Frank Tkalcevic wrote:
> Yes, I'm using HostMot2. The velocity coming out of the encoder was fuzzy,
> and combining that with my poor PID tuning caused vibration at low speeds.
Which version of emc2 are you using?
--
Sebastian Kuzminsky
you press what you hope is the right swit
ou disable the PID and PWM, and
turn the spindle by hand, does it look any better? I know it's hard to
say what the real velocity should be in that case, but this test would
remove the PID tuning question.
I did all my encoder velocity testing using the stepgen in quadrature
mode, and i
arameter is maybe a little confusing because it has the same
name as the Index Mask I/O pin (note: I/O pin, not a HAL pin).
The index-mask parameter turns the index masking behavior on and off:
If the index-mask parameter is set to True, the Index input pin only has
an effect if the Index-Ma
Sebastian Kuzminsky wrote:
> Frank Tkalcevic wrote:
>>> Hm, the hm2 encoder velocity output is supposed to be really smooth.
>>> I'll double check it tonight. Any chance you can supply a
>>> halscope trace of it looking bad on your machine?
>> I
e location of the eight
Index Mask pins) is given in SVST8_4IM2.PIN, and also written to the
syslog when you load the driver.
--
Sebastian Kuzminsky
you press what you hope is the right switch, and you
gt;> I have the pdf if anyone is interested.
The PDF is on the page Anders linked, no need to email it around:
<http://www.springerlink.com/content/j12r46v2v93g5t07/fulltext.pdf>
--
Sebastian Kuzminsky
you press what you hope is the r
mplified example and other threads are up to the integrator?
The example is complete, no other threads are needed. All the user
should need to do is set the SCALE of the encoders and tune the PID
loops appropriately for the motors & machine.
--
Sebastian Kuzminsky
"Like most small par
do it
in firmware.
But, any way that works is a pretty good way. Thanks for the
success-report. :-)
--
Sebastian Kuzminsky
"Like most small parts, they are concrete-soluble: you drop them once,
they're gone forever." -- John Bush
-
n transducer.
Some configurations use non-rotary encoders, and some use encoders in
conjunction with stepper motors. While these kinds of system csertainly
should be doable, I've personally never done it, and neither of the two
hostmot2 sample configs is set up to deal with it "out of the
should work well. Frank Tkalcevic said he
has it working on his machine with the 5i20/SVST8_4.BIT firmware (no
index mask).
Frank, can you please post your homing .ini and .hal on pastebin.ca, and
post a link on this mailing list?
--
Sebastian Kuzminsky
"Like most small parts, they are c
have the step gen pins as gpio pins?
>
> Also I can have the pins that are listed as the encoders (and pwms) on
> channels that
> are numbered larger than the four that I am using? (4,5,6,ect)
>
> I hope this is right as it sou
te more burnt.. (I never noticed that)
>>
>> love you
>> sam
>>
>> Sebastian Kuzminsky wrote:
>>
>>> Terry wrote:
>>>
>>>
>>>> If I change this line:
>>>>
>>>> CONFIG="firmware=h
>
> I know it is not right but I was hoping to be close
That's very close, just add
linksp spindle-run-request => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.enable
> Also does the scale now go in the servo file and
e
problem, multiplying your encoder scale by 4 should fix it.
--
Sebastian Kuzminsky
--
Register Now for Creativity and Technology (CaT), June 3rd, NYC. CaT
is a gathering of tech-side developers & brand cre
firmware, then simply reversing the sign of the
encoder scale in the hm2 .ini should take care of it. Or, as you say,
swap the A and B wires, but you'd have to remember to swap them back if
you want to run the older driver again.
--
Sebastian Kuzminsky
--
om the .ini. I'll fix it.
Thanks for finding it!
--
Sebastian Kuzminsky
--
Register Now for Creativity and Technology (CaT), June 3rd, NYC. CaT
is a gathering of tech-side developers & brand creativity profes
=4]
I/O ports at dce0 [size=32]
Memory at fe9dd000 (32-bit, non-prefetchable) [size=4K]
Capabilities:
And the loadrt line looks like this:
loadrt hm2_7i43 ioaddr=0xdcb8 ioaddr_hi=0xdca4 epp_wide=0
config="firmware=hm2/7i43/SVST4_4B.BIT"
--
Seba
a long time.
