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7i84 Software mode 3

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20 Apr 2014 00:33 #46115 by Duc
7i84 Software mode 3 was created by Duc
Looking to configure the 7i84 to use software mode 3 so I can use the encoder function for a MPG.

I can see the pinout of the card from Halcmd but not sure how to force input 16,17,18,19 to encoder mode from the Hal file since PNCCONF does not see the card.


All other inputs are working on the card.


Thanks

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20 Apr 2014 00:40 - 20 Apr 2014 00:52 #46116 by PCW
Replied by PCW on topic 7i84 Software mode 3
Actually you want to set the 7I84's software mode to 2
(the manual had an error, fixed in rev 1.5 of the 7I84 manual)

This needs a tuple in the hm2_pci config string like "sserial_port_0=0200"
(assuming the 7I84 is on sserial channel 1 as it will be if you have a 7I76 on P3 )

Channel numbers of the sserial mode setting string are in left to right order
and start at channel 0. X's in the sserial mode setting string disable channels

For example "sserial_port_0=3415XX" would

set sserial channel 0 to mode 3
set sserial channel 1 to mode 4
set sserial channel 2 to mode 1
set sserial channel 3 to mode 5
disable sserial channel 4
disable sserial channel 5
Last edit: 20 Apr 2014 00:52 by PCW. Reason: adjust for 7I76 sserial exp channel
The following user(s) said Thank You: akb1212

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20 Apr 2014 00:47 #46117 by Duc
Replied by Duc on topic 7i84 Software mode 3

Actually you want to set the 7I84's software mode to 2
(the manual had an error, fixed in rev 1.5 of the 7I84 manual)

This needs a tuple in the hm2_pci config string like "sserial_port_0=0002"
(assuming the 7I84 is on sserial channel 3)


My connections of difference is 5i25>7i76>7i84. The 7i76 and 7i84 are connected by a cable to the serial port between them.

How would you tell if it which over to a different mode in Halcmd?

Attached is the beginning part of my Hal file.
loadrt abs count=1
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=0002 " 
setp     hm2_5i25.0.watchdog.timeout_ns 10000000
loadrt mux16 names=jogincr,foincr,mvoincr,soincr

addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf jogincr servo-thread
addf foincr servo-thread
addf mvoincr servo-thread
addf soincr servo-thread
addf hm2_5i25.0.write         servo-thread
addf hm2_5i25.0.pet_watchdog  servo-thread
addf abs.0 servo-thread

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20 Apr 2014 00:55 - 20 Apr 2014 00:56 #46118 by PCW
Replied by PCW on topic 7i84 Software mode 3
I would try sserial_port_0=0200
and then halcmd show pin to check if the encoder pins show up
Last edit: 20 Apr 2014 00:56 by PCW.

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20 Apr 2014 01:02 #46119 by Duc
Replied by Duc on topic 7i84 Software mode 3
Worked like a champ. Im sure Ill have a ton more questions later on.

Thanks

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20 Apr 2014 01:44 #46120 by Duc
Replied by Duc on topic 7i84 Software mode 3
Might as well continue the questions in this thread for the encoder stuff.

Here is the MPG
www.redrive.biz/MGX-10B-SUMTAK-YASNAC-OP...-100mA-p/mgx-10b.htm


I have S1 hooked to enc0 on pins 16 and 17 and S2 hooked to enc1 on pins 18,19. Power is supplied by a 12v power supply with the ground tied to my main 24v power supply ground.


When I bring up the hal meter and watch hm2_5i25.0.7i84.01.1.enc0 I see no change. Stays on 276.

Here is the complete Hal file.
loadrt abs count=1
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=0200 " 
setp     hm2_5i25.0.watchdog.timeout_ns 10000000
loadrt mux16 names=jogincr,foincr,mvoincr,soincr

addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf jogincr servo-thread
addf foincr servo-thread
addf mvoincr servo-thread
addf soincr servo-thread
addf hm2_5i25.0.write         servo-thread
addf hm2_5i25.0.pet_watchdog  servo-thread
addf abs.0 servo-thread

