hal functions

Hey,
I'm currently working on configuring different setups using various Mesa boards (7i96S and 7i95T).
For creating the configurations, I’ve been using either the pncconf Wizard or Mesact. Unfortunately, neither tool seems to produce fully working configurations for my particular setup.That’s why I’m now trying to better understand which HAL functions are actually necessary.
Specifically, I’d like to learn what the different pins mean and how they should be connected in a way that makes sense.Could you point me toward some resources or documentation that would help me learn these basics?

Thanks a lot for your time!

Thank you for your reply!
That's already the right direction, but I'm more interested in the commands like:
"net joint.0-pos-cmd <= joint.0.motor-pos-cmd"
These are the commands I would like to understand!

Next, I would like to understand which pins I can connect to which.
I often get a message like:
"you cannot connect this pin since PinX has already been connected to PinY"

Yes, I’ve had a look at the link.
I’m sorry I didn’t explain my problem clearly before.

My main issue is figuring out how to correctly connect the components to, for example, make a motor turn.
I’d like to understand which signals and pins are needed and what their actual roles are.
Take the position signal, for example — in my setup, I’m using encoders, so they should be providing that signal.
What I’m looking for is a resource that explains where these signals come into play and what their specific purpose is in the system.

This is perfect! I believe these links cover pretty much everything I was hoping to find.
Thank you very much!
I'll take a closer look at these pages and the related ones.

Hopefully, you'll have some time to answer a few questions if I’m still unclear afterwards.

Either pncconf or MesaCT can make working configurations for a 7I96S
(and MesaCT can make working configurations for the 7I95T AFAIK)


What actual issue do you have?

I'm currently using PNCconf to set up my 7i96S board. So far, everything works fine when using stepgen for motor control. However, I'm running into an issue when switching to encoder-based feedback in a closed-loop setup. Specifically, whenever I try to home the joint using the encoder, I encounter a following error (the traveled distance until Error increases when i enlarge the "FERROR"). The stepgen setup homes without any problems, so it seems the issue is related to the encoder configuration. I'll upload my config in case anyone wants to take a look. I'd really appreciate any help or suggestions!