PWM Not Working on Mesa 7i49

More
28 Jul 2013 04:11 #37105 by jsflanagan
I can't seem to get any of my PWM signals to output. I have a 7i43-4 talking to a 7i49 resolver board. With help from everyone on the board I have finally gotten my revolvers working and reading nicely but the PWM is giving me fits. Per some previous posts I've found I've measured for continuity across the enable pins and continuity is never made making me think something is wrong in my config telling the board that it's not ready. I can't seem to figure it out. I've attached my Hal and ini files. Also, I measured the enable inputs from the FPGA board and they measure low, as the manual says they should be. Thanks in advance,

File Attachment:

File Name: lathe.hal
File Size:10 KB


File Attachment:

File Name: lathe.ini
File Size:3 KB


Here is he first part of my HAL file (full file attached):
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVRM6S.BIT num_encoders=0 num_pwmgens=6 num_3pwmgens=0 num_stepgens=0 num_resolvers=6"
setp hm2_7i43.0.pwmgen.pwm_frequency 24000
setp hm2_7i43.0.pwmgen.pdm_frequency 6000000
setp hm2_7i43.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10

addf hm2_7i43.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf classicladder.0.refresh servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i43.0.write servo-thread
addf hm2_7i43.0.pet_watchdog servo-thread

# external output signals
#setp hm2_7i43.0.gpio.040.is_output true #RAISE TURRET AND INDEX 7i37-17
#net dout-01 hm2_7i43.0.gpio.040.out
#setp hm2_7i43.0.gpio.041.is_output true #TURRET STOP PAWL 7i37-18
#net dout-02 hm2_7i43.0.gpio.041.out
setp hm2_7i43.0.gpio.042.is_output true #MACHINE-IS-ENABLED --- FIRE 6CR PULL IN BIG ASS CONTACTOR TO POWER CABINET 7i37-18
net machine-is-enabled hm2_7i43.0.gpio.042.out
setp hm2_7i43.0.gpio.042.invert_output true


#setp hm2_7i43.0.gpio.019.is_output true
#net x-enable hm2_7i43.0.gpio.019.out
#setp hm2_7i43.0.gpio.019.invert_output true

# external input signals
net min-x <= hm2_7i43.0.gpio.029.in # --- MIN-X ---
net max-x <= hm2_7i43.0.gpio.030.in # --- MAX-X ---
net home-x <= hm2_7i43.0.gpio.031.in # --- HOME-X ---
net min-z <= hm2_7i43.0.gpio.033.in # --- MIN-Z ---
net max-z <= hm2_7i43.0.gpio.034.in # --- MAX-Z ---
net home-z <= hm2_7i43.0.gpio.035.in # --- HOME-Z ---
net probe-in <= hm2_7i43.0.gpio.037.in # --- PROBE-IN ---
net estop-ext <= hm2_7i43.0.gpio.038.in_not # --- ESTOP-EXT ---

#*******************
# 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

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

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

setp hm2_7i43.0.pwmgen.03.output-type 2
setp hm2_7i43.0.pwmgen.03.scale [AXIS_0]OUTPUT_SCALE

net x-output => hm2_7i43.0.pwmgen.03.value
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out => hm2_7i43.0.pwmgen.03.enable ####DRIVE ENABLE PIN22 ENA3+ 8PL-5


# ---Resolver feedback signals/setup---

setp hm2_7i43.0.resolver.03.velocity-scale 1 # mptor speed in RPS
setp hm2_7i43.0.resolver.03.scale [AXIS_0]RESOLVER_SCALE

net x-pos-rawcounts <= hm2_7i43.0.resolver.03.rawcounts
net x-pos-fb <= hm2_7i43.0.resolver.03.position
net x-vel-fb <= hm2_7i43.0.resolver.03.velocity
net x-pos-fb => axis.0.motor-pos-fb

net x-index-enable axis.0.index-enable <=> hm2_7i43.0.resolver.03.index-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
Attachments:

Please Log in or Create an account to join the conversation.

More
28 Jul 2013 06:15 #37110 by PCW
Replied by PCW on topic PWM Not Working on Mesa 7i49
At the minimum, this:

net x-enable axis.0.amp-enable-out =>hm2_7i43.0.pwmgen.03.enable

needs to be changed to

net x-enable axis.0.amp-enable-out =>hm2_7i43.0.pwmgen.00.enable

(pwmgen.0 enable is the global PWM enable on the 7I49)

Please Log in or Create an account to join the conversation.