# external output signals


# external input signals

# ---COOLANT CONROL ---
net coolant-flood hm2_5i25.0.7i76.0.0.output-01

# ---LUBRICATION SYSTEM ---


# --- SPINDLE-BRAKE ---
net spindle-brake hm2_5i25.0.7i76.0.0.output-00

# --- BOTH-HOME-X ---
net both-home-x     <=  hm2_5i25.0.7i76.0.0.input-00

# --- BOTH-HOME-Y ---
net both-home-y     <=  hm2_5i25.0.7i76.0.0.input-01

# --- MAX-HOME-Z ---
net max-home-z     <=  hm2_5i25.0.7i76.0.0.input-03

# --- MIN-Z ---
net min-z     <=  hm2_5i25.0.7i76.0.0.input-04

# --- JOINT-SELECT-a-X ---
net joint-select-a     <=  hm2_5i25.0.7i84.0.1.input-00

# --- JOINT-SELECT-b-Y ---
net joint-select-b     <=  hm2_5i25.0.7i84.0.1.input-01

# --- JOINT-SELECT-c-Z ---
net joint-select-c     <=  hm2_5i25.0.7i84.0.1.input-02

# --- JOINT-SELECT-d-A ---
net joint-select-d     <=  hm2_5i25.0.7i84.0.1.input-03

# --- JOG-INCR-A ---
net jog-incr-a     <=  hm2_5i25.0.7i84.0.1.input-09

# --- JOG-INCR-B ---
net jog-incr-b     <=  hm2_5i25.0.7i84.0.1.input-10

# --- JOG-INCR-C ---
net jog-incr-c     <=  hm2_5i25.0.7i84.0.1.input-11


# --- Feedrate overide - FO-INCR-A ---
net fo-incr-a     <=  hm2_5i25.0.7i84.0.1.input-04

# --- FO-INCR-B ---
net fo-incr-b     <=  hm2_5i25.0.7i84.0.1.input-05

# --- FO-INCR-C ---
net fo-incr-c     <=  hm2_5i25.0.7i84.0.1.input-06

# --- FO-INCR-D ---
net fo-incr-d     <=  hm2_5i25.0.7i84.0.1.input-07

# --- Spindle override - SO-INCR-A ---
net so-incr-a     <=  hm2_5i25.0.7i84.0.1.input-29

# --- SO-INCR-B ---
net so-incr-b     <=  hm2_5i25.0.7i84.0.1.input-30

# --- SO-INCR-C ---
net so-incr-c     <=  hm2_5i25.0.7i84.0.1.input-31



# --- Max velocity override - MVO-INCR-A ---
net mvo-incr-a     <=  hm2_5i25.0.7i76.0.0.input-28

# --- MVO-INCR-B ---
net mvo-incr-b     <=  hm2_5i25.0.7i76.0.0.input-29

# --- MVO-INCR-C ---
net mvo-incr-c     <=  hm2_5i25.0.7i76.0.0.input-30

# --- MVO-INCR-D ---
net mvo-incr-d     <=  hm2_5i25.0.7i76.0.0.input-31


#*******************
#  AXIS X
#*******************

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [AXIS_0]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [AXIS_0]STEP_SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     0
setp   hm2_5i25.0.stepgen.00.maxaccel         5.0
setp   hm2_5i25.0.stepgen.00.maxvel           2.1

net x-pos-fb     axis.0.motor-pos-fb   <=  hm2_5i25.0.stepgen.00.position-fb
net x-pos-cmd    axis.0.motor-pos-cmd  =>  hm2_5i25.0.stepgen.00.position-cmd
net x-enable     axis.0.amp-enable-out =>  hm2_5i25.0.stepgen.00.enable

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

net both-home-x     =>  axis.0.home-sw-in
net both-home-x     =>  axis.0.neg-lim-sw-in
net both-home-x     =>  axis.0.pos-lim-sw-in

#*******************
#  AXIS Y
#*******************

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.01.dirsetup        [AXIS_1]DIRSETUP
setp   hm2_5i25.0.stepgen.01.dirhold         [AXIS_1]DIRHOLD
setp   hm2_5i25.0.stepgen.01.steplen         [AXIS_1]STEPLEN
setp   hm2_5i25.0.stepgen.01.stepspace       [AXIS_1]STEPSPACE
setp   hm2_5i25.0.stepgen.01.position-scale  [AXIS_1]STEP_SCALE
setp   hm2_5i25.0.stepgen.01.step_type        0
setp   hm2_5i25.0.stepgen.01.control-type     0
setp   hm2_5i25.0.stepgen.01.maxaccel         2.5
setp   hm2_5i25.0.stepgen.01.maxvel           2.1

net y-pos-fb     axis.1.motor-pos-fb   <=  hm2_5i25.0.stepgen.01.position-fb
net y-pos-cmd    axis.1.motor-pos-cmd  =>  hm2_5i25.0.stepgen.01.position-cmd
net y-enable     axis.1.amp-enable-out =>  hm2_5i25.0.stepgen.01.enable

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

net both-home-y     =>  axis.1.home-sw-in
net both-home-y     =>  axis.1.neg-lim-sw-in
net both-home-y     =>  axis.1.pos-lim-sw-in

