Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

> -Original Message-
> From: Gene Heskett [mailto:ghesk...@shentel.net]
> Sent: August-28-19 9:32 PM
> To: emc-users@lists.sourceforge.net
> Subject: Re: [Emc-users] MESA 7i92H Saga
> 
> On Wednesday 28 August 2019 23:18:28 John Dammeyer wrote:
> 
> > Yeah the backlash is pretty bad but even back in May 2007 when I
> > bought it the cost for all that mass was quite low.  Now Grizzly
> > doesn't even sell that model anymore and the closest unit is almost
> > double.  Add an exchange rate of over 30% and installing ball screws
> > will be cheap and has always been in the plans.
> >
> > I bought mine in Canada from House of Tools which is no longer around.
> >   But this link will get you to it at Grizzly
> > https://www.grizzly.com/search?q=(g3616)
> 
> And the spec sheet doesn't list backlash.  And backlash above 10 thou can
> get quickly messy.  And those screws aren't Nooks. I'd be looking for a
> ball screw kit on fleabay. That will reduce the backlash to around a
> thou and things will be much happier. They will also need 5% of the
> motor torque to turn them compared to the acme or square thread screws
> in it now.
> 

I put ball screws on my JGRO CNC router.  I found the 1/2" ACME screws I 
started with and the nylon nuts caused too much problems along with them not 
really being straight.  

What I found with the ball screws was they are much nicer but the longer one 
still suffers from whip if it turns too fast.  The plan is to add the second 
ball nut to remove what little backlash there is but also about 4" away from 
the first essentially making the ball nut 6" long.  That should reduce the whip 
considerably.

I think for the Y axis on the mill it won't be a problem but the X is fairly 
long and the ACME screw is currently 25mm in diameter.   I'd want at least 5/8" 
 (16mm) and preferably 20mm.  Most of the cheap ball screws out there are far 
smaller.  And I have to fit the ball nut into the same place as the ACME nut.   
 (which doesn't have any sort of backlash adjustment)

John

> > > -Original Message-
> > > From: Sam Sokolik [mailto:samco...@gmail.com]
> > > Sent: August-28-19 7:52 PM
> > > To: Enhanced Machine Controller (EMC)
> > > Subject: Re: [Emc-users] MESA 7i92H Saga
> > >
> > > You must have a substantial amount of backlash?  The backlash is
> > > taken out at max axis acceleration.  that is why you need to have 2X
> > > acc for the stepgen_maxaccel.   There is a chance that the axis
> > > could be accelerating and the backlash taken out at the same time
> > > causing 2x the acceleration being sent to the stepgens.
> > >
> > > On Wed, Aug 28, 2019 at 9:24 PM John Dammeyer
> > > 
> > >
> > > wrote:
> > > > Gene,
> > > >
> > > > You've got it backwards.  The parallel port version is correct
> > > > which is why that line is there.
> > > >
> > > > > > setpparport.0.pin-07-out-invert 1
> > > > >
> > > > > remove the above line, or set it false
> > > > >
> > > > > > net zdir=> parport.0.pin-07-out
> > > >
> > > > Peter Wallace suggested I do this:
> > > > "If you are using LinuxCNC 2.8 you can set the stepgens dir
> > > > polarity parameter."
> > > >
> > > > Can't find a "dir polarity" parameter here:
> > > > http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3
> > > >
> > > > However there is an "invert_output" parameter .  Still nothing I
> > > > can find online really guides me in the direction of doing it with
> > > > port inversion or how to use that invert_output since the dmesg
> > > > instructions in the above
> > >
> > > web
> > >
> > > > link don't help.
> > > >
> > > > However the other suggestion from Peter which was to set the
> > > > stepgen
> > >
> > > scale
> > >
> > > > to minus.  Did that to both Z and Y axis and now homing works.
> > > >
> > > > I suspect because the parallel port implementation always reported
> > > > "unexpected real time delay" on start-up that it wasn't able to
> > > > actually keep up with the acceleration parameters in the .ini
> > > > file.  Now with the 7i92H, the acceleration on the Z axis is way
> > > > too high for the Gecko run stepper motor.  It's not losing steps
> > > > but doesn't sound happy.  A bit of tweaking with values and it's
> > > > much smoother.
> > > >
> > > > I've also played around with the Y axis acceleration since it too
> > > > has a lot of mass to move; not only the X axis but also the X axis
> > > >  table rotation mass.  That's why the DC Servo has 4:1 instead of
> > > > 3:1 reduction like the X.  Max ipm is therefore 120ipm for Y and
> > > > 150ipm for X. For the knee with the Gecko and 3:1 to the bevel
> > > > gear I get 24ipm.  Any higher
> > >
> > > than
> > >
> > > > that and the stepper will skip.
> > > >
> > > > The backlash compensation is also far harsher.  A series of jogs
> > > > in the same direction create almost no vibration on the head of
> > > > the mill (hand placed against it) but change direction and my hand
> > > > feels the bump as the 

Re: [Emc-users] MESA 7i92H Saga

[Gene Heskett]

On Wednesday 28 August 2019 23:18:28 John Dammeyer wrote:

> Yeah the backlash is pretty bad but even back in May 2007 when I
> bought it the cost for all that mass was quite low.  Now Grizzly
> doesn't even sell that model anymore and the closest unit is almost
> double.  Add an exchange rate of over 30% and installing ball screws
> will be cheap and has always been in the plans.
>
> I bought mine in Canada from House of Tools which is no longer around.
>   But this link will get you to it at Grizzly
> https://www.grizzly.com/search?q=(g3616)
>
And the spec sheet doesn't list backlash.  And backlash above 10 thou can 
get quickly messy.  And those screws aren't Nooks. I'd be looking for a 
ball screw kit on fleabay. That will reduce the backlash to around a 
thou and things will be much happier. They will also need 5% of the 
motor torque to turn them compared to the acme or square thread screws 
in it now.

