Test index of rotary encoder with hal only

JC10
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7 years 3 weeks ago - 7 years 3 weeks ago #147253 by JC10

Test index of rotary encoder with hal only was created by JC10

Hello,

I am trying to test the index of a suspicious rotary encoder.

My idea is to use the pulse of the index as input of a HAL toggle and observe its output.

Any time the index pulses, the toggle output should change.

Underr halcmd, I load and start the following :

Code:

# components
loadrt hostmot2 
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=0 sserial_port_0=0000xx" 
loadrt toggle 
loadrt threads name1=test-thread period1=1000000 
#loadrt __test-thread  (not loaded by loadrt, no args saved)
# pin aliases
# param aliases
# signals
# nets
net index_enable hm2_7i92.0.encoder.00.index-enable
net pulse hm2_7i92.0.encoder.00.input-index => toggle.0.in
net step toggle.0.out
# parameter values
setp hm2_7i92.0.7i76.0.0.output-00-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-01-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-02-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-03-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-04-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-05-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-06-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-07-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-08-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-09-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-10-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-11-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-12-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-13-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-14-invert        FALSE
setp hm2_7i92.0.7i76.0.0.output-15-invert        FALSE
setp hm2_7i92.0.7i76.0.0.spindir-invert        FALSE
setp hm2_7i92.0.7i76.0.0.spinena-invert        FALSE
setp hm2_7i92.0.7i76.0.0.spinout-maxlim          100
setp hm2_7i92.0.7i76.0.0.spinout-minlim            0
setp hm2_7i92.0.7i76.0.0.spinout-scalemax          100
setp hm2_7i92.0.encoder.00.counter-mode        FALSE
setp hm2_7i92.0.encoder.00.filter         TRUE
setp hm2_7i92.0.encoder.00.index-invert        FALSE
setp hm2_7i92.0.encoder.00.index-mask        FALSE
setp hm2_7i92.0.encoder.00.index-mask-invert        FALSE
setp hm2_7i92.0.encoder.00.scale            1
setp hm2_7i92.0.encoder.00.vel-timeout          0.5
setp hm2_7i92.0.gpio.000.invert_output        FALSE
setp hm2_7i92.0.gpio.000.is_opendrain        FALSE
setp hm2_7i92.0.gpio.000.is_output        FALSE
setp hm2_7i92.0.gpio.001.invert_output        FALSE
setp hm2_7i92.0.gpio.001.is_opendrain        FALSE
setp hm2_7i92.0.gpio.001.is_output        FALSE
setp hm2_7i92.0.gpio.002.invert_output        FALSE
setp hm2_7i92.0.gpio.002.is_opendrain        FALSE
setp hm2_7i92.0.gpio.002.is_output        FALSE
setp hm2_7i92.0.gpio.003.invert_output        FALSE
setp hm2_7i92.0.gpio.003.is_opendrain        FALSE
setp hm2_7i92.0.gpio.003.is_output        FALSE
setp hm2_7i92.0.gpio.004.invert_output        FALSE
setp hm2_7i92.0.gpio.004.is_opendrain        FALSE
setp hm2_7i92.0.gpio.004.is_output        FALSE
setp hm2_7i92.0.gpio.005.invert_output        FALSE
setp hm2_7i92.0.gpio.005.is_opendrain        FALSE
setp hm2_7i92.0.gpio.005.is_output        FALSE
setp hm2_7i92.0.gpio.006.invert_output        FALSE
setp hm2_7i92.0.gpio.006.is_opendrain        FALSE
setp hm2_7i92.0.gpio.006.is_output        FALSE
setp hm2_7i92.0.gpio.007.invert_output        FALSE
setp hm2_7i92.0.gpio.007.is_opendrain        FALSE
setp hm2_7i92.0.gpio.007.is_output        FALSE
setp hm2_7i92.0.gpio.008.invert_output        FALSE
setp hm2_7i92.0.gpio.008.is_opendrain        FALSE
setp hm2_7i92.0.gpio.008.is_output        FALSE
