7i96 Configuration Tool Questions

General configuration information: BoardName : MESA7I96 FPGA Size: 9 KGates FPGA Pins: 144 Number of IO Ports: 3 Width of one I/O port: 17 Clock Low frequency: 100.0000 MHz Clock High frequency: 200.0000 MHz IDROM Type: 3 Instance Stride 0: 4 Instance Stride 1: 64 Register Stride 0: 256 Register Stride 1: 256 Modules in configuration: Module: DPLL There are 1 of DPLL in configuration Version: 0 Registers: 7 BaseAddress: 7000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: WatchDog There are 1 of WatchDog in configuration Version: 0 Registers: 3 BaseAddress: 0C00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: IOPort There are 3 of IOPort in configuration Version: 0 Registers: 5 BaseAddress: 1000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: PWM There are 1 of PWM in configuration Version: 0 Registers: 5 BaseAddress: 4100 ClockFrequency: 200.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: StepGen There are 8 of StepGen in configuration Version: 2 Registers: 10 BaseAddress: 2000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: MuxedQCount There are 6 of MuxedQCount in configuration Version: 4 Registers: 5 BaseAddress: 3600 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: MuxedQCountSel There are 1 of MuxedQCountSel in configuration Version: 0 Registers: 0 BaseAddress: 0000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: SSerial There are 1 of SSerial in configuration Version: 0 Registers: 6 BaseAddress: 5B00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 64 bytes Module: SSR There are 1 of SSR in configuration Version: 0 Registers: 2 BaseAddress: 7D00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: LED There are 1 of LED in configuration Version: 0 Registers: 1 BaseAddress: 0200 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Configuration pin-out: IO Connections for TB3 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir TB3 1 0 IOPort None TB3 2 1 IOPort None TB3 3 2 IOPort None TB3 4 3 IOPort None TB3 5 4 IOPort None TB3 6 5 IOPort None TB3 7 6 IOPort None TB3 8 7 IOPort None TB3 9 8 IOPort None TB3 10 9 IOPort None Internal 10 IOPort None TB3 13,14 11 IOPort SSR 0 Out-00 (Out) TB3 15,16 12 IOPort SSR 0 Out-01 (Out) TB3 17,18 13 IOPort SSR 0 Out-02 (Out) TB3 19,20 14 IOPort SSR 0 Out-03 (Out) TB3 21,22 15 IOPort SSR 0 Out-04 (Out) TB3 23,24 16 IOPort SSR 0 Out-05 (Out) IO Connections for TB1/TB2 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir TB1 2,3 17 IOPort StepGen 0 Step/Table1 (Out) TB1 4,5 18 IOPort StepGen 0 Dir/Table2 (Out) TB1 8,9 19 IOPort StepGen 1 Step/Table1 (Out) TB1 10,11 20 IOPort StepGen 1 Dir/Table2 (Out) TB1 14,15 21 IOPort StepGen 2 Step/Table1 (Out) TB1 16,17 22 IOPort StepGen 2 Dir/Table2 (Out) TB1 20,21 23 IOPort StepGen 3 Step/Table1 (Out) TB1 22,23 24 IOPort StepGen 3 Dir/Table2 (Out) TB2 2,3 25 IOPort StepGen 4 Step/Table1 (Out) TB2 4,5 26 IOPort StepGen 4 Dir/Table2 (Out) TB2 7,8 27 IOPort MuxedQCount 2 MuxQ-A (In) TB2 10,11 28 IOPort MuxedQCount 2 MuxQ-B (In) TB2 13,14 29 IOPort MuxedQCount 2 MuxQ-IDX (In) TB2 16,17 30 IOPort SSerial 0 RXData0 (In) TB2 18,19 31 IOPort SSerial 0 TXData0 (Out) Internal 32 IOPort SSerial 0 TXEn0 (Out) Internal 33 IOPort SSR 0 AC Ref (Out) IO Connections for P1 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 34 IOPort SSerial 0 RXData1 (In) 14 35 IOPort SSerial 0 TXData1 (Out) 2 36 IOPort None 15 37 IOPort None 3 38 IOPort StepGen 7 Step/Table1 (Out) 16 39 IOPort StepGen 7 Dir/Table2 (Out) 4 40 IOPort StepGen 6 Step/Table1 (Out) 17 41 IOPort StepGen 6 Dir/Table2 (Out) 5 42 IOPort StepGen 5 Step/Table1 (Out) 6 43 IOPort StepGen 5 Dir/Table2 (Out) 7 44 IOPort MuxedQCountSel 0 MuxSel0 (Out) 8 45 IOPort MuxedQCount 0 MuxQ-A (In) 9 46 IOPort MuxedQCount 0 MuxQ-B (In) 10 47 IOPort MuxedQCount 0 MuxQ-IDX (In) 11 48 IOPort MuxedQCount 1 MuxQ-A (In) 12 49 IOPort MuxedQCount 1 MuxQ-B (In) 13 50 IOPort MuxedQCount 1 MuxQ-IDX (In)