> > -Original Message-
> > From: Sam Sokolik [mailto:samco...@gmail.com]
> > Sent: August-28-19 7:52 PM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] MESA 7i92H Saga
> >
> > You must have a substantial amount of backlash?  The backlash is
> > taken out at max axis acceleration.  that is why you need to have 2X
> > acc for the stepgen_maxaccel.   There is a chance that the axis
> > could be accelerating and the backlash taken out at the same time
> > causing 2x the acceleration being sent to the stepgens.
> >
> > On Wed, Aug 28, 2019 at 9:24 PM John Dammeyer
> > 
> >
> > wrote:
> > > Gene,
> > >
> > > You've got it backwards.  The parallel port version is correct
> > > which is why that line is there.
> > >
> > > > > setpparport.0.pin-07-out-invert 1
> > > >
> > > > remove the above line, or set it false
> > > >
> > > > > net zdir=> parport.0.pin-07-out
> > >
> > > Peter Wallace suggested I do this:
> > > "If you are using LinuxCNC 2.8 you can set the stepgens dir
> > > polarity parameter."
> > >
> > > Can't find a "dir polarity" parameter here:
> > > http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3
> > >
> > > However there is an "invert_output" parameter .  Still nothing I
> > > can find online really guides me in the direction of doing it with
> > > port inversion or how to use that invert_output since the dmesg
> > > instructions in the above
> >
> > web
> >
> > > link don't help.
> > >
> > > However the other suggestion from Peter which was to set the
> > > stepgen
> >
> > scale
> >
> > > to minus.  Did that to both Z and Y axis and now homing works.
> > >
> > > I suspect because the parallel port implementation always reported
> > > "unexpected real time delay" on start-up that it wasn't able to
> > > actually keep up with the acceleration parameters in the .ini
> > > file.  Now with the 7i92H, the acceleration on the Z axis is way
> > > too high for the Gecko run stepper motor.  It's not losing steps
> > > but doesn't sound happy.  A bit of tweaking with values and it's
> > > much smoother.
> > >
> > > I've also played around with the Y axis acceleration since it too
> > > has a lot of mass to move; not only the X axis but also the X axis
> > >  table rotation mass.  That's why the DC Servo has 4:1 instead of
> > > 3:1 reduction like the X.  Max ipm is therefore 120ipm for Y and
> > > 150ipm for X. For the knee with the Gecko and 3:1 to the bevel
> > > gear I get 24ipm.  Any higher
> >
> > than
> >
> > > that and the stepper will skip.
> > >
> > > The backlash compensation is also far harsher.  A series of jogs
> > > in the same direction create almost no vibration on the head of
> > > the mill (hand placed against it) but change direction and my hand
> > > feels the bump as the backlash is first taken up.  This was
> > > especially noticeable on the knee with the slight bevel gear
> > > connection to the knee screw until I dropped acceleration to a
> > > much lower value than I had on the parallel port version.
> > >
> > > The 7i92H requires the STEPGEN_MAXACCEL to be double  the
> > > MAX_ACCELERATION.  Setting it lower than that caused strange
> > > motion problems so I suspect the only way to get rid of the hard
> > > bump as backlash is taken out is to also reduce axis acceleration.
> > >
> > > Or buy ball screws which is on the list...
> > >
> > > John
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > > ___
> > > Emc-users mailing list
> > > Emc-users@lists.sourceforge.net
> > > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
> > ___
> > Emc-users mailing list
> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
>
> ___
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> https://lists.sourceforge.net/lists/listinfo/emc-users


Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 

Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

> > Do I just add this to the HAL file?
> > setp   hm2_7i92.0.stepgen.02.direction.invert_output TRUE
> >
> > Is it that simple?
> > John
> 
> It is that simple if you are using 2.8 and above
> 

Well that explains it.  Help | About says LinuxCNC/Axis 2.7.14

I'm good with changing the sign on the scale parameter.  I now need to merge in 
the other 'features' that are in the parallel port version like my MPG.  And 
continue writing up my change over document.
John


> Your list above shows no parameters
> 
> the command should be
> 
> halcmd show all *stepgen*
> 
> 
> Peter Wallace
> Mesa Electronics
> 
> 
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Re: [Emc-users] MESA 7i92H Saga

[Peter C. Wallace]

On Wed, 28 Aug 2019, John Dammeyer wrote:


Date: Wed, 28 Aug 2019 21:05:58 -0700
From: John Dammeyer 
Reply-To: "Enhanced Machine Controller (EMC)"

To: "'Enhanced Machine Controller (EMC)'" 
Subject: Re: [Emc-users] MESA 7i92H Saga

This what the halcmd produced for the Y axis.

   28  bit   IN   TRUE  hm2_7i92.0.stepgen.02.control-type
   28  s32   OUT-31361  hm2_7i92.0.stepgen.02.counts
   28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_err_at_match
   28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_ff_vel
   28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_pos_minus_prev_cmd
   28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_s_to_match
   28  s32   OUT 0  hm2_7i92.0.stepgen.02.dbg_step_rate
   28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_vel_error
   28  bit   IN   TRUE  hm2_7i92.0.stepgen.02.enable <== z-enable
   28  float IN  0  hm2_7i92.0.stepgen.02.position-cmd
   28  float OUT  1.306705  hm2_7i92.0.stepgen.02.position-fb ==> z-pos-fb
   28  float IN  0  hm2_7i92.0.stepgen.02.velocity-cmd <== z-output
   28  float OUT 0  hm2_7i92.0.stepgen.02.velocity-fb

There is no line like this.

 26  bit   RW  FALSE  hm2_7i95.0.stepgen.01.direction.invert_output


Do I just add this to the HAL file?
setp   hm2_7i92.0.stepgen.02.direction.invert_output TRUE

Is it that simple?
John


It is that simple if you are using 2.8 and above

Your list above shows no parameters

the command should be

halcmd show all *stepgen*


Peter Wallace
Mesa Electronics


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Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

This what the halcmd produced for the Y axis.

