Advanced Search

Can you guide in using generic mpg pendent with remora-spi?
I tried with using digital-input pins. It was kind pf working. But there is limitation of 16 input pins in remora, so i cant use jog for all 5 axis. And I got only x1, x10 working not x100.
Then I tried to define encoder pin. PV.0 but then same float and s32 pin type mismatch error. Using latest 9.2 stable version may that is giving this error.

Hi Peter

I figured it out, now I got one encoder which has 25bit SSI Gray output, could you please make 7i95 firmware to me? I'd like to connect the encoder to the 1st serial port, and if possible use the 2nd for Modbus/RS485.
Thank you a lot!
Tamas

Thank you very much, now the analog variables have appeared!

change:

sserial_port_0=0xxxxxxx

to:

sserial_port_0=000

sserial_port_0=0xxxxxxx  only enables one sserial channel
(the digital I/O section of the 7I77)

sserial_port_0=000 enables 3 channels: 0,1,2 = 7I77 digital, 7I77 analog,
and the 7I96S's sserial expansion channel. 
 

Hello everyone, please, I need to configure the analog outputs of the 7i77d board that is connected to the 7i96s board. The digital outputs and inputs already appear in the HalShow figure attached below. But unfortunately nothing appears regarding analog inputs and outputs.
The 7i96s board has already been updated with 7i96s_7i77d.bin, the green LED lights up when the 7i96s board is connected and run by linuxCNC, the 7i77 digital inputs and outputs are appearing and being activated in LinuxCNC. But the analog part doesn't appear at all.
I tried to use the Pncconf Wizard to have a graphic example of how to configure the analog part of the 7i96s with the 7i77d, but unfortunately this newer version of the board is not available. So, following previous recommendations, I used 7i92 with 7i77 as examples to generate the necessary Hal files as an example, I edited the name 7i92 to 7i96s, but I did not get the satisfactory result, the error that was not found appeared: . /7i96s_7i77analogico1.hal:64: parameter or pin 'hm2_7i96s.0.7i77.0.1.analogout0-scalemax' not found

How do I do the basic configuration in HAL so that hm2_7i96s.0.7i77.0.1.analogout0... appears?


# Generated by PNCconf at Fri May 31 13:19:30 2024
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
#loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxxxx" 
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx"

#setp    hm2_7i92.0.watchdog.timeout_ns 5000000

setp    hm2_7i96s.0.pwmgen.pwm_frequency 20000
setp    hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp    hm2_7i96s.0.watchdog.timeout_ns 5000000

loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s

#addf hm2_7i92.0.read          servo-thread
addf hm2_7i96s.0.read          servo-thread

addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.a.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
#addf hm2_7i92.0.write         servo-thread
addf hm2_7i96s.0.write         servo-thread
setp hm2_7i96s.0.dpll.01.timer-us -50
setp hm2_7i96s.0.stepgen.timer-number 1

# external output signals


# external input signals


#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true

net x-index-enable  =>  pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# ---PWM Generator signals/setup---

setp      [JOINT_0]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output     => hm2_7i96s.0.7i77.0.1.analogout0
net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-enable     <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable   => hm2_7i96s.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp    hm2_7i96s.0.encoder.00.counter-mode 0
setp    hm2_7i96s.0.encoder.00.filter 1
setp    hm2_7i96s.0.encoder.00.index-invert 0
setp    hm2_7i96s.0.encoder.00.index-mask 0
setp    hm2_7i96s.0.encoder.00.index-mask-invert 0
setp    hm2_7i96s.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_7i96s.0.encoder.00.position
net x-vel-fb               <=  hm2_7i96s.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb
net x-index-enable    joint.0.index-enable  <=>  hm2_7i96s.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_7i96s.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true

net y-index-enable  =>  pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# ---PWM Generator signals/setup---

setp   hm2_7i96s.0.7i77.0.1.analogout1-scalemax  [JOINT_1]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout1-minlim    [JOINT_1]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout1-maxlim    [JOINT_1]OUTPUT_MAX_LIMIT

