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  • Walkahz
  • Walkahz
22 Jul 2024 10:45
Mesa 7i96S +7i84D + 7i85 was created by Walkahz

Mesa 7i96S +7i84D + 7i85

Category: Driver Boards

Hi everyone
I have just  added a 7i85 to my existing 7i96s and 7i84d combo.
This will allow me to run the existing linear encoders on my deckel when combined with the exe boxes i have also purchased and most importantly give myself a home reference.
Servos drivers are of the Step + Dir variety which i have had running prior to these add ons.
Had an initial issue with adding 5v power to  the 7i85 causing the 7i96 to not power up  but after  re-read of the manual have removed this which seems to have fixed the issue.
I reflashed the firmware as required.

My configuration was redone in pncconf and i pulled the format from the card for the additional encoders added by the 7i85.
I added a couple of test encoders to the config. This however has caused an issue on startup where it says there are 2 encoder pins (see below)   I must have a double up now due to the pulse+dir effectively also having its own calculated encoder.
Do i need to remove these existing ones in HAL or have i missed something in PNCCONF?
See below error file.
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.1
Machine configuration directory is '/home/josh/linuxcnc/configs/Deckel'
Machine configuration file is 'Deckel.ini'
INIFILE=/home/josh/linuxcnc/configs/Deckel/Deckel.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=gmoccapy
COORDINATES=XYZ
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./Deckel.hal
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:16:87:b1
hm2_eth: discovered 7I96S
hm2/hm2_7i96s.0: Low Level init 0.15
hm2/hm2_7i96s.0: Smart Serial Firmware Version 43
Board hm2_7i96s.0.7i84.0.0 Hardware Mode 0 = standard
Board hm2_7i96s.0.7i84.0.0 Software Mode 0 = input_output
Board hm2_7i96s.0.7i84.0.0 Software Mode 1 = io_analog_fieldvoltage
Board hm2_7i96s.0.7i84.0.0 Software Mode 2 = io_encoder_analog
hm2/hm2_7i96s.0: 51 I/O Pins used:
hm2/hm2_7i96s.0:     IO Pin 000 (TB3-01): InM Input Module #0, pin in0 (Input)
hm2/hm2_7i96s.0:     IO Pin 001 (TB3-02): InM Input Module #0, pin in1 (Input)
hm2/hm2_7i96s.0:     IO Pin 002 (TB3-03): InM Input Module #0, pin in2 (Input)
hm2/hm2_7i96s.0:     IO Pin 003 (TB3-04): InM Input Module #0, pin in3 (Input)
hm2/hm2_7i96s.0:     IO Pin 004 (TB3-05): InM Input Module #0, pin in4 (Input)
hm2/hm2_7i96s.0:     IO Pin 005 (TB3-06): InM Input Module #0, pin in5 (Input)
hm2/hm2_7i96s.0:     IO Pin 006 (TB3-07): InM Input Module #0, pin in6 (Input)
hm2/hm2_7i96s.0:     IO Pin 007 (TB3-08): InM Input Module #0, pin in7 (Input)
hm2/hm2_7i96s.0:     IO Pin 008 (TB3-09): InM Input Module #0, pin in8 (Input)
hm2/hm2_7i96s.0:     IO Pin 009 (TB3-10): InM Input Module #0, pin in9 (Input)
hm2/hm2_7i96s.0:     IO Pin 010 (TB3-11): InM Input Module #0, pin in10 (Input)
hm2/hm2_7i96s.0:     IO Pin 011 (TB3-13/TB3-14): SSR #0, pin Out-00 (Output)
hm2/hm2_7i96s.0:     IO Pin 012 (TB3-15/TB3-16): SSR #0, pin Out-01 (Output)
hm2/hm2_7i96s.0:     IO Pin 013 (TB3-17/TB3-18): SSR #0, pin Out-02 (Output)
hm2/hm2_7i96s.0:     IO Pin 014 (TB3-19/TB3-20): SSR #0, pin Out-03 (Output)
