Setting up a 5i25/G540/7i76 Gantry

MartyJ
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15 Feb 2019 14:49 - 15 Feb 2019 14:57 #126548 by MartyJ

Replied by MartyJ on topic Setting up a 5i25/G540/7i76 Gantry

OK. I have the 7i76 plugged in to the P3 (onboard) and G540 plugged into the P2 header. I used the 5i25_g540_7i76.bit firmware.

Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA5I25
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 33.3333 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 1 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 2 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: StepGen
  There are 10 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P3
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1      0   IOPort       StepGen          0        Dir/Table2      (Out)
14      1   IOPort       StepGen          0        Step/Table1     (Out)
 2      2   IOPort       StepGen          1        Dir/Table2      (Out)
15      3   IOPort       StepGen          1        Step/Table1     (Out)
 3      4   IOPort       StepGen          2        Dir/Table2      (Out)
16      5   IOPort       StepGen          2        Step/Table1     (Out)
 4      6   IOPort       StepGen          3        Dir/Table2      (Out)
17      7   IOPort       StepGen          3        Step/Table1     (Out)
 5      8   IOPort       StepGen          4        Dir/Table2      (Out)
 6      9   IOPort       StepGen          4        Step/Table1     (Out)
 7     10   IOPort       SSerial          0        TXData1         (Out)
 8     11   IOPort       SSerial          0        RXData1         (In)
 9     12   IOPort       SSerial          0        TXData2         (Out)
10     13   IOPort       SSerial          0        RXData2         (In)
11     14   IOPort       QCount           0        Quad-IDX        (In)
12     15   IOPort       QCount           0        Quad-B          (In)
13     16   IOPort       QCount           0        Quad-A          (In)

IO Connections for P2
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1     17   IOPort       None           
14     18   IOPort       PWM              0        PWM             (Out)
 2     19   IOPort       StepGen          5        Step/Table1     (Out)
15     20   IOPort       None           
 3     21   IOPort       StepGen          5        Dir/Table2      (Out)
16     22   IOPort       StepGen          9        Step/Table1     (Out)
 4     23   IOPort       StepGen          6        Step/Table1     (Out)
17     24   IOPort       None           
 5     25   IOPort       StepGen          6        Dir/Table2      (Out)
 6     26   IOPort       StepGen          7        Step/Table1     (Out)
 7     27   IOPort       StepGen          7        Dir/Table2      (Out)
 8     28   IOPort       StepGen          8        Step/Table1     (Out)
 9     29   IOPort       StepGen          8        Dir/Table2      (Out)
10     30   IOPort       QCount           1        Quad-A          (In)
11     31   IOPort       QCount           1        Quad-B          (In)
12     32   IOPort       QCount           1        Quad-IDX        (In)
13     33   IOPort       None

Last edit: 15 Feb 2019 14:57 by MartyJ.

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PCW
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15 Feb 2019 14:58 - 15 Feb 2019 15:10 #126549 by PCW

Replied by PCW on topic Setting up a 5i25/G540/7i76 Gantry

Right, so GPIO0 is the 7I76s stepgen 5 pin (so not usable as GPIO unless you disable the stepgen)

Also that bit file does not match mine which has the G540 on P3 and G540 stepgens 0..4:

General configuration information:

  BoardName : MESA5I25
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 33.3333 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256
  IDROM Type: 3

Modules in configuration: 

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 2 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: StepGen
  There are 10 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWMGen
  There are 1 of PWMGen in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out: 

IO Connections for P3
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1      0   IOPort       None
14      1   IOPort       PWMGen           0        PWM             (Out)
 2      2   IOPort       StepGen          0        Step            (Out)
15      3   IOPort       None
 3      4   IOPort       StepGen          0        Dir             (Out)
16      5   IOPort       StepGen          4        Step            (Out)
 4      6   IOPort       StepGen          1        Step            (Out)
17      7   IOPort       None
 5      8   IOPort       StepGen          1        Dir             (Out)
 6      9   IOPort       StepGen          2        Step            (Out)
 7     10   IOPort       StepGen          2        Dir             (Out)
 8     11   IOPort       StepGen          3        Step            (Out)
 9     12   IOPort       StepGen          3        Dir             (Out)
10     13   IOPort       QCount           0        Quad-A          (In)
11     14   IOPort       QCount           0        Quad-B          (In)
12     15   IOPort       QCount           0        Quad-IDX        (In)
13     16   IOPort       None