28  bit   IN   TRUE  hm2_7i92.0.stepgen.02.control-type
28  s32   OUT-31361  hm2_7i92.0.stepgen.02.counts
28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_err_at_match
28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_ff_vel
28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_pos_minus_prev_cmd
28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_s_to_match
28  s32   OUT 0  hm2_7i92.0.stepgen.02.dbg_step_rate
28  float OUT 0  hm2_7i92.0.stepgen.02.dbg_vel_error
28  bit   IN   TRUE  hm2_7i92.0.stepgen.02.enable <== z-enable
28  float IN  0  hm2_7i92.0.stepgen.02.position-cmd
28  float OUT  1.306705  hm2_7i92.0.stepgen.02.position-fb ==> z-pos-fb
28  float IN  0  hm2_7i92.0.stepgen.02.velocity-cmd <== z-output
28  float OUT 0  hm2_7i92.0.stepgen.02.velocity-fb

There is no line like this.
>  26  bit   RW  FALSE  
> hm2_7i95.0.stepgen.01.direction.invert_output

Do I just add this to the HAL file?
setp   hm2_7i92.0.stepgen.02.direction.invert_output TRUE

Is it that simple?
John


> -Original Message-
> From: Peter C. Wallace [mailto:p...@mesanet.com]
> Sent: August-28-19 8:45 PM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] MESA 7i92H Saga
> 
> On Wed, 28 Aug 2019, John Dammeyer wrote:
> 
> > Date: Wed, 28 Aug 2019 19:22:09 -0700
> > From: John Dammeyer 
> > Reply-To: "Enhanced Machine Controller (EMC)"
> > 
> > To: "'Enhanced Machine Controller (EMC)'"  us...@lists.sourceforge.net>
> > Subject: Re: [Emc-users] MESA 7i92H Saga
> >
> > Gene,
> >
> > You've got it backwards.  The parallel port version is correct which is why
> that line is there.
> >>> setp  parport.0.pin-07-out-invert 1
> >> remove the above line, or set it false
> >>> net   zdir=> parport.0.pin-07-out
> >
> > Peter Wallace suggested I do this:
> > "If you are using LinuxCNC 2.8 you can set the stepgens dir polarity
> parameter."
> >
> > Can't find a "dir polarity" parameter here:
> > http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3
> 
> The names would be similar to
> 
> hm2_7i95.0.stepgen.00.direction.invert_output
> 
> Note that these are only available in  LinuxCNC 2.8 and above
> 
> A good way to list all stepgen related pins/parameters/signals is:
> 
> halcmd show all *stepgen* :
> 
> 
> peter@dc7800:~/linuxcnc/configs$ halcmd show all *stepgen*
> Loaded HAL Components:
> ID  Type  NamePID   State
> 
> Component Pins:
> Owner   Type  Dir Value  Name
>  26  bit   IN   TRUE  hm2_7i95.0.stepgen.00.control-type
>  26  s32   OUT 0  hm2_7i95.0.stepgen.00.counts
>  26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_err_at_match
>  26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_ff_vel
>  26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_pos_minus_prev_cmd
>  26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_s_to_match
>  26  s32   OUT 0  hm2_7i95.0.stepgen.00.dbg_step_rate
>  26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_vel_error
>  26  bit   IN  FALSE  hm2_7i95.0.stepgen.00.enable <==
> emcmot.00.enable
>  26  float IN  0  hm2_7i95.0.stepgen.00.position-cmd
>  26  float OUT 0  hm2_7i95.0.stepgen.00.position-fb ==> fb0
>  26  float IN  0  hm2_7i95.0.stepgen.00.velocity-cmd <==
> motor.00.command
>  26  float OUT 0  hm2_7i95.0.stepgen.00.velocity-fb
>  26  bit   IN   TRUE  hm2_7i95.0.stepgen.01.control-type
>  26  s32   OUT 0  hm2_7i95.0.stepgen.01.counts
>  26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_err_at_match
>  26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_ff_vel
>  26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_pos_minus_prev_cmd
>  26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_s_to_match
>  26  s32   OUT 0  hm2_7i95.0.stepgen.01.dbg_step_rate
>  26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_vel_error
>  26  bit   IN  FALSE  hm2_7i95.0.stepgen.01.enable <==
> emcmot.01.enable
>  26  float IN  0  hm2_7i95.0.stepgen.01.position-cmd
>  26  float OUT 0  hm2_7i95.0.stepgen.01.position-fb ==> fb1
>  26  float IN  0  hm2_7i95.0.stepgen.01.velocity-cmd <==
> motor.01.command
>  26  float OUT 0  hm2_7i95.0.stepgen.01.velocity-fb
>  26  bit   IN   TRUE  hm2_7i95.0.stepgen.02.control-type
>  26  s32   OUT 0  hm2_7i95.0.stepgen.02.counts
>  26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_err_at_match
>  26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_ff_vel
>  26  float OUT 0  

Re: [Emc-users] MESA 7i92H Saga

[Gene Heskett]

On Wednesday 28 August 2019 23:18:28 John Dammeyer wrote:

> One other little detail that has shown up once the LinuxCNC was run
> with the 7i92H configuration.  And may not be the 7i92H
>
> The AXIS display shows that 3D perspective of the tool path.  With the
> parallel port version the tool image (a grey cone) is in line with the
> Z axis.  For some reason the 7i92H version has the cone lying on its
> side.  It still traces the correct path but it's like someone kicked
> it over and it's valiantly trying to trace the path.
>
> How do I pick it up again?
>
Thats probably in the tool table. Theres a section in the 
Documentation.pdf that might address that.  Its a per tool setting 
though.

> John
>
>
>
>
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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 


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Re: [Emc-users] MESA 7i92H Saga

[Gene Heskett]

On Wednesday 28 August 2019 22:22:09 John Dammeyer wrote:

> Gene,
>
> You've got it backwards.  The parallel port version is correct which
> is why that line is there.
>
> > > setp  parport.0.pin-07-out-invert 1
> >
setp to 1 is also true, setp to 0 is false. It may be right or wrong, but 
one of them should reverse the signal anyway.

> > remove the above line, or set it false
> >
> > > net   zdir=> parport.0.pin-07-out
>
> Peter Wallace suggested I do this:
> "If you are using LinuxCNC 2.8 you can set the stepgens dir polarity
> parameter."
>
> Can't find a "dir polarity" parameter here:
> http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3
>
> However there is an "invert_output" parameter.

Which must be setp true (or 1) to be effective. Using true/false makes 
for an easier read file by a future-you I think.

> Still nothing I can 
> find online really guides me in the direction of doing it with port
> inversion or how to use that invert_output since the dmesg
> instructions in the above web link don't help.
>
> However the other suggestion from Peter which was to set the stepgen
> scale to minus.  Did that to both Z and Y axis and now homing works.

One can also reverse the motor direction by swapping (interchanging) 
either the A wires, or (but not both) the B wires at the driver to motor 
joint. Usually on the drivers output connections.

To further confuse things, the search_vel and such in your .ini file can 
also be reversed by a sign change.  Way too many places for it to bite 
you.

