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7i76e No field outputs except in sample config
9 years 2 months ago #97953
by blazini36
7i76e No field outputs except in sample config was created by blazini36
I have several configs generated by Pconf for the 7i76e and none of them will drive an output pin high using halshow in axis or halrun in terminal. I know I'm doing something wrong because the 7i76es sample config I found a while back from PCW will drive the pin in halshow.
Trying to execute "setp hm2_7i76e.0.7i76.0.0.output-00 true" only works in the sample config
Maybe somebody can point out what's wrong with my Hal file (or whatever else)
Trying to execute "setp hm2_7i76e.0.7i76.0.0.output-00 true" only works in the sample config
Maybe somebody can point out what's wrong with my Hal file (or whatever else)
Code:
# Generated by PNCconf at Sun Jul 16 19:11:56 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="firmware=hm2/7i76/7i76e.BIT num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
addf hm2_7i76e.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.s.do-pid-calcs servo-thread
addf scale.spindle servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
# --- CAM0_TRIGGER_OUT ---
net cam0_trigger_OUT hm2_7i76e.0.7i76.0.0.output-00
# --- CAM0_FLASH_TRIGGER_OUT ---
net cam0_flash_trigger_OUT hm2_7i76e.0.7i76.0.0.output-01
# --- CAM1_TRIGGER_OUT ---
net cam1_trigger_OUT hm2_7i76e.0.7i76.0.0.output-04
# --- CAM1_FLASH_TRIGGER_OUT ---
net cam1_flash_trigger_OUT hm2_7i76e.0.7i76.0.0.output-05
# --- FLASH_INTENSITY_AOUT ---
# net Flash_intensity_AOUT-enable => hm2_7i76e.0.7i76.0.0..spinena
# net Flash_intensity_AOUT-output => hm2_7i76e.0.7i76.0.0..spinout
# net Flash_intensity_AOUT-direction => hm2_7i76e.0.7i76.0.0..spindir
# external input signals
# --- MIN-X ---
net min-x <= hm2_7i76e.0.7i76.0.0.input-00
# --- MAX-X ---
net max-x <= hm2_7i76e.0.7i76.0.0.input-01
# --- HOME-X ---
net home-x <= hm2_7i76e.0.7i76.0.0.input-02
# --- MIN-Y ---
net min-y <= hm2_7i76e.0.7i76.0.0.input-08
# --- MAX-Y ---
net max-y <= hm2_7i76e.0.7i76.0.0.input-09
# --- HOME-Y ---
net home-y <= hm2_7i76e.0.7i76.0.0.input-10
# --- DIN-01 ---
net Park-Cams <= hm2_7i76e.0.7i76.0.0.input-16
# --- DIN-01 ---
net cue-sense <= hm2_7i76e.0.7i76.0.0.input-17
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= axis.1.motor-pos-cmd
net y-vel-cmd <= axis.1.joint-vel-cmd
net y-output <= hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb => axis.1.motor-pos-fb
net y-enable <= axis.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]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
# ---Encoder feedback signals/setup---
setp hm2_7i76e.0.encoder.00.counter-mode 0
setp hm2_7i76e.0.encoder.00.filter 1
setp hm2_7i76e.0.encoder.00.index-invert 0
setp hm2_7i76e.0.encoder.00.index-mask 0
setp hm2_7i76e.0.encoder.00.index-mask-invert 0
setp hm2_7i76e.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_7i76e.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i76e.0.encoder.00.velocity
net spindle-index-enable <=> hm2_7i76e.0.encoder.00.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
# ---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
# ---toolchange signals for custom tool changer---
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-prepare-request <= iocontrol.0.tool-prepare
net tool-prepare-confirmed => iocontrol.0.tool-prepared
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9 years 2 months ago #97954
by PCW
Replied by PCW on topic 7i76e No field outputs except in sample config
You would not be able to control hm2_7i76e.0.7i76.0.0.output-00 with halcmd or halshow because the pin is
already linked to a signal in your hal file:
already linked to a signal in your hal file:
net cam0_trigger_OUT hm2_7i76e.0.7i76.0.0.output-00
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9 years 2 months ago #97955
by blazini36
Replied by blazini36 on topic 7i76e No field outputs except in sample config
You're right about the config, I commented it out and it ran, but halcmd I ran without pointing to a hal file, just:
halrun
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_stepgens=5 sserial_port_0=00xxx"
Not sure what I'm missing on that. All the little nuances of hal are a bit overwhelming but I appreciate the help.
halrun
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_stepgens=5 sserial_port_0=00xxx"
Not sure what I'm missing on that. All the little nuances of hal are a bit overwhelming but I appreciate the help.
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9 years 2 months ago #97963
by PCW
Replied by PCW on topic 7i76e No field outputs except in sample config
In halrun, you would need to start a thread and addf the hm2_xxxx read and write functions to that thread to have any I/O work.
Loading the driver just probes the hardware and sets up the pins but does not do the required periodic reads and writes.
Loading the driver just probes the hardware and sets up the pins but does not do the required periodic reads and writes.
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9 years 2 months ago #98204
by andypugh
Replied by andypugh on topic 7i76e No field outputs except in sample config
halrun
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_stepgens=5 sserial_port_0=00xxx"
loadrt threads
addf hm2_7i76e.0.read thread1
addf hm2_7i76e.0.write thread1
start
(the "start" is important)
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_stepgens=5 sserial_port_0=00xxx"
loadrt threads
addf hm2_7i76e.0.read thread1
addf hm2_7i76e.0.write thread1
start
(the "start" is important)
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