If your CNC machine is on the net, you could use a user-defined M-code
to send you a text message at the end of the program.
--
Sebastian Kuzminsky
--
___
Emc-users
V12.PIN;h=81b34cd09277063c63671a3f529ad929e0a738a9;hb=d4a642fcb69e5f5c2d61af6429403e807e780f25#l87>
--
Sebastian Kuzminsky
--
Enter the BlackBerry Developer Challenge
This is your chance to win up to $100,000 in prize
clock runs at 33 MHz on the PCI AnyIO cards and 50 MHz on
the 7i43.
--
Sebastian Kuzminsky
--
Enter the BlackBerry Developer Challenge
This is your chance to win up to $100,000 in prizes! For a limited time,
vendor
ached to the stand-off screw of the
7i30 board (at the lower left of the picture).
Tidy, my workbench ain't. Roomy neither.
--
Sebastian Kuzminsky
--
Enter the BlackBerry Developer Challenge
This is your chanc
s the buildbot ran, and their output. From there it should be
clear what to do. (However, note that not every step the buildbot does
is necessary or useful for developers following along at home.)
--
Sebastian Kuzminsky
--
steppers?
What config are you using?
What are your latency numbers like?
--
Sebastian Kuzminsky
--
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.
onnect the step line to
either Up or Down, and run it that way.
--
Sebastian Kuzminsky
--
Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
trial. Simplify your report design, integration and de
anks for enlightening me!
It might be simple to use the Dir line from your spindle as the selector
to a demux, and send the Step signal to either Up or Down on the hm2
encoder input.
--
Sebastian Kuzminsky
--
Let Crystal
Stephen Wille Padnos wrote:
> Sebastian Kuzminsky wrote:
>
>> Gerhard Pircher wrote:
>>
>>
>>>> If your spindle is not reversible you could connect the step line to
>>>> either Up or Down, and run it that way.
>>>>
>>>
is 0, as we all
know.)
I'll update the manpage.
Peter, do you have commit access to our git repo, or do you want me to update
the regmap?
--
Sebastian Kuzminsky
--
Let Crystal Reports handle the reporting -
out at one step per base period, so maybe 25-50 KHz depending on
your computer. The fastest hm2 stepping that i know if is the Smithy
machines that step at 400 KHz with no problems; the firmware can go way
faster than that.
--
Sebastian Kuzminsky
--
you're familiar with the emc2 thread architecture, think of it as
running the base thread on the FPGA.
--
Sebastian Kuzminsky
--
Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
trial. Simpli
quot;, it's "keep stepping *at* *this* *rate* until i
>> tell you otherwise".
>>
>> If you're familiar with the emc2 thread architecture, think of it as
>> running the base thread on the FPGA.
--
Sebastian Kuzminsky
---
nical commands go from there to EMCMOT, which is the motion
controller. In EMCMOT, the canonical motion commands get turned into
waypoints, and passed (via HAL) to the hostmot2 driver.
--
Sebastian Kuzminsky
--
Let
read by emc2 at init time and sent to the
hostmot2 driver, which sends them to the FPGA. The FPGA then ensures
that the pulse train it emits does not violate the timing specs.
--
Sebastian Kuzminsky
--
Let Crystal Reports ha
new firmwares that fit in the 400 but not the 200...
For programming the device... If you're talking about sending a
compiled firmware image to the 7i43, the hostmot2 driver does that when
you start emc2. If you're talking about compiling custom VHDL code into
a firmware image, the X
;man find" for the full
manual page):
0 s...@water /home/seb/emc2.git> find . -name rcs.hh
./src/libnml/rcs/rcs.hh
0 s...@water /home/seb/emc2.git> find . -name rcs_print.hh
./src/libnml/rcs/rcs_print.hh
0 s...@water /home/seb/emc2.git> find . -name timer.hh
./src/libnml/os_intf/t
confused by e-stop or anything
else.