IO Connections for P2
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1     17   IOPort       StepGen          5        Dir             (Out)
14     18   IOPort       StepGen          5        Step            (Out)
 2     19   IOPort       StepGen          6        Dir             (Out)
15     20   IOPort       StepGen          6        Step            (Out)
 3     21   IOPort       StepGen          7        Dir             (Out)
16     22   IOPort       StepGen          7        Step            (Out)
 4     23   IOPort       StepGen          8        Dir             (Out)
17     24   IOPort       StepGen          8        Step            (Out)
 5     25   IOPort       StepGen          9        Dir             (Out)
 6     26   IOPort       StepGen          9        Step            (Out)
 7     27   IOPort       SSerial          0        TXData1         (Out)
 8     28   IOPort       SSerial          0        RXData1         (In)
 9     29   IOPort       SSerial          0        TXData2         (Out)
10     30   IOPort       SSerial          0        RXData2         (In)
11     31   IOPort       QCount           1        Quad-IDX        (In)
12     32   IOPort       QCount           1        Quad-B          (In)
13     33   IOPort       QCount           1        Quad-A          (In)

Last edit: 15 Feb 2019 15:10 by PCW.

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MartyJ
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15 Feb 2019 15:28 #126555 by MartyJ

Replied by MartyJ on topic Setting up a 5i25/G540/7i76 Gantry

I guess I have two issues I need to solve

1. What firmware should I be using in order to get a G540 and 7i76 running off of my 5i25?

2. Once that's sorted, what does a proper HAL file look like for that? I think this step will be straightforward once we are sure my 5i25 is set up correctly.

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PCW
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15 Feb 2019 15:34 #126558 by PCW

Replied by PCW on topic Setting up a 5i25/G540/7i76 Gantry

Either firmware should work but it looks like your bitfile puts the G540 on P2 and assigns it the higher numbered stepgens. because of that the hal file stepgen numbering and GPIO pin numbering would be different.

AFAICT you are trying to use example hal files setup for standard G540_7I76 firmware but you have firmware with swapped connectors. Where did you get that firmware?

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MartyJ
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15 Feb 2019 15:41 - 15 Feb 2019 15:45 #126560 by MartyJ

Replied by MartyJ on topic Setting up a 5i25/G540/7i76 Gantry

Looks like this BIT file doesn't produce the result described in the PIN file.
Got it from the Support section of the 5i25 page on Mesaus.com.

Current output of mesaflash --device 5i525 --readhmid

General configuration information:

  BoardName : MESA5I25
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 33.3333 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 1 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 2 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: StepGen
  There are 10 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P3
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1      0   IOPort       StepGen          0        Dir/Table2      (Out)
14      1   IOPort       StepGen          0        Step/Table1     (Out)
 2      2   IOPort       StepGen          1        Dir/Table2      (Out)
15      3   IOPort       StepGen          1        Step/Table1     (Out)
 3      4   IOPort       StepGen          2        Dir/Table2      (Out)
16      5   IOPort       StepGen          2        Step/Table1     (Out)
 4      6   IOPort       StepGen          3        Dir/Table2      (Out)
17      7   IOPort       StepGen          3        Step/Table1     (Out)
 5      8   IOPort       StepGen          4        Dir/Table2      (Out)
 6      9   IOPort       StepGen          4        Step/Table1     (Out)
 7     10   IOPort       SSerial          0        TXData1         (Out)
 8     11   IOPort       SSerial          0        RXData1         (In)
 9     12   IOPort       SSerial          0        TXData2         (Out)
10     13   IOPort       SSerial          0        RXData2         (In)
11     14   IOPort       QCount           0        Quad-IDX        (In)
12     15   IOPort       QCount           0        Quad-B          (In)
13     16   IOPort       QCount           0        Quad-A          (In)