hm2/hm2_7i96s.0:     IO Pin 015 (TB3-21/TB3-22): OutM Output Module #0, pin Out-04 (Output)
hm2/hm2_7i96s.0:     IO Pin 016 (TB3-23/TB3-24): OutM Output Module #0, pin Out-05 (Output)
hm2/hm2_7i96s.0:     IO Pin 017 (TB1-02/TB1-03): StepGen #0, pin Step (Output)
hm2/hm2_7i96s.0:     IO Pin 018 (TB1-04/TB1-05): StepGen #0, pin Direction (Output)
hm2/hm2_7i96s.0:     IO Pin 019 (TB1-08/TB1-09): StepGen #1, pin Step (Output)
hm2/hm2_7i96s.0:     IO Pin 020 (TB1-10/TB1-11): StepGen #1, pin Direction (Output)
hm2/hm2_7i96s.0:     IO Pin 021 (TB1-14/TB1-15): StepGen #2, pin Step (Output)
hm2/hm2_7i96s.0:     IO Pin 022 (TB1-16/TB1-17): StepGen #2, pin Direction (Output)
hm2/hm2_7i96s.0:     IO Pin 023 (TB1-20/TB1-21): StepGen #3, pin Step (Output)
hm2/hm2_7i96s.0:     IO Pin 024 (TB1-22-TB1-23): StepGen #3, pin Direction (Output)
hm2/hm2_7i96s.0:     IO Pin 025 (TB2-02/TB2-03): StepGen #4, pin Step (Output)
hm2/hm2_7i96s.0:     IO Pin 026 (TB2-04/TB2-05): StepGen #4, pin Direction (Output)
hm2/hm2_7i96s.0:     IO Pin 027 (TB2-07/TB2-08): Muxed Encoder #2, pin Muxed A (Input)
hm2/hm2_7i96s.0:     IO Pin 028 (TB2-10/TB2-11): Muxed Encoder #2, pin Muxed B (Input)
hm2/hm2_7i96s.0:     IO Pin 029 (TB2-13/TB2-14): Muxed Encoder #2, pin Muxed Index (Input)
hm2/hm2_7i96s.0:     IO Pin 030 (TB2-16/TB2-17): Smart Serial Interface #0, pin rx0 (Input)
hm2/hm2_7i96s.0:     IO Pin 031 (TB2-18/TB2-19): Smart Serial Interface #0, pin tx0 (Output)
hm2/hm2_7i96s.0:     IO Pin 032 (internal): Smart Serial Interface #0, pin txen0 (Output)
hm2/hm2_7i96s.0:     IO Pin 033 (internal): SSR #0, pin AC Ref (internal) (Output)
hm2/hm2_7i96s.0:     IO Pin 034 (P1-01/DB25-01): IOPort
hm2/hm2_7i96s.0:     IO Pin 035 (P1-02/DB25-14): IOPort
hm2/hm2_7i96s.0:     IO Pin 036 (P1-03/DB25-02): IOPort
hm2/hm2_7i96s.0:     IO Pin 037 (P1-04/DB25-15): IOPort
hm2/hm2_7i96s.0:     IO Pin 038 (P1-05/DB25-03): IOPort
hm2/hm2_7i96s.0:     IO Pin 039 (P1-06/DB25-16): IOPort
hm2/hm2_7i96s.0:     IO Pin 040 (P1-07/DB25-04): IOPort
hm2/hm2_7i96s.0:     IO Pin 041 (P1-08/DB25-17): IOPort
hm2/hm2_7i96s.0:     IO Pin 042 (P1-09/DB25-05): IOPort
hm2/hm2_7i96s.0:     IO Pin 043 (P1-11/DB25-06): IOPort
hm2/hm2_7i96s.0:     IO Pin 044 (P1-13/DB25-07): Muxed Encoder Select #0, pin Mux Select 0 (Output)
hm2/hm2_7i96s.0:     IO Pin 045 (P1-15/DB25-08): Muxed Encoder Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
#0, pin Muxed A (Input)
hm2/hm2_7i96s.0:     IO Pin 046 (P1-17/DB25-09): Muxed Encoder #0, pin Muxed B (Input)
hm2/hm2_7i96s.0:     IO Pin 047 (P1-19/DB25-10): Muxed Encoder #0, pin Muxed Index (Input)
hm2/hm2_7i96s.0:     IO Pin 048 (P1-21/DB25-11): Muxed Encoder #1, pin Muxed A (Input)
hm2/hm2_7i96s.0:     IO Pin 049 (P1-23/DB25-12): Muxed Encoder #1, pin Muxed B (Input)
hm2/hm2_7i96s.0:     IO Pin 050 (P1-25/DB25-13): Muxed Encoder #1, pin Muxed Index (Input)
hm2/hm2_7i96s.0: registered
creating ladder-state
hm2_eth: in hm2_eth_reset
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
./Deckel.hal:148: Signal 'x-pos-fb' can not add OUT pin 'hm2_7i96s.0.encoder.01.position', it already has OUT pin 'hm2_7i96s.0.stepgen.00.position-fb'
18098
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
 
  • sprintertrd
  • sprintertrd
22 Jul 2024 10:38
Replied by sprintertrd on topic 2.9.3 ISO Issue