Can you provide any more details?
--
Sebastian Kuzminsky
--
Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
trial. Simplify your report design, integratio
e example. An easy thing to
> try might be to disable hal_joystick. After that, I guess they will need to
> start learning how to use halscope.
Yes, i think trying it without the joystick would be a good experiment
port.hal, i bet it'll work
better. Unless the userspace things are so slow that it takes more than
a second to get from the loadrt "hm2_pci" to the "start". In which case
you might run "start" first, then load the other things.
It might
; [ 1013.963593] hm2: unloading
The first line is the hostmot2 driver loading and the second line is the
hm2_pci driver loading. The hm2_pci driver did not see any boards it
recognized. Then half a second later emc2 has errored out (the
"pwm_frequency not found" error above) and everythi
ting the config pathname from /var/log/syslog to the
> commandline, we have:
>
> $ ls -l /lib/firmware/hm2/5i20/SVST8_4.BIT
> -rw-r--r-- 1 root root 167061 2009-07-27 00:06
> /lib/firmware/hm2/5i20/SVST8_4.BIT
>
> So the "invalid token" is quite inscrutable at this sta
>> output, but if i use hostmot2 driver, i just get 0 and for any other value
>> 10V. What i'm doing wrong?
>
> Not posting your HAL settings along with your question!
>
> (But really, maybe your scale is wrong.)
Could be scale, or it could be pwm_frequency (default is
ale. The effective range of duty
cycle is from -1 to +1.
So with this configuration, any value on the .value pin greater than 1.0
will result in 10V output from the 7i33. A value of 0.5 should result
in 5V being output, etc.
Is that not
g get lost in the cut-n-paste? It's happened before
that the Subsystem info was set wrong, and it would cause the driver to
not recognize the card.
Also, it's missing Region 5, which is supposed to be 64K of memory...
This
7;s lacking these Subsystem IDs will be ignored by the driver.
--
Sebastian Kuzminsky
--
Come build with us! The BlackBerry(R) Developer Conference in SF, CA
is the only developer event you need to attend this year. Jum
Peter C. Wallace wrote:
> On Fri, 9 Oct 2009, Sebastian Kuzminsky wrote:
>> The driver looks for boards with the Device ID of the PCI9030
>> (10b5:9030) and the Subsystem ID of the 5i20 (10b5:3131) or 4i65
>> (10b5:3132).
>>
>> Any 9030's lacking these Subsy
tricky world of servo tuning... This is something i
dont know much about, but i would start here:
<http://linuxcnc.org/docs/devel/EMC2_Integrator_Manual.pdf>
Specifically, section 2.2 talks about servos and servo tuning.
--
Sebastian Kuzminsky
Rob Jansen wrote:
> Sebastian Kuzminsky wrote:
>> <http://linuxcnc.org/docs/devel/EMC2_Integrator_Manual.pdf>
>>
> 2.2 explains the basic concept. Section 29 goes a bit deeper into tuning
> of the PID constants but OUTPUT_SCALE and MAX_OUTPUT are not mentioned
then of course smaller than the resolution of the encoder.
> In order to have the same system as before I need to multiply both error
> values by 100.
Ah, that makes sense!
Glad you figured it out :-)
--
Sebastian Kuzminsky
--
als.
There should be plenty of I/O left over for your limit switches and
pendant if you want to move that to the 7i43 too.
--
Sebastian Kuzminsky
--
Come build with us! The BlackBerry(R) Developer Conference in SF, CA
Michael Haberler wrote:
> I concur that having position-interpolated in the hardware drivers
> would be most valuable (hm2 for me, but missing as well)
It *would* be a good feature to have. I'll put this on The List. ;-)
--
Sebastian Kuzminsky
the sky calls to us -- carl
Michael Haberler wrote:
> How do I go about putting a hm2 encoder in x1-mode ?
The hm2 driver does not currently support encoder x1 mode. Look for it
later this fall.
--
Sebastian Kuzminsky
the sky calls to us -- carl sagan
<http://www.youtube.com/watch?v=zSgiX
same wave form. Thanks for setting me straight again
Peter. I'll update the manpage to note this behavior.