More
29 Jul 2013 09:53 #37191 by jsflanagan
PCW, Thanks again, I must have messed this up when I moved all of my resolvers from channels 1-3 to 4-5 to use the reduced drive voltage. Even with my resolvers on the half drive voltage I'm getting ~1.3 vrms on them, they seem nice and stable everything looks good on the resolvers! That being said I went to hook up my spindle resolver and found out it's actually an encoder. This is on an old Hardinge CHNC, bad on me for never looking closer to it I just assumed it would be a resolver. So now I'm trying to get two parallel ports working so I can use a second 7i43 and a 7i33 encoder board to read the spindle encoder. That is going to be a separate post as I'm stuck again!

-Scott

Please Log in or Create an account to join the conversation.

More
29 Jul 2013 20:22 #37220 by andypugh

That being said I went to hook up my spindle resolver and found out it's actually an encoder. This is on an old Hardinge CHNC,


Is there a possibility of swapping that encoder for a resolver? You occcasionally see them (relatively) cheap on eBay.

Otherwise, the cheapest way to add an encoder counter might be a 7i73, though you would need to check the count-rate. And might need custom firmware to connect it.

Please Log in or Create an account to join the conversation.

More
21 Aug 2013 16:41 #37916 by simon n.
Hi,

we are almost done with the config for the CNC machine, we now just need to know how we can handle the resolvers from the 3 axis. Every signal between machine and PC works properly, just the resolver doesnt respond to us.

we found a c-programm from andy here:
github.com/araisrobo/linuxcnc/blob/maste...-hostmot2/resolver.c

but we don't really know where to put it and if we really need it.

we also dont know when the 7i49 sends out the driver voltage for the resolvers, we guess the variable "index-enable" have to be true to get the 7i49 sending the driver voltage(this is a I/O variable).

maybe there is a function missing?

When does the 7i49 start working, it is not explained in the manual, i'll write down our hal and ini file, maybe there is a mistake.

hal:
# Generated by PNCconf at Wed Jul 3 15:25:37 2013
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i22-1/SV12_7I48_7I49S.BIT num_encoders=3 num_pwmgens=3 num_3pwmgens=0 num_stepgens=0 num_resolvers=3"
setp hm2_5i22.0.pwmgen.pwm_frequency 24000
setp hm2_5i22.0.pwmgen.pdm_frequency 6000000
setp hm2_5i22.0.watchdog.timeout_ns 10000000
loadrt hal_parport cfg="0x0278 out"
loadrt pid names=pid.x,pid.y,pid.z

addf parport.0.read servo-thread
addf parport.0.write servo-thread
addf hm2_5i22.0.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 hm2_5i22.0.write servo-thread
addf hm2_5i22.0.pet_watchdog servo-thread

# external output signals


# external input signals

#X-Axis
net Endschalter_+x axis.0.pos-lim-sw-in <= hm2_5i22.0.gpio.074.in
net Endschalter_-x axis.0.neg-lim-sw-in <= hm2_5i22.0.gpio.073.in
net Verzögerung_x axis.0.home-sw-in <= hm2_5i22.0.gpio.077.in

#Y-Axis
net Endschalter_+y axis.1.pos-lim-sw-in <= hm2_5i22.0.gpio.080.in
net Endschalter_-y axis.1.neg-lim-sw-in <= hm2_5i22.0.gpio.079.in
net Verzögerung_y axis.1.home-sw-in <= hm2_5i22.0.gpio.082.in

#Z-Axis
net Endschalter_+z axis.2.pos-lim-sw-in <= hm2_5i22.0.gpio.083.in
net Endschalter_-z axis.2.neg-lim-sw-in <= hm2_5i22.0.gpio.084.in
net Verzögerung_z axis.2.home-sw-in <= hm2_5i22.0.gpio.086.in














#*******************
# 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

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

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

setp hm2_5i22.0.pwmgen.00.output-type 2
setp hm2_5i22.0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE

net x-output => hm2_5i22.0.pwmgen.00.value
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out => hm2_5i22.0.pwmgen.00.enable

#Resolver feedack signal/setup--

setp hm2_5i22.0.resolver.00.velocity-scale 1 # mptor speed in RPS
setp hm2_5i22.0.resolver.00.scale [AXIS_0]RESOLVER_SCALE

net x-pos-rawcounts <= hm2_5i22.0.resolver.00.rawcounts
net x-pos-fb <= hm2_5i22.0.resolver.00.position

net x-vel-fb <= hm2_5i22.0.resolver.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i22.0.resolver.00.index-enable


