OK, this is what i get when using your samples "as is" http://pastebin.com/f127053de
It seems there is some command missing, i read the command on your .hal file, but EMC looks like not understanding. I guess this is beyond the hardware i'm using. m7i43 Celeron Tualatin 1300MHz Soyo SY7VBA-U 3DFX Vodoo 3 3000 512MB SDRAM PC133 El 09/11/08 21:32, Ted Hyde escribió: > Richard - > > > > While I'm no 7i43 expert, I appear to be part of the small group of those > who have been able to get it to work. It took a while - EMC setup is by no > means on the same level as a USB Hard Drive - I'm hoping that you realize > the reason you are getting so many requests for information on "what is your > system like" is because there is no "cookie cutter" CNC setup out there. > (Well, ok there are some that are close, but EVERYONE wants, needs or > eventually does tweak their system in some fashion.) Part of the reason I > like EMC over other platforms I've implemented before (including Mach, Fanuc > Oi, Siemens, and a couple of asian knockoffs) is that it has no "must be > plugged into this device" assumption. The downside is that there isn't an > "out of the box" solution for EVERY installation. There are wonderful > wizards, but let's face it, motion control is not for the faint of heart. > Paper copies of the integrator manuals, the .PIN files for the 7i43 firmware > you're using, the man pages for hostmot2 are all useful tools you will want > to reference often. > > > > I am implementing the 7i43 as part of an "old iron" retrofit of a big-name > 3kw gantry laser cutter, circa 1994. I was hoping to keep the original servo > drives, but it's not going to be the case. Due to the size of one of the > servo motors (11kw!) the traditional step/dir "smart positioning" drives I'm > used to (that keep the intelligence in the drive, and practically look like > a stepper motor to EMC) - aren't available, or at least not for the budget. > Thus, I'm moving the PID servo intelligence inside EMC, and as a benefit, > get to go "el cheapo" on the actual amplifier part. > > > > Very Important Note: I knew going into this that the driver support was NOT > official. Or completed. Or Released. All of the openly available > documentation on the EMC and Mesa websites, past mailing list posts and IRC > chats made that VERY, VERY CLEAR. I could also tell that there were some > very intelligent individuals available willing to help. I expected to have > to spend a lot of frustrating hours getting my first link to work, but > weighed the alternatives and still considered this the most appropriate (and > perhaps even fun,option). > > > > So, here's a description of My Working Setup: My motherboard of preference > is a Via Epia M10000 Mini-ATX series. I load it up with 1 GB of ram, and > typically put a CF flash drive on for the finished work, but use an old > (10gb) hard drive for provisioning/testing. I haven't liked PCI cards due to > the arrangement of the PCI slot on the Epia - even with a "flipper" card, it > makes the card awkward. That's right, I chose the 7i43 not out of function, > but because it was sexy and easily dropped off the parallel port. > Admittedly, the card fit the budget and functional requirements just fine, > too, but the fact it was small won me over. > > > > The bios on this MB was fully updated, to include both EPP 1.7 and EPP 1.9 > modes. This is important. Really, really important. It is unlikely, given > recent testing, discussion and the phase of the moon over my shop, that one > would achieve success without this option. That may rule out an old > PC.however, I wouldn't risk my arm, eye, or any other vital organ to an old > PC that couldn't keep up with some realtime PID calcs. I ran an old copy of > puppy-emc on a "reclaimed box" once but wouldn't give it to a customer. Just > a recommendation. > > The BIOS settings were confirmed over the period of a lot of failures. It is > my general belief that this Bios is actually backwards in its selection of > 1.7 vs. 1.9 on this MB...but that doesn't matter - what matters is that one > mode works and the other one doesn't. I chose the one that works. This is a > problem likely specific to the Epia itself. > > > > I installed EMC2 from the LiveCD (current ISO), updated everything via the > package manager, then pulled down the current trunk version and compiled it. > This means you now have 2 copies of EMC - you must know where you > extracted/built your trunk version and run everything from there - get rid > of the default launchers/shortcuts on the desktop and build your own with > the proper paths. You could uninstall the original version, or use the > run-in-place options, but I didn't concern myself with this. As you build, > the installer notes are quite clear in describing your next step. I used: > http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Installing_EMC2#On_Ubuntu_6_06_o > r_8_04_from_source as my roadmap. Update, update, update. If you don't have > the right packages installed, makes will fail. Updates