2.9.3 ISO Issue

Category: Installing LinuxCNC

Hi Rod,
I got caught by this while testing JT's config tool!
  • rodw
  • rodw's Avatar
22 Jul 2024 10:27
Replied by rodw on topic Best QTplasmac version to use

Best QTplasmac version to use

Category: Plasmac

Hi Rod
I have all my users on 2.9.2 (some going to 2.9.3 soon). I use the buidlbot2.highlab.com as repository and I run on MX Linux (just because it is nice to work with)

Thanks Marius. I'm going with 2.9.3 on an i3 All in one PC with a realtek 8111 NIC. With a few tricks I documented here, it is solid
docs.google.com/document/d/1jeV_4VKzVmOI...diY/edit?usp=sharing

 
  • mariusl
  • mariusl's Avatar
22 Jul 2024 10:15
Replied by mariusl on topic Best QTplasmac version to use

Best QTplasmac version to use

Category: Plasmac

Hi Rod
I have all my users on 2.9.2 (some going to 2.9.3 soon). I use the buidlbot2.highlab.com as repository and I run on MX Linux (just because it is nice to work with)
  • xylos
  • xylos
22 Jul 2024 10:14
Replied by xylos on topic EtherCAT + EL6751 Configuration

EtherCAT + EL6751 Configuration

Category: EtherCAT

AH, this translator is just working as Slave ...
So how I am getting the DELTA into a CANOpen/EtherCAT MASTER?

Thanks a lot for your reply in advance!
  • DPFlex
  • DPFlex
22 Jul 2024 09:46
EtherCAT Leadshine EL6 series - could read but not control was created by DPFlex

EtherCAT Leadshine EL6 series - could read but not control

Category: EtherCAT

Hi,
I have new servo drive: Leadshine EtherCAT EL6-EC400
I can read feedback of EL6-EC400, but could not control it.
 

I tested well with Leadshine EtherCAT drive EL7-EC400F.
I know that this model is in LCNC EtherCAT database: linuxcnc-ethercat.github.io/esi-data/devices/EL7-EC400F
Maybe EL6 series is new, not yet updated in LCNC database.
I confirm that ESI of EL6-xxx is same as EL7-xxx

Can you advise how to solve issue ?. Thank you.
  • xylos
  • xylos
22 Jul 2024 08:59
Replied by xylos on topic EtherCAT + EL6751 Configuration

EtherCAT + EL6751 Configuration

Category: EtherCAT

Hello zmrdko,

Thanks a lot for your reply.
I don't get the usage of 120 Ohm on both ends? I just would determinate the last one - as shown in the delta manual.
Do I missunderstand it?
 

Are you working with an extra translator from CANopen to EtherCAT - like  

This browser does not support PDFs. Please download the PDF to view it: Download PDF

in front of the EL6751?

Thanks a lot for your help in advance,
best regards

Jürgen




 
  • timaer
  • timaer
22 Jul 2024 08:49
Replied by timaer on topic Can I embeded Vismach into Qtvcp ?

Can I embeded Vismach into Qtvcp ?

Category: Qtvcp

Thanks,but I'm using full customized qtvcp (using .ui file and handler.py),so ,not very fitable .
  • timaer
  • timaer
22 Jul 2024 08:48
Replied by timaer on topic Can I embeded Vismach into Qtvcp ?

Can I embeded Vismach into Qtvcp ?

Category: Qtvcp

Thanks,but what I need is using vismach in my full customized qtvcp control pannel (which is controlled by an UI file and a handler.py)
  • WKS-3D
  • WKS-3D
22 Jul 2024 08:11
Replied by WKS-3D on topic Brauche bitte Hilfe bei der Steuerung des Werkzeugrevolvers

Brauche bitte Hilfe bei der Steuerung des Werkzeugrevolvers

Category: Deutsch

Da hatten wir wohl die gleiche Idee 
File Attachment:

Ich habe mir das gestern Abend nochmal angesehen und bemerkt das motmod ja in EMCMOT enthalten ist,
dann habe ich einfach unlock_joints_mask=0x8 da dran gehängt und in die passenden Signale verknüpft:

# --- Werkzeug-Revolver loesen-spannen ---
net   revolver-unlock  joint.3.unlock  =>  hm2_7i92.0.7i76.0.0.output-00
net   revolver-is-unlocked  joint.3.is-unlocked  <=  hm2_7i92.0.7i76.0.0.input-09

In der INI hatte ich unter:

[JOINT_3]
LOCKING_INDEXER_JOINT = 3
LOCKING_INDEXER = 1

Das funktioniert dann allerdings nur beim referenzieren das die Klemmung gelöst wird, bei zB. T3 M6 wird einfach die Achse gedreht ohne die Klemmung zu lösen, das Gleiche gilt, wenn man G0 C180 etc. laufen lässt.

