7i96s + 7i89 analog spindle and mpg troubles

ChatGPTCertainly! Here is a corrected version of your post for the LinuxCNC forum:Hi!I need some help with my LinuxCNC setup. I'm having trouble adding an MPG pendant and getting the spindle to work correctly. I have tried different solutions, but I'm obviously missing something. When I launch my configuration, I can jog the three axes through the GUI, but the MPG doesn't work. I tried adapting the custom HAL file with an example file and setting up the jog wheel through PNCconf. I'm also struggling with the spindle's analog control. I tested the spindle, and it works as expected with a variable voltage supply, reaching 2500 RPM at 5V.
Any hints or suggestions on what I might be doing wrong or what to check would be greatly appreciated!Thanks in advance for your help!

net spindle-vel-cmd-rpm => [HMOT](CARD0).pwmgen.00.value

should be

net spindle-vel-cmd-rpm-abs => [HMOT](CARD0).pwmgen.00.value

Spindle section should be:
(assuming you are supplying 5V to 7I96S TB2 pin 24)


[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2500.0
OUTPUT_SCALE = 2500
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2500


What is the issue with jogging?

Thank you for the help, Yes I suppy 5v to TB2 pin 24. I made the changes in the .hal and ini files but spindle still doesn't move.

The jogging work trough the GUI but my MPG pendant doesn't work I tried to adapt the example file avaible for MPGs. The MPG switches part is in custom.hal and the handwheel in the main hal file.

After re-checking I had the wiring changed yeasterday to try the spindle with the variable power supply. I rewired and with your changes it's working well.

As far as MPG jogging goes, you have the signal "axis-selected-count"
created but it does not seem to be connected to anything:

net axis-selected-count <= [HMOT](CARD0).encoder.02.count

In need to connect each MPG function to a function present in the HALUI section ?
For the rotary switches to select the axis and the scale I used the example file :

loadrt mux4 count=1
addf mux4.0 servo-thread

setp joint.0.jog-vel-mode 0
setp joint.1.jog-vel-mode 0
setp joint.2.jog-vel-mode 0

setp axis.x.jog-vel-mode 0
setp axis.y.jog-vel-mode 0
setp axis.z.jog-vel-mode 0

setp mux4.0.in0 .0001
setp mux4.0.in1 .001
setp mux4.0.in2 .01

net scale1 mux4.0.sel0 <= [HMOT](CARD0).inm.00.input-04
net scale2 mux4.0.sel1 <= [HMOT](CARD0).inm.00.input-03

net mpg-scale <= mux4.0.out
net mpg-scale => joint.0.jog-scale => axis.x.jog-scale
net mpg-scale => joint.1.jog-scale => axis.y.jog-scale
net mpg-scale => joint.2.jog-scale => axis.z.jog-scale

net mpg-x joint.0.jog-enable <= axis.x.jog-enable <= [HMOT](CARD0).inm.00.input-02
net mpg-y joint.1.jog-enable <= axis.y.jog-enable <= [HMOT](CARD0).inm.00.input-01
net mpg-z joint.2.jog-enable <= axis.z.jog-enable <= [HMOT](CARD0).inm.00.input-00

Not related to halui, you need to connect the hardware jog count to
LinuxCNC's joint and or axis jog counts:

 net axis-selected-count axis.x.jog-counts joint.0.jog-counts
 net axis-selected-count axis.y.jog-counts joint.1.jog-counts
 net axis-selected-count axis.z.jog-counts joint.2.jog-counts

I tried to add this to my previous config and then decided to go from the original example hal.

# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again

########MPG_Pendant##########

loadrt encoder num_chan=2
loadrt mux4 count=1
addf mux4.0 servo-thread
addf encoder.capture-position servo-thread
#addf encoder.update-counters base-thread

# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
setp encoder.0.x4-mode 0

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp axis.x.jog-vel-mode 1
setp axis.y.jog-vel-mode 1
setp axis.z.jog-vel-mode 1

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= [HMOT](CARD0).inm.00.input-04
net scale2 mux4.0.sel1 <= [HMOT](CARD0).inm.00.input-03

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale

# The MPG inputs
net axis-selected-count <= [HMOT](CARD0).encoder.02.count

# The Axis select inputs
net mpg-x axis.x.jog-enable <= [HMOT](CARD0).inm.00.input-02

net mpg-y axis.y.jog-enable <= [HMOT](CARD0).inm.00.input-01

net mpg-z axis.z.jog-enable <= [HMOT](CARD0).inm.00.input-00



# The encoder output counts to the axis. Only the selected axis will move.
net encoder-counts <= encoder.0.counts
net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts

There the hardware jog count is already connected to the linuxcnc one. I don't understad about the scale. I have 3 output on my pendant and there is only 2 in this config with mux4. It's a multiplexer so I need to put 0,0 and 0,001 in the same physical input ? I add to delete this line #addf encoder.update-counters base-thread because it was giving me an error at launch "base-thread not found". I also changed the MPG input part because I connected my MPG to channel 2 encoder on the 7i89.

The example uses a software encoder so that can be deleted

This should be closer:

I tried to add this to my previous config and then decided to go from the original example hal.

# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again

########MPG_Pendant##########

loadrt mux4 count=1
addf mux4.0 servo-thread


# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp axis.x.jog-vel-mode 1
setp axis.y.jog-vel-mode 1
setp axis.z.jog-vel-mode 1

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= [HMOT](CARD0).inm.00.input-04
net scale2 mux4.0.sel1 <= [HMOT](CARD0).inm.00.input-03

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale

# The MPG inputs
net encoder-counts <= [HMOT](CARD0).encoder.02.count

# The Axis select inputs
net mpg-x axis.x.jog-enable <= [HMOT](CARD0).inm.00.input-02

net mpg-y axis.y.jog-enable <= [HMOT](CARD0).inm.00.input-01

net mpg-z axis.z.jog-enable <= [HMOT](CARD0).inm.00.input-00



# The encoder output counts to the axis. Only the selected axis will move.

net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts


The mux4 component uses a binary code on the
select pins so 2 pins can select 4 different inputs:

SEL1  SEL0    INPUT
0,       0         in0
0,       1         in1
1,       0         in2
1,       1         in3

It makes sense now. [HMOT](CARD0).encoder.02.count was not really connected to axis.N.jog-counts. I think I finally understand the working principle of mux4 and how to adapt it to my setup and wiring. I rechecked the wiring and the output of the MPG on my oscilloscope. The switches also go high (+24V) when selected and the enable button is pressed.

Should I link the final motion function axis.N.jog-counts somewhere in the main HAL file ?