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Hello everyone, please, I need to configure the analog outputs of the 7i77d board that is connected to the 7i96s board. The digital outputs and inputs already appear in the HalShow figure attached below. But unfortunately nothing appears regarding analog inputs and outputs.
The 7i96s board has already been updated with 7i96s_7i77d.bin, the green LED lights up when the 7i96s board is connected and run by linuxCNC, the 7i77 digital inputs and outputs are appearing and being activated in LinuxCNC. But the analog part doesn't appear at all.
I tried to use the Pncconf Wizard to have a graphic example of how to configure the analog part of the 7i96s with the 7i77d, but unfortunately this newer version of the board is not available. So, following previous recommendations, I used 7i92 with 7i77 as examples to generate the necessary Hal files as an example, I edited the name 7i92 to 7i96s, but I did not get the satisfactory result, the error that was not found appeared: . /7i96s_7i77analogico1.hal:64: parameter or pin 'hm2_7i96s.0.7i77.0.1.analogout0-scalemax' not found

How do I do the basic configuration in HAL so that hm2_7i96s.0.7i77.0.1.analogout0... appears?


# Generated by PNCconf at Fri May 31 13:19:30 2024
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
#loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxxxx" 
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx"

#setp    hm2_7i92.0.watchdog.timeout_ns 5000000

setp    hm2_7i96s.0.pwmgen.pwm_frequency 20000
setp    hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp    hm2_7i96s.0.watchdog.timeout_ns 5000000

loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s

#addf hm2_7i92.0.read          servo-thread
addf hm2_7i96s.0.read          servo-thread

addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.a.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
#addf hm2_7i92.0.write         servo-thread
addf hm2_7i96s.0.write         servo-thread
setp hm2_7i96s.0.dpll.01.timer-us -50
setp hm2_7i96s.0.stepgen.timer-number 1

# external output signals


# external input signals


#*******************
#  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

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      [JOINT_0]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output     => hm2_7i96s.0.7i77.0.1.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_7i96s.0.7i77.0.1.analogena

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

setp    hm2_7i96s.0.encoder.00.counter-mode 0
setp    hm2_7i96s.0.encoder.00.filter 1
setp    hm2_7i96s.0.encoder.00.index-invert 0
setp    hm2_7i96s.0.encoder.00.index-mask 0
setp    hm2_7i96s.0.encoder.00.index-mask-invert 0
setp    hm2_7i96s.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_7i96s.0.encoder.00.position
net x-vel-fb               <=  hm2_7i96s.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb
net x-index-enable    joint.0.index-enable  <=>  hm2_7i96s.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_7i96s.0.encoder.00.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

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true

net y-index-enable  =>  pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

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

setp   hm2_7i96s.0.7i77.0.1.analogout1-scalemax  [JOINT_1]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout1-minlim    [JOINT_1]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout1-maxlim    [JOINT_1]OUTPUT_MAX_LIMIT

net y-output     => hm2_7i96s.0.7i77.0.1.analogout1
net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-enable     <= joint.1.amp-enable-out

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

setp    hm2_7i96s.0.encoder.01.counter-mode 0
setp    hm2_7i96s.0.encoder.01.filter 1
setp    hm2_7i96s.0.encoder.01.index-invert 0
setp    hm2_7i96s.0.encoder.01.index-mask 0
setp    hm2_7i96s.0.encoder.01.index-mask-invert 0
setp    hm2_7i96s.0.encoder.01.scale  [JOINT_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_7i96s.0.encoder.01.position
net y-vel-fb               <=  hm2_7i96s.0.encoder.01.velocity
net y-pos-fb               =>  joint.1.motor-pos-fb
net y-index-enable    joint.1.index-enable  <=>  hm2_7i96s.0.encoder.01.index-enable
net y-pos-rawcounts        <=  hm2_7i96s.0.encoder.01.rawcounts

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

net y-home-sw     =>  joint.1.home-sw-in
net y-neg-limit     =>  joint.1.neg-lim-sw-in
net y-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true

net z-index-enable  =>  pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

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

setp   hm2_7i96s.0.7i77.0.1.analogout2-scalemax  [JOINT_2]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout2-minlim    [JOINT_2]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout2-maxlim    [JOINT_2]OUTPUT_MAX_LIMIT

net z-output     => hm2_7i96s.0.7i77.0.1.analogout2
net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-enable     <= joint.2.amp-enable-out

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

setp    hm2_7i96s.0.encoder.02.counter-mode 0
setp    hm2_7i96s.0.encoder.02.filter 1
setp    hm2_7i96s.0.encoder.02.index-invert 0
setp    hm2_7i96s.0.encoder.02.index-mask 0
setp    hm2_7i96s.0.encoder.02.index-mask-invert 0
setp    hm2_7i96s.0.encoder.02.scale  [JOINT_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_7i96s.0.encoder.02.position
net z-vel-fb               <=  hm2_7i96s.0.encoder.02.velocity
net z-pos-fb               =>  joint.2.motor-pos-fb
net z-index-enable    joint.2.index-enable  <=>  hm2_7i96s.0.encoder.02.index-enable
net z-pos-rawcounts        <=  hm2_7i96s.0.encoder.02.rawcounts

