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The number of available encoders depends on the firmware and pin/FPGA size limitations.
The 7i96s_p1encd firmware has 7 encoders: 0..6. They are all basically identical
(except encoder 6 has no index input pin due to lack of pins)

Here are all the encoder 4 pins and parameters (using 7i96s_p1encd firmware): 


 

Analog output on joint 3, feedback like a normal encoder, but is from the drive which is taking in absolute encoder data from the motor - this isn't an ethercat setup or anything like that. I was also getting encoder communication errors at the drive, so I'm going to try another encoder.

EDIT:  Connected to a 7i77, which is connected to a 7i92.

So after reinstalling Linuxcnc and Upgrading to linuxcnc 2.9.4 I copied the linuxcnc folder from a backup. Then I configured the network manually and the machine is running.
However if I try to cut anything from conversational I get the following error.

 

If I delete the line containing the line with M190 I can cut without error.

Did I miss something during reinstalllation?


 

rodw Do you still use Fusion 360? If not what are you using now?

Hi,

I was thinking about a algo to smooth trajectory path's. This is just an idea.

1. Create a triangle's & find gravity point off triangle's. Triangle is constructed in a loop by path point's n+0, n+1, n+2.
2. Max deviation point lies on the line n+1 up to the gravity point, but not exceed the gravity point. P=0 up to P=Infinity.
3. Connect the gravity points by a  line. (red).
4. Create half way line points on the line. (blue).
5. Connect half way line points by linestrip. (blue). Second stage.
6. Replace linestrip by a cubic spline.

Properties:
Works in 3d space.
Conversion of arc's to linestrips is required.
The new trajectory tends to move inwards when on a circle.

 

Let me know what you think.

i'm using axis

I'm using a 7i96s with 7i96s_p1encd.bin

I'm using an isolated I/O board to interface to the P1 connector, and I'm using the 4 encoders there:
    Encoder0: Linear Scale X  - tested and working
    Encoder1: Linear Scale Z - tested and working
    Encoder2: MPG input for X - waiting on encoder to arrive
    Encoder3: MPG input for Z - waiting on encoder to arrive

I just made a little potentiometer -> voltage to frequency converter circuit dc-1kHz and it's presently driving isolated input 0 on TB-3, I can see it pulsing in halshow.

I was hoping to use hm2_7i96s.0.encoder.xx.velocity to allow that pot to control Jog rate.
I bumped up num_encoders from 4 to 5, however looking at the available pins in HAL show, encoder 4 does not have all the pins available for encoders 0-3, so I'm guessing there is a 4 encoder limit for the 7i96s?

Perhaps there is another 7i96s version that allows more encoders (hoping for 2 more, one for jog speed and one for feed speed) with two of them on the isolated TB-3 terminals.

If that's not possible, is there another HAL method to measure frequency on the TB-3 isolated inputs?

 

With this config i have no errors

With this config for rotary axis everything more than 30000 for max acceleration and 37500 for stepgen max acceleration gives following error.
Configuration is done by pncconf stepgen A rotary axis
Servo motor driver for 1 turn needs 2500x4=10000 pulses
and has 2500rpm limit

I'll shake the dust off the old thread. I'm trying to upgrade to 2.10 version, I did it according to the instructions above. It seems to have updated, but LinuxCNC won't start, writes errors. What did I miss?
 

Check your work offsets.
linuxcnc.org/docs/html/gcode/coordinates.html

So my main problem is when I use "tool touch off" or "touch off" button sometimes randomly it starts tool change process

That sounds pretty crazy, I've never heard of anything like this. What GUI are you using?
I think I would want to find the reason for that before doing anything else.

controlword is an output pin, not writable.

Here is a small example of how you connect the cia402 component
github.com/dbraun1981/hal-cia402/tree/main/example

If it still doesn't work after that, we need to see your hal and ethercat-conf.xml files.

So my main problem is when I use "tool touch off" or "touch off" button sometimes randomly it starts tool change process andthis pin supposed to become output when we are doing tool change
But suddenly out of nowhere its stuck and don't do anything
So I came up with the idea of addingAt my Tool change remap
this solution fixes my problem but I no longer can use MDI and its mean I only can do tool change when its running a G-code in auto mode.
What do you suggest?
Do you know why this happened or how to solve it? I tried to create a tab and put some button
and execute tool change commands but as you said it's impossible

According to the documentation, the control word is transmitted from the controller to the driver. What should it be? (I checked, and both with out and in I get the same error: not writable.)