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Hi, I was interested in your testing of Xenomai 4/EVL with LinuxCNC.

I’ve recently been testing the scripts from the xenomai4-linuxcnc project as well, and I got some interesting results — I was able to reduce the tmax values for hm2 read and write.

Could you share what tmax values you are seeing for hm2 read and hm2 write on your system? If possible, together with your servo period (which I assume is around 1 ms), it would be interesting to compare the results and see whether it would actually be worthwhile for you to pursue this further.

Thanks!

Pins for smart serial is in Pin descriptor from IDROM of ZYNQ hostmot2 FPGA, but in usag it show as just IOPort, why it is can happens? I doing some mistake , or it is some logic of work when nothink findout on smart serial?

ubuntu@arm:~$ ./start_linuxcnc.sh
This script only needs to be run once per shell session.
LINUXCNC - 2.9.10
Machine configuration directory is '/home/ubuntu/linuxcnc-dev/configs/test'
Machine configuration file is 'puma560.ini'
check_config: Unchecked: [KINS]KINEMATICS=genserkins
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(LIB): /home/ubuntu/linuxcnc-dev/lib/hallib/basic_sim.tcl
setup_kins: cmd=loadrt genserkins

userkKinematicsSetup:
emc/kinematics/userkfuncs.c max_joints=9 allow_duplicates=0

