On Mon, 3 Jul 2017, Condit Alan via Emc-users wrote:
Date: Mon, 3 Jul 2017 14:01:23 -0700
From: Condit Alan via Emc-users <emc-users@lists.sourceforge.net>
To: "Emc-users@lists.sourceforge.net" <Emc-users@lists.sourceforge.net>
Cc: Condit Alan <condita...@yahoo.com>
Subject: [Emc-users] 7i43 with 7i42TA
I am using (2) 7i42TA boards as breakout boards to the 7i43. I have the
estop-ext connected to P3-47(GPIO-47). I have one side of my estop switch
connected to ground and the other side connected to P3-(TB2-23) (which should
be P3-47 according to my reading). So, do I need to supply a pull-up for input
pin?
I have attached my ini file and hal file following.
Thanks,
Alan
No, the 7I43 provides pullups so all input pins should read high if
unconnected (and read low if grounded)
Make sure the inputs are grounded to the 7I43 ground and not any other ground
(not frame ground etc)
INI start
# Generated by PNCconf at Mon Mar 6 20:42:36 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = myCNCLathe
DEBUG = 0
[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/acondit/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.666667
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
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
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_7i43
# BOARD0=7i43
[HAL]
HALUI = halui
HALFILE = myCNCLathe.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.30
MAX_LINEAR_VELOCITY = 3.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 1.25
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
STEP_SCALE = 40000.0
MIN_LIMIT = -0.001
MAX_LIMIT = 4.5
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 30.0
# 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 = 3.75
STEPGEN_MAXACCEL = 37.50
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 3.75
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
STEP_SCALE = 10000.0
MIN_LIMIT = -0.001
MAX_LIMIT = 19.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
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 = 2000.0
ENCODER_SCALE = 400.0
OUTPUT_SCALE = 1
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 1
INI end
HAL start
# Generated by PNCconf at Mon Mar 6 20:42:36 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_7i43 ioaddr=0x378 ioaddr_hi=0 epp_wide=1
config="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=4 num_pwmgens=4
num_stepgens=4"
setp hm2_7i43.0.pwmgen.pwm_frequency 20000
setp hm2_7i43.0.pwmgen.pdm_frequency 6000000
setp hm2_7i43.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle,scale.gear
loadrt mux16 names=ratio_select
addf hm2_7i43.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf ratio_select servo-thread
addf scale.spindle servo-thread
addf scale.gear servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i43.0.write servo-thread
# external output signals
# --- X-ENABLE ---
setp hm2_7i43.0.gpio.035.is_output true
net x-enable hm2_7i43.0.gpio.035.out
# --- MACHINE-IS-ENABLED ---
setp hm2_7i43.0.gpio.041.is_output true
net machine-is-enabled hm2_7i43.0.gpio.041.out
# --- ESTOP-OUT ---
setp hm2_7i43.0.gpio.044.is_output true
net estop-out hm2_7i43.0.gpio.044.out
# external input signals
# --- SPINDLE-MANUAL-CW ---
net spindle-manual-cw <= hm2_7i43.0.gpio.032.in
# --- SPINDLE-MANUAL-CCW ---
net spindle-manual-ccw <= hm2_7i43.0.gpio.033.in
# --- SPINDLE-MANUAL-STOP ---
net spindle-manual-stop <= hm2_7i43.0.gpio.034.in
# --- BOTH-HOME-X ---
net both-home-x <= hm2_7i43.0.gpio.038.in
# --- BOTH-HOME-Z ---
net both-home-z <= hm2_7i43.0.gpio.040.in
# --- PROBE-IN ---
net probe-in <= hm2_7i43.0.gpio.046.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i43.0.gpio.047.in
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_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-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# Step Gen signals/setup
setp hm2_7i43.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i43.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_7i43.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_7i43.0.stepgen.00.step_type 0
setp hm2_7i43.0.stepgen.00.control-type 1
setp hm2_7i43.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i43.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_7i43.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i43.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_7i43.0.stepgen.00.enable
# ---setup home / limit switch signals---
net both-home-x => axis.0.home-sw-in
net both-home-x => axis.0.neg-lim-sw-in
net both-home-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]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-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# Step Gen signals/setup
setp hm2_7i43.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_7i43.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_7i43.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_7i43.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_7i43.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_7i43.0.stepgen.02.step_type 0
setp hm2_7i43.0.stepgen.02.control-type 1
setp hm2_7i43.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_7i43.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output <= hm2_7i43.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i43.0.stepgen.02.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_7i43.0.stepgen.02.enable
# ---setup home / limit switch signals---
net both-home-z => axis.2.home-sw-in
net both-home-z => axis.2.neg-lim-sw-in
net both-home-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
net ratio_select.out pid.s.maxoutput
setp pid.s.error-previous-target true
setp pid.s.maxerror .0005
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-pid-out pid.s.output => scale.gear.in
net gear-ratio ratio_select.out-f => scale.gear.gain
setp ratio_select.in00 0.000500
setp ratio_select.in01 0.002000
net gear-select-a => ratio_select.sel0
net spindle-output <= scale.gear.out
# ---PWM Generator signals/setup---
setp hm2_7i43.0.pwmgen.03.output-type 1
#setp hm2_7i43.0.pwmgen.03.output-type 3
setp hm2_7i43.0.pwmgen.03.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-output => hm2_7i43.0.pwmgen.03.value
net spindle-enable => hm2_7i43.0.pwmgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_7i43.0.encoder.03.counter-mode 0
setp hm2_7i43.0.encoder.03.filter 1
setp hm2_7i43.0.encoder.03.index-invert 0
setp hm2_7i43.0.encoder.03.index-mask 0
setp hm2_7i43.0.encoder.03.index-mask-invert 0
setp hm2_7i43.0.encoder.03.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_7i43.0.encoder.03.position
net spindle-vel-fb-rps <= hm2_7i43.0.encoder.03.velocity
net spindle-index-enable <=> hm2_7i43.0.encoder.03.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.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-ext => 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
HAL end
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Mesa Electronics
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