7i76e use outputs to toggle motor enable

Correct We're not planning to use linear scales or other things that require usage of the expansion connectors (yet), so we should be able to manage with the IO on TB5 and 6.

I'm not entirely sure what you mean with "clear voltage", but the Dir- pin will take the value opposite to the Dir+ pin. If you don't map anything to it, it the dir+ keeps giving 5V and the dir- 0V, no matter what happens.

Here are the HAL and INI files I'm currently developing with:
 



(Also, don't forget to connect the Field Power on TB1 when you start using TB5 and 6, otherwise LinuxCNC won't start forum.linuxcnc.org/39-pncconf/44668-linu...pncconf-for-mesa7i76 )
 

The 7i76e is already installed and running, so every change is done on the "still alive patient". That is probably the reason why the voltage changed
so often, I get the voltage with two needles connected to the voltmeter and a flashlight underneath the mill... and a lot of cabling making it difficult
to get to the contacts... I got the glass scale really cheap, so it is just fiddling with electronics, almost more fun to me than milling. Just a hobby.
Thanks for the files, if I find some spare time in the next days I'll connect the Alarmreset cables.

changed my custom HAL file so pin 008 is linked to the iocontrol.0.user-request-enable  rodw mentioned.
The alarm clearing is now under control much better: need to toggle the e-stop button in linuxcnc to clear it, so my data is not lost (I have time to check the blinking pattern)
The pulse is long enough for the ihvs57 servos I'm using.

Unhome seems to work as well now, but I haven't tried triggering errors with all joints homed yet.


 

I wonder.  I've been using the same type of servo for two years and never get an alarm.  have you read the alarm cause via rs232?

No it is not that they go into the alarm state by themselves, I force them into the alarm, in order to be sure my connections work - and they dont...
I still cannot get rid of the alarm neither with the iocontrol.0.user-request-enable nor with the machine-is -enabled signal.
I connected all 3 ENA+ inputs from the servos to pin 4 Dir4- (gpio and reduced the stepgens to 4 and put

loadrt estop_latch
addf estop-latch.0 servo-thread
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
setp hm2_7i76e.0.gpio.008.is_output true
net estop-reset => hm2_7i76e.0.gpio.008.out
net estop-reset => iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset

net remote-estop estop-latch.0.fault-in <= [HMOT](CARD0).7i76.0.0.input-12-not

in my hal file.
 

Have you seen parameter P6-20?  You can invert the alarm output signal to zero.  If the servo does not start, you will get an alarm.