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These are the loadrt lines that show up in the main Hal file.
We haven't fully configured the spindle encoder yet, because we were trying to figure out how to move the axis' with the MPG, is it possible that the encoder needs to be fully functional before we can use the MPG for the axis'?

Thanks in advance

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

I see on the screen some values X,Y,Z,A,C I think they are not the right values. Also several values available under HAL configuration and I am watching them now under WATCH, for example
hm2_7i76e.0.stepgen.00.counts
hm2_7i76e.0.stepgen.01.counts
hm2_7i76e.0.stepgen.02.counts
hm2_7i76e.0.stepgen.03.counts
hm2_7i76e.0.stepgen.04.counts
I think they are the step values you mentioned

In the main hal file, the loadrt line, does it set the board to mode 1 or mode 2?
Same line, does it have number of encoders at anything but 0?
Normally encoder 0 would be the spindle encoder, are you using that for MPG?

Hi, I'm having a similar error code when trying to run LinuxCNC

Note: Using POSIX realtime
".custom.hal:81: Pin 'hm2_7i76e.0.7i76.0.0.enc0.count' does not exist"
3999

(The 3999 number changes everytime we try to start up the program)
This only happens when we use a specific code in our custom.hal to control the axis' with a MPG controller.
We've already checked the field power TB1 (pin 5 +24V pin 8 GND) and when we measure P3 there is a 5V available.
The Custom.Hal we used is below.

loadrt mux4 count=1
loadrt mux8 count=1
loadrt select8 count=1
loadrt conv_float_s32 count=1
addf mux4.0 servo-thread
addf mux8.0 servo-thread
addf select8.0 servo-thread
addf conv-float-s32.0 servo-thread


# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,

setp axis.x.jog-vel-mode 0
setp axis.y.jog-vel-mode 0
setp axis.z.jog-vel-mode 0

# This sets the scale that will be used based on the input to the mux4

setp mux4.0.in1 0.001
setp mux4.0.in2 0.01
setp mux4.0.in3 0.1

# This selects axis (off=0, x=1, y=2, ...)

setp mux8.0.in0 0
setp mux8.0.in1 1
setp mux8.0.in2 2
setp mux8.0.in3 3
setp mux8.0.in4 4
setp mux8.0.in5 5
setp mux8.0.in6 6
setp mux8.0.in7 7

# The inputs to the mux4 component

net scale1 mux4.0.sel0 <= hm2_7i76e.0.7i76.0.0.input-20
net scale2 mux4.0.sel1 <= hm2_7i76e.0.7i76.0.0.input-21

# The inputs to the mux8 component

net mux8-sel0 <= hm2_7i76e.0.7i76.0.0.input-22
net mux8-sel1 <= hm2_7i76e.0.7i76.0.0.input-23
net mux8-sel2 <= hm2_7i76e.0.7i76.0.0.input-24
net mux8-sel0 => mux8.0.sel0
net mux8-sel1 => mux8.0.sel1
net mux8-sel2 => mux8.0.sel2

net mux-float conv-float-s32.0.in <= mux8.0.out

net mux-s32 <= conv-float-s32.0.out
net mux-s32 => select8.0.sel
net axis-select-x <= select8.0.out1
net axis-select-y <= select8.0.out2
net axis-select-z <= select8.0.out3
net axis-select-4 <= select8.0.out4
net axis-select-5 <= select8.0.out5
net axis-select-6 <= select8.0.out6

net axis-select-x => axis.x.jog-enable
net axis-select-y => axis.y.jog-enable
net axis-select-z => axis.z.jog-enable

# The output from the mux4 is sent to each axis jog scale

net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale

# The encoder output counts to the axis. Only the selected axis will move.

net encoder-counts <= hm2_7i76e.0.7i76.0.0.enc0.count
net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts

Rod, why do you mention Odroids in every one of my posts like I've never heard of them when I'm the one who got you to buy your first H2? I guarantee you I have more machines with H2/H3s in them than anyone else.....in fact I'm the grand daddy of LinuxCNC on Odroids. BTW, none of my H3s have FPGAs on-board and they're all bigger than a Rpi especially when I attach a Mesa card so I have no Idea why you even brought that up.

You reply to most of my posts so I'm sure you're aware that I'm usually not messing with a plasma, or a mill, or a lathe. and I'm usually not just sticking a vanilla Mesa card in it. I have those machines, I don't post about them because there's nothing to post....it's been done a million times over. There's nothing special as far as RT resources that a "Fully configured Plasma, 7i76e...." is doing in HAL. Addressing some hardware stepgens and some IO isn't taxing. I'm not gonna get too far off on a tangent about what I'm doing but trust me, I'm running alot more soft RT on this project than ever will on that plasma. I'll reiterate the actual question I have since I don't want it to get burried like it tends to in almost everything I post......

Just as there exists an "addf" command in halcmd to add a function to a thread, there is a "delf" command to remove it. I've never tried it but it doesn't make much sense to use such a command outside of runtime. So I guess the question is, is there any resources to be saved by adding and removing functions from hal during runtime? I know there's logistical issues with broken nets but they can be dealt with.