#*******************
#  AXIS Z
#*******************

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.02.dirsetup        [AXIS_2]DIRSETUP
setp   hm2_5i25.0.stepgen.02.dirhold         [AXIS_2]DIRHOLD
setp   hm2_5i25.0.stepgen.02.steplen         [AXIS_2]STEPLEN
setp   hm2_5i25.0.stepgen.02.stepspace       [AXIS_2]STEPSPACE
setp   hm2_5i25.0.stepgen.02.position-scale  [AXIS_2]STEP_SCALE
setp   hm2_5i25.0.stepgen.02.step_type        0
setp   hm2_5i25.0.stepgen.02.control-type     0
setp   hm2_5i25.0.stepgen.02.maxaccel         2.5
setp   hm2_5i25.0.stepgen.02.maxvel           2.1

net z-pos-fb     axis.2.motor-pos-fb   <=  hm2_5i25.0.stepgen.02.position-fb
net z-pos-cmd    axis.2.motor-pos-cmd  =>  hm2_5i25.0.stepgen.02.position-cmd
net z-enable     axis.2.amp-enable-out =>  hm2_5i25.0.stepgen.02.enable

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

net max-home-z     =>  axis.2.home-sw-in
net min-z     =>  axis.2.neg-lim-sw-in
net max-home-z     =>  axis.2.pos-lim-sw-in

#*******************
#  SPINDLE S
#*******************

# ---digital potentionmeter output signals/setup---

setp   hm2_5i25.0.7i76.0.0.spinout-minlim    [SPINDLE_9]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i76.0.0.spinout-maxlim    [SPINDLE_9]OUTPUT_MAX_LIMIT
setp   hm2_5i25.0.7i76.0.0.spinout-scalemax  [SPINDLE_9]OUTPUT_SCALE

net abs-vel-cmd abs.0.out     => hm2_5i25.0.7i76.0.0.spinout
net spindle-enable      => hm2_5i25.0.7i76.0.0.spinena
net spindle-cw          => hm2_5i25.0.7i76.0.0.output-04
net spindle-ccw          => hm2_5i25.0.7i76.0.0.output-05


# ---setup spindle control signals---

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

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

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net joint-select-a        halui.joint.0.select
net x-is-homed            halui.joint.0.is-homed
net jog-x-pos             halui.jog.0.plus
net jog-x-neg             halui.jog.0.minus
net jog-x-analog          halui.jog.0.analog
net joint-select-b        halui.joint.1.select
net y-is-homed            halui.joint.1.is-homed
net jog-y-pos             halui.jog.1.plus
net jog-y-neg             halui.jog.1.minus
net jog-y-analog          halui.jog.1.analog
net joint-select-c        halui.joint.2.select
net z-is-homed            halui.joint.2.is-homed
net jog-z-pos             halui.jog.2.plus
net jog-z-neg             halui.jog.2.minus
net jog-z-analog          halui.jog.2.analog
net jog-selected-pos      halui.jog.selected.plus
net jog-selected-neg      halui.jog.selected.minus
net spindle-manual-cw     halui.spindle.forward
net spindle-manual-ccw    halui.spindle.reverse
net spindle-manual-stop   halui.spindle.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.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

# ---jog button signals---

sets    jog-speed 1.000000

# ---jogwheel signals to mesa encoder - shared MPG---

net joint-selected-count     <=  hm2_5i25.0.7i84.0.1.enc0
setp    hm2_5i25.0.encoder.00.filter true
setp    hm2_5i25.0.encoder.00.counter-mode true

#  ---mpg signals---

#       for axis x MPG
setp    axis.0.jog-vel-mode 0
net selected-jog-incr    =>  axis.0.jog-scale
net joint-select-a       =>  axis.0.jog-enable
net joint-selected-count =>  axis.0.jog-counts

#       for axis y MPG
setp    axis.1.jog-vel-mode 0
net selected-jog-incr    =>  axis.1.jog-scale
net joint-select-b       =>  axis.1.jog-enable
net joint-selected-count =>  axis.1.jog-counts

