Comparison of post-editing: gemini-pro-latest

This document was revised by gemini-pro-latest. The text provided to it is Comparison of post-editing: provided text. For both runs, we had it edit the text in polite style (--tone desu). The revised text has not been applied to the original page. [Trial]

• Run 1 (original instructions): The time taken was 132 seconds. There was 1 place where the meaning shifted. "Confirm with a licensed electrician" became "For peace of mind, it is reassuring to check with a licensed electrician just in case," which reads as though a required action is something optional you might as well do.
• Run 2 (instructions with 2 rules added): The time taken was 151 seconds. No places where the meaning shifted were found. It stayed as a definitive statement: "We will check with a licensed electrician."
• The added rules are: "Do not soften decisions into suggestions" and "Do not add connections of reasons or results that are not in the original."

Run 1 (original instructions)

For control, we use LinuxCNC and a Mesa Ethernet card. The ability to use rigid tapping (G33.1) was the deciding factor. We are considering the 7I76EU as the card candidate (investigated 2026-11). The values are read from manuals and sales pages, so we will verify the combination on the actual machine.

Comparison of control software

Card selection

• Spindle-related performance is the same between the 7I76EU and 7I96S. The only difference is the number of I/O points.
• Since this machine requires 11 or more inputs, the 7I96S will be full on day one. The expansion 7I84U (US$79) is out of stock, and adding it makes the setup more expensive than the 7I76EU.
• We found no new cards that would change our decision. Those with a T in the name are improved versions of existing cards, not a higher generation.
• If you want to use 2 A outputs directly, the 7I96S is well-suited. The output of the 7I76EU is 500 mA, but it is expected to be sufficient for the solenoid valves and brake (0.18 A).

7I76EU notes

• LinuxCNC 2.9.3 or higher is required. A newer version of mesaflash will also be used. Because there are reports of versions where PnCConf is not supported, we assume the configuration files will be edited by hand.
• To maintain isolation, separate the 24 V and logic-side power supplies (sharing them eliminates the isolation).
• What is isolated are the general-purpose I/O and analog spindle. Step, direction, encoder, and RS-422 are designed to withstand noise using differential signals. Near a welding machine, frame grounding of the board and shielding become important.
• Inputs are sinking type only. When using NPN sensors, a pull-up (2.2 kΩ) is required.
• Board dimensions are unverified. We will verify them before panel layout.

Spindle commands

• The primary plan is to drive the A6 servo with step/direction signals. With this method, a ±10 V dual power supply is not needed. It is also safe because the problem of the analog output pegging high at startup does not occur.
• LinuxCNC's stepgen is used in velocity mode. When orienting the spindle, we switch to the PID output using a mux.
• Actual rotation is read by the card's encoder input after dividing the servo's A/B output. If set to 1250 lines, it becomes 500 kHz at 6000 rpm. Because it is used near a welding machine, we do not get greedy with the line count and keep the input filtering intact.
• For the index signal, we add and use a 1-pulse-per-revolution sensor on the spindle. That is because with a 2:1 ratio, the servo's Z signal would fire twice per spindle revolution. Taking the A/B signals from the servo and the Z signal from the spindle sensor is recommended by a Mesa engineer on the LinuxCNC forum. There are also actual examples (7I76 + 7I83, 1:1.8 reduction, M3–M6). This signal is provided at 5 V levels.
• There are reports that stopping pulses abruptly caused the machine to shake and resulted in an overvoltage error. Therefore, we will set the stepgen acceleration and test it initially along with the A6's regenerative resistor.
• The servo's torque limit is set to about 6 N·m. This is to prevent instantaneous belt tension from exceeding the allowable shaft load (Purchased parts specifications and dimensions).
• Unverified: We found no direct reports of successful rigid tapping with a servo spindle using the combination of 7I76EU, 7I96S, and A6-RS. However, there are reports with the older 7I76 series. Since the spindle functions have the same specifications, it is expected to work. Asking on the LinuxCNC forum before ordering parts is an effective step.
• Usage of G33.1, signal wiring, holders, and bring-up procedures are compiled in How to use rigid tapping.

Inputs and outputs

There are 5 outputs: servo enable, tool release solenoid valve, air blow, orientation command, and coolant. Driver alarms, rack sensors, and control buttons can be added using the leftovers.

Power supply and safety

• The power supply is single-phase 200 V. According to the manual, the A6-1000RS requires an input of 9.6 A, a 20 A fuse, a 16 A breaker, and a 12 A contactor.
• For the earth leakage circuit breaker, the manual specifies Type B with a sensitivity of 100 mA or higher. It is a good idea to check with a licensed electrician just to be safe. We also place a dedicated branch breaker upstream of the machine.
• Ensure solid grounding. This is fundamental for dealing with servo leakage current and electrical noise.
• Because it will be used near a welding machine, we add noise filters and shielding, and separate the signal lines. Also, avoid welding on workpieces attached to the machine, as welding current could pass through the bearings or encoder.
• For the emergency stop, we primarily use physical cutoff via a contactor. However, the circuit is not designed yet.