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

setp hm2_5i22.0.encoder.00.counter-mode 0
setp hm2_5i22.0.encoder.00.filter 1
setp hm2_5i22.0.encoder.00.index-invert 0
setp hm2_5i22.0.encoder.00.index-mask 0
setp hm2_5i22.0.encoder.00.index-mask-invert 0
setp hm2_5i22.0.encoder.00.scale [AXIS_0]ENCODER_SCALE

#net x-pos-fb <= hm2_5i22.0.encoder.00.position
#net x-vel-fb <= hm2_5i22.0.encoder.00.velocity
#net x-pos-fb => axis.0.motor-pos-fb
#net x-index-enable axis.0.index-enable <=> hm2_5i22.0.encoder.00.index-enable
#net x-pos-rawcounts <= hm2_5i22.0.encoder.00.rawcounts

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

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

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

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

setp hm2_5i22.0.pwmgen.01.output-type 2
setp hm2_5i22.0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE

net y-output => hm2_5i22.0.pwmgen.01.value
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out => hm2_5i22.0.pwmgen.01.enable

# ---Resolver feedback signals/setup---

setp hm2_5i22.0.resolver.01.velocity-scale 1 # mptor speed in RPS
setp hm2_5i22.0.resolver.01.scale [AXIS_1]RESOLVER_SCALE

net y-pos-rawcounts <= hm2_5i22.0.resolver.01.rawcounts
net y-pos-fb <= hm2_5i22.0.resolver.01.position
net y-vel-fb <= hm2_5i22.0.resolver.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i22.0.resolver.01.index-enable

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

setp hm2_5i22.0.encoder.01.counter-mode 0
setp hm2_5i22.0.encoder.01.filter 1
setp hm2_5i22.0.encoder.01.index-invert 0
setp hm2_5i22.0.encoder.01.index-mask 0
setp hm2_5i22.0.encoder.01.index-mask-invert 0
setp hm2_5i22.0.encoder.01.scale [AXIS_1]ENCODER_SCALE

#net y-pos-fb <= hm2_5i22.0.encoder.01.position
#net y-vel-fb <= hm2_5i22.0.encoder.01.velocity
#net y-pos-fb => axis.1.motor-pos-fb
#net y-index-enable axis.1.index-enable <=> hm2_5i22.0.encoder.01.index-enable
#net y-pos-rawcounts <= hm2_5i22.0.encoder.01.rawcounts

#setup Outputs

setp hm2_5i22.0.gpio.095.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.094.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.093.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.092.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.091.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.090.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.089.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.088.invert_output TRUE #Ausgang als Low-Aktiv definiert

setp hm2_5i22.0.gpio.095.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.094.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.093.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.092.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.091.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.090.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.089.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.088.is_output TRUE #Deklarieren das GPIO Ausgang ist


setp hm2_5i22.0.gpio.071.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.070.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.069.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.068.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.067.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.066.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.065.invert_output TRUE #Ausgang als Low-Aktiv definiert
setp hm2_5i22.0.gpio.064.invert_output TRUE #Ausgang als Low-Aktiv definiert

setp hm2_5i22.0.gpio.071.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.070.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.069.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.068.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.067.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.066.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.065.is_output TRUE #Deklarieren das GPIO Ausgang ist
setp hm2_5i22.0.gpio.064.is_output TRUE #Deklarieren das GPIO Ausgang ist

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

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

#*******************
# AXIS Z
#*******************

setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT

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

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

setp hm2_5i22.0.pwmgen.02.output-type 2
setp hm2_5i22.0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE

net z-output => hm2_5i22.0.pwmgen.02.value
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out => hm2_5i22.0.pwmgen.02.enable

# ---Resolver feedback signals/setup---

#setp hm2_5i22.0.resolver.02.velocity-scale 1 # mptor speed in RPS
#setp hm2_5i22.0.resolver.02.scale [AXIS_2]RESOLVER_SCALE

net z-pos-rawcounts <= hm2_5i22.0.resolver.02.rawcounts
net z-pos-fb <= hm2_5i22.0.resolver.02.position
net z-vel-fb <= hm2_5i22.0.resolver.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i22.0.resolver.02.index-enable

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

setp hm2_5i22.0.encoder.02.counter-mode 0
setp hm2_5i22.0.encoder.02.filter 1
setp hm2_5i22.0.encoder.02.index-invert 0
setp hm2_5i22.0.encoder.02.index-mask 0
setp hm2_5i22.0.encoder.02.index-mask-invert 0
setp hm2_5i22.0.encoder.02.scale [AXIS_2]ENCODER_SCALE

#net z-pos-fb <= hm2_5i22.0.encoder.02.position
#net z-vel-fb <= hm2_5i22.0.encoder.02.velocity
#net z-pos-fb => axis.2.motor-pos-fb
#net z-index-enable axis.2.index-enable <=> hm2_5i22.0.encoder.02.index-enable
#net z-pos-rawcounts <= hm2_5i22.0.encoder.02.rawcounts