net y-output     => hm2_7i96s.0.7i77.0.1.analogout1
net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-enable     <= joint.1.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_7i96s.0.encoder.01.counter-mode 0
setp    hm2_7i96s.0.encoder.01.filter 1
setp    hm2_7i96s.0.encoder.01.index-invert 0
setp    hm2_7i96s.0.encoder.01.index-mask 0
setp    hm2_7i96s.0.encoder.01.index-mask-invert 0
setp    hm2_7i96s.0.encoder.01.scale  [JOINT_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_7i96s.0.encoder.01.position
net y-vel-fb               <=  hm2_7i96s.0.encoder.01.velocity
net y-pos-fb               =>  joint.1.motor-pos-fb
net y-index-enable    joint.1.index-enable  <=>  hm2_7i96s.0.encoder.01.index-enable
net y-pos-rawcounts        <=  hm2_7i96s.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net y-home-sw     =>  joint.1.home-sw-in
net y-neg-limit     =>  joint.1.neg-lim-sw-in
net y-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true

net z-index-enable  =>  pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# ---PWM Generator signals/setup---

setp   hm2_7i96s.0.7i77.0.1.analogout2-scalemax  [JOINT_2]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout2-minlim    [JOINT_2]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout2-maxlim    [JOINT_2]OUTPUT_MAX_LIMIT

net z-output     => hm2_7i96s.0.7i77.0.1.analogout2
net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-enable     <= joint.2.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_7i96s.0.encoder.02.counter-mode 0
setp    hm2_7i96s.0.encoder.02.filter 1
setp    hm2_7i96s.0.encoder.02.index-invert 0
setp    hm2_7i96s.0.encoder.02.index-mask 0
setp    hm2_7i96s.0.encoder.02.index-mask-invert 0
setp    hm2_7i96s.0.encoder.02.scale  [JOINT_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_7i96s.0.encoder.02.position
net z-vel-fb               <=  hm2_7i96s.0.encoder.02.velocity
net z-pos-fb               =>  joint.2.motor-pos-fb
net z-index-enable    joint.2.index-enable  <=>  hm2_7i96s.0.encoder.02.index-enable
net z-pos-rawcounts        <=  hm2_7i96s.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

net z-home-sw     =>  joint.2.home-sw-in
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net z-pos-limit     =>  joint.2.pos-lim-sw-in

#*******************
#  AXIS A JOINT 3
#*******************

setp   pid.a.Pgain     [JOINT_3]P
setp   pid.a.Igain     [JOINT_3]I
setp   pid.a.Dgain     [JOINT_3]D
setp   pid.a.bias      [JOINT_3]BIAS
setp   pid.a.FF0       [JOINT_3]FF0
setp   pid.a.FF1       [JOINT_3]FF1
setp   pid.a.FF2       [JOINT_3]FF2
setp   pid.a.deadband  [JOINT_3]DEADBAND
setp   pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp   pid.a.error-previous-target true

net a-index-enable  =>  pid.a.index-enable
net a-enable        =>  pid.a.enable
net a-pos-cmd       =>  pid.a.command
net a-pos-fb        =>  pid.a.feedback
net a-output        <=  pid.a.output

# ---PWM Generator signals/setup---

setp   hm2_7i96s.0.7i77.0.1.analogout3-scalemax  [JOINT_3]OUTPUT_SCALE
setp   hm2_7i96s.0.7i77.0.1.analogout3-minlim    [JOINT_3]OUTPUT_MIN_LIMIT
setp   hm2_7i96s.0.7i77.0.1.analogout3-maxlim    [JOINT_3]OUTPUT_MAX_LIMIT

net a-output     => hm2_7i96s.0.7i77.0.1.analogout3
net a-pos-cmd    <= joint.3.motor-pos-cmd
net a-enable     <= joint.3.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_7i96s.0.encoder.03.counter-mode 0
setp    hm2_7i96s.0.encoder.03.filter 1
setp    hm2_7i96s.0.encoder.03.index-invert 0
setp    hm2_7i96s.0.encoder.03.index-mask 0
setp    hm2_7i96s.0.encoder.03.index-mask-invert 0
setp    hm2_7i96s.0.encoder.03.scale  [JOINT_3]ENCODER_SCALE

net a-pos-fb               <=  hm2_7i96s.0.encoder.03.position
net a-vel-fb               <=  hm2_7i96s.0.encoder.03.velocity
net a-pos-fb               =>  joint.3.motor-pos-fb
net a-index-enable    joint.3.index-enable  <=>  hm2_7i96s.0.encoder.03.index-enable
net a-pos-rawcounts        <=  hm2_7i96s.0.encoder.03.rawcounts

