7i77 6 axis

bkt
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6 years 8 months ago #158463 by bkt

7i77 6 axis was created by bkt

After some time I install a new machine with Mesa 6i25+7i77 with 6 axis .... I copy an old JA config and I add an other axis section in hal file ... but seems joint 5 not "ee" analog out. These the pieces of hal file:

Warning: Spoiler!

#*******************
# AXIS B
#*******************

setp pid.b.Pgain [JOINT_5]P
setp pid.b.Igain [JOINT_5]I
setp pid.b.Dgain [JOINT_5]D
setp pid.b.bias [JOINT_5]BIAS
setp pid.b.FF0 [JOINT_5]FF0
setp pid.b.FF1 [JOINT_5]FF1
setp pid.b.FF2 [JOINT_5]FF2
setp pid.b.deadband [JOINT_5]DEADBAND
setp pid.b.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.b.error-previous-target true
#setp pid.b.maxerror .0005

net b-index-enable <=> pid.b.index-enable
net b-enable => pid.b.enable
net b-pos-cmd => pid.b.command #offset.0.offset
net b-vel-cmd => pid.b.command-deriv
net b-pos-fb => pid.b.feedback
net b-output => pid.b.output

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

setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [JOINT_5]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [JOINT_5]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [JOINT_5]OUTPUT_MAX_LIMIT

net b-output => hm2_5i25.0.7i77.0.1.analogout5
net b-pos-cmd joint.5.motor-pos-cmd #=> sum2.0.in0
net b-enable joint.5.amp-enable-out

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

setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [JOINT_5]ENCODER_SCALE

#setp sum2.1.gain0 -1
#setp sum2.2.gain0 -1
net b-pos-fb <= hm2_5i25.0.encoder.05.position
net b-vel-fb <= hm2_5i25.0.encoder.05.velocity #sum2.2.in0 <= hm2_5i25.0.encoder.05.velocity
net b-pos-fb => joint.5.motor-pos-fb
net b-index-enable joint.5.index-enable <=> hm2_5i25.0.encoder.05.index-enable
net b-pos-rawcounts <= hm2_5i25.0.encoder.05.rawcounts

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

#net b-home-sw => joint.5.home-sw-in
#net both-b => joint.5.neg-lim-sw-in
#net both-b => joint.5.pos-lim-sw-in

The enable command is send via halui withe these simple row:

net machineon halui.machine.is-on => hm2_5i25.0.7i77.0.0.output-02

These ini file section about b axis:

Warning: Spoiler!

output2 go to enable input pin of drive trought mini relais solid state. Axis 0/1/2/3/4 bring analog signal ... but analog5 not send any mVolt bit ...

I'm on ubuntu 18.04 preempt 4.18.12-rt9. (pncconfig not work because nee not installed library like gtk.glade 2 I think because glade 3 is installed)

These depends from my erroneus settings?

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PCW
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6 years 8 months ago #158466 by PCW

Replied by PCW on topic 7i77 6 axis

Analog channel 5 has a separate enable since its often used for spindle control:

hm2_5i25.0.7i77.0.1.spinena

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bkt
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6 years 8 months ago #158471 by bkt

Replied by bkt on topic 7i77 6 axis

yea ... now it work. Thanks again.

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