7i96 Configuration Tool

tommylight
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6 years 7 months ago #161517 by tommylight

Replied by tommylight on topic 7i96 Configuration Tool

Check your testcnc.hal if there is a PWM loaded at this line
loadrt hm2_eth ................num_encoder..........num_stepgens ..............num PWM
Not sure how that is all there, just from memory, i think you should have a PWM loaded there.
The error says
./testcnc.hal:99: parameter or pin 'hm2_7i96.0.pwmgen.00.output-type' not found
Or it might not been added to the servo thread.
Upload your hal and ini files so we can have a look.

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PCW
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6 years 7 months ago - 6 years 7 months ago #161520 by PCW

Replied by PCW on topic 7i96 Configuration Tool

I'm getting an occasional "hm2/hm2_7i96.0: error reading Pin Descriptor 1 (at 0x05c4)" and other failures...

This sounds like you are possibly losing packets or something similarly dire like power supply issues

can you ping the card without losing any packets?

Last edit: 6 years 7 months ago by PCW.

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gusty42
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6 years 7 months ago #161532 by gusty42

Replied by gusty42 on topic 7i96 Configuration Tool

This sounds like you are possibly losing packets or something similarly dire like power supply issues

can you ping the card without losing any packets?

Thanks for the help guys! I can ping it and usually get a ~.14ms reply, but every so often it fluctuates to .5 or even 1000ms delay. I'm using a brand new Mean Well RD-65B dual voltage power supply: 5V @4.0A, 24V @2A. Obviously only running the Mesa card off 5V. I did have an issue with my Network Connections giving me a "device not managed" error and had to edit my networkmanager.conf file to say "true" under [ifupdown] to let me set a static IP in the manager. Thoughts?

Also, this is pretty much my first attempt to make a HAL and INI files... not running a spindle right now, but also don't see the "num_PWM" like you were expecting.

HAL

Code:

# This file was created with the 7i96 Wizard on Mar 19 2020 19:40:47
# 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=2 

# hostmot2 driver
loadrt hostmot2

loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](IPADDRESS) config="num_encoders=[HOSTMOT2](ENCODERS) num_stepgens=[HOSTMOT2](STEPGENS) 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 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

# Spindle
setp hm2_7i96.0.pwmgen.00.output-type 0
setp hm2_7i96.0.pwmgen.00.scale [SPINDLE]MAX_RPM
setp hm2_7i96.0.pwmgen.pwm_frequency [SPINDLE]PWM_FREQUENCY

# 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

INI

Code:

# This file was created with the 7i96 Wizard on Mar 19 2020 19:40:47
# Changes to most things are ok and will be read by the wizard

[EMC]
VERSION = 1.1
MACHINE = testcnc
DEBUG = 0x00000000

[HOSTMOT2]
DRIVER = hm2_eth
IPADDRESS = "10.10.10.10"
BOARD = 7i96
STEPGENS = 4
ENCODERS = 1
SSERIAL_PORT = 1

[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 = ""

[KINS]
KINEMATICS = trivkins coordinates=XY
JOINTS = 2

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

[RS274NGC]
PARAMETER_FILE = testcnc.var

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XY
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 10

[HAL]
HALFILE = testcnc.hal
HALFILE = io.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui.hal

[HALUI]

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15

[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15

[JOINT_0]
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15
TYPE = LINEAR
SCALE = 1600
STEPGEN_MAX_VEL = 12.0
STEPGEN_MAX_ACC = 18.0
FERROR = 0.0002
MIN_FERROR = 0.0001
DIRSETUP = 5500
DIRHOLD = 2500
STEPLEN = 3000
STEPSPACE = 4000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = .5
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_1]
AXIS = Y
MIN_LIMIT = 0
MAX_LIMIT = 48
MAX_VELOCITY = 10
MAX_ACCELERATION = 15
TYPE = LINEAR
SCALE = 1600
STEPGEN_MAX_VEL = 12.0
STEPGEN_MAX_ACC = 18.0
FERROR = 0.0002
MIN_FERROR = 0.0001
DIRSETUP = 5500
DIRHOLD = 2500
STEPLEN = 3000
STEPSPACE = 4000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = .5
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[SPINDLE]
SPINDLE_TYPE = False
SCALE = 
PWM_FREQUENCY = 20000
MAX_RPM = 
MIN_RPM = 
DEADBAND = 
P = 
I = 
D = 
FF0 = 
FF1 = 
FF2 = 
BIAS = 
MAX_ERROR = 

[INPUTS]
# DO NOT change the input text
INPUT_0 = Home
INPUT_JOINT_0 = 0
INPUT_1 = Home
INPUT_JOINT_1 = 1
INPUT_2 = Select
INPUT_JOINT_2 = False
INPUT_3 = Select
INPUT_JOINT_3 = False
INPUT_4 = Select
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 = Select
OUTPUT_1 = Select
OUTPUT_2 = Select
OUTPUT_3 = Select
OUTPUT_4 = Select

[OPTIONS]
MANUAL_TOOL_CHANGE = False
HALUI = False
PYVCP = False
GLADEVCP = False
LADDER = False

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PCW
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6 years 7 months ago #161536 by PCW

Replied by PCW on topic 7i96 Configuration Tool

if you get occasionally 1 ms ping times, I would guess something is broken in your real time setup or network hardware

What PC hardware do you have?

What does

ip a

report?

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rodw
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6 years 7 months ago #161538 by rodw

Replied by rodw on topic 7i96 Configuration Tool

gusty42 wrote:
I'm using a brand new Mean Well RD-65B dual voltage power supply: 5V @4.0A, 24V @2A. Obviously only running the Mesa card off 5V

This could be an issue. I had one of these and could not it to go for what I bought it for. The company that sold it to me said that the 12 volt rail would not run unless there was sufficient current draw on the 5 volt side. I whacked a big ceramic resistor on 5 volts and I did get 12 volts out of it. I had hoped I could use it for my 7i76e but it did not draw current enough to enable the 12 volt rail.

I wonder if the 5 volt rail is a bit flaky at low current draw too? Much better to use discrete power supplies for each voltage.

RodW
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tommylight
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6 years 7 months ago #161540 by tommylight

Replied by tommylight on topic 7i96 Configuration Tool

rodw wrote: The company that sold it to me said that the 12 volt rail would not run unless there was sufficient current draw on the 5 volt side.

That is very true, same is valid for all PC power supplies till several years back.
The 5V rail is regulated, the 12V is not, so the 5V needs to have some load for the regulation to kick in.
That was due to 5V rail tolerance being +-5%, or 4.75V to 5.25V, and the 12V having a tolerance of +-10% or in some cases even +-15%.

A good phone charger will do just fine for providing 5V, especially original Samsung or any other big company. Steer clear of cheap Chinese knock off's.

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