Mesa 7i95
07 Jul 2020 15:56 #173857
by trial31
Hi,
first of all: sorry for my English
i try to work with a 7i95 but I have some problems....
I'm using the last master LCNC branch on Debian:
uname -a
Linux MacchinaInfernale 4.9.0-12-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.210-1+deb9u1 (2020-06-07) i686 GNU/Linux
I have started linuxcnc using only gpios input but not with inmux (only inmux.00.input-00 is present)
typing halcmd show pin hm*:
typing mesaflash --device 7i95 --readhmid:
in linuxcnc "show hal configuration" the value of hm2_7i95.0.gpio.00.in is always false (i tryed to put 12v on pin 0 and ground incom 0/1)
do I have the wrong bit-file on mesa card?
I also become this error in linuxcnc: hm2_7i95.0 error finishng read! iter=296736
I'm arround this problem from a week, I searched everywhere and tryed with lcnc 2.8 first and now with the 2.9master but without finding the problem...
Thankyou for help!
Francesco
first of all: sorry for my English
i try to work with a 7i95 but I have some problems....
I'm using the last master LCNC branch on Debian:
uname -a
Linux MacchinaInfernale 4.9.0-12-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.210-1+deb9u1 (2020-06-07) i686 GNU/Linux
I have started linuxcnc using only gpios input but not with inmux (only inmux.00.input-00 is present)
typing halcmd show pin hm*:
Component Pins:
Owner Type Dir Value Name
26 float IN 100 hm2_7i95.0.dpll.01.timer-us
26 float IN 100 hm2_7i95.0.dpll.02.timer-us
26 float IN 100 hm2_7i95.0.dpll.03.timer-us
26 float IN 100 hm2_7i95.0.dpll.04.timer-us
26 float IN 1 hm2_7i95.0.dpll.base-freq-khz
26 u32 OUT 0x0000002A hm2_7i95.0.dpll.ddsize
26 float OUT 0.4405407 hm2_7i95.0.dpll.phase-error-us
26 u32 IN 0x00400000 hm2_7i95.0.dpll.plimit
26 u32 OUT 0x00000018 hm2_7i95.0.dpll.prescale
26 u32 IN 0x000007D0 hm2_7i95.0.dpll.time-const
26 s32 OUT 0 hm2_7i95.0.encoder.00.count
26 s32 OUT 0 hm2_7i95.0.encoder.00.count-latched
26 bit I/O FALSE hm2_7i95.0.encoder.00.index-enable <=> a-index-enable
26 bit OUT FALSE hm2_7i95.0.encoder.00.input-a
26 bit OUT FALSE hm2_7i95.0.encoder.00.input-b
26 bit OUT TRUE hm2_7i95.0.encoder.00.input-index
26 bit IN FALSE hm2_7i95.0.encoder.00.latch-enable
26 bit IN FALSE hm2_7i95.0.encoder.00.latch-polarity
26 float OUT 0 hm2_7i95.0.encoder.00.position ==> a-pos-fb
26 float OUT 0 hm2_7i95.0.encoder.00.position-latched
26 bit OUT FALSE hm2_7i95.0.encoder.00.quad-error
26 bit IN FALSE hm2_7i95.0.encoder.00.quad-error-enable
26 s32 OUT 0 hm2_7i95.0.encoder.00.rawcounts ==> a-pos-rawcounts
26 s32 OUT 0 hm2_7i95.0.encoder.00.rawlatch
26 bit IN FALSE hm2_7i95.0.encoder.00.reset
26 float OUT 0 hm2_7i95.0.encoder.00.velocity ==> a-vel-fb
26 float OUT 0 hm2_7i95.0.encoder.00.velocity-rpm
26 s32 OUT 0 hm2_7i95.0.encoder.01.count
26 s32 OUT 0 hm2_7i95.0.encoder.01.count-latched
26 bit I/O FALSE hm2_7i95.0.encoder.01.index-enable
26 bit OUT FALSE hm2_7i95.0.encoder.01.input-a
26 bit OUT FALSE hm2_7i95.0.encoder.01.input-b
26 bit OUT TRUE hm2_7i95.0.encoder.01.input-index
26 bit IN FALSE hm2_7i95.0.encoder.01.latch-enable
26 bit IN FALSE hm2_7i95.0.encoder.01.latch-polarity
26 float OUT 0 hm2_7i95.0.encoder.01.position
26 float OUT 0 hm2_7i95.0.encoder.01.position-latched
26 bit OUT FALSE hm2_7i95.0.encoder.01.quad-error
26 bit IN FALSE hm2_7i95.0.encoder.01.quad-error-enable
26 s32 OUT 0 hm2_7i95.0.encoder.01.rawcounts
26 s32 OUT 0 hm2_7i95.0.encoder.01.rawlatch
26 bit IN FALSE hm2_7i95.0.encoder.01.reset
26 float OUT 0 hm2_7i95.0.encoder.01.velocity
26 float OUT 0 hm2_7i95.0.encoder.01.velocity-rpm
26 s32 OUT 0 hm2_7i95.0.encoder.02.count
26 s32 OUT 0 hm2_7i95.0.encoder.02.count-latched
26 bit I/O FALSE hm2_7i95.0.encoder.02.index-enable
26 bit OUT FALSE hm2_7i95.0.encoder.02.input-a
26 bit OUT FALSE hm2_7i95.0.encoder.02.input-b
26 bit OUT TRUE hm2_7i95.0.encoder.02.input-index
26 bit IN FALSE hm2_7i95.0.encoder.02.latch-enable
26 bit IN FALSE hm2_7i95.0.encoder.02.latch-polarity