setp hm2_7i92.0.gpio.009.invert_output        FALSE
setp hm2_7i92.0.gpio.009.is_opendrain        FALSE
setp hm2_7i92.0.gpio.009.is_output        FALSE
setp hm2_7i92.0.gpio.010.invert_output        FALSE
setp hm2_7i92.0.gpio.010.is_opendrain        FALSE
setp hm2_7i92.0.gpio.012.invert_output        FALSE
setp hm2_7i92.0.gpio.012.is_opendrain        FALSE
setp hm2_7i92.0.gpio.012.is_output        FALSE
setp hm2_7i92.0.gpio.013.invert_output        FALSE
setp hm2_7i92.0.gpio.013.is_opendrain        FALSE
setp hm2_7i92.0.gpio.013.is_output        FALSE
setp hm2_7i92.0.gpio.017.invert_output        FALSE
setp hm2_7i92.0.gpio.017.is_opendrain        FALSE
setp hm2_7i92.0.gpio.017.is_output        FALSE
setp hm2_7i92.0.gpio.018.invert_output        FALSE
setp hm2_7i92.0.gpio.018.is_opendrain        FALSE
setp hm2_7i92.0.gpio.018.is_output        FALSE
setp hm2_7i92.0.gpio.019.invert_output        FALSE
setp hm2_7i92.0.gpio.019.is_opendrain        FALSE
setp hm2_7i92.0.gpio.019.is_output        FALSE
setp hm2_7i92.0.gpio.020.invert_output        FALSE
setp hm2_7i92.0.gpio.020.is_opendrain        FALSE
setp hm2_7i92.0.gpio.020.is_output        FALSE
setp hm2_7i92.0.gpio.021.invert_output        FALSE
setp hm2_7i92.0.gpio.021.is_opendrain        FALSE
setp hm2_7i92.0.gpio.021.is_output        FALSE
setp hm2_7i92.0.gpio.022.invert_output        FALSE
setp hm2_7i92.0.gpio.022.is_opendrain        FALSE
setp hm2_7i92.0.gpio.022.is_output        FALSE
setp hm2_7i92.0.gpio.023.invert_output        FALSE
setp hm2_7i92.0.gpio.023.is_opendrain        FALSE
setp hm2_7i92.0.gpio.023.is_output        FALSE
setp hm2_7i92.0.gpio.024.invert_output        FALSE
setp hm2_7i92.0.gpio.024.is_opendrain        FALSE
setp hm2_7i92.0.gpio.024.is_output        FALSE
setp hm2_7i92.0.gpio.025.invert_output        FALSE
setp hm2_7i92.0.gpio.025.is_opendrain        FALSE
setp hm2_7i92.0.gpio.025.is_output        FALSE
setp hm2_7i92.0.gpio.026.invert_output        FALSE
setp hm2_7i92.0.gpio.026.is_opendrain        FALSE
setp hm2_7i92.0.gpio.026.is_output        FALSE
setp hm2_7i92.0.gpio.027.invert_output        FALSE
setp hm2_7i92.0.gpio.027.is_opendrain        FALSE
setp hm2_7i92.0.gpio.027.is_output        FALSE
setp hm2_7i92.0.gpio.028.invert_output        FALSE
setp hm2_7i92.0.gpio.028.is_opendrain        FALSE
setp hm2_7i92.0.gpio.028.is_output        FALSE
setp hm2_7i92.0.gpio.029.invert_output        FALSE
setp hm2_7i92.0.gpio.029.is_opendrain        FALSE
setp hm2_7i92.0.gpio.029.is_output        FALSE
setp hm2_7i92.0.gpio.030.invert_output        FALSE
setp hm2_7i92.0.gpio.030.is_opendrain        FALSE
setp hm2_7i92.0.gpio.030.is_output        FALSE
setp hm2_7i92.0.gpio.031.invert_output        FALSE
setp hm2_7i92.0.gpio.031.is_opendrain        FALSE
setp hm2_7i92.0.gpio.031.is_output        FALSE
setp hm2_7i92.0.gpio.032.invert_output        FALSE
setp hm2_7i92.0.gpio.032.is_opendrain        FALSE
setp hm2_7i92.0.gpio.032.is_output        FALSE
setp hm2_7i92.0.gpio.033.invert_output        FALSE
setp hm2_7i92.0.gpio.033.is_opendrain        FALSE
setp hm2_7i92.0.gpio.033.is_output        FALSE
setp hm2_7i92.0.io_error        FALSE
setp hm2_7i92.0.packet-error-increment            2
setp hm2_7i92.0.packet-error-limit           10
setp hm2_7i92.0.packet-read-timeout           80
setp hm2_7i92.0.read-request.tmax            0
setp hm2_7i92.0.read.tmax       356949
setp hm2_7i92.0.sserial.port-0.fault-dec   0x00000001
setp hm2_7i92.0.sserial.port-0.fault-inc   0x0000000A
setp hm2_7i92.0.sserial.port-0.fault-lim   0x000000C8
setp hm2_7i92.0.watchdog.timeout_ns   0x004C4B40
setp hm2_7i92.0.write.tmax        43335
setp test-thread.tmax       401760
setp toggle.0.debounce   0x00000002
setp toggle.0.tmax         1593
# realtime thread/function links
addf toggle.0 test-thread
addf hm2_7i92.0.read test-thread
addf hm2_7i92.0.write test-thread

