Where are the stepper direction pins hiding in 7196S HAL?

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07 Jan 2025 21:58 #318355 by slowpoke
Lathe using axis X & Z drives and 7196s

I connected up X-axis to step and direction #1 pins, joint 0 and then calibrated, all working.

Now I'm trying Z-axis, looks like it's supposed to be step and direction #0, joint 1 but it's not working (yet), I'm trying to see the direction pin in HAL show, but can't seem to find it, where can I find the direction pin TB1-4 in HalShow? 

File Attachment:

File Name: CX706-R0.hal
File Size:10 KB
 

File Attachment:

File Name: CX706-R0.ini
File Size:3 KB


I can see joint.0&1.motor-pos-cmd changing
I can see stepgen.00&01.counts changing

Much appreiated
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08 Jan 2025 00:30 #318366 by PCW
You can look at the associated GPIO pin:

IO Connections for TB1/TB2 -> 7I96_1
Pin#                  I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

TB1-2,3                17   IOPort       StepGen          0        Step/Table1     (Out)
TB1-4,5                18   IOPort       StepGen          0        Dir/Table2      (Out)
TB1-8,9                19   IOPort       StepGen          1        Step/Table1     (Out)
TB1-10,11              20   IOPort       StepGen          1        Dir/Table2      (Out)
TB1-14,15              21   IOPort       StepGen          2        Step/Table1     (Out)
TB1-16,17              22   IOPort       StepGen          2        Dir/Table2      (Out)
TB1-20,21              23   IOPort       StepGen          3        Step/Table1     (Out)
TB1-22,23              24   IOPort       StepGen          3        Dir/Table2      (Out)
TB2-2,3                25   IOPort       StepGen          4        Step/Table1     (Out)
TB2-4,5                26   IOPort       StepGen          4        Dir/Table2      (Out)
TB2-7,8                27   IOPort       QCount           0        Quad-A          (In)
TB2-10,11              28   IOPort       QCount           0        Quad-B          (In)
TB2-13,14              29   IOPort       QCount           0        Quad-IDX        (In)
TB2-16,17              30   IOPort       SSerial          0        RXData0         (In)
TB2-18,19              31   IOPort       SSerial          0        TXData0         (Out)
Internal-TXEn          32   IOPort       SSerial          0        TXEn0           (Out)
Internal               33   IOPort       SSR              0        AC Ref          (Out)


So GPIO 20 for stepgen 1's direction pin
The following user(s) said Thank You: slowpoke

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