Richtig ist es dann so

[AXIS_C]
LOCKING_INDEXER_JOINT = 3

[JOINT_3]
LOCKING_INDEXER = 1

Jetzt funktioniert es einwandfrei und ich kann mir die ganzen Unterprogramme für den Wkz-Wechsel sparen.
So sieht jetzt das Toolchange Unterprogramm aus:

o<toolchange> sub
#4001=45            (bei 8 Positionen 360 Grad durch 8)
M61 Q#4999            (Werkzeug aus Speicher setzen)
o500 if[#<_current_tool> EQ #<_selected_tool>]
    (DEBUG,Tool bereits in Spindel)
o500 else
    G0 C[#<_selected_tool> * #4001-#4001]
    M6 G43
    #4999=#5400
o500 endif
o<toolchange> endsub
m2

Danke das du dir die Mühe gemacht hast, hätte mir dann spätestens jetzt geholfen wenn ich nicht noch selbst drauf gekommen wäre.

Danke auch an alle anderen für eure Hilfe 
File Attachment:



Gruß
Olli
  • Raksop
  • Raksop
22 Jul 2024 06:50 - 22 Jul 2024 06:51
Replied by Raksop on topic LinuxCNC stalls on manual toolchange routine

LinuxCNC stalls on manual toolchange routine

Category: General LinuxCNC Questions

I added some debug lines to the code and did the same procedure.
First tool call works and the machine stalls on the second tool call after the tool change is confirmed.
On the screenshoot u can see that the machine called the toolchange macro.
 
  • CHEROKEE-Laredo
  • CHEROKEE-Laredo
22 Jul 2024 06:43
Replied by CHEROKEE-Laredo on topic Brauche bitte Hilfe bei der Steuerung des Werkzeugrevolvers

Brauche bitte Hilfe bei der Steuerung des Werkzeugrevolvers

Category: Deutsch

Hallo Olli
Habe mal Deine Maschinenconfig mit Klemmung erweeitert.
Ich hoffe es funktioniert.

Gruß Josef
  • jdryg
  • jdryg
22 Jul 2024 06:42 - 22 Jul 2024 06:45
Replied by jdryg on topic Probing: Delay after trigger?

Probing: Delay after trigger?

Category: General LinuxCNC Questions

FWIW, I added a Mesa output to my HAL, connected to the same signal used for motion.probe-input in order to monitor it with the oscilloscope along with the touch probe's trigger signal.

The total delay is 2-3ms (see attachment;CH1 is the probe trigger signal, CH2 is the Mesa output).

The reason it's not ~1ms (servo period) is that I had an OR gate connected to motion.probe-input for both a touch probe and a tool setter and the OR's function was executed after hm2_7i92.0.write. Removing the OR gate and connecting the Mesa input used for the touch probe directly to motion.probe-input (and the new output) dropped the delay to 1-2ms (I don't have a screenshot for that).

Either way, even 3ms delay does not explain the pretravel variation I'm observing, so the problem must be somewhere else. At 50mm/min probing speed, the total error introduced by that delay should be around 2.5um (given that I didn't make a mistake in my calculations). So not an actual problem at the moment.

Looking at my HAL file (initially generated by PNCconf) I wondered whether I need the PIDs (EDIT: I'm using open-loop steppers). After searching the forums I found that it helps with position estimation (if I understood correctly). A couple of questions:

1. How do the PIDs affect the position recorded during probing?
2. Is the following snippet correct or it's a bug in PNCconf?

net x-output     <= pid.x.output
net x-output     <= hm2_7i92.0.stepgen.00.velocity-cmd

Doesn't this mean that x-output has 2 writers?
  • yathish
  • yathish
22 Jul 2024 06:24
Replied by yathish on topic this code works for rpi 4 model B but not working for rpi 5

this code works for rpi 4 model B but not working for rpi 5

Category: HAL

yes i read thru this thread. Do u have any idea ?
  • cmorley
  • cmorley
22 Jul 2024 05:12
Replied by cmorley on topic Can I embeded Vismach into Qtvcp ?

Can I embeded Vismach into Qtvcp ?

Category: Qtvcp

Have you seen the docs?
linuxcnc.org/docs/stable/html/gui/qtvcp-vismach.html

Also the sample configurations qtdragon_metric or qtdragon_inch show vismach models in the utilities tab.
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