--
Sebastian Kuzminsky
the sky calls to us -- carl sagan
<http://www.youtube.com/watch?v=zSgiXGELjbc>
---
Peter C. Wallace wrote:
> On Fri, 23 Oct 2009, Sebastian Kuzminsky wrote:
>
>> The hm2 driver does not currently support encoder x1 mode. Look for it
>> later this fall.
>
> unless this is another sematic issue, x1 mode (count on only one edge
> bidirectional counte
rication/projects/emc2-hacking/hm2/test/loopback/gpio-to-encoder/001.step-dir-mode/dotest>
--
Sebastian Kuzminsky
the sky calls to us -- carl sagan
<http://www.youtube.com/watch?v=zSgiXGELjbc>
--
Come build with
Hz is more
typical).
Let us know how it goes!
--
Sebastian Kuzminsky
--
Come build with us! The BlackBerry(R) Developer Conference in SF, CA
is the only developer event you need to attend this year. Jumpstart your
dev
It's in the hostmot2(9) manpage, in the "config modparam" section:
<http://linuxcnc.org/docs/2.3/html/man/man9/hostmot2.9.html#config%20modparam>
Look for the "firmware" subsection.
--
Sebastian Kuzminsky
--
chine, is the relay connected to an I/O pin configured as
GPIO? Is this I/O pin set to be an output in HAL (gpio.XXX.is_output = 1)?
--
Sebastian Kuzminsky
--
Let Crystal Reports handle the reporting - Free Cr
at does it need to turn off?
--
Sebastian Kuzminsky
--
Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
trial. Simplify your report design, integration and deployment - and focus on
what you do be
The mapping from IONum to connector and "pin on that
connector" is written to the syslog when the driver loads, and it’s
documented in Mesa’s manual for the Anything I/O boards.
--
Sebastian Kuzminsky
--
Let Cr
n is Which Wiki Do WeKey in on???
It's <http://wiki.linuxcnc.org>, and yes, there should probably be a
link to it from the main linuxcnc.org web page.
--
Sebastian Kuzminsky
--
Join us December 9, 2009 f
Right up on top sounds right to me - next to Documentation, maybe?
--
Sebastian Kuzminsky
--
Join us December 9, 2009 for the Red Hat Virtual Experience,
a free event focused on virtualization and cloud computing.
Attend in
doc still valid that moschip 9805
> parport pci cards are junk ?
Yes, the 9805 chipset is buggy and there's nothing any driver can do
about it.
--
Sebastian Kuzminsky
--
Join us December 9, 2009 for the Red Ha
d then writing the new velocity info, takes about 100 us.
Last time we talked about this
(<http://thread.gmane.org/gmane.linux.distributions.emc.user/8473/focus=8594>),
i measured that the 7i43 tops out at about 5 KHz for a 4-axis servo
machine, assuming you want 50% of your
t bitten from the watchdog, but two msecs seems fine.
This sounds like something is wrong. A 1 ms servo period should be very
easily doable with the 7i43. Can you pastebin your .ini and .hal files
for us to see?
ller, usually via step/dir signals.
This is nice because it makes it very simple to get the motor up and
running.
--
Sebastian Kuzminsky
--
This SF.Net email is sponsored by the Verizon Developer Community
Take advan
kind of slow.
All the PCI, PCI-Express, and PC/104-Plus boards work well too. That's
the 5i20, 5i22, 5i23, 4i65, 4i68, and 3x20. (Support for the 3x20 is in
the upcoming 2.4, but not in 2.3.)
The 5i20 is probably the most common and most widely used.
--
S
PGA
on the 5i20), the other is that the 5i23's PCI chipset can support DMA.
There are currently no hostmot2 firmwares that don't fit in 200 Kgates,
and the EMC2 hostmot2 driver does not currently use DMA. But who knows
that 2010 will bring?
--
Sebast
Dave wrote:
> On 1/6/2010 4:21 PM, Sebastian Kuzminsky wrote:
>> There is currently nothing to be gained by using the 5i23 over the 5i20,
>> but there are two possible future advantages that may become real some
>> time. One is that the 5i23 has a 400 Kgate FPGA (vs the 200
the
FPGA. The FPGA emits a rock-steady PWM signal of the commanded duty
cycle without using any time on the control computer at all.
