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In hal:
-
loadrt stepgen step_type=0,0,0,0,0
-
net bstep => parport.0.pin-16-out
net bdir => parport.0.pin-17-out
-
setp stepgen.4.position-scale [JOINT_4]SCALE
setp stepgen.4.steplen 1
setp stepgen.4.stepspace 1
setp stepgen.4.dirhold 52000
setp stepgen.4.dirsetup 52000
setp stepgen.4.maxaccel [JOINT_4]STEPGEN_MAXACCEL
net bpos-cmd joint.4.motor-pos-cmd => stepgen.4.position-cmd
net bpos-fb stepgen.4.position-fb => joint.4.motor-pos-fb
net bstep <= stepgen.4.step
net bdir <= stepgen.4.dir
net benable joint.4.amp-enable-out => stepgen.4.enable
-
In ini file:
-
[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYZAB
-
[TRAJ]
COORDINATES = X Y Z A B
-
#*** AXIS_B *******************************
[AXIS_B]
MAX_VELOCITY = 13.4
MAX_ACCELERATION = 150.0
MIN_LIMIT = -1000.0
MAX_LIMIT = 2000.0

[JOINT_4]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -1000.0
MAX_LIMIT = 2000.0
MAX_VELOCITY = 13.4
MAX_ACCELERATION = 150.0
STEPGEN_MAXACCEL = 187.5
SCALE = 133.33333333333331
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
#******************************************

The only reason I put it there instead of here was for a broader audience. I figured maybe someone might know about sources for LeadShine products who might not read the EtherCAT forum. Here is fine, though! No big deal.

cheers,
Steve

slowpoke wrote:

Thinking out loud... I could read the pot values with a dime store 8 pin uC and do a voltage to frequency conversion,....
 

LM331 Is cheap and easy to find, amazingly i can find it here, although i can not find M3 screws!
www.ti.com/lit/ds/symlink/lm331.pdf?ts=1...Fwww.google.com%252F

Moved to "EtherCAT" section.
Or, was there a reason why it was on "general LinuxCNC questions" ?

Estos son mis archivos con 4 ejes y funcionan bien. El 5to eje B debería ir a los ports 14 y 1 del DB25 1205.
Mi objetivo final sería con 6 ejes, siendo el sexto el C y debería ir a los ports 17 y 16 pero no se usar el PNcConf

Slds y gracias.

   

I want to add a couple of physical pots to control Jog and feed speeds.

I'm using a 7i96s, and I don't believe that particular card has analog input capability.

I'm sure there are many ways to accomplish this. On my mill I used Arduino Connector and it works well, so that's an option, however fair bit of carry on for just a couple of analog inputs.

Thinking out loud... I could read the pot values with a dime store 8 pin uC and do a voltage to frequency conversion, and then apply those variable frequency signals to two digital inputs on the 7i96s if there an easy way (in HAL) to then measure that frequency and apply the result to:

halui.axis.jog-speed

and

halui.feed-override.scale

Or, perhaps there are other better ways, any suggestions?

 

Hi,
I'm tweaking HAL files for my new Lathe. I have independent hardware jog buttons for the X & Z axis. Presently setting jog speed with: halui.axis.jog-speed

The jog buttons are working however I would like to set the halui.axis.jog-speed to different values for X & Z.

What would be the easiest way to do that?

Thanks.

Nice. LOL

Cant do this anymore bye all wrote:

Stop being a spherical bastard and your experience may improve.
 

I can't help being spherical. I was born that way.

A 7I76e +7I78+7i85 does need a custom bit file

For just an added 7I78 on P1, theres:

7i76e_7i76x1_7i78x1D.bit

I can make a bitfile for a 7I76E+7I78+7I85 in the next day or so

Note that if you are running LinuxCNC, and depending on the hal file setup
some I/O pins may have been enabled as outputs so it's not a great idea
to connect them to +5V.

7I76E P1 and P2 pins are pulled up so should read high if unconnected
(and not configured as outputs)

You can check this with mesaflash:

mesaflash --device ethernet --addr [card_ip_address] --rpo 0x1004
(for P1)
mesaflash --device ethernet --addr [card_ip_address] --rpo 0x1008
(for P2)

These should both read 0x001FFFF (17 bits of '1's)
with unconnected P1,P2 connectors

No, but the OK Game is good. I usually identify myself as Patrick Conor Officer, and give them the phone number and address of a police station in my state.

Hi All, 

I'm trying to add a 7i78 and 7i85 card to P1 and P2 of my 7i76e. 
When I plug the 7i78 into P1 and mesaflash --readhmid, the usual 7i76e pins show up "on card" and I also get a list of the 7i78 pins on the "IO Connections for P1" list, an encoder and some stepgens, so that looks positive.

However I connected a bunch of test nets in my hal file, something like this but I'm not by the machine and the SSH isn't connecting now so I can't check: 
net test017 <= hm2_7i76e.0.7i76.0.0.input-17
net test018 <= hm2_7i76e.0.7i76.0.0.input-18
net test019 <= hm2_7i76e.0.7i76.0.0.input-19
net test020 <= hm2_7i76e.0.7i76.0.0.input-20

all of my test nets stay low whether or not I apply 5v to the pins. 
Do I need to change something in the FPGA firmware (bitfile?) to define these pin directions? If so, is this a matter of downloading the Xilinx tool or is there a repo somewhere with combinations of mesa bitfiles in there? I've seen PCW on here post them but I'm not sure if they live somewhere! 
Do the IOPort numbers from --readhmid directly map to the hm2_7i76e.0.7i76.0.0.input-nn pins in the hal or am I missing something here? 


When the 7i85 arrives, I'd like to get it reading a glass scale to close the loop on the axes (I could also test this sooner with the encoder input on the 7i78 if I get the scales mounted before the 7i85 shows up, depends on DHL!) presumably the standard firmware shipped in the 7i85 is set up for the right encoder IO so I only need to set up the hal file plug it into the 7i76e, or will that require an update to the 7i76e bin? 

Finally, once the axis position feedback is working and tuned I'd like to get index homing working from the glass scales on top of my existing home switches. From seeing posts on here It looks like i'll need a new bitfile to enable the home-seeking with a limit switch input and home-latch off an index, but the homing config page seems to say I just need to set HOME_USE_INDEX in the .ini ?