#       for axis z MPG
setp    axis.2.jog-vel-mode 0
net selected-jog-incr    =>  axis.2.jog-scale
net joint-select-c       =>  axis.2.jog-enable
net joint-selected-count =>  axis.2.jog-counts


sets selected-jog-incr     0.000000
# connect feed overide increments - switches

    setp halui.feed-override.count-enable true
    setp halui.feed-override.direct-value true
    setp halui.feed-override.scale .01
net feedoverride-incr   =>  halui.feed-override.counts
net fo-incr-a           =>  foincr.sel0
net fo-incr-b           =>  foincr.sel1
net fo-incr-c           =>  foincr.sel2
net fo-incr-d           =>  foincr.sel3
net feedoverride-incr   <=  foincr.out-s
    setp foincr.debounce-time      0.200000
    setp foincr.use-graycode      False
    setp foincr.suppress-no-input False
    setp foincr.in00          0.000000
    setp foincr.in01          10.000000
    setp foincr.in02          20.000000
    setp foincr.in03          30.000000
    setp foincr.in04          40.000000
    setp foincr.in05          50.000000
    setp foincr.in06          60.000000
    setp foincr.in07          70.000000
    setp foincr.in08          80.000000
    setp foincr.in09          90.000000
    setp foincr.in10          100.000000
    setp foincr.in11          110.000000
    setp foincr.in12          120.000000
    setp foincr.in13          130.000000
    setp foincr.in14          140.000000
    setp foincr.in15          150.000000

# connect max velocity overide increments - switches

    setp halui.max-velocity.count-enable true
    setp halui.max-velocity.direct-value true
    setp halui.max-velocity.scale 0.016670
net max-vel-override-incr   =>  halui.max-velocity.counts
net mvo-incr-a           =>  mvoincr.sel0
net mvo-incr-b           =>  mvoincr.sel1
net mvo-incr-c           =>  mvoincr.sel2
net mvo-incr-d           =>  mvoincr.sel3
net max-vel-override-incr   <=  mvoincr.out-s
    setp mvoincr.debounce-time      0.200000
    setp mvoincr.use-graycode      False
    setp mvoincr.suppress-no-input False
    setp mvoincr.in00          0.000000
    setp mvoincr.in01          5.000000
    setp mvoincr.in02          10.000000
    setp mvoincr.in03          25.000000
    setp mvoincr.in04          50.000000
    setp mvoincr.in05          75.000000
    setp mvoincr.in06          90.000000
    setp mvoincr.in07          100.000000
    setp mvoincr.in08          100.000000
    setp mvoincr.in09          100.000000
    setp mvoincr.in10          100.000000
    setp mvoincr.in11          100.000000
    setp mvoincr.in12          100.000000
    setp mvoincr.in13          100.000000
    setp mvoincr.in14          100.000000
    setp mvoincr.in15          100.000000

# connect spindle overide increments 

    setp halui.spindle-override.count-enable true
    setp halui.spindle-override.direct-value true
    setp halui.spindle-override.scale .01
net spindleoverride-incr  =>  halui.spindle-override.counts
net so-incr-a             =>  soincr.sel0
net so-incr-b             =>  soincr.sel1
net so-incr-c             =>  soincr.sel2
net spindleoverride-incr  <=  soincr.out-s
    setp soincr.debounce-time      0.200000
    setp soincr.use-graycode      False
    setp soincr.suppress-no-input False
    setp soincr.in00          50.000000
    setp soincr.in01          60.000000
    setp soincr.in02          70.000000
    setp soincr.in03          80.000000
    setp soincr.in04          90.000000
    setp soincr.in05          100.000000
    setp soincr.in06          110.000000
    setp soincr.in07          120.000000
    


#  ---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     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

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20 Apr 2014 02:53 - 20 Apr 2014 02:54 #46121 by PCW
Replied by PCW on topic 7i84 Software mode 3
I would try:
S1+ to IN16
S2+ to IN17

(and leave S1- and S2- unconnected)
Last edit: 20 Apr 2014 02:54 by PCW.

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20 Apr 2014 03:46 #46122 by Duc
Replied by Duc on topic 7i84 Software mode 3
That was the issue. Now I just need to solve the mux problem but I will continue that in the Hal section for the control panel.

Thank you for the help.

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02 Aug 2024 06:04 #306695 by xenon-alien
Replied by xenon-alien on topic 7i84 Software mode 3
Hello.
I have issues with the MPG with the 7i96s+7i84 combination. (no blink no reaction, in an other setup it works correctly)
The MPG is a  

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with 5V connected to the 7i96s an the AB - 16, 17 pin on the 7i84.
Should be connected the 5v GND and the 24v GND together? (not remember, did I connect them together in the other setup, where it works correctly)
Attachments:

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02 Aug 2024 13:09 - 02 Aug 2024 13:14 #306730 by PCW
Replied by PCW on topic 7i84 Software mode 3
Yes, you would need a common ground between the MPG ground
and the field power ground for the MPG to work with the 7I84.

If you did not want to make that connection, you could
use the 7I96S MPG inputs. (inputs 0..7 support up to 4 MPGs)
Last edit: 02 Aug 2024 13:14 by PCW.

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