26 float OUT 0 hm2_7i95.0.encoder.02.position
26 float OUT 0 hm2_7i95.0.encoder.02.position-latched
26 bit OUT FALSE hm2_7i95.0.encoder.02.quad-error
26 bit IN FALSE hm2_7i95.0.encoder.02.quad-error-enable
26 s32 OUT 0 hm2_7i95.0.encoder.02.rawcounts
26 s32 OUT 0 hm2_7i95.0.encoder.02.rawlatch
26 bit IN FALSE hm2_7i95.0.encoder.02.reset
26 float OUT 0 hm2_7i95.0.encoder.02.velocity
26 float OUT 0 hm2_7i95.0.encoder.02.velocity-rpm
26 s32 OUT 0 hm2_7i95.0.encoder.03.count
26 s32 OUT 0 hm2_7i95.0.encoder.03.count-latched
26 bit I/O FALSE hm2_7i95.0.encoder.03.index-enable
26 bit OUT FALSE hm2_7i95.0.encoder.03.input-a
26 bit OUT FALSE hm2_7i95.0.encoder.03.input-b
26 bit OUT TRUE hm2_7i95.0.encoder.03.input-index
26 bit IN FALSE hm2_7i95.0.encoder.03.latch-enable
26 bit IN FALSE hm2_7i95.0.encoder.03.latch-polarity
26 float OUT 0 hm2_7i95.0.encoder.03.position
26 float OUT 0 hm2_7i95.0.encoder.03.position-latched
26 bit OUT FALSE hm2_7i95.0.encoder.03.quad-error
26 bit IN FALSE hm2_7i95.0.encoder.03.quad-error-enable
26 s32 OUT 0 hm2_7i95.0.encoder.03.rawcounts
26 s32 OUT 0 hm2_7i95.0.encoder.03.rawlatch
26 bit IN FALSE hm2_7i95.0.encoder.03.reset
26 float OUT 0 hm2_7i95.0.encoder.03.velocity
26 float OUT 0 hm2_7i95.0.encoder.03.velocity-rpm
26 s32 OUT 0 hm2_7i95.0.encoder.04.count
26 s32 OUT 0 hm2_7i95.0.encoder.04.count-latched
26 bit I/O FALSE hm2_7i95.0.encoder.04.index-enable
26 bit OUT FALSE hm2_7i95.0.encoder.04.input-a
26 bit OUT FALSE hm2_7i95.0.encoder.04.input-b
26 bit OUT TRUE hm2_7i95.0.encoder.04.input-index
26 bit IN FALSE hm2_7i95.0.encoder.04.latch-enable
26 bit IN FALSE hm2_7i95.0.encoder.04.latch-polarity
26 float OUT 0 hm2_7i95.0.encoder.04.position
26 float OUT 0 hm2_7i95.0.encoder.04.position-latched
26 bit OUT FALSE hm2_7i95.0.encoder.04.quad-error
26 bit IN FALSE hm2_7i95.0.encoder.04.quad-error-enable
26 s32 OUT 0 hm2_7i95.0.encoder.04.rawcounts
26 s32 OUT 0 hm2_7i95.0.encoder.04.rawlatch
26 bit IN FALSE hm2_7i95.0.encoder.04.reset
26 float OUT 0 hm2_7i95.0.encoder.04.velocity
26 float OUT 0 hm2_7i95.0.encoder.04.velocity-rpm
26 s32 OUT 0 hm2_7i95.0.encoder.05.count
26 s32 OUT 0 hm2_7i95.0.encoder.05.count-latched
26 bit I/O FALSE hm2_7i95.0.encoder.05.index-enable
26 bit OUT FALSE hm2_7i95.0.encoder.05.input-a
26 bit OUT FALSE hm2_7i95.0.encoder.05.input-b
26 bit OUT TRUE hm2_7i95.0.encoder.05.input-index
26 bit IN FALSE hm2_7i95.0.encoder.05.latch-enable
26 bit IN FALSE hm2_7i95.0.encoder.05.latch-polarity
26 float OUT 0 hm2_7i95.0.encoder.05.position
26 float OUT 0 hm2_7i95.0.encoder.05.position-latched
26 bit OUT FALSE hm2_7i95.0.encoder.05.quad-error
26 bit IN FALSE hm2_7i95.0.encoder.05.quad-error-enable
26 s32 OUT 0 hm2_7i95.0.encoder.05.rawcounts
26 s32 OUT 0 hm2_7i95.0.encoder.05.rawlatch
26 bit IN FALSE hm2_7i95.0.encoder.05.reset
26 float OUT 0 hm2_7i95.0.encoder.05.velocity
26 float OUT 0 hm2_7i95.0.encoder.05.velocity-rpm
26 bit IN FALSE hm2_7i95.0.encoder.hires-timestamp
26 u32 IN 0x007F2815 hm2_7i95.0.encoder.muxed-sample-frequency
26 s32 IN -1 hm2_7i95.0.encoder.timer-number
26 bit OUT FALSE hm2_7i95.0.gpio.000.in ==> min-x
26 bit OUT TRUE hm2_7i95.0.gpio.000.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.001.in ==> max-x
26 bit OUT TRUE hm2_7i95.0.gpio.001.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.002.in ==> min-y
26 bit OUT TRUE hm2_7i95.0.gpio.002.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.003.in ==> max-y
26 bit OUT TRUE hm2_7i95.0.gpio.003.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.004.in ==> min-z
26 bit OUT TRUE hm2_7i95.0.gpio.004.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.005.in ==> max-z
26 bit OUT TRUE hm2_7i95.0.gpio.005.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.006.in ==> home-x
26 bit OUT TRUE hm2_7i95.0.gpio.006.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.007.in ==> home-y
26 bit OUT TRUE hm2_7i95.0.gpio.007.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.008.in ==> home-y2