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

net z-home-sw     =>  joint.2.home-sw-in
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net z-pos-limit     =>  joint.2.pos-lim-sw-in

#*******************
#  AXIS A JOINT 3
#*******************

setp   pid.a.Pgain     [JOINT_3]P
setp   pid.a.Igain     [JOINT_3]I
setp   pid.a.Dgain     [JOINT_3]D
setp   pid.a.bias      [JOINT_3]BIAS
setp   pid.a.FF0       [JOINT_3]FF0
setp   pid.a.FF1       [JOINT_3]FF1
setp   pid.a.FF2       [JOINT_3]FF2
setp   pid.a.deadband  [JOINT_3]DEADBAND
setp   pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp   pid.a.error-previous-target true

net a-index-enable  =>  pid.a.index-enable
net a-enable        =>  pid.a.enable
net a-pos-cmd       =>  pid.a.command
net a-pos-fb        =>  pid.a.feedback
net a-output        <=  pid.a.output

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

setp   hm2_7i96s.0.7i77.0.1.analogout3-scalemax  [JOINT_3]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout3-minlim    [JOINT_3]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout3-maxlim    [JOINT_3]OUTPUT_MAX_LIMIT

net a-output     => hm2_7i96s.0.7i77.0.1.analogout3
net a-pos-cmd    <= joint.3.motor-pos-cmd
net a-enable     <= joint.3.amp-enable-out

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

setp    hm2_7i96s.0.encoder.03.counter-mode 0
setp    hm2_7i96s.0.encoder.03.filter 1
setp    hm2_7i96s.0.encoder.03.index-invert 0
setp    hm2_7i96s.0.encoder.03.index-mask 0
setp    hm2_7i96s.0.encoder.03.index-mask-invert 0
setp    hm2_7i96s.0.encoder.03.scale  [JOINT_3]ENCODER_SCALE

net a-pos-fb               <=  hm2_7i96s.0.encoder.03.position
net a-vel-fb               <=  hm2_7i96s.0.encoder.03.velocity
net a-pos-fb               =>  joint.3.motor-pos-fb
net a-index-enable    joint.3.index-enable  <=>  hm2_7i96s.0.encoder.03.index-enable
net a-pos-rawcounts        <=  hm2_7i96s.0.encoder.03.rawcounts

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

net a-home-sw     =>  joint.3.home-sw-in
net a-neg-limit     =>  joint.3.neg-lim-sw-in
net a-pos-limit     =>  joint.3.pos-lim-sw-in

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  =>  pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---

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

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

sets spindle-at-speed true


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

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net axis-select-a  halui.axis.a.select
net jog-a-pos      halui.axis.a.plus
net jog-a-neg      halui.axis.a.minus
net jog-a-analog   halui.axis.a.analog
net a-is-homed     halui.joint.3.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.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

#  ---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---

net tool-change-request    <= iocontrol.0.tool-change
net tool-change-confirmed  => iocontrol.0.tool-changed
net tool-number            <= iocontrol.0.tool-prep-number

#  ---Use external manual tool change dialog---

loadusr -W hal_manualtoolchange
net tool-change-request    =>  hal_manualtoolchange.change
net tool-change-confirmed  <=  hal_manualtoolchange.changed
net tool-number            =>  hal_manualtoolchange.number

#  ---ignore tool prepare requests---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

 

What you show is OK:net lube-ps-float-sw  <= hm2_5i25.0.7i77.0.0.input-09
net lube-ps-float-sw => oillow.trigger
There must be another connection to hm2_5i25.0.7i77.0.0.input-09
elsewhere in a hal file
 

thank you, it works perfectly.
But what's wrong with my programming?
Because I have the same problem with the message.comp"hm2_5i25.0.7i77.0.0.input-09 is already link to lube-ps-float-sw"

I have a problem to linking my pin spindle.0.on to another signal.
the error message is " spindle.0.on already link to spindle-enable "

my code
How can i connect spindle.0.on to my lube output ?

I use a vfd to rotate my spindle. my vfd has the option of a 4-20 or 0-10V analog output to provide feedback on the motor frequency.
is it possible to use this output on a 7i77 board as such? or do i need to invest in hardware?

I have a small problem with my gearbox, I would like to force my low gear to prevent my spindle head from turning when I change my tool (my carousel makes my spindle turn a few degrees and the next tool is no longer in front of my centring pin).
To do this, I use or2.
before my modification, my speed change worked perfectly when I rotated my spindle, but since I've tried to force the gear, my gear no longer works.

what mistake did i make?

Hello, I have described the firmware of the 5i25t using mesaflash with bin file 5i25t_7i77_7174. When LinuxCNC starts, these are also present as pins in the Hal configuration.

