Mesa modbus and pktUart

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04 Sep 2023 15:16 #279838 by Donno
Replied by Donno on topic Mesa modbus and pktUart
Yes I have Pos - 620ohm - 120 ohm - 620 ohm -Neg
 
If i wire it any other way i get fault or if i remove 120ohm then i get a fault so i am pretty sure it is connecting. What are the default data and stop bit ?

Test.mod
// Test Driver
#define MAX_MSG_LEN 16   // may be increased if necessary to max 251
#define DEBUG 3

static const hm2_modbus_chan_descriptor_t channels[] = {
/*  {TYPE,     FUNC, ADDR,   COUNT, pin_name} */
    {HAL_U32,   3,   0x0000, 1,     "test0"},
    {HAL_U32,   3,   0x0001, 1,     "test1"},
    {HAL_U32,   3,   0x0002, 1,     "test2"},
    {HAL_U32,   3,   0x0003, 1,     "test3"},
    {HAL_U32,   3,   0x0004, 1,     "test4"},
    {HAL_U32,   3,   0x0005, 1,     "test5"},
    {HAL_U32,   3,   0x0006, 1,     "test6"},
    {HAL_U32,   3,   0x0007, 1,     "test7"},
    {HAL_U32,   3,   0x0008, 1,     "test8"},
};
HAL File
# Generated by PNCconf at Mon Aug 28 20:19:10 2023
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0 num_stepgens=2"
loadrt test ports=hm2_7i92.0.pktuart.0

setp    hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt near

addf hm2_7i92.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf scale.spindle            servo-thread
addf abs.spindle              servo-thread
addf lowpass.spindle          servo-thread
addf near.0                   servo-thread
addf hm2_7i92.0.write         servo-thread
addf test.00      servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

setp test.00.address 1
setp test.00.baudrate 19200
setp test.00.parity 2
setp test.00.update-hz 0.1

# external output signals

# --- DOUT-00 ---
setp hm2_7i92.0.gpio.000.is_output true
net dout-00  =>     hm2_7i92.0.gpio.000.out

# --- SPINDLE-ENABLE ---
setp hm2_7i92.0.gpio.005.is_output true
net spindle-enable  =>     hm2_7i92.0.gpio.005.out

# --- SPINDLE-CW ---
setp hm2_7i92.0.gpio.006.is_output true
net spindle-cw  =>     hm2_7i92.0.gpio.006.out

# --- SPINDLE-CCW ---
setp hm2_7i92.0.gpio.007.is_output true
net spindle-ccw  =>     hm2_7i92.0.gpio.007.out

# --- COOLANT-MIST ---
setp hm2_7i92.0.gpio.008.is_output true
net coolant-mist  =>     hm2_7i92.0.gpio.008.out

# --- DOUT-01 ---
setp hm2_7i92.0.gpio.013.is_output true
net dout-01  =>     hm2_7i92.0.gpio.013.out

# --- DOUT-02 ---
setp hm2_7i92.0.gpio.015.is_output true
net dout-02  =>     hm2_7i92.0.gpio.015.out

# --- DOUT-03 ---
setp hm2_7i92.0.gpio.016.is_output true
net dout-03  =>     hm2_7i92.0.gpio.016.out

# --- ESTOP-OUT ---
setp hm2_7i92.0.gpio.030.is_output true
net estop-out  =>     hm2_7i92.0.gpio.030.out

# --- MACHINE-IS-ENABLED ---
setp hm2_7i92.0.gpio.032.is_output true
net machine-is-enabled  =>     hm2_7i92.0.gpio.032.out