26 bit OUT TRUE hm2_7i95.0.gpio.008.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.009.in ==> home-z
26 bit OUT TRUE hm2_7i95.0.gpio.009.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.010.in
26 bit OUT TRUE hm2_7i95.0.gpio.010.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.011.in
26 bit OUT TRUE hm2_7i95.0.gpio.011.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.012.in
26 bit OUT FALSE hm2_7i95.0.gpio.012.in_not
26 bit IN FALSE hm2_7i95.0.gpio.012.out
26 bit OUT TRUE hm2_7i95.0.gpio.013.in
26 bit OUT FALSE hm2_7i95.0.gpio.013.in_not
26 bit IN FALSE hm2_7i95.0.gpio.013.out
26 bit OUT TRUE hm2_7i95.0.gpio.014.in
26 bit OUT FALSE hm2_7i95.0.gpio.014.in_not
26 bit IN FALSE hm2_7i95.0.gpio.014.out
26 bit OUT TRUE hm2_7i95.0.gpio.015.in
26 bit OUT FALSE hm2_7i95.0.gpio.015.in_not
26 bit IN FALSE hm2_7i95.0.gpio.015.out
26 bit OUT TRUE hm2_7i95.0.gpio.016.in
26 bit OUT FALSE hm2_7i95.0.gpio.016.in_not
26 bit IN FALSE hm2_7i95.0.gpio.016.out
26 bit OUT TRUE hm2_7i95.0.gpio.017.in
26 bit OUT FALSE hm2_7i95.0.gpio.017.in_not
26 bit IN FALSE hm2_7i95.0.gpio.017.out
26 bit OUT FALSE hm2_7i95.0.gpio.018.in
26 bit OUT TRUE hm2_7i95.0.gpio.018.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.019.in
26 bit OUT TRUE hm2_7i95.0.gpio.019.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.020.in
26 bit OUT TRUE hm2_7i95.0.gpio.020.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.021.in
26 bit OUT TRUE hm2_7i95.0.gpio.021.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.022.in
26 bit OUT TRUE hm2_7i95.0.gpio.022.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.023.in
26 bit OUT TRUE hm2_7i95.0.gpio.023.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.024.in
26 bit OUT TRUE hm2_7i95.0.gpio.024.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.025.in
26 bit OUT TRUE hm2_7i95.0.gpio.025.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.026.in
26 bit OUT TRUE hm2_7i95.0.gpio.026.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.027.in
26 bit OUT TRUE hm2_7i95.0.gpio.027.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.028.in
26 bit OUT FALSE hm2_7i95.0.gpio.028.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.029.in
26 bit OUT TRUE hm2_7i95.0.gpio.029.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.030.in
26 bit OUT FALSE hm2_7i95.0.gpio.030.in_not
26 bit OUT FALSE hm2_7i95.0.gpio.031.in
26 bit OUT TRUE hm2_7i95.0.gpio.031.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.032.in
26 bit OUT FALSE hm2_7i95.0.gpio.032.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.033.in
26 bit OUT FALSE hm2_7i95.0.gpio.033.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.034.in
26 bit OUT FALSE hm2_7i95.0.gpio.034.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.035.in
26 bit OUT FALSE hm2_7i95.0.gpio.035.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.036.in
26 bit OUT FALSE hm2_7i95.0.gpio.036.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.037.in
26 bit OUT FALSE hm2_7i95.0.gpio.037.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.038.in
26 bit OUT FALSE hm2_7i95.0.gpio.038.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.039.in
26 bit OUT FALSE hm2_7i95.0.gpio.039.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.040.in
26 bit OUT FALSE hm2_7i95.0.gpio.040.in_not
26 bit OUT TRUE hm2_7i95.0.gpio.041.in
26 bit OUT FALSE hm2_7i95.0.gpio.041.in_not
26 bit IN FALSE hm2_7i95.0.gpio.041.out
26 bit OUT TRUE hm2_7i95.0.gpio.042.in
26 bit OUT FALSE hm2_7i95.0.gpio.042.in_not
26 bit IN FALSE hm2_7i95.0.gpio.042.out
26 bit OUT TRUE hm2_7i95.0.gpio.043.in
26 bit OUT FALSE hm2_7i95.0.gpio.043.in_not
26 bit IN FALSE hm2_7i95.0.gpio.043.out
26 bit OUT TRUE hm2_7i95.0.gpio.044.in
26 bit OUT FALSE hm2_7i95.0.gpio.044.in_not
26 bit IN FALSE hm2_7i95.0.gpio.044.out
26 bit OUT TRUE hm2_7i95.0.gpio.045.in
26 bit OUT FALSE hm2_7i95.0.gpio.045.in_not
26 bit IN FALSE hm2_7i95.0.gpio.045.out
26 bit OUT TRUE hm2_7i95.0.gpio.046.in
