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sorry guys, problem solved with debouncing..

The 7C81 only has the option of all pullups and all pulldowns
on its I/O ports.

Simplest solution would probably be to add a stiff pulldown (say 620 ohms)
on the relay I/O pin. There is a firmware option for fixed parallel port type I/O
but currently its global (not per port), This firmware makes the parallel port
output pins default to outputs instead of inputs at startup or watchdog bite
What firmware are you using?

I'm afraid ChatGPT will just be a time-sink here.

I suspect the easiest current path would be to make a pncconf  QTPlasmac/THCAD configuration
for a 7I95T (This requires updating to the very latest LinuxCNC master as 7I95T support was just added
about 1 week ago) This configuration will match as far as encoders, inputs, and outputs go (though will show
more inputs than the 7I97T has, so just don't use any inputs beyond input 15)

When creating the 7I95T configuration, setup step/dir axis.  and encoder feedback. This will create the
basic PID loop structure  required for changing over to the 7I97T PWM/analog axis configuration.

When this is done, you will have a step/dir configuration for a 7I95T and QTPlasmac/THCAD.
Next you will need to change the card name in the ini file to "7i97".

then the created hal file will need to be edited to change the PID feedback input from stepgen
position to encoder position and the PID output from stepgen velocity to PWM value.

There are also enables and some PWM setup needed. I can help with these when you get a basic
hal file setup. 

You can use this example of basic 7I97/7I97T PWM hal file setup:

 



 

I start the program with an external button.

Well, yes but what hal pin do you use to start the program?
I presume 'halui.program.run'

pippin88 wrote:

Suggestion / request:
Overrides
When starting a program running (cycle start): user is prompted that an override (rapid, feed, or spindle) and asked whether they want to continue with override, or want to reset to 100%

I could imagine make an optional warn dialog with a settable limit. For all overrides? Feed, rapid and spindle?

Maybe a stupid question, but how do you use the relay on those cheap MACH3 BOBs with the 7c81?

For the inputs to work I need to enable the pullups on the 7C81.
But enabling the pullups makes the relay close as soon as the BOB is powered.

Ideally I would want the relay to be open until linuxcnc is started and I tell linuxcnc to close the relay.

But the relay closing by default due to the pullups makes it unusable, or did I miss something?