Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

PCW
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1 year 11 months ago #314623 by PCW

Replied by PCW on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

set W17 up, power cycle the 7I97 and try again

W16/W17 is 192.168.1.121
so ping of 10.10.10.10 will fail because there's no device with that address
and ping of 192.168.1.121 will fail because there's no route because of the host setup

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bnet
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1 year 11 months ago #314624 by bnet

Replied by bnet on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

Yup, worked. Thanks. I will now proceed with the rest.

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bnet
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1 year 11 months ago #314627 by bnet

Replied by bnet on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

Firmware flash successful.

All wired up to the RS-422 connector. I will see if I can figure out how to put an instance of Fanuc Encoder on the .hal.

Any tips welcomed.

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bnet
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1 year 11 months ago #314630 by bnet

Replied by bnet on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

I have created a basic .hal and declared the Fanuc channel, see attached .hal.

I am getting an error on startup of linux cnc:

Attachment not found

When I watch the corresponding hal pins and turn the encoder I am not seeing any activity.

Any tips on what to check or adjust next will be greatly appreciated.

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PCW
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1 year 11 months ago #314633 by PCW

Replied by PCW on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

In addition to the two polarities that need to be right
(TX to REQ and RX to data) The DPLL needs to be setup to
start the transfer _before_ LinuxCNC reads the data

I'll try and dig up a sample FANUC hal file Monday

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bnet
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1 year 11 months ago #314703 by bnet

Replied by bnet on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

Thanks, I have experimented with the polarity of the data and request lines with no changes. Here's where I left off in the .hal based on what I could find here on the forum. I think I have added the initialization of DPLL but not sure about setting the timer.

Code:

# Fanuc Encoder Test .hal

# kinematics
loadrt [KINS](KINEMATICS)

# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)

# hostmot2 driver
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="num_dplls=-1 fanuc_chan_0=AA64 sserial_port_0=00000000"

setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 5000000

setp hm2_7i97.0.dpll.01.timer-us -100

loadrt pid names=pid.x

# THREADS
addf hm2_[MESA](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf hm2_[MESA](BOARD).0.write servo-thread

# amp enable
net motion-enable <= motion.motion-enabled

# Global PWM setup
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency 48000

# Board: 7i97

# Axis: X Joint: 0 Output: 0
# PID Setup
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

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable
net joint-0-index-enable <=> hm2_[MESA](BOARD).0.encoder.00.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable
net joint-0-enable => hm2_[MESA](BOARD).0.pwmgen.00.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.00.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.00.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.00.scale [JOINT_0]SCALE

# ---Encoder feedback signals/setup---
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.pwmgen.00.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.00.scale  [JOINT_0](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0

# Standard I/O Block - EStop, Etc
# create a signal for the estop loopback
net estop-loopback iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out

Thanks!

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PCW
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1 year 11 months ago #314704 by PCW

Replied by PCW on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

You need to also set the FANUC interface timer to timer you have setup
(like timer 1) I don't know the name of the pin off hand but listing
all the fanuc pins should find it. Do you have a oscilloscope available?

With the AA64 setup you should get a 8 usec request pulse (+ to REQ+ and - to REQ-)
at the servo thread rate, The encoder should respond with 77 bits of data on the +/-
DATA lines

Note that the default AA64 setup is for a 64K count/turn encoder so wont be right
but should show some data. The correct setup for your 1m count/turn encoder
would need the appropriate setup string

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bnet
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1 year 11 months ago #314768 by bnet

Replied by bnet on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

Yes I have a digital oscilloscope, set it up at the machine today so that should be helpful. Looking at the pins, here's what's available.

Attachment not found

Also, unsurprisingly no output from the serial port with the current configuration.

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PCW
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1 year 11 months ago #314772 by PCW

Replied by PCW on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

The timer number setup is via a parameter
probably something with "fanuc" and "timer" in it's name

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bnet
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1 year 11 months ago #314790 by bnet

Replied by bnet on topic Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

Ah yes I see it now. I have assigned it to a timer, now I'm seeing the 8us request pulse on the scope at 3 volts (is that correct?). No response from the encoder yet and I'm getting this error, I'll have to check the wiring:

Attachment not found

Here's where I made it to with the .hal thus far for those who may be on a similar path:

Code:

# fanuc encoder test .hal

# kinematics
loadrt [KINS](KINEMATICS)

# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)

# hostmot2 driver
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="num_dplls=-1 num_encoders=1 fanuc_chan_0=AA64 sserial_port_0=00000000"

setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 5000000

setp hm2_7i97.0.dpll.01.timer-us -200
setp hm2_[MESA](BOARD).0.fanuc.00.timer-number 1

loadrt pid names=pid.x

# THREADS
addf hm2_[MESA](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf hm2_[MESA](BOARD).0.write servo-thread

# amp enable
net motion-enable <= motion.motion-enabled

# Global PWM setup
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency 48000

# Board: 7i97

# Axis: X Joint: 0 Output: 0
# PID Setup
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

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable
net joint-0-index-enable <=> hm2_[MESA](BOARD).0.encoder.00.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable
net joint-0-enable => hm2_[MESA](BOARD).0.pwmgen.00.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.00.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.00.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.00.scale [JOINT_0]SCALE

# ---Encoder feedback signals/setup---
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.pwmgen.00.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.00.scale  [JOINT_0](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0

# Standard I/O Block - EStop, Etc
# create a signal for the estop loopback
net estop-loopback iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out

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