# --- SPINDLE-ENABLE ---
setp hm2_7i92.0.gpio.033.is_output true
net spindle-enable  =>     hm2_7i92.0.gpio.033.out


# external input signals

# --- HOME-X ---
net home-x     <=  hm2_7i92.0.gpio.012.in

# --- HOME-Z ---
net home-z     <=  hm2_7i92.0.gpio.014.in

# --- DIN-00 ---
net din-00     <=  hm2_7i92.0.gpio.019.in

# --- DIN-01 ---
net din-01     <=  hm2_7i92.0.gpio.020.in

# --- DIN-02 ---
net din-02     <=  hm2_7i92.0.gpio.021.in

# --- DIN-03 ---
net din-03     <=  hm2_7i92.0.gpio.022.in

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i92.0.gpio.023.in

# --- PROBE-IN ---
net probe-in     <=  hm2_7i92.0.gpio.024.in


#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700

net x-index-enable  =>  pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i92.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i92.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i92.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i92.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i92.0.stepgen.00.step_type        0
setp   hm2_7i92.0.stepgen.00.control-type     1
setp   hm2_7i92.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     => hm2_7i92.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i92.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i92.0.stepgen.00.enable

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

net home-x     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 1
#*******************

setp   pid.z.Pgain     [JOINT_1]P
setp   pid.z.Igain     [JOINT_1]I
setp   pid.z.Dgain     [JOINT_1]D
setp   pid.z.bias      [JOINT_1]BIAS
setp   pid.z.FF0       [JOINT_1]FF0
setp   pid.z.FF1       [JOINT_1]FF1
setp   pid.z.FF2       [JOINT_1]FF2
setp   pid.z.deadband  [JOINT_1]DEADBAND
setp   pid.z.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

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

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i92.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i92.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i92.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i92.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i92.0.stepgen.01.step_type        0
setp   hm2_7i92.0.stepgen.01.control-type     1
setp   hm2_7i92.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.1.motor-pos-cmd
net z-vel-cmd    <= joint.1.vel-cmd
net z-output     => hm2_7i92.0.stepgen.01.velocity-cmd
net z-pos-fb     <= hm2_7i92.0.stepgen.01.position-fb
net z-pos-fb     => joint.1.motor-pos-fb
net z-enable     <= joint.1.amp-enable-out
net z-enable     => hm2_7i92.0.stepgen.01.enable

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

net home-z     =>  joint.1.home-sw-in
net z-neg-limit     =>  joint.1.neg-lim-sw-in
net z-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]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-abs     => pid.s.command
net spindle-vel-fb-rpm-abs      => pid.s.feedback
net spindle-output        <=  pid.s.output

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

setp    hm2_7i92.0.encoder.00.counter-mode 0
setp    hm2_7i92.0.encoder.00.filter 1
setp    hm2_7i92.0.encoder.00.index-invert 0
setp    hm2_7i92.0.encoder.00.index-mask 0
setp    hm2_7i92.0.encoder.00.index-mask-invert 0
setp    hm2_7i92.0.encoder.00.scale  [SPINDLE_0]ENCODER_SCALE

net spindle-revs             <=   hm2_7i92.0.encoder.00.position
net spindle-vel-fb-rps       <=   hm2_7i92.0.encoder.00.velocity
net spindle-vel-fb-rpm       <=   hm2_7i92.0.encoder.00.velocity-rpm
net spindle-index-enable     <=>  hm2_7i92.0.encoder.00.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

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

net spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb-rps         =>  near.0.in2
net spindle-at-speed       <=  near.0.out
setp near.0.scale 1.000000
setp near.0.difference 0.166667

#  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 axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.1.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.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---

net dout-00     <=  motion.digital-out-00
net dout-01     <=  motion.digital-out-01
net dout-02     <=  motion.digital-out-02
net dout-03     <=  motion.digital-out-03
net din-00     =>  motion.digital-in-00
net din-01     =>  motion.digital-in-01
net din-02     =>  motion.digital-in-02
net din-03     =>  motion.digital-in-03
#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

net tool-change-request    <= iocontrol.0.tool-change
net tool-change-confirmed  => iocontrol.0.tool-changed
net tool-number            <= iocontrol.0.tool-prep-number