Future ideas

There is an idea to use custom commands for the layer written by humans and convert them into G-code. This approach is well suited for repetitive work like hole patterns, pilot holes, and tapping. We will decide what to do after the machine is finished.

Second run (instructions with two added rules)

For control, we use LinuxCNC and a Mesa Ethernet card. The deciding factor was that rigid tapping (G33.1) can be used. The candidate card is the 7I76EU (researched 2026-11). The values were read from the manuals and sales pages. We will verify the combination on the actual machine.

Comparison of control software

Card selection

• Spindle-related performance is the same between the 7I76EU and 7I96S. The only difference is the number of I/O points.
• This machine requires 11 or more inputs, so the 7I96S will be full on day one. The expansion 7I84U (US$79) is out of stock, and adding it makes the total more expensive than the 7I76EU.
• We found no newer cards that would change our decision. The "T" in the name indicates an updated version of an existing card, not a next-generation one.
• If you want to use 2 A outputs directly, the 7I96S is a better fit. The 7I76EU outputs are 500 mA, but they are expected to be enough for the solenoid valves and brake (0.18 A).

Notes on the 7I76EU

• LinuxCNC 2.9.3 or higher is required. Use a newer version of mesaflash as well. Since there are reports of PnCConf versions that do not support it, we assume the configuration files will need to be edited by hand.
• To maintain isolation, keep the 24 V and logic power supplies separate (sharing them eliminates isolation).
• What is isolated are the general-purpose I/O and analog spindle. Step, direction, encoder, and RS-422 are designed to withstand noise through differential signaling. Near a welding machine, chassis grounding and shielding of the board are crucial.
• Inputs are sinking-only. NPN sensors require a pull-up resistor (2.2 kΩ).
• The board dimensions are unverified. We will check them before planning the electrical enclosure layout.

Spindle commands

• The first plan is to run the A6 servo using step/dir. This eliminates the need for a ±10 V dual power supply. It also avoids the issue of the analog output latching at startup.
• We use LinuxCNC's stepgen in velocity mode. For orientation, we switch to the PID output using a mux.
• Actual rotation is read by dividing the servo's A/B output and feeding it into the card's encoder input. Setting it to 1250 lines gives 500 kHz at 6000 rpm. Near a welding machine, it is better not to push for too many lines, leaving room for the input filter.
• For the index, we add a 1-pulse-per-revolution sensor to the spindle. This is because with a 2:1 ratio, the servo's Z pulse occurs twice per spindle revolution. Combining A/B from the servo and Z from a spindle sensor was recommended by Mesa engineers on the LinuxCNC forum. There are also working examples (7I76 + 7I83, 1:1.8 reduction, M3 to M6). The signal is supplied at 5 V logic.
• There are reports that stopping pulses abruptly caused the machine to shake and triggered an overvoltage error. Therefore, we set the acceleration in stepgen and test that first along with the A6 regenerative resistor.
• The servo torque limit is set to about 6 N·m. This is to prevent instantaneous belt force from exceeding the allowable load on the shaft (Purchased parts specifications and dimensions).
• Unverified: We found no direct reports of successful rigid tapping with a servo spindle using the combination of 7I76EU, 7I96S, and A6-RS. However, there are reports for the older 7I76 series. Since the spindle features have the same specifications, it is expected to work. It would be wise to ask on the LinuxCNC forum before ordering.
• How to use G33.1, signal wiring, tool holders, and startup procedures can be found in How to use rigid tapping.

I/O

Outputs total 5 points: servo enable, tool release solenoid valve, air blow, orientation command, and coolant. Driver alarms, rack sensors, and control buttons can be added using the spares.

Power supply and safety

• The power supply is single-phase 200 V. According to the manual, the A6-1000RS specifies an input of 9.6 A, a 20 A fuse, a 16 A breaker, and a 12 A contactor.
• The manual specifies a Type B earth leakage circuit breaker with a sensitivity of 100 mA or higher. We will check this with a certified electrician. We will also place a dedicated branch breaker before the machine.
• We ensure solid grounding. This is the foundation for handling servo leakage current and electrical noise.
• Since it will be used near a welding machine, we are adding a noise filter, separating signal lines, and using shielding. We will not weld on workpieces attached to the machine, as welding current could pass through the bearings and encoders.
• For the emergency stop, physical interruption using a contactor will be the main method. We have not designed the circuit yet.

Future ideas

There is an idea to use custom commands for the layer written by humans and convert them into G-code. This is well-suited for repetitive tasks like hole patterns, pilot holes, and tapping. We will decide after the machine is completed.