Direction control by swapping motor wires, or changing the sign of the 
scale is generally done so the keyboard movement is like moving a hole 
in the direction of the keypress. An uparrow typically pulls the table 
toward you, moving the "hole" to the rear of the table.  A right arrow 
press should move the table left, effectively moving the hole to the 
right. Conversely a page up raises the quill or lowers the knee while a 
page down lowers the quill or raises the knee. I get those right before 
I start sprinkling minus signs around in the search_vel boxes.

This also tends to reduce the surprises between gcode generators and 
machine movements.

> I suspect because the parallel port implementation always reported 
> "unexpected real time delay" on start-up that it wasn't able to
> actually keep up with the acceleration parameters in the .ini file.

You do have some pretty brutal settings, jerking the machine around a 
bit. I'd cut the starter vels by 2/3rds as the more gentle acells will 
get you faster rapids.

> Now with the 7i92H, the acceleration on the Z axis is way too high for
> the Gecko run stepper motor.  It's not losing steps but doesn't sound
> happy.  A bit of tweaking with values and it's much smoother.

Gecko's I have zero experience with, but I've heard rumors of early 
capacitor failures. You may want to get an ESR meter and survey them for 
high ESR'S, anything over 100 uf that reads over an ohm of ESR is 
suspect. Over 2 ohms, replace.
>
> I've also played around with the Y axis acceleration since it too has
> a lot of mass to move; not only the X axis but also the X axis  table
> rotation mass.  That's why the DC Servo has 4:1 instead of 3:1
> reduction like the X.  Max ipm is therefore 120ipm for Y and 150ipm
> for X. For the knee with the Gecko and 3:1 to the bevel gear I get
> 24ipm.  Any higher than that and the stepper will skip.
>
> The backlash compensation is also far harsher.  A series of jogs in
> the same direction create almost no vibration on the head of the mill
> (hand placed against it) but change direction and my hand feels the
> bump as the backlash is first taken up.  This was especially
> noticeable on the knee with the slight bevel gear connection to the
> knee screw until I dropped acceleration to a much lower value than I
> had on the parallel port version.
>
> The 7i92H requires the STEPGEN_MAXACCEL to be double  the
> MAX_ACCELERATION.  Setting it lower than that caused strange motion
> problems so I suspect the only way to get rid of the hard bump as
> backlash is taken out is to also reduce axis acceleration.
>
> Or buy ball screws which is on the list...
>
> John
>
>
>
>
>
>
>
>
>
>
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Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
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Re: [Emc-users] MESA 7i92H Saga

[Peter C. Wallace]

On Wed, 28 Aug 2019, John Dammeyer wrote:


Date: Wed, 28 Aug 2019 19:22:09 -0700
From: John Dammeyer 
Reply-To: "Enhanced Machine Controller (EMC)"

To: "'Enhanced Machine Controller (EMC)'" 
Subject: Re: [Emc-users] MESA 7i92H Saga

Gene,

You've got it backwards.  The parallel port version is correct which is why 
that line is there.

setpparport.0.pin-07-out-invert 1

remove the above line, or set it false

net zdir=> parport.0.pin-07-out


Peter Wallace suggested I do this:
"If you are using LinuxCNC 2.8 you can set the stepgens dir polarity parameter."

Can't find a "dir polarity" parameter here:
http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3


The names would be similar to

hm2_7i95.0.stepgen.00.direction.invert_output

Note that these are only available in  LinuxCNC 2.8 and above

A good way to list all stepgen related pins/parameters/signals is:

halcmd show all *stepgen* :


peter@dc7800:~/linuxcnc/configs$ halcmd show all *stepgen*
Loaded HAL Components:
ID  Type  NamePID   State

Component Pins:
Owner   Type  Dir Value  Name
26  bit   IN   TRUE  hm2_7i95.0.stepgen.00.control-type
26  s32   OUT 0  hm2_7i95.0.stepgen.00.counts
26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_err_at_match
26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_ff_vel
26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_pos_minus_prev_cmd
26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_s_to_match
26  s32   OUT 0  hm2_7i95.0.stepgen.00.dbg_step_rate
26  float OUT 0  hm2_7i95.0.stepgen.00.dbg_vel_error
26  bit   IN  FALSE  hm2_7i95.0.stepgen.00.enable <== 
emcmot.00.enable

26  float IN  0  hm2_7i95.0.stepgen.00.position-cmd
26  float OUT 0  hm2_7i95.0.stepgen.00.position-fb ==> fb0
26  float IN  0  hm2_7i95.0.stepgen.00.velocity-cmd <== 
motor.00.command

26  float OUT 0  hm2_7i95.0.stepgen.00.velocity-fb
26  bit   IN   TRUE  hm2_7i95.0.stepgen.01.control-type
26  s32   OUT 0  hm2_7i95.0.stepgen.01.counts
26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_err_at_match
26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_ff_vel
26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_pos_minus_prev_cmd
26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_s_to_match
26  s32   OUT 0  hm2_7i95.0.stepgen.01.dbg_step_rate
26  float OUT 0  hm2_7i95.0.stepgen.01.dbg_vel_error
26  bit   IN  FALSE  hm2_7i95.0.stepgen.01.enable <== 
emcmot.01.enable

26  float IN  0  hm2_7i95.0.stepgen.01.position-cmd
26  float OUT 0  hm2_7i95.0.stepgen.01.position-fb ==> fb1
26  float IN  0  hm2_7i95.0.stepgen.01.velocity-cmd <== 
motor.01.command

26  float OUT 0  hm2_7i95.0.stepgen.01.velocity-fb
26  bit   IN   TRUE  hm2_7i95.0.stepgen.02.control-type
26  s32   OUT 0  hm2_7i95.0.stepgen.02.counts
26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_err_at_match
26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_ff_vel
26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_pos_minus_prev_cmd
26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_s_to_match
26  s32   OUT 0  hm2_7i95.0.stepgen.02.dbg_step_rate
26  float OUT 0  hm2_7i95.0.stepgen.02.dbg_vel_error
26  bit   IN  FALSE  hm2_7i95.0.stepgen.02.enable <== 
emcmot.02.enable

26  float IN  0  hm2_7i95.0.stepgen.02.position-cmd
26  float OUT 0  hm2_7i95.0.stepgen.02.position-fb ==> fb2
26  float IN  0  hm2_7i95.0.stepgen.02.velocity-cmd <== 
motor.02.command