26 bit OUT FALSE hm2_7i95.0.gpio.046.in_not
26 bit IN FALSE hm2_7i95.0.gpio.046.out
26 bit OUT TRUE hm2_7i95.0.gpio.047.in
26 bit OUT FALSE hm2_7i95.0.gpio.047.in_not
26 bit IN FALSE hm2_7i95.0.gpio.047.out
26 bit OUT TRUE hm2_7i95.0.gpio.048.in
26 bit OUT FALSE hm2_7i95.0.gpio.048.in_not
26 bit IN FALSE hm2_7i95.0.gpio.048.out
26 bit OUT TRUE hm2_7i95.0.gpio.049.in
26 bit OUT FALSE hm2_7i95.0.gpio.049.in_not
26 bit IN FALSE hm2_7i95.0.gpio.049.out
26 bit OUT TRUE hm2_7i95.0.gpio.050.in
26 bit OUT FALSE hm2_7i95.0.gpio.050.in_not
26 bit IN FALSE hm2_7i95.0.gpio.050.out
26 bit OUT TRUE hm2_7i95.0.gpio.051.in
26 bit OUT FALSE hm2_7i95.0.gpio.051.in_not
26 bit IN FALSE hm2_7i95.0.gpio.051.out
26 bit OUT TRUE hm2_7i95.0.gpio.052.in
26 bit OUT FALSE hm2_7i95.0.gpio.052.in_not
26 bit IN FALSE hm2_7i95.0.gpio.052.out
26 bit OUT TRUE hm2_7i95.0.gpio.053.in
26 bit OUT FALSE hm2_7i95.0.gpio.053.in_not
26 bit IN FALSE hm2_7i95.0.gpio.053.out
26 bit OUT TRUE hm2_7i95.0.gpio.054.in
26 bit OUT FALSE hm2_7i95.0.gpio.054.in_not
26 bit IN FALSE hm2_7i95.0.gpio.054.out
26 bit OUT TRUE hm2_7i95.0.gpio.055.in
26 bit OUT FALSE hm2_7i95.0.gpio.055.in_not
26 bit IN FALSE hm2_7i95.0.gpio.055.out
26 bit OUT TRUE hm2_7i95.0.gpio.056.in
26 bit OUT FALSE hm2_7i95.0.gpio.056.in_not
26 bit IN FALSE hm2_7i95.0.gpio.056.out
26 bit OUT TRUE hm2_7i95.0.gpio.057.in
26 bit OUT FALSE hm2_7i95.0.gpio.057.in_not
26 bit IN FALSE hm2_7i95.0.gpio.057.out
26 s32 OUT 10 hm2_7i95.0.inmux.00.enc0-count
26 s32 OUT 2 hm2_7i95.0.inmux.00.enc1-count
26 s32 OUT -4 hm2_7i95.0.inmux.00.enc2-count
26 s32 OUT -124 hm2_7i95.0.inmux.00.enc3-count
26 bit OUT FALSE hm2_7i95.0.inmux.00.input-00
26 bit OUT TRUE hm2_7i95.0.inmux.00.input-00-not
26 bit IN FALSE hm2_7i95.0.inmux.00.input-00-slow
26 bit OUT FALSE hm2_7i95.0.inmux.00.raw-input-00
26 bit OUT TRUE hm2_7i95.0.inmux.00.raw-input-00-not
26 bit IN FALSE hm2_7i95.0.led.CR01
26 bit IN FALSE hm2_7i95.0.led.CR02
26 bit IN FALSE hm2_7i95.0.led.CR03
26 bit IN FALSE hm2_7i95.0.led.CR04
26 bit OUT FALSE hm2_7i95.0.packet-error
26 bit OUT FALSE hm2_7i95.0.packet-error-exceeded
26 s32 OUT 0 hm2_7i95.0.packet-error-level
26 s32 OUT 0 hm2_7i95.0.read-request.time
26 s32 OUT 291606 hm2_7i95.0.read.time
26 bit IN FALSE hm2_7i95.0.ssr.00.out-00 <== spindle-enable
26 bit IN FALSE hm2_7i95.0.ssr.00.out-01 <== machine-is-enabled
26 bit IN FALSE hm2_7i95.0.ssr.00.out-02
26 bit IN FALSE hm2_7i95.0.ssr.00.out-03
26 bit IN FALSE hm2_7i95.0.ssr.00.out-04
26 bit IN FALSE hm2_7i95.0.ssr.00.out-05
26 u32 IN 0x000F4240 hm2_7i95.0.ssr.00.rate
26 bit IN TRUE hm2_7i95.0.stepgen.00.control-type
26 s32 OUT 0 hm2_7i95.0.stepgen.00.counts
26 float OUT 0 hm2_7i95.0.stepgen.00.dbg_err_at_match
26 float OUT 0 hm2_7i95.0.stepgen.00.dbg_ff_vel
26 float OUT 0 hm2_7i95.0.stepgen.00.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i95.0.stepgen.00.dbg_s_to_match
26 s32 OUT 0 hm2_7i95.0.stepgen.00.dbg_step_rate
26 float OUT 0 hm2_7i95.0.stepgen.00.dbg_vel_error
26 bit IN FALSE hm2_7i95.0.stepgen.00.enable <== x-enable
26 float IN 0 hm2_7i95.0.stepgen.00.position-cmd
26 float OUT 0 hm2_7i95.0.stepgen.00.position-fb ==> x-pos-fb
26 float IN 0 hm2_7i95.0.stepgen.00.velocity-cmd <== x-output
26 float OUT 0 hm2_7i95.0.stepgen.00.velocity-fb
26 bit IN TRUE hm2_7i95.0.stepgen.01.control-type
26 s32 OUT 0 hm2_7i95.0.stepgen.01.counts
26 float OUT 0 hm2_7i95.0.stepgen.01.dbg_err_at_match
26 float OUT 0 hm2_7i95.0.stepgen.01.dbg_ff_vel
26 float OUT 0 hm2_7i95.0.stepgen.01.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i95.0.stepgen.01.dbg_s_to_match
26 s32 OUT 0 hm2_7i95.0.stepgen.01.dbg_step_rate
26 float OUT 0 hm2_7i95.0.stepgen.01.dbg_vel_error
26 bit IN FALSE hm2_7i95.0.stepgen.01.enable <== y-enable
26 float IN 0 hm2_7i95.0.stepgen.01.position-cmd
26 float OUT 0 hm2_7i95.0.stepgen.01.position-fb ==> y-pos-fb
26 float IN 0 hm2_7i95.0.stepgen.01.velocity-cmd <== y-output
26 float OUT 0 hm2_7i95.0.stepgen.01.velocity-fb