setup_kins: unknown [KINS]KINEMATICS=
Found file(REL): ./puma560_dh.hal
hm2: loading Mesa HostMot2 driver version 0.15
hm2/hm2_soc_ol: Low Level init 0.15
hm2/hm2_soc_ol: 34 HM2 Pin Descriptors:
hm2/hm2_soc_ol: pin 0:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0xC1 (Smart Serial Interface)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x81 (tx0, Output)
hm2/hm2_soc_ol: pin 1:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0xC1 (Smart Serial Interface)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x01 (rx0, Input)
hm2/hm2_soc_ol: pin 2:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: pin 3:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: pin 4:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 5:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 6:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x01
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 7:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x01
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 8:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x02
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 9:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x02
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 10:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x03
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 11:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x03
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 12:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x1A (Hostmot2 DPLL)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Ref Out Pin, Output)
hm2/hm2_soc_ol: pin 13:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x04 (Encoder)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x01 (A, Input)
hm2/hm2_soc_ol: pin 14:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x04 (Encoder)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x02 (B, Input)
hm2/hm2_soc_ol: pin 15:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x04 (Encoder)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x03 (Index, Input)
hm2/hm2_soc_ol: pin 16:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: pin 17:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x06 (PWMGen)
hm2/hm2_soc_ol: Secondary Unit: 0x00
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Out0 (PWM or Up), Output)
hm2/hm2_soc_ol: pin 18:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x06 (PWMGen)
hm2/hm2_soc_ol: Secondary Unit: 0x01
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Out0 (PWM or Up), Output)
hm2/hm2_soc_ol: pin 19:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x06 (PWMGen)
hm2/hm2_soc_ol: Secondary Unit: 0x02
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Out0 (PWM or Up), Output)
hm2/hm2_soc_ol: pin 20:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x04
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 21:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x04
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 22:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x05
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 23:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x05
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 24:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x06
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 25:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x06
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 26:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x07
hm2/hm2_soc_ol: Secondary Pin: 0x82 (Direction, Output)
hm2/hm2_soc_ol: pin 27:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x05 (StepGen)
hm2/hm2_soc_ol: Secondary Unit: 0x07
hm2/hm2_soc_ol: Secondary Pin: 0x81 (Step, Output)
hm2/hm2_soc_ol: pin 28:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: pin 29:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x04 (Encoder)
hm2/hm2_soc_ol: Secondary Unit: 0x01
hm2/hm2_soc_ol: Secondary Pin: 0x01 (A, Input)
hm2/hm2_soc_ol: pin 30:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x04 (Encoder)
hm2/hm2_soc_ol: Secondary Unit: 0x01
hm2/hm2_soc_ol: Secondary Pin: 0x02 (B, Input)
hm2/hm2_soc_ol: pin 31:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Secondary Tag: 0x04 (Encoder)
hm2/hm2_soc_ol: Secondary Unit: 0x01
hm2/hm2_soc_ol: Secondary Pin: 0x03 (Index, Input)
hm2/hm2_soc_ol: pin 32:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: pin 33:
hm2/hm2_soc_ol: Primary Tag: 0x03 (IOPort)
hm2/hm2_soc_ol: Smart Serial Firmware Version 43
hm2/hm2_soc_ol: 34 I/O Pins used:
hm2/hm2_soc_ol: IO Pin 000 (GPIO0.P1-01): IOPort
hm2/hm2_soc_ol: IO Pin 001 (GPIO0.P1-14): IOPort
hm2/hm2_soc_ol: IO Pin 002 (GPIO0.P1-02): IOPort
hm2/hm2_soc_ol: IO Pin 003 (GPIO0.P1-15): IOPort
hm2/hm2_soc_ol: IO Pin 004 (GPIO0.P1-03): StepGen #0, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 005 (GPIO0.P1-16): StepGen #0, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 006 (GPIO0.P1-04): StepGen #1, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 007 (GPIO0.P1-17): StepGen #1, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 008 (GPIO0.P1-05): StepGen #2, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 009 (GPIO0.P1-06): StepGen #2, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 010 (GPIO0.P1-07): StepGen #3, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 011 (GPIO0.P1-08): StepGen #3, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 012 (GPIO0.P1-09): Hostmot2 DPLL #0, pin Ref Out Pin (Output)
hm2/hm2_soc_ol: IO Pin 013 (GPIO0.P1-10): Encoder #0, pin A (Input)
hm2/hm2_soc_ol: IO Pin 014 (GPIO0.P1-11): Encoder #0, pin B (Input)
hm2/hm2_soc_ol: IO Pin 015 (GPIO0.P1-12): Encoder #0, pin Index (Input)
hm2/hm2_soc_ol: IO Pin 016 (GPIO0.P1-13): IOPort
hm2/hm2_soc_ol: IO Pin 017 (GPIO0.P2-01): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_soc_ol: IO Pin 018 (GPIO0.P2-14): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_soc_ol: IO Pin 019 (GPIO0.P2-02): PWMGen #2, pin Out0 (PWM or Up) (Output)
hm2/hm2_soc_ol: IO Pin 020 (GPIO0.P2-15): StepGen #4, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 021 (GPIO0.P2-03): StepGen #4, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 022 (GPIO0.P2-16): StepGen #5, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 023 (GPIO0.P2-04): StepGen #5, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 024 (GPIO0.P2-17): StepGen #6, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 025 (GPIO0.P2-05): StepGen #6, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 026 (GPIO0.P2-06): StepGen #7, pin Direction (Output)
hm2/hm2_soc_ol: IO Pin 027 (GPIO0.P2-07): StepGen #7, pin Step (Output)
hm2/hm2_soc_ol: IO Pin 028 (GPIO0.P2-08): IOPort
hm2/hm2_soc_ol: IO Pin 029 (GPIO0.P2-09): Encoder #1, pin A (Input)
hm2/hm2_soc_ol: IO Pin 030 (GPIO0.P2-10): Encoder #1, pin B (Input)
hm2/hm2_soc_ol: IO Pin 031 (GPIO0.P2-11): Encoder #1, pin Index (Input)
hm2/hm2_soc_ol: IO Pin 032 (GPIO0.P2-12): IOPort
hm2/hm2_soc_ol: IO Pin 033 (GPIO0.P2-13): IOPort
hm2/hm2_soc_ol: registered
DUMMY DISPLAY MODULE, press to continue.

A big thank you for those two lines!

Now i have G33.1 working perfectly, as well as M19!