26  float OUT 0  hm2_7i95.0.stepgen.02.velocity-fb
26  bit   IN  FALSE  hm2_7i95.0.stepgen.03.control-type
26  s32   OUT 0  hm2_7i95.0.stepgen.03.counts
26  float OUT 0  hm2_7i95.0.stepgen.03.dbg_err_at_match
26  float OUT 0  hm2_7i95.0.stepgen.03.dbg_ff_vel
26  float OUT 0  hm2_7i95.0.stepgen.03.dbg_pos_minus_prev_cmd
26  float OUT 0  hm2_7i95.0.stepgen.03.dbg_s_to_match
26  s32   OUT 0  hm2_7i95.0.stepgen.03.dbg_step_rate
26  float OUT 0  hm2_7i95.0.stepgen.03.dbg_vel_error
26  bit   IN  FALSE  hm2_7i95.0.stepgen.03.enable
26  float IN  0  hm2_7i95.0.stepgen.03.position-cmd
26  float OUT 0  hm2_7i95.0.stepgen.03.position-fb
26  float IN  0  hm2_7i95.0.stepgen.03.velocity-cmd
26  float OUT 0  hm2_7i95.0.stepgen.03.velocity-fb
26  s32   IN  1  hm2_7i95.0.stepgen.timer-number

Pin Aliases:
 AliasOriginal 

Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

One other little detail that has shown up once the LinuxCNC was run with the 
7i92H configuration.  And may not be the 7i92H

The AXIS display shows that 3D perspective of the tool path.  With the parallel 
port version the tool image (a grey cone) is in line with the Z axis.  For some 
reason the 7i92H version has the cone lying on its side.  It still traces the 
correct path but it's like someone kicked it over and it's valiantly trying to 
trace the path.  

How do I pick it up again?

John




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Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

Yeah the backlash is pretty bad but even back in May 2007 when I bought it the 
cost for all that mass was quite low.  Now Grizzly doesn't even sell that model 
anymore and the closest unit is almost double.  Add an exchange rate of over 
30% and installing ball screws will be cheap and has always been in the plans.

I bought mine in Canada from House of Tools which is no longer around.   But 
this link will get you to it at Grizzly
https://www.grizzly.com/search?q=(g3616)


> -Original Message-
> From: Sam Sokolik [mailto:samco...@gmail.com]
> Sent: August-28-19 7:52 PM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] MESA 7i92H Saga
> 
> You must have a substantial amount of backlash?  The backlash is taken out
> at max axis acceleration.  that is why you need to have 2X acc for the
> stepgen_maxaccel.   There is a chance that the axis could be accelerating
> and the backlash taken out at the same time causing 2x the acceleration
> being sent to the stepgens.
> 
> On Wed, Aug 28, 2019 at 9:24 PM John Dammeyer
> 
> wrote:
> 
> > Gene,
> >
> > You've got it backwards.  The parallel port version is correct which is
> > why that line is there.
> > > > setpparport.0.pin-07-out-invert 1
> > > remove the above line, or set it false
> > > > net zdir=> parport.0.pin-07-out
> >
> > Peter Wallace suggested I do this:
> > "If you are using LinuxCNC 2.8 you can set the stepgens dir polarity
> > parameter."
> >
> > Can't find a "dir polarity" parameter here:
> > http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3
> >
> > However there is an "invert_output" parameter .  Still nothing I can find
> > online really guides me in the direction of doing it with port inversion or
> > how to use that invert_output since the dmesg instructions in the above
> web
> > link don't help.
> >
> > However the other suggestion from Peter which was to set the stepgen
> scale
> > to minus.  Did that to both Z and Y axis and now homing works.
> >
> > I suspect because the parallel port implementation always reported
> > "unexpected real time delay" on start-up that it wasn't able to actually
> > keep up with the acceleration parameters in the .ini file.  Now with the
> > 7i92H, the acceleration on the Z axis is way too high for the Gecko run
> > stepper motor.  It's not losing steps but doesn't sound happy.  A bit of
> > tweaking with values and it's much smoother.
> >
> > I've also played around with the Y axis acceleration since it too has a
> > lot of mass to move; not only the X axis but also the X axis  table
> > rotation mass.  That's why the DC Servo has 4:1 instead of 3:1 reduction
> > like the X.  Max ipm is therefore 120ipm for Y and 150ipm for X. For the
> > knee with the Gecko and 3:1 to the bevel gear I get 24ipm.  Any higher
> than
> > that and the stepper will skip.
> >
> > The backlash compensation is also far harsher.  A series of jogs in the
> > same direction create almost no vibration on the head of the mill (hand
> > placed against it) but change direction and my hand feels the bump as the
> > backlash is first taken up.  This was especially noticeable on the knee
> > with the slight bevel gear connection to the knee screw until I dropped
> > acceleration to a much lower value than I had on the parallel port version.
> >
> > The 7i92H requires the STEPGEN_MAXACCEL to be double  the
> > MAX_ACCELERATION.  Setting it lower than that caused strange motion
> > problems so I suspect the only way to get rid of the hard bump as backlash
> > is taken out is to also reduce axis acceleration.
> >
> > Or buy ball screws which is on the list...
> >
> > John
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> > ___
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> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
> 
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Re: [Emc-users] MESA 7i92H Saga

[Sam Sokolik]

You must have a substantial amount of backlash?  The backlash is taken out
at max axis acceleration.  that is why you need to have 2X acc for the
stepgen_maxaccel.   There is a chance that the axis could be accelerating
and the backlash taken out at the same time causing 2x the acceleration
being sent to the stepgens.