26 bit IN TRUE hm2_7i95.0.stepgen.02.control-type
26 s32 OUT 0 hm2_7i95.0.stepgen.02.counts
26 float OUT 0 hm2_7i95.0.stepgen.02.dbg_err_at_match
26 float OUT 0 hm2_7i95.0.stepgen.02.dbg_ff_vel
26 float OUT 0 hm2_7i95.0.stepgen.02.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i95.0.stepgen.02.dbg_s_to_match
26 s32 OUT 0 hm2_7i95.0.stepgen.02.dbg_step_rate
26 float OUT 0 hm2_7i95.0.stepgen.02.dbg_vel_error
26 bit IN FALSE hm2_7i95.0.stepgen.02.enable <== y2-enable
26 float IN 0 hm2_7i95.0.stepgen.02.position-cmd
26 float OUT 0 hm2_7i95.0.stepgen.02.position-fb ==> y2-pos-fb
26 float IN 0 hm2_7i95.0.stepgen.02.velocity-cmd <== y2-output
26 float OUT 0 hm2_7i95.0.stepgen.02.velocity-fb
26 bit IN TRUE hm2_7i95.0.stepgen.03.control-type
26 s32 OUT 0 hm2_7i95.0.stepgen.03.counts
26 float OUT 0 hm2_7i95.0.stepgen.03.dbg_err_at_match
26 float OUT 0 hm2_7i95.0.stepgen.03.dbg_ff_vel
26 float OUT 0 hm2_7i95.0.stepgen.03.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i95.0.stepgen.03.dbg_s_to_match
26 s32 OUT 0 hm2_7i95.0.stepgen.03.dbg_step_rate
26 float OUT 0 hm2_7i95.0.stepgen.03.dbg_vel_error
26 bit IN FALSE hm2_7i95.0.stepgen.03.enable <== z-enable
26 float IN 0 hm2_7i95.0.stepgen.03.position-cmd
26 float OUT 0 hm2_7i95.0.stepgen.03.position-fb ==> z-pos-fb
26 float IN 0 hm2_7i95.0.stepgen.03.velocity-cmd <== z-output
26 float OUT 0 hm2_7i95.0.stepgen.03.velocity-fb
26 bit IN TRUE hm2_7i95.0.stepgen.04.control-type
26 s32 OUT 0 hm2_7i95.0.stepgen.04.counts
26 float OUT 0 hm2_7i95.0.stepgen.04.dbg_err_at_match
26 float OUT 0 hm2_7i95.0.stepgen.04.dbg_ff_vel
26 float OUT 0 hm2_7i95.0.stepgen.04.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i95.0.stepgen.04.dbg_s_to_match
26 s32 OUT 0 hm2_7i95.0.stepgen.04.dbg_step_rate
26 float OUT 0 hm2_7i95.0.stepgen.04.dbg_vel_error
26 bit IN FALSE hm2_7i95.0.stepgen.04.enable <== a-enable
26 float IN 0 hm2_7i95.0.stepgen.04.position-cmd
26 float OUT 0 hm2_7i95.0.stepgen.04.position-fb
26 float IN 0 hm2_7i95.0.stepgen.04.velocity-cmd <== a-output
26 float OUT 0 hm2_7i95.0.stepgen.04.velocity-fb
26 bit IN FALSE hm2_7i95.0.stepgen.05.control-type
26 s32 OUT 0 hm2_7i95.0.stepgen.05.counts
26 float OUT 0 hm2_7i95.0.stepgen.05.dbg_err_at_match
26 float OUT 0 hm2_7i95.0.stepgen.05.dbg_ff_vel
26 float OUT 0 hm2_7i95.0.stepgen.05.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i95.0.stepgen.05.dbg_s_to_match
26 s32 OUT 0 hm2_7i95.0.stepgen.05.dbg_step_rate
26 float OUT 0 hm2_7i95.0.stepgen.05.dbg_vel_error
26 bit IN FALSE hm2_7i95.0.stepgen.05.enable
26 float IN 0 hm2_7i95.0.stepgen.05.position-cmd
26 float OUT 0 hm2_7i95.0.stepgen.05.position-fb
26 float IN 0 hm2_7i95.0.stepgen.05.velocity-cmd
26 float OUT 0 hm2_7i95.0.stepgen.05.velocity-fb
26 s32 IN -1 hm2_7i95.0.stepgen.timer-number
26 bit I/O FALSE hm2_7i95.0.watchdog.has_bit
26 s32 OUT 46599 hm2_7i95.0.write.timetyping mesaflash --device 7i95 --readhmid:
Configuration Name: HOSTMOT2
General configuration information:
BoardName : MESA7I95
FPGA Size: 9 KGates
FPGA Pins: 144
Number of IO Ports: 2
Width of one I/O port: 29
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 2 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCount
There are 6 of MuxedQCount in configuration
Version: 3
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: StepGen
There are 6 of StepGen in configuration
Version: 2
Registers: 10
BaseAddress: 2000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 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: InMux
There are 1 of InMux in configuration
Version: 0
Registers: 5
BaseAddress: 8000
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 Step/DIR+Serial+Encoders
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
0 0 IOPort StepGen 0 Step/Table1 (Out)
0 1 IOPort StepGen 0 Dir/Table2 (Out)
0 2 IOPort StepGen 1 Step/Table1 (Out)
0 3 IOPort StepGen 1 Dir/Table2 (Out)
0 4 IOPort StepGen 2 Step/Table1 (Out)
0 5 IOPort StepGen 2 Dir/Table2 (Out)