Not true anymore. There is a very nice open hardware card, called rioctrl:
github.com/festlv/rioctrl-hw/tree/main/rioctrl-controller
I still have a number of those surplus from the last production run and can sell those.
I also designed Mesa-Style IO hats for it with
5 axes 4 encoder inputs, 8i/4o direct I/O and 16 out/32 in (shifted),
which I could sell, if anyone is interested.

write this halshow based HAL viewer, because halshow is unusable from the keyboard only.
This one is completely operable by the keyboard and is compatible with halshow save files.
For example toggling a boolean Pin is only the press of the space bar and
moving between the tree and the WATCH/SHOW tabs uses left/right arrows.

Here is the source code:
github.com/hansfbaier/linuxcnc-haltui

Have fun!
Hans 

took a log of servo drives commands on a deckel dmc 70v, MELDAS 500 circa 1992, 25MHz 68040 CPU. runs at 1.77(7) ms servo cycle. rapids use trapezoidal velocity profile, cutting feed is s-curve. interestingly, the later overshoots target position up to 20 um and backs off...

 

Thanks Peter. Same md5 here for both files, Modbus block on TB4-14..17 with 1v3pkt, so neither the bitfile nor the wiring is the difference — and the transceiver, pad and connector are proven by the 7i84 running error-free in sserial on that same port.

Since it works for you with a plain setup, could you post the minimal config you tested on master — the mesambccc file and the HAL lines — and say whether tx-drv-en.invert_output appears in it? On my card the driver is never enabled during TX without it (checked on the analyzer), and I see no polarity handling for "Drv Enable low" in pins.c.

Which master build was it? Mine is 2.10.0~pre0.6386 (g3cd702c690).

One correction to my report: all symptoms, including the dead transmitter, were reproduced across several full power cycles, so it is not a stuck state.

I will re-flash 1v3pkt from the md5-verified file and redo a minimal test with a single hm2_modbus transaction and the analyzer directly on TB4-16/17, no raw register writes, and post the capture.

Hu Gemox,A plasma cutter generates a huge amount of electrical noise, so all signals should be galvanically isolated.For this reason, I would not recommend the Mesa 7i97. Instead, I would use a 7i83 for the analog outputs, since it provides galvanic isolation from the rest of the control system.To determine the complete hardware configuration, the machine’s existing electrical schematics would need to be reviewed.A THCAD2, or an equivalent interface, is necessary to measure the plasma arc voltage. This voltage measurement is used by the torch height control to maintain the correct distance between the torch and the plate.I would not recommend using a stepper motor for the Z axis, as it may not be able to achieve the required speed.How are you planning to generate the G-code?

Logthor wrote:

this would work, right? 

Yes, this is a very similar circuit to the one used in BOB and will work identically.
The difference is that the power supply for this circuit should be not used for anything else, that BOB does not provide.
Voltage is a potential difference and is measured between two points.
The same wire, it may be 12V to the second pole of the power supply, but hundreds of volts to machine chassis.

GH, I don't get the email notifications here, and I have to remember to check

store.mesanet.com/index.php?route=produc...oduct&product_id=399
Click on "specification" then Download Support Software

Did you download this through the pcnconfig or the browser?

I would think something like this would work, right? It has a PC817C, so I figure it is used to optically isolate the two circuits. What has me slightly concerned is that the listing (and many others) don't mention the fact that they are optically isolated (does this mean that it isn't?).

I see what you mean now about it not being properly isolated. I'll buy a cheap board off of amazon. In the mean time though, I just want to make sure I know how to set it up in general. I just want to know why I'm not getting anything out of it when I issue a s command.

tuxcnc wrote:

... but 12-24V is also used to power the home, estop and probe inputs on the opposite side of the board.

So no, BOB is not properly isolated for this case.

tuxcnc wrote:

it is safer to use a separate cheap Chinese PWM->0-10V board and a separate small power supply.

You should really, really take his advice, and be very careful with wiring.