# This file was created with the 7i96 Wizard on Jan 16 2021 14:06:10 # If you make changes to this file DO NOT run the configuration tool again! # This file will be replaced with a new file if you do! # kinematics loadrt [KINS]KINEMATICS # motion controller loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # standard components loadrt pid num_chan=3 # hostmot2 driver loadrt hostmot2 loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](IPADDRESS) config="num_encoders=[HOSTMOT2](ENCODERS) num_stepgens=[HOSTMOT2](STEPGENS) num_pwmgens=[HOSTMOT2](PWMS) sserial_port_0=[HOSTMOT2](SSERIAL_PORT)" setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 # THREADS addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread setp hm2_[HOSTMOT2](BOARD).0.dpll.01.timer-us -100 setp hm2_[HOSTMOT2](BOARD).0.stepgen.timer-number 1 addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread # Joint 0 # axis enable chain newsig emcmot.0.enable bit sets emcmot.0.enable FALSE net emcmot.0.enable <= joint.0.amp-enable-out net emcmot.0.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable pid.0.enable # position command and feedback net emcmot.0.pos-cmd joint.0.motor-pos-cmd => pid.0.command net motor.0.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb joint.0.motor-pos-fb pid.0.feedback net motor.0.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd setp pid.0.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 setp pid.0.Pgain [JOINT_0]P setp pid.0.Igain [JOINT_0]I setp pid.0.Dgain [JOINT_0]D setp pid.0.bias [JOINT_0]BIAS setp pid.0.FF0 [JOINT_0]FF0 setp pid.0.FF1 [JOINT_0]FF1 setp pid.0.FF2 [JOINT_0]FF2 setp pid.0.deadband [JOINT_0]DEADBAND setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT setp pid.0.maxerror [JOINT_0]MAX_ERROR # Joint 1 # axis enable chain newsig emcmot.1.enable bit sets emcmot.1.enable FALSE net emcmot.1.enable <= joint.1.amp-enable-out net emcmot.1.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable pid.1.enable # position command and feedback net emcmot.1.pos-cmd joint.1.motor-pos-cmd => pid.1.command net motor.1.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb joint.1.motor-pos-fb pid.1.feedback net motor.1.command pid.1.output hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd setp pid.1.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1 setp pid.1.Pgain [JOINT_1]P setp pid.1.Igain [JOINT_1]I setp pid.1.Dgain [JOINT_1]D setp pid.1.bias [JOINT_1]BIAS setp pid.1.FF0 [JOINT_1]FF0 setp pid.1.FF1 [JOINT_1]FF1 setp pid.1.FF2 [JOINT_1]FF2 setp pid.1.deadband [JOINT_1]DEADBAND setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.1.maxerror [JOINT_1]MAX_ERROR # Joint 2 # axis enable chain newsig emcmot.2.enable bit sets emcmot.2.enable FALSE net emcmot.2.enable <= joint.2.amp-enable-out net emcmot.2.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable pid.2.enable # position command and feedback net emcmot.2.pos-cmd joint.2.motor-pos-cmd => pid.2.command net motor.2.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb joint.2.motor-pos-fb pid.2.feedback net motor.2.command pid.2.output hm2_[HOSTMOT2](BOARD).0.stepgen.02.velocity-cmd setp pid.2.