0 6 IOPort StepGen 3 Step/Table1 (Out)
0 7 IOPort StepGen 3 Dir/Table2 (Out)
0 8 IOPort StepGen 4 Step/Table1 (Out)
0 9 IOPort StepGen 4 Dir/Table2 (Out)
0 10 IOPort StepGen 5 Step/Table1 (Out)
0 11 IOPort StepGen 5 Dir/Table2 (Out)
0 12 IOPort SSerial 0 RXData0 (In)
0 13 IOPort SSerial 0 TXData0 (Out)
0 14 IOPort SSerial 0 TXEn0 (Out)
0 15 IOPort SSerial 0 RXData1 (In)
0 16 IOPort SSerial 0 TXData1 (Out)
0 17 IOPort SSerial 0 TXEn1 (Out)
0 18 IOPort MuxedQCount 0 MuxQ-A (In)
0 19 IOPort MuxedQCount 0 MuxQ-B (In)
0 20 IOPort MuxedQCount 0 MuxQ-IDX (In)
0 21 IOPort MuxedQCount 1 MuxQ-A (In)
0 22 IOPort MuxedQCount 1 MuxQ-B (In)
0 23 IOPort MuxedQCount 1 MuxQ-IDX (In)
0 24 IOPort MuxedQCount 2 MuxQ-A (In)
0 25 IOPort MuxedQCount 2 MuxQ-B (In)
0 26 IOPort MuxedQCount 2 MuxQ-IDX (In)
0 27 IOPort MuxedQCountSel 0 MuxSel0 (Out)
0 28 IOPort InMux 0 Addr0 (Out)
IO Connections for I/O+Expansion
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
0 29 IOPort InMux 0 Addr1 (Out)
0 30 IOPort InMux 0 Addr2 (Out)
0 31 IOPort InMux 0 Addr3 (Out)
0 32 IOPort InMux 0 Addr4 (Out)
0 33 IOPort InMux 0 Data0 (In)
0 34 IOPort SSR 0 Out-00 (Out)
0 35 IOPort SSR 0 Out-01 (Out)
0 36 IOPort SSR 0 Out-02 (Out)
0 37 IOPort SSR 0 Out-03 (Out)
0 38 IOPort SSR 0 Out-04 (Out)
0 39 IOPort SSR 0 Out-05 (Out)
0 40 IOPort SSR 0 AC Ref (Out)
0 41 IOPort None
0 42 IOPort None
0 43 IOPort None
0 44 IOPort None
0 45 IOPort None
0 46 IOPort None
0 47 IOPort None
0 48 IOPort None
0 49 IOPort None
0 50 IOPort None
0 51 IOPort None
0 52 IOPort None
0 53 IOPort None
0 54 IOPort None
0 55 IOPort None
0 56 IOPort None
0 57 IOPort Nonein linuxcnc "show hal configuration" the value of hm2_7i95.0.gpio.00.in is always false (i tryed to put 12v on pin 0 and ground incom 0/1)
do I have the wrong bit-file on mesa card?
I also become this error in linuxcnc: hm2_7i95.0 error finishng read! iter=296736
I'm arround this problem from a week, I searched everywhere and tryed with lcnc 2.8 first and now with the 2.9master but without finding the problem...
Thankyou for help!
Francesco
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07 Jul 2020 16:37 #173862
by trial31
Hi,
thankyou for your help!
The red led (cr19) is always on and this error "hm2_7i95.0 error finishng read! iter=296736" appear only after some minutes, i close it and it continue working (at mean I think it is working...
)
The voltage on board is 4.95v ....is that not enough?
Can you look at my files if they are wrong for inmux?
"BTW GPIO0 is stepgen0's step output"
then all my gpio rference are all wrong(good to know) ...i want to put inmux.00.input-00 but linuxcnc is not starting with inmux.00input-01 because they are not...
hal File
INI File
thankyou for your help!
The red led (cr19) is always on and this error "hm2_7i95.0 error finishng read! iter=296736" appear only after some minutes, i close it and it continue working (at mean I think it is working...
)The voltage on board is 4.95v ....is that not enough?
Can you look at my files if they are wrong for inmux?
"BTW GPIO0 is stepgen0's step output"
then all my gpio rference are all wrong(good to know) ...i want to put inmux.00.input-00 but linuxcnc is not starting with inmux.00input-01 because they are not...
hal File
# Generated by PNCconf at Tue Jul 7 10:06:07 2020
# Using LinuxCNC version: UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=6 num_pwmgens=0 num_stepgens=6 sserial_port_0=00xxxx"
setp hm2_7i95.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.a,pid.s
addf hm2_7i95.0.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.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i95.0.write servo-thread
# external output signals
# --- SPINDLE-ENABLE ---
net spindle-enable => hm2_7i95.0.ssr.00.out-00
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled => hm2_7i95.0.ssr.00.out-01
# external input signals
# --- MIN-X ---
net min-x <= hm2_7i95.0.gpio.000.in
# --- MAX-X ---
net max-x <= hm2_7i95.0.gpio.001.in