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

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



#*******************
# SPINDLE S
#*******************

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
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 => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

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

sets spindle-at-speed true


#******************************
# 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 joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.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
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

# ---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

____________________________________________________________________________________________________________

ini:

# Generated by PNCconf at Wed Jul 3 15:25:37 2013
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = CNC
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz

PYVCP = Jog.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 2000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i22

[HAL]
HALUI = halui
HALFILE = CNC.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

#POSTGUI_HALFILE = Jog.hal
HALUI = halui

[HALUI]

MDI_COMMAND = G53 G0 X0 Y0 Z0

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.17
MAX_LINEAR_VELOCITY = 1.67
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
P = 5.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
RESOLVER_SCALE = .2
MAX_OUTPUT = 10.0
ENCODER_SCALE = 5000000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 80.0
HOME_OFFSET = 0.0

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
RESOLVER_SCALE = .2
MAX_OUTPUT = 10.0
ENCODER_SCALE = 5000000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 80.0
HOME_OFFSET = 0.0

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
RESOLVER_SCALE = .2
MAX_OUTPUT = 10.0
ENCODER_SCALE = 5000000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 0.0

#********************
# Spindle
#********************
[SPINDLE_9]

Please Log in or Create an account to join the conversation.

More
21 Aug 2013 16:59 #37918 by cncbasher
you seem to be using a wrong bit file , you need to use one that has resolvers , see previous post i.e SVRM6S.BIT R=resolver
depending on your needed configuration

Please Log in or Create an account to join the conversation.

More
21 Aug 2013 17:39 #37919 by andypugh

Every signal between machine and PC works properly, just the resolver doesnt respond to us.

Can you see the hm2_5i22.0.resolver.00.rawcounts (etc) signals changing if you open a Halmeter? (Machine->Hal Meter in the Axis interface)

we found a c-programm from andy here:
github.com/araisrobo/linuxcnc/blob/maste...-hostmot2/resolver.c

That is part of LinuxCNC and should be autoatically loaded if the hm2_pci driver detects any resolvers.
The whole HAL file would fail to load if it _wasn't_ detecting the resolvers.

we also dont know when the 7i49 sends out the driver voltage for the resolvers, we guess the variable "index-enable" have to be true to get the 7i49 sending the driver voltage(this is a I/O variable).

No, that pin is for homing to index or spindle-synchronised moves. It emulates the behaviour of an incremental encoder with a one pulse-per-rev track.

When does the 7i49 start working, it is not explained in the manual,

I think that the excitation signal starts as soon as the firmware loads. There is no "enable" pin for resolver www.linuxcnc.org/docs/html/man/man9/hostmot2.9.html#resolver

Please Log in or Create an account to join the conversation.

More
21 Aug 2013 17:41 - 21 Aug 2013 17:42 #37920 by andypugh

you seem to be using a wrong bit file , you need to use one that has resolvers , see previous post i.e SVRM6S.BIT R=resolver
depending on your needed configuration


I think that SV12_7I48_7I49S is a special bitfile with both encoders and resolvers.

I wonder if perhaps the 7i48 and 7i49 are on the wrong connectors?
Last edit: 21 Aug 2013 17:42 by andypugh.

Please Log in or Create an account to join the conversation.

More
21 Aug 2013 19:46 - 21 Aug 2013 19:58 #37926 by simon n.
oh sorry i wrote my issue in the wrong thread.

it should have been in the CNC machine with 7i49 thread in the genral questions section.

sorry my fault^^. now there is 2 times the same question :(

the 7i49 is on slot 2 of the FPGA
the 7i48 is on slot 3 of the FPGA
the 7i37 is on slot 4 of the FPGA
the 7i37 is on slot 5 of the FPGA

just as the bit/xml file from PCW told us.

best regards

Simon N.
Last edit: 21 Aug 2013 19:58 by simon n..

Please Log in or Create an account to join the conversation.

More
21 Aug 2013 21:28 #37929 by PCW
Replied by PCW on topic PWM Not Working on Mesa 7i49
The resolver drive sine waves should be enabled when
the driver loads.

Can you attach a kernel log og a linuxcnc startup here?
heres how:

sudo dmesg -c
(start linuxcnc and then exit linuxcnc)
dmesg > log.txt

and post log.txt here
The following user(s) said Thank You: simon n., Mario

Please Log in or Create an account to join the conversation.

Time to create page: 0.140 seconds
Powered by Kunena Forum