 

That is not very good, so try this
forum.linuxcnc.org/27-driver-boards/5122...inuxcnc-2-9-1#289803
forum.linuxcnc.org/27-driver-boards/5124...i76e?start=10#289973

The testing I did was with a Fully configured Plasma  control box and a Mesa 7i76e with no spare IO ports and 5 stepper controllers so it was not a trivial environment.

To a large extent the use case for minimal hardware has diminished since MK was forked and seems to have died a slow death.

Why would you pay USD $225 for your E10-Nano when you can buy a Odroid H3+ for $165? Its a full blown Celeron PC  that  gives you a full blown PC in a similar footprint?

yes it helped... I finally found the hostmod manual and I will have very nice night reading...

thanks for your help... Whole stuff working and now I am going to solve PID with gearchange component...

regards Slav

The encoder filter setting is described in the hostmot2 manual page

man hostmot2

Actually there's always a digital filter applied but when the encoder filter is true,
the filter time constant is 15 encoder sample clocks but only 3 encoder sample
clocks when filter is false. You can also increase the encoder sample rate but
this is limited as the manual mentions.

Did setting the encoder filter false solve your issues?

thanks a lot, yes that I found, but I have not thinking about filtering of signal that can cause the missing speed problem...

What is value of digital filter please? It should be some Hz value there... I can not find in the component description filter true/false value, but it could blinked in my head for sure...

Thanks for your attention, we should to learn every day and every age...
 

Since you didn't specify the spindle you are using, I assumed a standard 2.2kW / 24000 rpm spindle. I think in order to better help you here you need to share way more details about the hardware / machine you are using. You only need the "encoder scale" if your spindle actually has a physical encoder for feedback, connected. Typically you need to lookup the Lines per Revolution. I would ignore the encoder portion for the spindle and just run it with no encoder feedback 0-10V.

It all starts with how much voltage (0 - 15V is possible) you are connecting to your Mesa spindle TB. The Mesa acts as a potentiometer that can output 0 - 100% of the voltage you apply.

12V / 10V = 1.2
MAX_OUTPUT = actual drive speed in RPM
OUTPUT_SCALE = actual drive speed in RPM x 1.2

Example with 12V:
MESA PIN: SPINDLE- GND
MESA PIN: SPINDLE+ 12V
MESA PIN: SPINDLE OUT 0 - 12V

Your VFD wants 0-10V, so you need to scale it:

# Example for 24K rpm spindle
[SPINDLE_0]
# 0-10V output based on 12V input
MAX_OUTPUT = 24000
# 12V = 28800 rpm / 10V = 24000
OUTPUT_SCALE = 28800

# Example for 3000 rpm spindle (e.g. Lathe)
[SPINDLE_0]
# 0-10V output based on 12V input
MAX_OUTPUT = 3000
# 12V = 3600 rpm / 10V = 3000
OUTPUT_SCALE = 3600

Did you try turning off the encoder digital filter?

setp hm2_7i76e.0.encoder.XX.filter false

(Where XX is the spindle encoder channel)

There's probably  a:

setp hm2_7i76e.0.encoder.XX.filter true

already in your hal file

This is described in the hostmot2 manual (in the encoder section)

We've re-adjusted our wiring as you showed in your previous message but we still don't understand how you got to the 24000 for the MaxOutput and 28800 for your output scale, is this a set value or is there a way to calculate the 24000.
In the Pncconf we're also clueless as to what the value should be for "encoder scale" .
The spindle can't spin in reverse, and the "rev" light on the VFD doesn't light up either when we put it in reverse, do you think this has something to do with the configuration of the VFD or is it something we have to resolve through the INI file.
Thanks in advance.

Hello folks,

I am facing the problem with loosing velocity value from Mesa 7i77 card which is plugged to P1 of Mesa 7i76e. I have tried each channel of board and each are behavior same same... Encoder is Heidenhain quadrate full TTL 5000 increments per rev means 4*5000 = 20000 in encoder resolution... When the spindle speed rised over 1500rpm(equals ((1500/60) * 20000) = 0,5MHz), velocity feedback in encoder component of 7i76e is disappearing and thats all.. I checked wiring and shielding the cables. Each cable have separate shielding connected to the ground....

I am think there should be problem with encoder limit frequency. I can not find any informations about this limitation in the any Mesa manual. I there any limitation setup in the mesa ?

thanks for any suggestions


Regards Slav

Hi again    
I have my 1.8KW AC servo motor up and running on LCNC 2.9.2 with Dragon UI.
It runs in both directions and working just fine but I want to do the following and need some helt
to direct me to the correct hal/ini setings to tweak.
1. I plan to use a 2 speed belt drive how do I change gearing.
2. I plan to use an encoder on the spindle shaft to get spindle positioning and homing for tool change.
Is this possible to achive in pnconf (I use #5 Step/dir on my 7i76E configured as spindle in pnconf) or should I
configure the servo as an axis to be able to do this?

Kind regards/Stefan