbers etc etc)
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17 May 2018 03:18 #110806 by cogzoid
cogzoid replied the topic: 7i76e with 7i85S to control 9 steppers
Great. I'm able to copy/paste. I'll start familiarizing myself with the .hal and .ini files. Thanks.
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17 May 2018 08:26 #110810 by rodw
rodw replied the topic: 7i76e with 7i85S to control 9 steppers
In the hal examples section, I posted a complete working example of a 7i76e config using master branch. Its still on the top of the list of posts. I think from memory I gave up with pncconf and just took a similar working example and coded by hand.

However, this example was built from pncconf and hand edited. I think the changes in master branch where joints are independent from axes might well be useful for your project.

The approach I took when I wrote this was to renumber everything along the lines PCW mentioned so it should be a nice clean starter.
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