# --- MIN-Y ---
net min-y <= hm2_7i95.0.gpio.002.in
# --- MAX-Y ---
net max-y <= hm2_7i95.0.gpio.003.in
# --- MIN-Z ---
net min-z <= hm2_7i95.0.gpio.004.in
# --- MAX-Z ---
net max-z <= hm2_7i95.0.gpio.005.in
# --- HOME-X ---
net home-x <= hm2_7i95.0.gpio.006.in
# --- HOME-Y ---
net home-y <= hm2_7i95.0.gpio.007.in
# --- HOME-Y2 ---
net home-y2 <= hm2_7i95.0.gpio.008.in
# --- HOME-Z ---
net home-z <= hm2_7i95.0.gpio.009.in
#*******************
# AXIS X JOINT 0
#*******************
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
setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i95.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i95.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i95.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i95.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i95.0.stepgen.00.step_type 0
setp hm2_7i95.0.stepgen.00.control-type 1
setp hm2_7i95.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i95.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i95.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i95.0.stepgen.00.enable
# ---setup home / limit switch signals---
net home-x => joint.0.home-sw-in
net min-x => joint.0.neg-lim-sw-in
net max-x => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i95.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i95.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i95.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i95.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i95.0.stepgen.01.step_type 0
setp hm2_7i95.0.stepgen.01.control-type 1
setp hm2_7i95.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i95.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i95.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i95.0.stepgen.01.enable
# ---setup home / limit switch signals---
net home-y => joint.1.home-sw-in
net min-y => joint.1.neg-lim-sw-in
net max-y => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
setp pid.y2.maxerror .0005
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i95.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i95.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i95.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i95.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i95.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i95.0.stepgen.02.step_type 0
setp hm2_7i95.0.stepgen.02.control-type 1
setp hm2_7i95.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output <= hm2_7i95.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i95.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i95.0.stepgen.02.enable
# ---setup home / limit switch signals---
net home-y2 => joint.2.home-sw-in
net y2-neg-limit => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i95.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i95.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i95.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i95.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i95.0.stepgen.03.step_type 0
setp hm2_7i95.0.stepgen.03.control-type 1
setp hm2_7i95.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output <= hm2_7i95.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i95.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i95.0.stepgen.03.enable
# ---setup home / limit switch signals---
net home-z => joint.3.home-sw-in
net min-z => joint.3.neg-lim-sw-in
net max-z => joint.3.pos-lim-sw-in
#*******************
# AXIS A JOINT 4
#*******************
setp pid.a.Pgain [JOINT_4]P
setp pid.a.Igain [JOINT_4]I
setp pid.a.Dgain [JOINT_4]D
setp pid.a.bias [JOINT_4]BIAS
setp pid.a.FF0 [JOINT_4]FF0
setp pid.a.FF1 [JOINT_4]FF1
setp pid.a.FF2 [JOINT_4]FF2
setp pid.a.deadband [JOINT_4]DEADBAND
setp pid.a.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror .0005
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-pos-fb => pid.a.feedback
