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Before I ask for help, I will write a little here about what I have already tried and the course of my thoughts. Perhaps I just can not implement my thought correctly, perhaps my conclusions are not correct.

- Mesa 7i95T
- Servo for Spindle AND Axis C (one physical servo)
- Lathe
I want to make rotation on the spindle to some degree to do another work with the milling/drilling, then turn to lathe work and so on. For now, lets assume that I have a 1:1 ratio between Servo and Spindle (1000 rpm Servo == 1000 rpm Spindle, 15 degree Servo = 15 degree Spindle)

From my point of view, I chose Dir/Step for both jobs (speed/velocity and rotation/position, next velocity and position modes).
PncConf doesn't work because for new Boards all pins have another naming convention. Mesa support can't help. Only suggest configuring the already existing board in PncConf and "fix ini/hal files to 7i95t somehow".
MecaCT doesn't work because the spindle tab doesn't work at all (firmware PWM could help, but this is not what I chose: step/dir). So I have to make INI and HAL files from scratch.

I did spindle config via pid + motion.spindle AND axisC via joint+pid and both of them use the same hm2_7i95.0.stepgen.N
BUT
1. I'm not sure to use PID in both spindle modes (velocity and position)
2. I'm confused that PncConf generates (that was my manual for linear/angular settings) all configs with stepgen.control-type = 1 (which is velocity mode according to the manual)
3. I think that position mode (really stepgen position mode) could be used only in 1:1 ratio for rotation. In another case we have a ratio in screw. So our goal is not to rotate 50 degrees on Motor level, but to move to 2.125mm in XYZ or rotate somewhere in CNC. So LinuxCNC calculates how many pulses/steps we need to move in one direction to 2.125mm with speed X (how fast we need to be at 2.125mm)

1+2+3 = LinuxCNC used stepgen velocity mode for linear and angular axis. Am I correct? So from the customer's perspective there is a difference between positions for ** degree, and moving for ** mm, but from LinuxCNC this is all about pulse count if frequency (Infinite/Finite Number of Pulses). For Spindle use Infinite.

So my Servo motor has 10.000 pulses for 1 rotation. For "spindle velocity" mode it means 10.000 pulses per 1 motor rotation (in cases of 1:1 ratio 1 Spindle rotation). So machine unit = one rotation. So SCALE 10.000 for 1 unit. In case of rotation, machine unit = 1 degree. So SCALE became 10.000/360 = ~28 steps. So here we have different settings for the same stepgen. Also question maxvel and maxaccel, ff0, ff1, pid?
BUT I have problem with switching between two modes.
When the spindle is working, stepgen.N.position-fb increasing each rotation which affect axis-c feedback. To avoid this issue I use stepgen.N.position-reset true. Ok from velocity I could switch to rotation and somehow make rotations. But when I finish rotation, I cannot switch to "Spindle Velocity", because axis C trying to save current rotation degrees.

So right now, to be honest, I have no idea how it should work and I need advice and help
I have a feeling that I went in the wrong direction and am trying to make a configuration work that should not work in principle. Here is my vision of how it should work:
1. Spindle Velocity mode + switch off sync AxisC/joint (like stepgen.N.position-reset)
2. Spindle Position mode (without changing scale, accel, vel, pid etc... because this is the same motor, the same signals, just change machine units from RPM to degrees), enable sync AxisC/joint and stepgen
3. Switch back to Velocity mode + switch off sync Axis C/joint again by resetting current pos and pos-fb
4. Repeat
 

Thank you so much I will try it tomorrow.

www.mesanet.com/software/parallel/7i97t.zip
 (in 7i97t/configs/hostmot2)

You use mesaflash to update the firmware, examples of mesaflash usage
should be in the 7I97T manual

you can get some inspiration here:
github.com/zmrdko/3dworks_ethercat_lcec/

you can start by adding:

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

to you hal file, so that you initialize the ethercat device.

You should see lcec item in pins in HAL configuration window then.

Okay that sounds like less hassle than editing bitfiles. How can I install this different firmware and where can i get it?

sqmathlete wrote:

Hi Rod,

I followed these instructions several times  and, everything worked perfectly. Tried to install today and I get an error saying that no public key is available. Any idea if something has something changed? This is a fresh install of the Debian buster Linuxcnc iso.

Kind regards,
Dan
 

run this:

You install 7i97t_7i85d.bin firmware on the 7I97T and
the definition of the P1 pins changes.

(In the default firmware: 7i97t_7i85d.pin, all P1 pins are GPIO)

Back to the thread...
My buttons to manual turn of carousel from custom_postgui.
#Przyciski do karuzeli Fwd/Rev
net car-btn-fwd => carousel.0.jog-fwd  => pyvcp.carousel-f
net car-btn-rev => carousel.0.jog-rev  => pyvcp.carousel-r
Second connection is in the toolchange_index
loadrt carousel pockets=12 encoding=index num_sense=4 dir=2
loadrt conv_float_s32 count=2
addf carousel.0 servo-thread
addf conv-float-s32.0 servo-thread # G-code analogue outputs are float-type
net car-enable   motion.digital-out-00   carousel.0.enable
net car-ready    carousel.0.ready        motion.digital-in-00
net car-pos-req   motion.analog-out-00   conv-float-s32.0.in
net car-pos-s32   conv-float-s32.0.out   carousel.0.pocket-number
# Carousel forward
net car-fwd carousel.0.motor-fwd              =>   hm2_5i25.0.7i77.0.0.output-12 => 
#Carousel reverse
net car-rev carousel.0.motor-rev              =>   hm2_5i25.0.7i77.0.0.output-13 => 
 

yes it needs to be +-10VDC , a typo.. the pwm comes from the i80 yasnac controller..

Ok is that something that is already on the card and just needs to be activated? Will the other Pins retain their functions (does this only change the expansion connector)?

Thank you for the quick reply

You would need a MX4660 +7I77 firmware configuration
for the 7C81. I can make one if that's whats really desired.

You could use  7I97T firmware for a 7I85 configuration. This includes
5 additional channels worth of sserial interfaces:

7i97t_7i85d.bin

 

Hello Everyone!
I'm new on Forum but thanks to Yours knowledge You share on forum which I'm very thankful for,  I built my own cnc machine (I'm during completing mechanical parts), but looks that software it working as it should (Z axis already built - the hardest). I'm wondering if someone built up with success configuration rpi4 + 7c81 + 7i77 + mx4660, because I want improve positioning. I'd like to not changing config of current set but only add 7i77, could someone advise me how to do that and if its working at all as it should?
Thank You in advance
Best Regards

Hello,

moving along in my retrofit I got all 3 axis, the spindle and also the 3 jog handwheels to run on my machine using a 7i97t and a 7i84d connected to the standard smart serial output. Now I want to add a 7i73 in the control panel to connect all my physical buttons and encoders on the control. For that card I need an additional smart serial channel which the standard 7i97t does not have.
I was told in an earlier post that I can edit the bitfile on the 7i97 to add rx and tx pins to the unused expansion port. I have already made an convertor board to take these signals and convert them to smart serial as shown by talla83 in this video.

to use these 2 additional channels the bitfile needs to be modified to have 4 pins on the P2 expansion connector give 2 rx and tx signals each.

My question is how to do that since the manual of the 7i97 informs me that loading wrong bitfiles will brick the card.
What steps do I need to follow?