# ---setup home / limit switch signals---

net a-home-sw     =>  joint.3.home-sw-in
net a-neg-limit     =>  joint.3.neg-lim-sw-in
net a-pos-limit     =>  joint.3.pos-lim-sw-in

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  =>  pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net axis-select-a  halui.axis.a.select
net jog-a-pos      halui.axis.a.plus
net jog-a-neg      halui.axis.a.minus
net jog-a-analog   halui.axis.a.analog
net a-is-homed     halui.joint.3.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

net tool-change-request    <= iocontrol.0.tool-change
net tool-change-confirmed  => iocontrol.0.tool-changed
net tool-number            <= iocontrol.0.tool-prep-number

#  ---Use external manual tool change dialog---

loadusr -W hal_manualtoolchange
net tool-change-request    =>  hal_manualtoolchange.change
net tool-change-confirmed  <=  hal_manualtoolchange.changed
net tool-number            =>  hal_manualtoolchange.number

#  ---ignore tool prepare requests---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

 

I hadn't had a need for that yet. I just added it, but I haven't had a chance to test it.

github.com/a-downing/scurvy/commit/938b7...a75392ee1d14c722bf5f

Edit: Oops it's definitely wrong, let me fix it quick.

Edit: Should be good now: github.com/a-downing/scurvy/commit/f271a...40af0f51734534134e3f

I have home/limit switches, one switch per axis.

I actually tried searching for those lines in the gcode file. However, there are a lot of G2's and G3's which complicate things.

I'm wondering if there's a gcode program that would translate the G2's and G3's?


 

Not good, there is nothing about 7i77 and encoders in those files, just 5i25 with stepgens.
Use the PncConf wizard to create a config for 5i25 with 7i77.

  oui ils bougent etb meme dans les bons sens et-. voici mes fichiers ini et hal.merci 

thank you for your hal, yes I confirm the diagrams of our two turret are identical.
here is the diagram of my turret in better quality to avoid hurting your eyes

 

red : motor
green . solenoid
purpel : pre-indexing control
yellow : locking control
blue . strobe

i will check your hal and i come back to you for sure some questions !

AFAIK no one has used QtDragon on a lathe. It was not built with that in mind I would say.

Saying that we could modify it to make it more suited.
What version of linuxcnc are you using?

also there is a basic ini file here which may give you an indication of what else you may need note in versions 2.8 and above the ini file has changed somewhat, eg all homing related values are in JOINT_n sections now:

 I think I'm wrong, yesterday reading your turret manual carefully I thought that it works the same as the TOE100, the difference apparently is that yours does not have a brake. I sent you my configuration, the difference is that your encoder has an additional output for the parity bit, mine does not have it because they changed the encoder for one with a gray output.

change loadrt carousel pockets=6 encoding=binary num_sense=4 dir=1

 

I found a configurator script for Linuxcnc 2.6 here:
www.probotix.com/wiki/index.php/PROBOTIX...inuxCNC_Configurator

 
Note that this will not work for Linuxcnc 2.8 or above but the script attached below will give an idea of the settings needed for what you have.

For example the MondoStep drivers.
search the file above for 'mondostep' and you will find this:

which tells you that for x and y the scale should be 1600 steps per inch and for the z axis it's 800*TPI of the z leadscrew.

As for that you can then search for 'ztpi' and you will find this section from which you will glean more information about the max velocity:
As for XY limits there is this section:

Could be quite useful.

Upload the hal and ini files here so we can have a look.
Do the numbers move on screen when you move the motor by hand?