On Wed, Aug 28, 2019 at 9:24 PM John Dammeyer 
wrote:

> Gene,
>
> You've got it backwards.  The parallel port version is correct which is
> why that line is there.
> > > setpparport.0.pin-07-out-invert 1
> > remove the above line, or set it false
> > > net zdir=> parport.0.pin-07-out
>
> Peter Wallace suggested I do this:
> "If you are using LinuxCNC 2.8 you can set the stepgens dir polarity
> parameter."
>
> Can't find a "dir polarity" parameter here:
> http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3
>
> However there is an "invert_output" parameter .  Still nothing I can find
> online really guides me in the direction of doing it with port inversion or
> how to use that invert_output since the dmesg instructions in the above web
> link don't help.
>
> However the other suggestion from Peter which was to set the stepgen scale
> to minus.  Did that to both Z and Y axis and now homing works.
>
> I suspect because the parallel port implementation always reported
> "unexpected real time delay" on start-up that it wasn't able to actually
> keep up with the acceleration parameters in the .ini file.  Now with the
> 7i92H, the acceleration on the Z axis is way too high for the Gecko run
> stepper motor.  It's not losing steps but doesn't sound happy.  A bit of
> tweaking with values and it's much smoother.
>
> I've also played around with the Y axis acceleration since it too has a
> lot of mass to move; not only the X axis but also the X axis  table
> rotation mass.  That's why the DC Servo has 4:1 instead of 3:1 reduction
> like the X.  Max ipm is therefore 120ipm for Y and 150ipm for X. For the
> knee with the Gecko and 3:1 to the bevel gear I get 24ipm.  Any higher than
> that and the stepper will skip.
>
> The backlash compensation is also far harsher.  A series of jogs in the
> same direction create almost no vibration on the head of the mill (hand
> placed against it) but change direction and my hand feels the bump as the
> backlash is first taken up.  This was especially noticeable on the knee
> with the slight bevel gear connection to the knee screw until I dropped
> acceleration to a much lower value than I had on the parallel port version.
>
> The 7i92H requires the STEPGEN_MAXACCEL to be double  the
> MAX_ACCELERATION.  Setting it lower than that caused strange motion
> problems so I suspect the only way to get rid of the hard bump as backlash
> is taken out is to also reduce axis acceleration.
>
> Or buy ball screws which is on the list...
>
> John
>
>
>
>
>
>
>
>
>
>
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>

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Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

Gene,

You've got it backwards.  The parallel port version is correct which is why 
that line is there.
> > setpparport.0.pin-07-out-invert 1
> remove the above line, or set it false
> > net zdir=> parport.0.pin-07-out

Peter Wallace suggested I do this:
"If you are using LinuxCNC 2.8 you can set the stepgens dir polarity parameter."

Can't find a "dir polarity" parameter here:
http://linuxcnc.org/docs/html/drivers/hostmot2.html#_parameters_3

However there is an "invert_output" parameter .  Still nothing I can find 
online really guides me in the direction of doing it with port inversion or how 
to use that invert_output since the dmesg instructions in the above web link 
don't help. 

However the other suggestion from Peter which was to set the stepgen scale to 
minus.  Did that to both Z and Y axis and now homing works.

I suspect because the parallel port implementation always reported  "unexpected 
real time delay" on start-up that it wasn't able to actually keep up with the 
acceleration parameters in the .ini file.  Now with the 7i92H, the acceleration 
on the Z axis is way too high for the Gecko run stepper motor.  It's not losing 
steps but doesn't sound happy.  A bit of tweaking with values and it's much 
smoother.

I've also played around with the Y axis acceleration since it too has a lot of 
mass to move; not only the X axis but also the X axis  table rotation mass.  
That's why the DC Servo has 4:1 instead of 3:1 reduction like the X.  Max ipm 
is therefore 120ipm for Y and 150ipm for X. For the knee with the Gecko and 3:1 
to the bevel gear I get 24ipm.  Any higher than that and the stepper will skip.

The backlash compensation is also far harsher.  A series of jogs in the same 
direction create almost no vibration on the head of the mill (hand placed 
against it) but change direction and my hand feels the bump as the backlash is 
first taken up.  This was especially noticeable on the knee with the slight 
bevel gear connection to the knee screw until I dropped acceleration to a much 
lower value than I had on the parallel port version.

The 7i92H requires the STEPGEN_MAXACCEL to be double  the MAX_ACCELERATION.  
Setting it lower than that caused strange motion problems so I suspect the only 
way to get rid of the hard bump as backlash is taken out is to also reduce axis 
acceleration.

Or buy ball screws which is on the list...

John










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Re: [Emc-users] Pin files for 5i25

[Gene Heskett]

On Wednesday 28 August 2019 20:25:52 Peter C. Wallace wrote:

> http://freeby.mesanet.com/5i25_7i76_5abob.bit
>
> 7I76 on P3, Cheap Ebay "5 Axis" BOB on P2
>
Eggselant Peter, just what I wanted. Twice. :)

> Peter Wallace
> Mesa Electronics
>
> (\__/)
> (='.'=) This is Bunny. Copy and paste bunny into your
> (")_(") signature to help him gain world domination.
>
>
>
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-- 
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 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 


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Re: [Emc-users] MESA 7i92H Saga

[Gene Heskett]

On Wednesday 28 August 2019 20:24:42 John Dammeyer wrote:

> I've finally had some time to get back to the CNC upgrade and I copied
> the test machine config folder to the Mill PC.  Once I got the correct
> parallel port cable straightened around to actually not fault on Limit
> switches the jog buttons created motion.
>
> I can report that the Y axis behaved really badly with shuddering
> during the first part of higher speed motion when MAX_ACCELERATION =
> 15.0
> # 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 = 2.5
> STEPGEN_MAXACCEL = 18.75
>
> I changed the values to match the Parallel port version
> MAX_ACCELERATION = 15.0
> STEPGEN_MAXACCEL = 35.0
>
> And motion went back to nice and smooth.  Initial testing didn't have
> backlash compensation uncommented.
>
> 
> Now a new problem or not so much a problem but I can't figure out how
> to fix it and it's probably right in front of my nose.
>
> The Z axis is a knee, not a quill and on the 7i92H the knee is now
> going in the wrong direction.  On the parallel port version I have
> this invert 1  in the hal file to make the knee go in the correct
> direction.
>
> net   zstep   => parport.0.pin-06-out
> setp  parport.0.pin-06-out-reset 1
> setp  parport.0.pin-07-out-invert 1
remove the above line, or set it false
> net   zdir=> parport.0.pin-07-out
>
> I can't see anything in the 7i92H hal that would invert the direction
> signal out to the stepper driver.  What am I missing?
> #***
> #  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_7i92.0.stepgen.02.dirsetup[AXIS_2]DIRSETUP
> setp   hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
> setp   hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
> setp   hm2_7i92.0.stepgen.02.stepspace   [AXIS_2]STEPSPACE
> setp   hm2_7i92.0.stepgen.02.position-scale  [AXIS_2]STEP_SCALE
> setp   hm2_7i92.0.stepgen.02.step_type0
> setp   hm2_7i92.0.stepgen.02.control-type 1
> setp   hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
> setp   hm2_7i92.0.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_7i92.0.stepgen.02.velocity-cmd
> net z-pos-fb <= hm2_7i92.0.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_7i92.0.stepgen.02.enable
>
> net max-home-z => axis.2.home-sw-in
> net max-x-y-min-z => axis.2.neg-lim-sw-in
> net max-home-z => axis.2.pos-lim-sw-in
>
>
>
>
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-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
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If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
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Re: [Emc-users] MESA 7i92H Saga

[Peter C. Wallace]

Now a new problem or not so much a problem but I can't figure out how to fix it 
and it's probably right in front of my nose.