IO Connections for P2
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1     17   IOPort       None           
14     18   IOPort       PWM              0        PWM             (Out)
 2     19   IOPort       StepGen          5        Step/Table1     (Out)
15     20   IOPort       None           
 3     21   IOPort       StepGen          5        Dir/Table2      (Out)
16     22   IOPort       StepGen          9        Step/Table1     (Out)
 4     23   IOPort       StepGen          6        Step/Table1     (Out)
17     24   IOPort       None           
 5     25   IOPort       StepGen          6        Dir/Table2      (Out)
 6     26   IOPort       StepGen          7        Step/Table1     (Out)
 7     27   IOPort       StepGen          7        Dir/Table2      (Out)
 8     28   IOPort       StepGen          8        Step/Table1     (Out)
 9     29   IOPort       StepGen          8        Dir/Table2      (Out)
10     30   IOPort       QCount           1        Quad-A          (In)
11     31   IOPort       QCount           1        Quad-B          (In)
12     32   IOPort       QCount           1        Quad-IDX        (In)
13     33   IOPort       None

5i25_g540_7i76.bit:

Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA5I25
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 33.3333 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256
  IDROM Type: 3

Modules in configuration: 

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 2 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: StepGen
  There are 10 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWMGen
  There are 1 of PWMGen in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out: 

IO Connections for P3
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1      0   IOPort       None
14      1   IOPort       PWMGen           0        PWM             (Out)
 2      2   IOPort       StepGen          0        Step            (Out)
15      3   IOPort       None
 3      4   IOPort       StepGen          0        Dir             (Out)
16      5   IOPort       StepGen          4        Step            (Out)
 4      6   IOPort       StepGen          1        Step            (Out)
17      7   IOPort       None
 5      8   IOPort       StepGen          1        Dir             (Out)
 6      9   IOPort       StepGen          2        Step            (Out)
 7     10   IOPort       StepGen          2        Dir             (Out)
 8     11   IOPort       StepGen          3        Step            (Out)
 9     12   IOPort       StepGen          3        Dir             (Out)
10     13   IOPort       QCount           0        Quad-A          (In)
11     14   IOPort       QCount           0        Quad-B          (In)
12     15   IOPort       QCount           0        Quad-IDX        (In)
13     16   IOPort       None

IO Connections for P2
Pin#  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1     17   IOPort       StepGen          5        Dir             (Out)
14     18   IOPort       StepGen          5        Step            (Out)
 2     19   IOPort       StepGen          6        Dir             (Out)
15     20   IOPort       StepGen          6        Step            (Out)
 3     21   IOPort       StepGen          7        Dir             (Out)
16     22   IOPort       StepGen          7        Step            (Out)
 4     23   IOPort       StepGen          8        Dir             (Out)
17     24   IOPort       StepGen          8        Step            (Out)
 5     25   IOPort       StepGen          9        Dir             (Out)
 6     26   IOPort       StepGen          9        Step            (Out)
 7     27   IOPort       SSerial          0        TXData1         (Out)
 8     28   IOPort       SSerial          0        RXData1         (In)
 9     29   IOPort       SSerial          0        TXData2         (Out)
10     30   IOPort       SSerial          0        RXData2         (In)
11     31   IOPort       QCount           1        Quad-IDX        (In)
12     32   IOPort       QCount           1        Quad-B          (In)
13     33   IOPort       QCount           1        Quad-A          (In)

Last edit: 15 Feb 2019 15:45 by MartyJ.

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MartyJ
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15 Feb 2019 15:52 - 15 Feb 2019 16:07 #126563 by MartyJ

Replied by MartyJ on topic Setting up a 5i25/G540/7i76 Gantry

OK so P2 and P3 are swapped, no big deal, I think if I plug my G540 into P2 and use the higher number stepgens I should be able to make the rest of this work. Going to give that a try.

Last edit: 15 Feb 2019 16:07 by MartyJ.

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PCW
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15 Feb 2019 16:10 #126565 by PCW

Replied by PCW on topic Setting up a 5i25/G540/7i76 Gantry

Sorry I must have accidentally copied the 7i76_g540 bitfile on top of the
g540_7i76 bitfile at some point

Here is the proper g540_7i76 bitfile

freeby.mesanet.com/5i25_g540_7i76.bit

The following user(s) said Thank You: MartyJ

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MartyJ
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15 Feb 2019 18:42 - 15 Feb 2019 18:43 #126578 by MartyJ

Replied by MartyJ on topic Setting up a 5i25/G540/7i76 Gantry

Is there anything else I need to do? In this thread, a user mentioned needing to put an XML file in /lib/firmware and creating a 5i25 folder. Is that a thing?

forum.linuxcnc.org/27-driver-boards/2934...-5i25-7i76-confusion

Here's my current HAL file. It causes LinuxCNC to fail to load. I don't know how much simpler I can make it.