#  ---Use external manual tool change dialog---

loadusr -W hal_manualtoolchange
net tool-change-request    =>  hal_manualtoolchange.change
net tool-change-confirmed  <=  hal_manualtoolchange.changed
net tool-number            =>  hal_manualtoolchange.number

#  ---ignore tool prepare requests---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared


 
 
 

This is what i am expecting on address 0 to 8
[color=#ff5454]A5 Servo Driver |  16:59:43                                                                                                                                [/color][color=#000000] [/color]
[color=#e74c3c]0 : 14130 | 1 :  0 | 2 :  0 | 3 :  0 | 4 :  0 | 5 :  0 | 6 :  0 | 7 :  0 | 8 :  14100 |[/color][color=#5454ff] [/color]





 
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04 Sep 2023 16:02 #279843 by PCW
Replied by PCW on topic Mesa modbus and pktUart
If removing the 120 ohm termination cause a fault, that indicate a polarity or
perhaps drive enable issue

What interface chip are you using and how is it wired to the 7I92?
What configuration are you using on the 7I92 and especially, what TXEN polarity are you using?
 

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04 Sep 2023 16:57 #279849 by Donno
Replied by Donno on topic Mesa modbus and pktUart
The ic is LTC485 i currently have it hooked up like this :

 

I wired it directly to LTC458
DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                     17   IOPort       PktUARTRX        0        RXData          (In)
14                     18   IOPort       PktUARTTX        0        TXData          (Out)
 2                     19   IOPort       PktUARTTX        0        TXEna           (Out)
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04 Sep 2023 18:26 - 04 Sep 2023 18:38 #279857 by PCW
Replied by PCW on topic Mesa modbus and pktUart
OK, that's not right

7I92   MAX/LTC485

TX   --> MAX485 pin 4 ( DI )
RX  --> MAX485 pin 2 ( RO )
TXEN --> MAX485 pin 3 ( DE )
GND --> MAX485 pin 1 ( /RE )

620 pullup to 5V --> MAX485 pin 6  ( A )
620 pulldown to GND --> MAX485 pin 7 ( B )

Also the default TXEN polarity is wrong for direct
connection to active high enables like the MAX485 uses,
so it either must be inverted in hal or the firmware
must be compiled with a pinout the uses the ntxen pin descriptor
Last edit: 04 Sep 2023 18:38 by PCW.

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05 Sep 2023 08:20 #279933 by Donno
Replied by Donno on topic Mesa modbus and pktUart
Can you give me an example please of ntxen in my use case ?

OPortTag & x"00" & PktUARTTTag & PktUTDrvEnPin,

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05 Sep 2023 13:10 #279967 by Donno
Replied by Donno on topic Mesa modbus and pktUart
I mixed up my TX/GND Pin in Photo ! I have added a 74HC04 to TXena pin and still nothing I found a tty to RS458 converter and tried that as well.

I re-installed LinuxCNC 2.9pre and setup everything again. I also set my pktuart on different pins just in case i might have damage one pin still no joy.

If i disconnect servo drive and probe A/B i can see signals on the probe:

 

 

 




 
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05 Sep 2023 13:52 #279973 by PCW
Replied by PCW on topic Mesa modbus and pktUart
The signals on A/B do not look right.
When undriven, A _must_ be higher than B
(or the VFD will receive garbage)


Can you scope TXEN and TXdata at the adapter pins?

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05 Sep 2023 14:56 #279984 by Donno
Replied by Donno on topic Mesa modbus and pktUart
 

Close Up of two signals together :

 
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05 Sep 2023 15:13 #279989 by PCW
Replied by PCW on topic Mesa modbus and pktUart

Can you give me an example please of ntxen in my use case ?

OPortTag & x"00" & PktUARTTTag & PktUTDrvEnPin,
 

IOPortTag & x"00" & PktUARTTTag & PktUTNDrvEnPin,

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05 Sep 2023 15:50 #279998 by PCW
Replied by PCW on topic Mesa modbus and pktUart
Is that TXEN at the adapter or direct from the 7I92
(the adapter needs active high TXEN)

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