If you're familiar with the emc2 "base thread", you can think of this as
running the base thread on the FPGA.
--
Sebastian Kuzminsky
--
two bits of
resolution. The PWM duty cycle can be at 0%, 50%, or 100%. Not very
fine control!
The hostmot2 pwmgen runs at 100 MHz, so with a 25 KHz PWM signal you
have about 12 bits of resolution, which is ample.
--
Sebastian Kuzminsky
.
Mesa is planning to use DMA not for the parport boards, but for the PCI
and PCI-Express boards. PCI I/O latency is dominated by bus setup and
negotiation, this is especially bad when several busses are chained, as
they are with the 3x20. DMA should provide a dramatic speedup in
> /usr/share/doc/emc2/examples/sample-configs/hm2-stepper/7i43-small.ini
Have you tried running "emc" and selecting the hm2-stepper/7i43-big
config from the list? I didnt see any of the hostmot2 output in the
dmesg log you incl
/000.encoder-vel-estimation-when-slow-and-changing-direction/dotest>
--
Sebastian Kuzminsky
--
This SF.Net email is sponsored by the Verizon Developer Community
Take advantage of Verizon's best-in-class app developmen
goes *out* the parallel port, and then goes in to a servo amp or
similar.
What are you trying to do?
--
Sebastian Kuzminsky
we are children equally of the earth and the sky -- Carl Sagan
--
This SF.Net email is
mot2, and writing a driver for an SPI ADC. Some work has been done
in this direction by various folks (search the mailing list archives and
irc logs if you're curious), but so far nothing has solidified.
--
Sebastian Kuzminsky
sent in %uns\n",
> bitfile->e.size,
> -(uint32_t)(((double)bitfile->e.size / ((double)duration_ns /
> (double)(1000 * 1000 * 1000))) / 1024)
> +duration_ns
>
e proper 7i43 pins to the extruder stepper amp.
If your config is based on the hm2-stepper config, the config string is
near the top of the .ini file.
The pins to use are shown in the dmesg when you load the new config.
--
S
t!
Instructions on how to install these packages on your machine are here:
<http://emc2-buildbot.colorado.edu/~buildmaster/>
--
Sebastian Kuzminsky
an it harm none, do what you will -- Christopher Bingham
--
he gpio's
.is_opendrain parameter, then a logic 1 gives you the full 5V on the
output pin. (In open drain mode, the FPGA does not pull the pin high on
logic 1, it disconnects from the pin and a 10K resistor pulls it to +5.)
Something to play with.
--
Sebastian Kuzminsky
-
ol laws of the U.S. Government. Transfer of this data by any
> means to a foreign person, whether in the U.S. or abroad without an export
> license or other approval from the U.S. Department of State, is prohibited."
You know this is an open list with plenty of non-US subscribers,
that does not, for comparison? That sounds like a
real bug somewhere...
--
Sebastian Kuzminsky
--
SOLARIS 10 is the OS for Data Centers - provides features such as DTrace,
Predictive Self Healing and Award Winning ZFS. Ge
wire devices must support the normal speed (67 us/bit),
and you can probe the device to see if it supports overdrive (9 us/bit).
--
Sebastian Kuzminsky
--
SOLARIS 10 is the OS for Data Centers - provides features such as
osition pulses (A,/A and B,/B)
> coming into the motenc? The encoder on the motor is fed to the drive and
> the drive is sending the pulses to the motenc. Can the output be
> reversed in the motenc.ini file?
>
You might try inverting the sign on either OUTPUT_SCALE or INPUT_SCALE
0.out => scale.0.in
> net spindle-out scale.0.out => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.value
>
The hm2 pwmgen has its own .scale parameter, so you could get rid of the
stand-alone scale component and just apply the scale.gain to hm2's
pwmgen.scale.
<http:/
th is sufficiently small at 2 us. The base
> thread is 2.