The Z axis is a knee, not a quill and on the 7i92H the knee is now going in the 
wrong direction.  On the parallel port version I have this invert 1  in the hal 
file to make the knee go in the correct direction.


If you are using LinuxCNC 2.8 you can set the stepgens dir polarity parameter.

on 2.7 (and 2.8)  you can change the sign of the stepgen scale (or set the 
polarity parameter for the gpio pin that corresponds to the stepgen dir pin)





net zstep   => parport.0.pin-06-out
setpparport.0.pin-06-out-reset 1
setpparport.0.pin-07-out-invert 1
net zdir=> parport.0.pin-07-out

I can't see anything in the 7i92H hal that would invert the direction signal 
out to the stepper driver.  What am I missing?



Note that whats in the hal file is just whats in that particular hal file,
if you want to see all pins/parameters for the loaded components, do this when 
linuxcnc is running:


halcmd show all > all.txt



 #***

#  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_7i92.0.stepgen.02.dirsetup[AXIS_2]DIRSETUP
setp   hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp   hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp   hm2_7i92.0.stepgen.02.stepspace   [AXIS_2]STEPSPACE
setp   hm2_7i92.0.stepgen.02.position-scale  [AXIS_2]STEP_SCALE
setp   hm2_7i92.0.stepgen.02.step_type0
setp   hm2_7i92.0.stepgen.02.control-type 1
setp   hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp   hm2_7i92.0.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_7i92.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i92.0.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_7i92.0.stepgen.02.enable

net max-home-z => axis.2.home-sw-in
net max-x-y-min-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in




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Peter Wallace
Mesa Electronics

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Re: [Emc-users] Pin files for 5i25

[Peter C. Wallace]

http://freeby.mesanet.com/5i25_7i76_5abob.bit

7I76 on P3, Cheap Ebay "5 Axis" BOB on P2

Peter Wallace
Mesa Electronics

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Re: [Emc-users] MESA 7i92H Saga

[John Dammeyer]

I've finally had some time to get back to the CNC upgrade and I copied the test 
machine config folder to the Mill PC.  Once I got the correct parallel port 
cable straightened around to actually not fault on Limit switches the jog 
buttons created motion.

I can report that the Y axis behaved really badly with shuddering during the 
first part of higher speed motion when
MAX_ACCELERATION = 15.0
# 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 = 2.5
STEPGEN_MAXACCEL = 18.75

I changed the values to match the Parallel port version
MAX_ACCELERATION = 15.0
STEPGEN_MAXACCEL = 35.0

And motion went back to nice and smooth.  Initial testing didn't have backlash 
compensation uncommented.  


Now a new problem or not so much a problem but I can't figure out how to fix it 
and it's probably right in front of my nose.

The Z axis is a knee, not a quill and on the 7i92H the knee is now going in the 
wrong direction.  On the parallel port version I have this invert 1  in the hal 
file to make the knee go in the correct direction.  

net zstep   => parport.0.pin-06-out
setpparport.0.pin-06-out-reset 1
setpparport.0.pin-07-out-invert 1
net zdir=> parport.0.pin-07-out

I can't see anything in the 7i92H hal that would invert the direction signal 
out to the stepper driver.  What am I missing?
#***
#  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_7i92.0.stepgen.02.dirsetup[AXIS_2]DIRSETUP
setp   hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp   hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp   hm2_7i92.0.stepgen.02.stepspace   [AXIS_2]STEPSPACE
setp   hm2_7i92.0.stepgen.02.position-scale  [AXIS_2]STEP_SCALE
setp   hm2_7i92.0.stepgen.02.step_type0
setp   hm2_7i92.0.stepgen.02.control-type 1
setp   hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp   hm2_7i92.0.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_7i92.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i92.0.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_7i92.0.stepgen.02.enable

net max-home-z => axis.2.home-sw-in
net max-x-y-min-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in




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Re: [Emc-users] Pin files for 5i25

[Gene Heskett]

On Wednesday 28 August 2019 15:57:04 andy pugh wrote:

> On Wed, 28 Aug 2019 at 20:31, Gene Heskett 
> wrote:
>
> In looking at what I have, vs what I need, I need a bit file for
> 5i25's
>
> > with a 7i76D driver on P3, and a std parport bob on P2.
>
> There are pre-existing 5i25_g540_7i76.bit and 5i25_7i76_g540.bit
> files. (7i76D is the same pinout as 7i76)

Those files do not exist in the 5i25 downloads I have dl'd from PCW's web 
page at mesanet.com. But the latest copy is dated 2015.  Duh!  So I 
pulled a fresh copy.  And there they are! So thats going to be a help.  
Thanks Andy.

The gs540 I take it, works with the std 5 axis "Mach" bobs like the 
Sainsmart.  That might need some hal editing, but would be ideal if 
thats the case. Bringing all of P2 to the menu for tool changer and such 
stuffs. That will encourage me to get to work on that when I better and 
bored.

Peter wants me to rejumper this whole rig so that all the 5 volts is 
powered from the 5i25. We'll (I've a mouse in my pocket) give that a 
shot tomorrow.

Everything has its own 5 volt supply right now, so is never powered down 
to reset unless I pull the line cord to the interfaces box which ATM 
I've not yet done.  I'll check my inventory for a switch, could be all I 
need is to reset everything with a power switch cycle.

Thanks Andy.

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 


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Re: [Emc-users] Pin files for 5i25

[andy pugh]

On Wed, 28 Aug 2019 at 20:31, Gene Heskett  wrote:

In looking at what I have, vs what I need, I need a bit file for 5i25's
> with a 7i76D driver on P3, and a std parport bob on P2.


