Encoder

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15 Feb 2022 00:45 #234876 by PCW
Replied by PCW on topic Error Report
yes, edit connections

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17 Feb 2022 03:52 #235090 by Kylizer
Replied by Kylizer on topic Error Report
Ok, well I have tried and tried and I still can not get it to work. How do I go about changing the host ip adress and disabling ipv6?

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17 Feb 2022 04:04 #235091 by Kylizer
Replied by Kylizer on topic Error Report
   
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17 Feb 2022 06:11 #235098 by PCW
Replied by PCW on topic Error Report
How did you set the address to 10.10.10.10?

Doesn't the "Configure" button open a connection editor?

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17 Feb 2022 06:53 #235103 by Kylizer
Replied by Kylizer on topic Error Report
update I finally got it to work but not im getting this
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17 Feb 2022 10:02 #235114 by tommylight
Replied by tommylight on topic Error Report
In the hal file, line 10, there is still a line with 7i92 in it instead of 7i97.
Change that.

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17 Feb 2022 13:39 #235131 by Kylizer
Replied by Kylizer on topic Error Report
after making the change I now get this   
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17 Feb 2022 13:50 #235132 by Kylizer
Replied by Kylizer on topic Error Report
# Generated by PNCconf at Wed Feb 16 21:42:33 2022
# Using LinuxCNC version: 2.8
# 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="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50


addf [HMOT](CARD0).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 pid.s.do-pid-calcs servo-thread
addf classicladder.0.refresh servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf [HMOT](CARD0).write servo-thread
setp [HMOT](CARD0).dpll.01.timer-us -50
setp [HMOT](CARD0).stepgen.timer-number 1

# external output signals


# external input signals


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

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

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

setp [HMOT](CARD0).7i97.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
setp [HMOT](CARD0).7i97.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp [HMOT](CARD0).7i97.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT

net x-output => [HMOT](CARD0).7i97.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable => [HMOT](CARD0).7i97.0.1.analogena

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

setp [HMOT](CARD0).encoder.00.counter-mode 0
setp [HMOT](CARD0).encoder.00.filter 1
setp [HMOT](CARD0).encoder.00.index-invert 0
setp [HMOT](CARD0).encoder.00.index-mask 0
setp [HMOT](CARD0).encoder.00.index-mask-invert 0
setp [HMOT](CARD0).encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= [HMOT](CARD0).encoder.00.position
net x-vel-fb <= [HMOT](CARD0).encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> [HMOT](CARD0).encoder.00.index-enable
net x-pos-rawcounts <= [HMOT](CARD0).encoder.00.rawcounts

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

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

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

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

setp [HMOT](CARD0).7i97.0.1.analogout1-scalemax [JOINT_1]OUTPUT_SCALE
setp [HMOT](CARD0).7i97.0.1.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT
setp [HMOT](CARD0).7i97.0.1.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT

net y-output => [HMOT](CARD0).7i97.0.1.analogout1
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-enable <= joint.1.amp-enable-out

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

setp [HMOT](CARD0).encoder.01.counter-mode 0
setp [HMOT](CARD0).encoder.01.filter 1
setp [HMOT](CARD0).encoder.01.index-invert 0
setp [HMOT](CARD0).encoder.01.index-mask 0
setp [HMOT](CARD0).encoder.01.index-mask-invert 0
setp [HMOT](CARD0).encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= [HMOT](CARD0).encoder.01.position
net y-vel-fb <= [HMOT](CARD0).encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> [HMOT](CARD0).encoder.01.index-enable
net y-pos-rawcounts <= [HMOT](CARD0).encoder.01.rawcounts

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

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

#*******************
# AXIS Z JOINT 2
#*******************

setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true

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

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

setp [HMOT](CARD0).7i97.0.1.analogout2-scalemax [JOINT_2]OUTPUT_SCALE
setp [HMOT](CARD0).7i97.0.1.analogout2-minlim [JOINT_2]OUTPUT_MIN_LIMIT
setp [HMOT](CARD0).7i97.0.1.analogout2-maxlim [JOINT_2]OUTPUT_MAX_LIMIT

net z-output => [HMOT](CARD0).7i97.0.1.analogout2
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-enable <= joint.2.amp-enable-out

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

setp [HMOT](CARD0).encoder.02.counter-mode 0
setp [HMOT](CARD0).encoder.02.filter 1
setp [HMOT](CARD0).encoder.02.index-invert 0
setp [HMOT](CARD0).encoder.02.index-mask 0
setp [HMOT](CARD0).encoder.02.index-mask-invert 0
setp [HMOT](CARD0).encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= [HMOT](CARD0).encoder.02.position
net z-vel-fb <= [HMOT](CARD0).encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> [HMOT](CARD0).encoder.02.index-enable
net z-pos-rawcounts <= [HMOT](CARD0).encoder.02.rawcounts

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

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


# Load Classicladder with modbus master included (GUI must run for Modbus)

loadusr classicladder --modmaster custom.clp




Ok so i see whats going on here. I delete the file it talked about and another came up. Where would I go to compare the files to know which lines I need to add and which ones I need to subtract?

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17 Feb 2022 14:45 #235138 by PCW
Replied by PCW on topic Error Report
You should start with this hal/ini file set for the 7I97:

File Attachment:

File Name: basic7i97_...2-17.zip
File Size:4 KB


(unzip in your home/linuxcnc/configs directory)


 
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17 Feb 2022 23:31 #235196 by Kylizer
Replied by Kylizer on topic Error Report
yes. I have it going now and can open it in linuxcnc. So now that I have accomplished this, what do you think my next step should be? Learn how to make all my changes I need to make in the hal file to coordinate with my machine?, or check the pins out, etc. Super newb fyi

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