>
With a 5i20, you generally don't use a base thread - it's in the FPGA.
--
Sebastian Kuzminsky
--
Download Intel® Parallel Studio Eval
Lars Andersson wrote:
> How do I check which version I have installed now?
>
dpkg -l '*emc2*'
That will list all packages with "emc2" in the name, show if they're
installed, and if so what the installed versi
let us know how it works! Let us know
if the upgrade instructions work. Bug reports against the pre-release
versions are very welcome!
--
Sebastian Kuzminsky
--
Download Intel® Parallel Studio Eval
Try the new soft
l packages you have installed to their latest versions,
including emc2.
--
Sebastian Kuzminsky
--
Download Intel® Parallel Studio Eval
Try the new software tools for yourself. Speed compiling, find bugs
proactively, and fin
nd heeks both loaded into emc2 axis and
seemed to run just fine. I don't have any CNC machines yet, so I
haven't gone all the way yet.
In the awesome future there will be a full set of open source
CAD/CAM/CNC software on the EMC2 LiveCD
n with axis for the user
> interface.
>
Does the sim/touchy sample config work? It won't run your machine, but
it might help us figure out why your real config wont work.
--
Sebastian Kuzminsky
--
Download I
The hostmot2 manpage is a comprehensive reference. It's probably
installed on your system, or you can see it on the web here:
http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html
There's also this document:
http://www.linuxcnc.org/docs/deve
Andy Pugh wrote:
> On 21 March 2010 01:47, Sebastian Kuzminsky wrote:
>
>
>> There's also this document:
>> http://www.linuxcnc.org/docs/devel/html/drivers_hostmot2.html
>>
>
> There is no mention of any Digital-to-Analog there. I have seen
> ref
ese commands:
dpkg -l emc2 python
dpkg -L emc2 | grep touchy
--
Sebastian Kuzminsky
--
Download Intel® Parallel Studio Eval
Try the new software tools for yourself. Speed compiling, find bugs
proactively, and fine-tun
inuxcnc.org/docview/html//drivers_hostmot2.html
> which I found with Google does not mention those pins, hence the
> half-baked idea I posted.
>
Hmm, the drivers_hostmot2 page is somewhat out of date.
produce notes for the
> documentation maintainers to make the manuals even more complete.
>
This sounds super useful! I'll be happy to help with any hostmot2
testing & debugging I can.
--
Sebastian Kuzminsky
--
189ed7c88c90693385a071efcb592d>
The short answer is: grab a newer copy of the hm2-servo config, such as
the one in the just-release 2.4.0.
--
Sebastian Kuzminsky
--
___
tml/man/man9/ddt.9.html
http://linuxcnc.org/docs/2.4/html/man/man9/lowpass.9.html
--
Sebastian Kuzminsky
"The Martians continued hammering and stirring, sleepless,
indefatiguable, at work upon the machines they were making. Now and
again a light like the beam of a warship searchlight swept the
ttp://linuxcnc.org/docs/2.4/html/config_ini_homing.html>
It's not the clearest config example perhaps, but the hm2-servo config
includes homing both with and without index.
--
Sebastian Kuzminsky
"The Martians continued hammering and stirring, sleepless,
indefatiguable, at work upon
We don't have a reliable realtime kernel yet for Lucid.
--
Sebastian Kuzminsky
"If we stopped pretending to be puppets of an invisible
hand, we would not fret over the loss of the 20th century's
strings. We might see that life is sweet." -- Bruno Argento
<http://w
org/cgi-bin/emcinfo.pl?Ubuntu10.04PackageNotes
Note that our official lucid sim packages at linuxcnc.org are currently
only available in 32-bit. There are 64-bit lucid sim packages available
from the buildbot: http://emc2-buildbot.colorado.edu/~buildmaster/
--
Sebastian Kuzminsky
sky is black /
e's something
sort of similar. You can call subroutines that are in other files,
using the "o<> call" syntax:
<http://www.linuxcnc.org/docs/2.4/html/gcode_main.html#r3_7>
Variables in the called file are local to the called file, they do not
become available in the caller
901 - 1000 of 1080 matches
Mail list logo