net a-output <= pid.a.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i95.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_7i95.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_7i95.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_7i95.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i95.0.stepgen.04.step_type 0
setp hm2_7i95.0.stepgen.04.control-type 1
setp hm2_7i95.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net a-pos-cmd <= joint.4.motor-pos-cmd
net a-vel-cmd <= joint.4.vel-cmd
net a-output <= hm2_7i95.0.stepgen.04.velocity-cmd
#net a-pos-fb <= hm2_7i95.0.stepgen.04.position-fb
net a-pos-fb => joint.4.motor-pos-fb
net a-enable <= joint.4.amp-enable-out
net a-enable => hm2_7i95.0.stepgen.04.enable
# ---Encoder feedback signals/setup---
setp hm2_7i95.0.encoder.00.counter-mode 0
setp hm2_7i95.0.encoder.00.filter 1
setp hm2_7i95.0.encoder.00.index-invert 0
setp hm2_7i95.0.encoder.00.index-mask 0
setp hm2_7i95.0.encoder.00.index-mask-invert 0
setp hm2_7i95.0.encoder.00.scale [JOINT_4]ENCODER_SCALE
net a-pos-fb <= hm2_7i95.0.encoder.00.position
net a-vel-fb <= hm2_7i95.0.encoder.00.velocity
net a-pos-fb => joint.4.motor-pos-fb
net a-index-enable joint.4.index-enable <=> hm2_7i95.0.encoder.00.index-enable
net a-pos-rawcounts <= hm2_7i95.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net a-home-sw => joint.4.home-sw-in
net a-neg-limit => joint.4.neg-lim-sw-in
net a-pos-limit => joint.4.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net axis-select-a halui.axis.a.select
net jog-a-pos halui.axis.a.plus
net jog-a-neg halui.axis.a.minus
net jog-a-analog halui.axis.a.analog
net a-is-homed halui.joint.3.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.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
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
INI File
# Generated by PNCconf at Tue Jul 7 10:06:07 2020
# Using LinuxCNC version: UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = test2
DEBUG = 0
VERSION = 1.1
[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_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[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
SERVO_PERIOD = 1000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i95.0
[HAL]
HALUI = halui
HALFILE = test2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH
[TRAJ]
COORDINATES = XYYZA
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 6.67
MAX_LINEAR_VELOCITY = 66.67
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.0
MAX_LIMIT = 540.0
[JOINT_0]
TYPE = LINEAR
HOME = 520.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 83.33
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 540.0
HOME_OFFSET = 550.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.0
MAX_LIMIT = 950.0
[JOINT_1]
TYPE = LINEAR
HOME = 20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 83.33
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 950.0
HOME_OFFSET = -10.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
[JOINT_2]
TYPE = LINEAR
HOME = 20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 83.33
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 950.0
HOME_OFFSET = -10.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.0
MAX_LIMIT = 250.0
[JOINT_3]
TYPE = LINEAR
HOME = 30.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 62.50
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 160.0
MIN_LIMIT = -0.0
MAX_LIMIT = 250.0
HOME_OFFSET = 50.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
#******************************************
#******************************************
[AXIS_A]
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 450.00
STEPGEN_MAXACCEL = 1500.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 5.6889
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 4.4444
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
#******************************************
[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2000.0Please Log in or Create an account to join the conversation.
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