Then I do : halcmd :sets index-enable true thats sets hm2_7i92.0.encoder.00.index-enable to true.
Then rotate the shaft of the encoder to observe that hm2_7i92.0.encoder.00.index-enable comes false after some degrees of rotation and that no pulse occurs on the toggle.

That is the behavior observed in many posts of PCW or in John Thorton's Servo Tuning Tutorials/Encoders. Behavior I experienced running Linuxcnc.

I thought by using minimal HAL only and not launching linuxcnc that this behavior would not have existed.

Is there a way to manage to get my idea working ?

Thanks for help.

Last edit: 7 years 3 weeks ago by JC10. Reason: Typo

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pl7i92
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7 years 3 weeks ago #147275 by pl7i92

Replied by pl7i92 on topic Test index of rotary encoder with hal only

why not connecting it as it is suposed to and VIEW the Counts

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PCW
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7 years 3 weeks ago #147294 by PCW

Replied by PCW on topic Test index of rotary encoder with hal only

In general its not useful to read the encoder index pin directly since with high resolution encoders, it will be a very narrow pulse and cannot be sampled reliably.

If you want to toggle a pin on index you need to use index enable, something like this:

loadrt not
loadrt tristate-bit
addf not.0 servo-thread
addf tristate-bit.0 servo-thread
setp tristate-bit.0.in 1
net enable hm2_somecard.0.encoder.00.index-enable tristate-bit.0.out not.0.in
net reset not.0.out tristate-bit.0.enable

The "reset" signal will be set for one servo thread period every detected index

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JC10
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7 years 3 weeks ago #147327 by JC10

Replied by JC10 on topic Test index of rotary encoder with hal only

PCW many thanks for your answer.

If I understand well, the 7i92 will always see the index and when it is observed, the 7i92 will reset the index-enable to 0.

With your code, if, in a given servo-thread, index-enable is observed as 0, it will be set to 1 in the next servo-thread by « reset « (you defined here above). So in all servo-threads except one, index-enable will be set to 1.

Therefore, I should be able to toggle on « reset ». Is this right ?

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PCW
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7 years 3 weeks ago #147335 by PCW

Replied by PCW on topic Test index of rotary encoder with hal only

yep toggle or count indexes

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JC10
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7 years 3 weeks ago - 7 years 3 weeks ago #147466 by JC10

Replied by JC10 on topic Test index of rotary encoder with hal only

I tried to toggle but was not successful with your code added as follows :

Code:

loadrt hostmot2 
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=0 sserial_port_0=0000xx" 
loadrt threads name1=servo-thread period1=1000000

loadrt not
loadrt tristate_bit
loadrt toggle 

addf hm2_7i92.0.read servo-thread
addf hm2_7i92.0.write servo-thread

addf not.0 servo-thread
addf tristate-bit.0 servo-thread
addf toggle.0 servo-thread

setp tristate-bit.0.in 1
setp toggle.0.debounce 1

net enable hm2_7i92.0.encoder.00.index-enable tristate-bit.0.out not.0.in 
net reset not.0.out tristate-bit.0.enable toggle.0.in

With halmeter, I observe that index-enabled is always set true so the code works.

But apparently toggle.0.out always stays false.

I also adjusted toggle.0.debounce to 0 but no success.

However I am apparently successful when I applied John Thorton tutorial : gnipsel.com/linuxcnc/tuning/encoder.html
or the same from many of your posts like here : forum.linuxcnc.org/10-advanced-configura...oder-index-questions

PCW wrote:
The way to check index operation is to "sets" the signal that carries the spindle index enable "true",
then hand rotate the spindle to see if this signal is cleared at the index position

Is my toggle code incorrect ?

Is any of the pins provided by 7i92 on an encoder also related to the index apart index itself and index-enable ?

Thanks

Last edit: 7 years 3 weeks ago by JC10.

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Test index of rotary encoder with hal only