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You will get a following error if the motor and encoder are not connected/working corectly or the PID is not tuned etc.

cmorley wrote:I was assuming the same. I will try to hook this configuration tomorrow. Thanks.

The Smart Serial devices (like the 7i77, and the various things you can plug into it) are a bit awkward to write pre-configured configs for.

I am afraid that you are going to have to get a bit familiar with the HAL command-line interface.

As a start, with Linuxcnc not running, open a terminal window and type

halrun

You will see the command prompt change, showing that you are in halcmd, not in the shell.

loadrt hostmot2

This will load the base Mesa card driver

loadrt hm2_pci

This will load the driver for PCI cards, like the 5i25, query its capabilities and (by default) enable every function on the card, and on the attached sub-cards.

show pin

will give you a list of all the HAL pins that you can use which are related to the card. This is a much smaller list than you will see when LinuxCNC is running, as it is only the Mesa hardware pins.

show param

Will list all the parameters.

You can even start the card up, and make things happen, if you want.

loadrt threads
addf hm2_5i25.0.read thread1
addf hm2_5i25.0.write thread1
addf hm2_5i25.0.pet-watchdog thread1

start

Actually, I am not sure if it is pet_watchdog or pet-watchdog. You can find out with

show funct

Then you can toggle individual output bits with, for example

setp hm2_5i25.0.7i77.0.digitalout-00 1
setp hm2_5i25.0.7i77.0.digitalout-00 0

Again, I am guessing the actual pin names, but you made a list earlier, didn't you?

Documentation: linuxcnc.org/docview/html/man/man1/halrun.1.html

I am stunned with such a detailed reply from you andypugh! Thanks.
I have already wired everything according to the configuration I made with pncconf and files supplied for testing here. Let's see tomorrow what's going to happen ? And I appreciate that I got the programming idea from you as well. So it may take some more time if it doesn't work tomorrow. But it should work I think.

Just one thing is confusing with the hal files created with the pncconf that at loadrt config section there is num_encoders=4 num_pwmgens=0 while I commanded to make configuration for 4 pwm. Is it usual ?

Tried to run with machine attached. But same problem "joint 2 following error"

Maybe it's my wiring mistake because I couldn't manage to lit the servo enable light with my wiring during openloop test or with LinuxCNC. Further I burnt one of my drive's circuit because I tried to gave drives internal servo enable power during test. I thought it might help. I don't know where was the problem. But servo was not enabled through 7i77 I am sure.