solved that. > > > > Just to make sure we got this far, I also ran the(stepper_sim config) - it's > in the sample configs, and makes neat stepper-like noises in the PC speaker, > just to let you know life is good. I always do this. It doesn't prove much > of anything except for a valid install. No need to chase additional ghosts. > > > > The 7i43 can be programmed so it retains a firmware in its onboard epprom, > but since I'm still building, I haven't flashed mine yet - I still call a > firmware (.bit file for the Spartan) explicitly in the .hal file. That means > the firmware loader needs to know where to look, and by default it typically > doesn't. This is referred to as symlinking your sandbox, and goes something > like this: > > > > $ sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware > /lib/firmware/hm2 > > > > The first reference (with the $HOME path) needs to actually point to where > you compiled your trunk version - there are plenty of google references to > help you with this. > > > > Power input to the 7i43 is via an external 5v power supply. You can use USB > power if you want, but you can't just plug a USB cable into the USB port - > the board will attempt to enumerate with the MB BIOS. Even if you remove USB > drivers from Ubuntu, the 7i43 will (in my observation) get stuck, doing > what, in fact, it's been told to do: make a USB connection - thus, if you > use the USB power from the MB, remove the D+/D- lines from the cable, or > preferably, just connect 5v to the proper power connector. Jumpers are set > for EPP config (W4 & W5 down), USB Power off (W6 down) - since I'm feeding > power into the external 5v connector - Power Enable is on (W7 up). Data > cabling is via a short (12" long) crimped D25-IDC ribbon cable. > > > > After that, I made sure that I could actually get firmware to load into the > 7i43 - and the "best" way to do this, IMO, is through the command prompt. > Too much is variable in an untested system, so wanting an ini and hal > fileset at this point is a) useless, and b) a waste of time. I am going to > hope that you already have established communication with your board, but > the pastebin files didn't help me, so for reference: > > > > $ halrun > > Halcmd: loadrt hostmot2 > > Halcmd: loadrt hm2_7i43 config="firmware=hm2/7i43/SVST4_4B.BIT" > > > > I happen to have the 400k gate Spartan, if you have the 200k version, > substitute "SVST4_4S.BIT" - you should hopefully have read that there are 2 > different firmware sets, one for the 400k ("Big") version, and one for the > 200k ("Small") version...Note that in my hal file, the same 400k vs. 200k > requirement applies.. > > > > If the hm2_7i43 component loaded without error, the "hardware" is likely > good to go. If it failed, there is more hunting you have to do, and all the > config files in the world aren't going to help. Here, you really need to > know your system, and track down problems with patience. > > > > If you got this far, we can now cheat a bit and you can download my files > from here: > > > > http://filebin.ca/hvthwk/m7i43_th.hal and > http://filebin.ca/thqbtc/m7i43_th.ini > > > > You will want to put them in their own directory (inside your trunk EMC2 > would be nice, but desktop is fine, too) > > You will also need to build a .var file, a .tbl file and copy over the > emc.nml file - all as referenced in the ini file, or you can just download > them also from here: > > http://filebin.ca/tymdgd/emc.nml and http://filebin.ca/weppbt/m7i43.tbl and > http://filebin.ca/jutbos/m7i43.var > > > > Those 5 files, together with a properly configured launcher shortcut will > launch EMC with the Axis gui, and set up 3 PWM servo axes (x,y,z), that > output to the P4 connector on the 7i43. All shared without warranty, > fitness, merchantability or liabilities of any kind. > > > > The .hal and .ini files are slightly stripped from my current ones, as I'm > adding less "mill-style" connections to run the laser and various > workholding options, conveyors, limit switches, height sensors, etc. - I > pulled that stuff out to confuse less, and replaced the estop chain with the > "standard/virtual" version - make sure you implement an appropriate physical > estop chain. > > > > Hopefully this works for you, but as you probably don't have my exact setup, > there's a chance you may still run into problems. It's important to take it > one step at a time and strip out as much of the complexity as possible, but > I can respect your desire to test against a confirmed functional baseline. > > > > Keep at it - you'll get there! > > > > Ted. > > > > > > > > > > > > ------------------------------------------------------------------------- > This SF.Net email is sponsored by the Moblin Your Move Developer's challenge > Build the coolest Linux based applications with Moblin SDK & win great prizes > Grand prize is a trip for two to an Open Source event anywhere in the world > http://moblin-contest.org/redirect.php?banner_id=100&url=/ > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
