On Thursday 19 March 2020 10:39:25 Peter C. Wallace wrote: > On Thu, 19 Mar 2020, Gene Heskett wrote: > > Date: Thu, 19 Mar 2020 05:48:08 -0400 > > From: Gene Heskett <[email protected]> > > Reply-To: "Enhanced Machine Controller (EMC)" > > <[email protected]> > > To: [email protected] > > Subject: Re: [Emc-users] crazy, but Peter, its still a wurlitzer > > > > On Wednesday 18 March 2020 22:56:31 Gene Heskett wrote: > >> I disconnected the 3 signals from the spindle encoder leaving the > >> ground and 5 volts in place. To my great surprise, turning a tooth > >> still crashed it. Getting out my looking glass, I came to the > >> conclusion I had a boatload of hair sticking out of most of the > >> solder joints, raising the chances of something actually contacting > >> something it wasn't supposed to. Clipped it off, crashed the pi > >> while remounting the encoder. > >> > >> Humm, since the index is mounted opposite end active, and the 5 > >> volts to that ATS667 had to go thru a sot I had milled in the wall > >> of its mounting pocket, the solder joint stuck up enough to contact > >> the bull gear tooth on its way by, which was shorting the 5 volts > >> for a fraction of a second as it went by. Looking in various places > >> I noted that the endoder has a quadrature error output pin but that > >> it has to be enabled before is has any output. > >> > >> Peter: can it be setp'd true without screwing up its other > >> functions? > > Yes > > > PS: where can I find a man page describing how to program this stuff > > as programmed into a 7i90HD by one of the SPI variants? > > I dont think the man page describes the quadrature error bit > Theres also a bug in the quadrature error handling in most firmware > so requires updating the firmware and the driver (the driver was fixed > somewhere in 2.8) So my nearly 4 yo firmware has to be updated. Is there now a way to do this thru the spi interface, or should I just program a new card since this one's damaged already? I have one copy of 7i90.zip I just pulled early this morning, but at this late date I'm not sure what firmware is in it. Whatever is all stepper, with at least 4 encoders and one pwmgen although I think 2 are enabled: From the output at init time: hm2: loading Mesa HostMot2 driver version 0.15 hm2_rpspi: Platform: Raspberry Pi 4 Model B Rev 1.1 hm2_rpspi: Base address 0xfe000000 size 0x01800000 hm2_rpspi: Mapped peripherals from 0xfe000000 (size 0x01800000) to gpio:0x0xb47a4000, spi:0x0xb47a8000, aux:0x0xb47b9000 hm2_rpspi: SPI0/CE0 clock rate: 41666000/25000000 Hz, VPU clock rate: 550000000 Hz hm2_rpspi: SPI0/CE0 write clock rate calculated: 39285714 Hz (clkdiv=14) hm2_rpspi: SPI0/CE0 read clock rate calculated: 25000000 Hz (clkdiv=22) hm2_rpspi: SPI0/CE0 Valid cookie matched hm2_rpspi: SPI0/CE0 Base: hm2_7i90.0 hm2/hm2_7i90.0: Low Level init 0.15 hm2/hm2_7i90.0: MD 2: 3x IOPort v0: accepted, using 3 hm2/hm2_7i90.0: MD 0: 1x Hostmot2 DPLL v0: accepted, using 1 hm2/hm2_7i90.0: MD 1: 1x Watchdog v0: accepted, using 1 hm2/hm2_7i90.0: MD 3: 4x Encoder v2: accepted, using 4 hm2/hm2_7i90.0: MD 4: 2x PWMGen v0: accepted, using 1 hm2/hm2_7i90.0: MD 5: 4x StepGen v2: accepted, using 4 hm2/hm2_7i90.0: MD 6: 1x LED v0: accepted, using 1 hm2/hm2_7i90.0: 72 I/O Pins used: hm2/hm2_7i90.0: IO Pin 000 (P1-01): StepGen #0, pin Step (Output) hm2/hm2_7i90.0: IO Pin 001 (P1-03): StepGen #0, pin Direction (Output) hm2/hm2_7i90.0: IO Pin 002 (P1-05): StepGen #1, pin Step (Output) hm2/hm2_7i90.0: IO Pin 003 (P1-07): StepGen #1, pin Direction (Output) hm2/hm2_7i90.0: IO Pin 004 (P1-09): Encoder #0, pin A (Input) hm2/hm2_7i90.0: IO Pin 005 (P1-11): Encoder #2, pin A (Input) hm2/hm2_7i90.0: IO Pin 006 (P1-13): Encoder #0, pin B (Input) hm2/hm2_7i90.0: IO Pin 007 (P1-15): Encoder #2, pin B (Input) hm2/hm2_7i90.0: IO Pin 008 (P1-17): Encoder #0, pin Index (Input) hm2/hm2_7i90.0: IO Pin 009 (P1-19): Encoder #2, pin Index (Input) hm2/hm2_7i90.0: IO Pin 010 (P1-21): Encoder #1, pin A (Input) hm2/hm2_7i90.0: IO Pin 011 (P1-23): Encoder #3, pin A (Input) hm2/hm2_7i90.0: IO Pin 012 (P1-25): Encoder #1, pin B (Input) hm2/hm2_7i90.0: IO Pin 013 (P1-27): Encoder #3, pin B (Input) hm2/hm2_7i90.0: IO Pin 014 (P1-29): Encoder #1, pin Index (Input) hm2/hm2_7i90.0: IO Pin 015 (P1-31): Encoder #3, pin Index (Input) hm2/hm2_7i90.0: IO Pin 016 (P1-33): StepGen #2, pin Step (Output) hm2/hm2_7i90.0: IO Pin 017 (P1-35): StepGen #2, pin Direction (Output) hm2/hm2_7i90.0: IO Pin 018 (P1-37): StepGen #3, pin Step (Output) hm2/hm2_7i90.0: IO Pin 019 (P1-39): StepGen #3, pin Direction (Output) hm2/hm2_7i90.0: IO Pin 020 (P1-41): PWMGen #0, pin Out0 (PWM or Up) (Output) hm2/hm2_7i90.0: IO Pin 021 (P1-43): PWMGen #0, pin Out1 (Dir or Down) (Output) hm2/hm2_7i90.0: IO Pin 022 (P1-45): IOPort [...] hm2/hm2_7i90.0: IO Pin 071 (P3-47): IOPort hm2/hm2_7i90.0: registered MOTION: setting Traj cycle time to 1000000 nsecs MOTION: setting Servo cycle time to 1000000 nsecs
Because its the bottom card in the stack, I'm trying to avoid tearing it all down. Its a long project. > > Note the the interface (SPI,EPP,PCI,Ethernet etc) has no bearing on > operations other than things specifically related to the interface > > >> So thats tomorrow, and I am hoping that the sign of the average > >> will tell Peter which way I need to move the A chip to reduce the > >> error. > > I dont actually think the quadrature error will help in this instance. > Its mainly useful to detect things like impulse noise thats common to > A/B > > >> Its likely to be a very noisy output as the variability can easily > >> be seen in the halscope. TBT, this bull gear has been nearly > >> destroyed by 80 years of having tons of overpressure when the > >> backgear is engaged, and its so common a condition its obvious the > >> guy in charge of adjusting that during final assembly had never > >> been instructed on how to do it properly. Thanks for any other help you can throw my way. And stay safe. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