loadrt [KINS]KINEMATICS
loadrt motmod servo_period_nsec=1000000 num_joints=4
loadrt hostmot2
loadrt hm2_pci config="num_stepgens=5" 
loadrt pid names=pid.0,pid.1,pid.2,pid.3

setp    hm2_5i25.0.watchdog.timeout_ns 5000000

#CHARGE PUMP
setp hm2_5i25.0.stepgen.04.control-type 1
setp hm2_5i25.0.stepgen.04.position-scale 1
setp hm2_5i25.0.stepgen.04.velocity-cmd 16000
setp hm2_5i25.0.stepgen.04.steplen 62500
net machine-is-enabled hm2_5i25.0.stepgen.04.enable

# external output signals


# external input signals


# --- HOME-ALL ---
net home-ALL     <=  hm2_5i25.0.gpio.002.in

#*******************
#  JOINT 0 (X)
#*******************

setp   pid.0.Pgain     [JOINT_0]P
setp   pid.0.Igain     [JOINT_0]I
setp   pid.0.Dgain     [JOINT_0]D
setp   pid.0.bias      [JOINT_0]BIAS
setp   pid.0.FF0       [JOINT_0]FF0
setp   pid.0.FF1       [JOINT_0]FF1
setp   pid.0.FF2       [JOINT_0]FF2
setp   pid.0.deadband  [JOINT_0]DEADBAND
setp   pid.0.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.0.error-previous-target true

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     1
setp   hm2_5i25.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL


# ---closedloop stepper signals---

net 0-pos-cmd    <= joint.0.motor-pos-cmd
net 0-vel-cmd    <= joint.0.vel-cmd
net 0-output     <= hm2_5i25.0.stepgen.00.velocity-cmd
net 0-pos-fb     <= hm2_5i25.0.stepgen.00.position-fb
net 0-pos-fb     => joint.0.motor-pos-fb
net 0-enable     <= joint.0.amp-enable-out
net 0-enable     => hm2_5i25.0.stepgen.00.enable

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

net home-all    =>  joint.0.home-sw-in
net home-all    =>  joint.0.neg-lim-sw-in

#*******************
#  JOINT 3 (X)
#*******************

setp   pid.0.Pgain     [JOINT_3]P
setp   pid.0.Igain     [JOINT_3]I
setp   pid.0.Dgain     [JOINT_3]D
setp   pid.0.bias      [JOINT_3]BIAS
setp   pid.0.FF0       [JOINT_3]FF0
setp   pid.0.FF1       [JOINT_3]FF1
setp   pid.0.FF2       [JOINT_3]FF2
setp   pid.0.deadband  [JOINT_3]DEADBAND
setp   pid.0.maxoutput [JOINT_3]MAX_OUTPUT
setp   pid.0.error-previous-target true

# Step Gen signals/setup

#setp   hm2_5i25.0.stepgen.03.invert_output    1
setp   hm2_5i25.0.stepgen.03.dirsetup        [JOINT_3]DIRSETUP
setp   hm2_5i25.0.stepgen.03.dirhold         [JOINT_3]DIRHOLD
setp   hm2_5i25.0.stepgen.03.steplen         [JOINT_3]STEPLEN
setp   hm2_5i25.0.stepgen.03.stepspace       [JOINT_3]STEPSPACE
setp   hm2_5i25.0.stepgen.03.position-scale  [JOINT_3]STEP_SCALE
setp   hm2_5i25.0.stepgen.03.step_type        0
setp   hm2_5i25.0.stepgen.03.control-type     1
setp   hm2_5i25.0.stepgen.03.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.03.maxvel           [JOINT_3]STEPGEN_MAXVEL


# ---closedloop stepper signals---


net 3-pos-cmd    <= joint.3.motor-pos-cmd
net 3-vel-cmd    <= joint.3.vel-cmd
net 3-output     <= hm2_5i25.0.stepgen.03.velocity-cmd
net 3-pos-fb     <= hm2_5i25.0.stepgen.03.position-fb
net 3-pos-fb     => joint.3.motor-pos-fb
net 3-enable     <= joint.3.amp-enable-out
net 3-enable     => hm2_5i25.0.stepgen.03.enable

