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This is what my hal shows for one of my axis servos, should be stp/dir. Does this look like a step/dir or analog code.

#*******************
# 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 0.000500

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

# ---PWM Generator signals/setup---

setp hm2_7i76e.0.7i77.0.3.analogout1-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_7i76e.0.7i77.0.3.analogout1-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i77.0.3.analogout1-maxlim [JOINT_0]OUTPUT_MAX_LIMIT

net x-output => hm2_7i76e.0.7i77.0.3.analogout0
net x-pos-cmd joint.0.motor-pos-cmd
net x-enable joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_7i76e.0.7i77.0.3.analogena

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

#setp hm2_7i76e.0.encoder.01.counter-mode 0
#setp hm2_7i76e.0.encoder.01.filter 1
#setp hm2_7i76e.0.encoder.01.index-invert 0
#setp hm2_7i76e.0.encoder.01.index-mask 0
#setp hm2_7i76e.0.encoder.01.index-mask-invert 0
#setp hm2_7i76e.0.encoder.01.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i76e.0.encoder.01.position
net x-vel-fb <= hm2_7i76e.0.encoder.01.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i76e.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_7i76e.0.encoder.01.rawcounts

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

net x-home-sw => 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

pncconf can setup step/dir and analog servo systems (they end up being very similar at the hal level)

That is, if you select a 7I76E in pnconf, the axis/joint setup is all step/dir as a 7I76E by
itself only supports step/dir motion.

If you setup say a 7I92+7I77 configuration, it will setup an analog servo system

Not sure what the easiest path is here but I see a couple options:

1. With pncconf, make a normal step/dir 7I76E configuration and a normal 7I77 configuration and merge them

2. Use pncconfs discover option

now that we have checked my firmware, how do I blend my hal file for the step and direction on the 7i76e

That would be great, thank you. 

I’ll promptly flash my board and run some tests once that’s done. 

OK that's probably supported.

When I get a chance I can make firmware for a 7I76E with one Fanuc
channel on the serial expansion port for testing. I seems that that's a 1M
CPR encoder.

Yes, it’s 4 wire - here’s a section of the schematic that labels the wires: 

 

Labels read: SPD, *SPD, SPQR, *SPQR. 

Earlier today I plugged those four wires on the live tool motor into the encoder input on the ultra3000 drive with 4.7k pull-ups to 5v thinking it was an incremental pulse coder… I’m hoping that didn’t cause damage 

Hostmot2 has support for the older RS-422 (4 wire = req/data) Fanuc pulsecoders
Can you find the pinout of your encoders?

Hello, 

I am working with an early 90s (installed 1992) Hardinge Conquest Model CS-51. I have installed Allen-bradley Ultra3000 drives for the Fanuc red-cap servos (10s, 10s, 5s, 20s models). Today in testing I realized that the encoders are "PULSE CODER SERIAL C" type. Specifics: PART NUMBER: A290-0561-V571, (A860-0350-T011) on two of the motors, I haven't popped the cap off on the others. 



Currently I have wired in a MESA 7i76e to control this machine, what would be the most cost effective way to read these encoders? I would really like to not have to replace the encoders. 

I also have a MESA 7i97 available if that makes it easier, and the Ultra3000s can take analog input or step/dir so either card would work in this setup - it just depends if either can directly interpret the serial encoder information... My research is falling short, maybe someone can point me in the right direction. 

I'm aware of the Pico systems stuff, but thats another 600USD + (for the 4 servos: x z turret & live tool) to get the job done, while there seems to be some [of the encoders from the serial pulse coder line] that mesa cards and parallel ports can read direct.

Any help would be much appreciated!

The 7I64 could be connected to either the 7I76E or 7I77

(it would be channel 1 on the 7I76E or channel 4 on the 7I77)

That's 7I76E firmware for a 7I77 on P1

this is as much as i can fit in the screen. it should be 7i76e -7i77-7i64
 

It looks like 7I76E+7I77 firmware, but would need to see the pinout section to be sure

You need to provide the cards IP address:

mesaflash --device 7i76e --addr 10.10.10.10 --readhmid
or
mesaflash --device 7i76e --addr 192.168.1.121 --readhmid

7i76EU would be fine too. ok, in this case i can wait and order if they are back in stock