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.control-type 1 setp pid.2.Pgain [JOINT_2]P setp pid.2.Igain [JOINT_2]I setp pid.2.Dgain [JOINT_2]D setp pid.2.bias [JOINT_2]BIAS setp pid.2.FF0 [JOINT_2]FF0 setp pid.2.FF1 [JOINT_2]FF1 setp pid.2.FF2 [JOINT_2]FF2 setp pid.2.deadband [JOINT_2]DEADBAND setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.2.maxerror [JOINT_2]MAX_ERROR # Spindle setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type [SPINDLE]OUTPUT_TYPE setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [SPINDLE]MAX_RPM setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency [SPINDLE]PWM_FREQUENCY net spindle-on spindle.0.on => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable net spindle-speed spindle.0.speed-out => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value # Standard I/O Block - EStop, Etc # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

# This file was created with the 7i96 Configuration Tool on Jan 16 2021 14:06:10 # Changes to most things are ok and will be read by the Configuration Tool [EMC] VERSION = 1.1 MACHINE = harrison_7i96+7i85_01 DEBUG = 0x00000000 [HOSTMOT2] DRIVER = hm2_eth IPADDRESS = "10.10.10.10" BOARD = 7i96 STEPGENS = 3 ENCODERS = 1 PWMS = 1 SSERIAL_PORT = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = COMMANDED MAX_FEED_OVERRIDE = 1.2 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = "" PYVCP = harrison_7i96+7i85_01.xml [KINS] KINEMATICS = trivkins coordinates=XYZ JOINTS = 3 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = harrison_7i96+7i85_01.var [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = XYZ LINEAR_UNITS = metric ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 20 [HAL] HALFILE = harrison_7i96+7i85_01.hal HALFILE = io.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui.hal [HALUI] [AXIS_X] MIN_LIMIT = 0 MAX_LIMIT = 380 MAX_VELOCITY = 20 MAX_ACCELERATION = 10 [AXIS_Y] MIN_LIMIT = 0 MAX_LIMIT = 165 MAX_VELOCITY = 20 MAX_ACCELERATION = 10 [AXIS_Z] MIN_LIMIT = -356 MAX_LIMIT = 0 MAX_VELOCITY = 12 MAX_ACCELERATION = 6 [JOINT_0] AXIS = X MIN_LIMIT = 0 MAX_LIMIT = 380 MAX_VELOCITY = 20 MAX_ACCELERATION = 10 TYPE = LINEAR SCALE = 400 STEPGEN_MAX_VEL = 24.0 STEPGEN_MAX_ACC = 12.0 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 DEADBAND = 0.05 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_1] AXIS = Y MIN_LIMIT = 0 MAX_LIMIT = 165 MAX_VELOCITY = 20 MAX_ACCELERATION = 10 TYPE = LINEAR SCALE = 400 STEPGEN_MAX_VEL = 24.0 STEPGEN_MAX_ACC = 12.0 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 DEADBAND = 0.05 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_2] AXIS = Z MIN_LIMIT = -356 MAX_LIMIT = 0 MAX_VELOCITY = 12 MAX_ACCELERATION = 6 TYPE = LINEAR SCALE = 533.333 STEPGEN_MAX_VEL = 14.399999999999999 STEPGEN_MAX_ACC = 7.199999999999999 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 DEADBAND = 0.05 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [SPINDLE] OUTPUT_TYPE = 1 SCALE = PWM_FREQUENCY = 20000 MAX_RPM = 2000 MIN_RPM = 80 DEADBAND = P = I = D = FF0 = FF1 = FF2 = BIAS = MAX_ERROR = [INPUTS] # DO NOT change the input text INPUT_0 = Home & Limit INPUT_JOINT_0 = 0 INPUT_1 = Home & Limit INPUT_JOINT_1 = 1 INPUT_2 = Home & Limit INPUT_JOINT_2 = 2 INPUT_3 = E-Stop In INPUT_JOINT_3 = False INPUT_4 = Digital In 0 INPUT_JOINT_4 = False INPUT_5 = Select INPUT_JOINT_5 = False INPUT_6 = Select INPUT_JOINT_6 = False INPUT_7 = Select INPUT_JOINT_7 = False INPUT_8 = Select INPUT_JOINT_8 = False INPUT_9 = Select INPUT_JOINT_9 = False INPUT_10 = Select INPUT_JOINT_10 = False [OUTPUTS] # DO NOT change the output text OUTPUT_0 = Coolant Flood OUTPUT_1 = Coolant Mist OUTPUT_2 = Spindle On OUTPUT_3 = Spindle CCW OUTPUT_4 = Select [OPTIONS] MANUAL_TOOL_CHANGE = True HALUI = False PYVCP = True GLADEVCP = False LADDER = False