Now I would like to create a configuration via pncconf.

I need 4 axes + spindle including encoder analog output and PWM generators

Unfortunately, the 5i25t is also found for me on Discovered Device, but I cannot activate any PWM generators. There is also the 7i77 I/O (SS#0) tab, but there are only TB7 and TB8. But I need TB5 for configuration

Is there a way to store the configuration in the lib/firmware/hm2 directory?
Does anyone have this firmware or the corresponding pin file?

Can the configuration even be carried out like this or do I have to use the HAL. edit manually.

It would also be necessary to configure the 7i74 connected to P2 (5i25t) or the 7i70 and 7i71 via pncconf.

Thank you very much for tips

PCW,
Nice board. 
I lack some fundamental electrical knowledge. In general, on a line driver type differential encoder, if the receiver is only single ended (my drive), it was my understanding that one can still read in just the A and B channels. If so, do /A and /B need further termination or can they be left floating/unconnected? 
Or is it better to just get a single ended encoder if the receiver is single ended? 

Tommylight,
I have a split setup on a lathe spindle that works very well with rigid tapping / threading and css. I'm reading in differential on both ends one to encoder card on vfd and the other to 7i77 for velocity control, so not trying something odd like current setup.

Current problem is trying to get a 4th axis indexer working. The drive (AMC ab30a200) only reads in single ended encoder for velocity feedback. I'm not sure why a new analog drive would have limited encoder channels in addition there is no encoder out from the drive to linuxcnc.
I think most of the digital drives have the additional encoder output. Unless I'm missing something, I'm forced to split it if I want encoder feedback.
One option is I can use current mode in the drive and read in the encoder on 7i77 only. Unfortunately  I can't get good shaft lock in current mode.
Best option so far is hall velocity feedback in the drive and encoder to 7i77. Shaft lock is good but runs somewhat rough. Suspecting noise and bad encoder signals. This drive is not isolated. That was an extra option.



 

How can I use GPIO digital output to handle motor direction?
Like PCW said, it could've been simpler with negative and positive analog voltages for both speed and directions but Like I said earlier, I imagined the drive analog output of 7i77 as external pot controlling the BLDC. I tried and it works. The motor spins with the analog out from 7i77 in open loop test in pncconf.

how to set gpio pin to control forward/reverse function for this application. Axis motor direction seems critical so is using signals on servo thread might not be a good idea. What other option do I have?

@ besriworld Again configured as spindle, I need to set F/R somehow.

Hoestly I am confused too.

 

This is what is mentioned on my drive. Made me think that Pulse input is meant step/dir digital signals and PWM meant analog!!

 

I don't know what difference the modes are on the drive. The dip switches modes that are in the first picture are printed on the drives too. Are the modes mentioned different or the same?

@Tommylight said  it is analog and so I thought that. Anyways, Help me with this.6i25 p3 to 7i76, p2 to 7i74, sserial link between 7i76 and 7i74. Which port on 7i74 is sserial (default is port 8 I guess). 3 axes, one spindle and spindle encoder to 7i76, 3 linear scales on the axes to 7i74 making it closed loop. Would this work?

Found it, I thought I had commented out the invert line in my hal, I had not:

# --- SPINDLE-ENABLE ---
net spindle-enable => hm2_7i92.0.7i76.0.3.output-05
setp hm2_7i92.0.7i76.0.3.output-05-invert true

Do you mean 7I77 analog enable?

If so, this is a switch, not a voltage source
so you would need to wire:

+24V --> 7I77 ENA5+
7I77 ENA5- --> SPINDLE ENABLE IN

Finally got my encoders in, MDI S2000m3 and I get no response. Probing the analog 5 output, I see voltage (3.3v approx), which is what is expected. Probing my spindle enable output (7i76 Output 5), I see 0v. Checkng hal config, the LED is "on" for the 7i76 Output 5. If I apply 24v directly to this output pin I get spindle activity. I do not have a spindle encoder hooked up yet.

Thanks for the response, sorry for the late reply.

That configuration sounds good but after using the config tool linked above I am slightly favoring the 7i77 + 7i96S for the additional IO/less cards/similar price. Is there any reason that's a bad idea?

another question I have after reviewing the 7i96S Documentation is about the analogue spindle interface. my spindle controller is expecting to see a voltage between 0-10v for the speed reference, the 96s Docs say "The voltage supplied between SPINDLE+ and SPINDLE- must be between 5 VDC an 20 VDC" this is referring to the voltage between spindle- and spindle+ ( ie 0 to 10 is a change of 10 and so fine) NOT the voltages that spindle- and + must fall between (ie spindle- being 6 and + being 15) right? In other words 0-10v for spindle-+ should be no problem right?

Thanks

Exactly. I've printed it already..

That's a huge step for me, thanks for your patience.

So I guess, that I need to go back to mesact, call up the 7i77 again, enter as much machine info as I can for all axes and the spindle, and from then on I am away from that GUI and into text.