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

net home-all    =>  joint.3.home-sw-in
net home-all   =>  joint.3.neg-lim-sw-in

#*******************
#  JOINT 1 (Y)
#*******************

setp   pid.1.Pgain     [JOINT_1]P
setp   pid.1.Igain     [JOINT_1]I
setp   pid.1.Dgain     [JOINT_1]D
setp   pid.1.bias      [JOINT_1]BIAS
setp   pid.1.FF0       [JOINT_1]FF0
setp   pid.1.FF1       [JOINT_1]FF1
setp   pid.1.FF2       [JOINT_1]FF2
setp   pid.1.deadband  [JOINT_1]DEADBAND
setp   pid.1.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.1.error-previous-target true

net 1-index-enable  <=> pid.1.index-enable
net 1-enable        =>  pid.1.enable
net 1-pos-cmd       =>  pid.1.command
net 1-vel-cmd       =>  pid.1.command-deriv
net 1-pos-fb        =>  pid.1.feedback
net 1-output        =>  pid.1.output

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_5i25.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_5i25.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_5i25.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_5i25.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_5i25.0.stepgen.01.step_type        0
setp   hm2_5i25.0.stepgen.01.control-type     1
setp   hm2_5i25.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net 1-pos-cmd    <= joint.1.motor-pos-cmd
net 1-vel-cmd    <= joint.1.vel-cmd
net 1-output     <= hm2_5i25.0.stepgen.01.velocity-cmd
net 1-pos-fb     <= hm2_5i25.0.stepgen.01.position-fb
net 1-pos-fb     => joint.1.motor-pos-fb
net 1-enable     <= joint.1.amp-enable-out
net 1-enable     => hm2_5i25.0.stepgen.01.enable

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

net home-all    =>  joint.1.home-sw-in
net home-all    =>  joint.1.neg-lim-sw-in

#*******************
#  JOINT 2 (Z)
#*******************

setp   pid.2.Pgain     [JOINT_2]P
setp   pid.2.Igain     [JOINT_2]I
setp   pid.2.Dgain     [JOINT_2]D
setp   pid.2.bias      [JOINT_2]BIAS
setp   pid.2.FF0       [JOINT_2]FF0
setp   pid.2.FF1       [JOINT_2]FF1
setp   pid.2.FF2       [JOINT_2]FF2
setp   pid.2.deadband  [JOINT_2]DEADBAND
setp   pid.2.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.2.error-previous-target true

net 2-index-enable  <=> pid.2.index-enable
net 2-enable        =>  pid.2.enable
net 2-pos-cmd       =>  pid.2.command
net 2-vel-cmd       =>  pid.2.command-deriv
net 2-pos-fb        =>  pid.2.feedback
net 2-output        =>  pid.2.output

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_5i25.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_5i25.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_5i25.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_5i25.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_5i25.0.stepgen.02.step_type        0
setp   hm2_5i25.0.stepgen.02.control-type     1
setp   hm2_5i25.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net 2-pos-cmd    <= joint.2.motor-pos-cmd
net 2-vel-cmd    <= joint.2.vel-cmd
net 2-output     <= hm2_5i25.0.stepgen.02.velocity-cmd
net 2-pos-fb     <= hm2_5i25.0.stepgen.02.position-fb
net 2-pos-fb     => joint.2.motor-pos-fb
net 2-enable     <= joint.2.amp-enable-out
net 2-enable     => hm2_5i25.0.stepgen.02.enable

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

net home-all    =>  joint.2.home-sw-in
net home-all     =>  joint.2.pos-lim-sw-in



#  ---motion control signals---

#net in-position               <=  motion.in-position
#net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

#net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     <=  hm2_5i25.0.gpio.003.in_not 
net estop-out     =>  iocontrol.0.emc-enable-in

Last edit: 15 Feb 2019 18:43 by MartyJ.

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MartyJ
Topic Author
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Senior Member

15 Feb 2019 18:46 #126579 by MartyJ

Replied by MartyJ on topic Setting up a 5i25/G540/7i76 Gantry

FWIW there is no 5i25 folder in my /lib/firmware/hm2

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PCW
Away
Moderator

15 Feb 2019 18:54 #126580 by PCW

Replied by PCW on topic Setting up a 5i25/G540/7i76 Gantry

Neither the firmware folder nor .xml files are required unless you are using pncconf to create a configuration

If LinuxCNC will not load a hal file it should print out the offending hal line
(assuming you are running this from the command line)

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Setting up a 5i25/G540/7i76 Gantry

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