There are pre-existing 5i25_g540_7i76.bit and 5i25_7i76_g540.bit files.
(7i76D is the same pinout as 7i76)

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916

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Re: [Emc-users] Pin files for 5i25

[Gene Heskett]

On Wednesday 28 August 2019 15:13:29 Gene Heskett wrote:

> On Wednesday 28 August 2019 14:48:14 andy pugh wrote:
> > On Wed, 28 Aug 2019 at 17:25, Marius Liebenberg
> > 
> >
> > wrote:
> > > Is there a way to build your own bit files?
> >
> > There are at least 2 ways.
> >
> > You can use the command-line tools that exist in the LinuxCNC
> > version of the Hostmot2 repository:
> > https://github.com/LinuxCNC/hostmot2-firmware
> > (Some info in the readme)
> >
> > Or you can use a more advanced version of the ISE.
> > http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Editing_MESA_Bitfiles
>
> FF doesn't seem to like that page. Some option I need to turn on
> maybe?
>
In looking at what I have, vs what I need, I need a bit file for 5i25's 
with a 7i76D driver on P3, and a std parport bob on P2.

> Cheers, Gene Heskett


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 


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Re: [Emc-users] Pin files for 5i25

[Gene Heskett]

On Wednesday 28 August 2019 14:48:14 andy pugh wrote:

> On Wed, 28 Aug 2019 at 17:25, Marius Liebenberg
> 
>
> wrote:
> > Is there a way to build your own bit files?
>
> There are at least 2 ways.
>
> You can use the command-line tools that exist in the LinuxCNC version
> of the Hostmot2 repository:
> https://github.com/LinuxCNC/hostmot2-firmware
> (Some info in the readme)
>
> Or you can use a more advanced version of the ISE.
> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Editing_MESA_Bitfiles

FF doesn't seem to like that page. Some option I need to turn on maybe?

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 


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Re: [Emc-users] Pin files for 5i25

[andy pugh]

On Wed, 28 Aug 2019 at 17:25, Marius Liebenberg 
wrote:

>
> Is there a way to build your own bit files?


There are at least 2 ways.

You can use the command-line tools that exist in the LinuxCNC version of
the Hostmot2 repository:
https://github.com/LinuxCNC/hostmot2-firmware
(Some info in the readme)

Or you can use a more advanced version of the ISE.
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Editing_MESA_Bitfiles

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916

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[Emc-users] head scratcher

[Gene Heskett]

Greetings all;

Trying to troubleshoot my failed G0704. It apparently took a hit while I 
was in the shop with all sorts of tubing etc stuck here and there 
watching a heart thats working at about 30%. They'll fix that with a new 
valve next month.

Got a pair of control boxes I've assembled. Power button refuses to turn 
green on the computer if a cable is connected from the 5i25's P3 to a 
7i76D doing most of the I/O on this machine. Its in a separate box with 
its own power supplies, which are all good and all the led's are saying 
its all ok. A mesaflash --device 5i25 --readhmid looks like it has 7i76 
drivers hitting both P3 and P2.
root@GO704:~# mesaflash --device 5i25 --readhmid
Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA5I25
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 33. MHz
  Clock High frequency: 200. MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: DPLL
  There are 1 of DPLL in configuration
  Version: 0
  Registers: 7
  BaseAddress: 7000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 2 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 2 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: StepGen
  There are 8 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 33.333 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P3
Pin#  I/O   Pri. funcSec. func   Chan  Pin funcPin 
Dir

 1  0   IOPort   StepGen  0Dir/Table2  (Out)
14  1   IOPort   StepGen  0Step/Table1 (Out)
 2  2   IOPort   StepGen  1Dir/Table2  (Out)
15  3   IOPort   StepGen  1Step/Table1 (Out)
 3  4   IOPort   StepGen  2Dir/Table2  (Out)
16  5   IOPort   StepGen  2Step/Table1 (Out)
 4  6   IOPort   StepGen  3Dir/Table2  (Out)
17  7   IOPort   StepGen  3Step/Table1 (Out)
 5  8   IOPort   PWM  0Dir (Out)
 6  9   IOPort   PWM  0PWM (Out)
 7 10   IOPort   SSerial  0TXData1 (Out)
 8 11   IOPort   SSerial  0RXData1 (In)
 9 12   IOPort   SSerial  0TXData2 (Out)
10 13   IOPort   SSerial  0RXData2 (In)
11 14   IOPort   QCount   0Quad-IDX(In)
12 15   IOPort   QCount   0Quad-B  (In)
13 16   IOPort   QCount   0Quad-A  (In)

IO Connections for P2
Pin#  I/O   Pri. funcSec. func   Chan  Pin funcPin 
Dir

 1 17   IOPort   StepGen  4Dir/Table2  (Out)
14 18   IOPort   StepGen  4Step/Table1 (Out)
 2 19   IOPort   StepGen  5Dir/Table2  (Out)
15 20   IOPort   StepGen  5Step/Table1 (Out)
 3 21   IOPort   StepGen  6Dir/Table2  (Out)
16 22   IOPort   StepGen  6Step/Table1 (Out)
 4 23   IOPort   StepGen  7Dir/Table2  (Out)
17 24   IOPort   StepGen  7Step/Table1 (Out)
 5 25   IOPort   PWM  1Dir (Out)
 6 26   IOPort   PWM  1PWM (Out)
 7 27   IOPort   SSerial  0TXData3 (Out)
 8 28   IOPort   SSerial  0RXData3 (In)
 9 29   IOPort   SSerial  0   

Re: [Emc-users] Pin files for 5i25

[Marius Liebenberg]

On 8/27/2019 1:36 PM, Marius Liebenberg wrote:

Hi all

I need to set a 5i25 up as a dual lpt port. I want to replace my 
mill installation with Path Pilot and I need the pin and bit 
files to do that.



Does anyone know where I can go look for the files please?



http://freeby.mesanet.com/software/parallel/5i25.zip



Thanks all. Peter to the rescue. Thanks Peter.
- 
Hopefully last question. There is a load  of files there and the 
names makes no logical sense to me. What file should I be looking at 
please?



Is there a way to build your own bit files?


--

Regards / Groete
Marius D. Liebenberg
082 698 3251



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