Trying to configure XYZU 4 axis setup.

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20 Aug 2012 15:38 #23420 by andypugh
I think you need an [AXIS_N] stanza for all 7 axes, though the unused ones can be empty.
You _might_ need JOINTS=7 too, but that was a sort-of bug and might have been fixed.

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20 Aug 2012 17:12 #23423 by Gadget047
I seem to be getting closer but still a no go. EMC will start now and show a U axis. When I try to jog it it shows movement on screen and in the DRO but the motor does not move.
Also, the display movement for U seems to be moving on the X axis, that's really not an issue but if the U movement could be hidden from the screen the display would be accurate when viewing.

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20 Aug 2012 17:37 #23424 by fma
To disable the U display, use GEOMETRY = XYZ in [DISPLAY] section.

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20 Aug 2012 17:39 #23425 by andypugh
Gadget047 wrote:

I seem to be getting closer but still a no go. EMC will start now and show a U axis. When I try to jog it it shows movement on screen and in the DRO but the motor does not move.

U is assumed to be a second joint parallel to X.
You can probably remove it by specifying GEOMETRY=XYZ in the INI (I can't recall which section, but it is in the INI file config docs)

You probably don't have the correct stepen linked to axis.6.motor-pos-cmd etc in the HAL file. You are likely to need to link axis.6 pins to stepgen.3 pins.
The following user(s) said Thank You: Victor-Y

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20 Aug 2012 17:44 #23426 by ArcEye
[Edit]Yeah Andy beat me to it.

If you don't sort it yourself, post your hal file, sounds like not connected up properly

regards

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20 Aug 2012 18:40 #23428 by Gadget047
ArcEye wrote:

[Edit]Yeah Andy beat me to it.

If you don't sort it yourself, post your hal file, sounds like not connected up properly

regards

OK, keep in mind I've been trying all kinds of things. At this point the display shows movement but no motor movement.

HAL file

# Generated by stepconf at Mon Aug 20 11:49:59 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out "
loadrt stepgen step_type=0,0,0,0

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
net coolant-mist <= iocontrol.0.coolant-mist

net probe-in => motion.probe-input

setp parport.0.pin-02-out-invert 1
net xdir => parport.0.pin-02-out
setp parport.0.pin-03-out-invert 1
net xstep => parport.0.pin-03-out
setp parport.0.pin-04-out-invert 1
net ydir => parport.0.pin-04-out
setp parport.0.pin-05-out-invert 1
net ystep => parport.0.pin-05-out
net zdir => parport.0.pin-06-out
setp parport.0.pin-07-out-invert 1
net zstep => parport.0.pin-07-out
setp parport.0.pin-08-out-invert 1
net Udir => parport.0.pin-08-out
net Ustep => parport.0.pin-09-out
net coolant-mist => parport.0.pin-14-out


net home-x <= parport.0.pin-10-in
net probe-in <= parport.0.pin-11-in-not
net home-y <= parport.0.pin-12-in
net estop-ext <= parport.0.pin-13-in
net home-z <= parport.0.pin-15-in-not


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 1
setp stepgen.0.dirhold 38000
setp stepgen.0.dirsetup 38000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net home-x => axis.0.home-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 1
setp stepgen.1.dirhold 38000
setp stepgen.1.dirsetup 38000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net home-y => axis.1.home-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 1
setp stepgen.2.dirhold 38000
setp stepgen.2.dirsetup 38000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net home-z => axis.2.home-sw-in

#setp stepgen.6.position-scale [AXIS_3]SCALE
# setp stepgen.3.steplen 1
# setp stepgen.3.stepspace 1
# setp stepgen.3.dirhold 38000
# setp stepgen.3.dirsetup 38000
# setp stepgen.6.maxaccel [AXIS_3]STEPGEN_MAXACCEL
# net upos-cmd axis.6.motor-pos-cmd => stepgen.3.position-cmd
net Upos axis.6.motor-pos-cmd => axis.6.motor-pos-fb
# net ustep <= stepgen.3.step
# net udir <= stepgen.3.dir
net uenable axis.6.amp-enable-out => stepgen.3.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

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20 Aug 2012 18:50 - 20 Aug 2012 18:52 #23429 by BigJohnT
Change Ustep to ustep and Udir to udir and uncomment the stepgen 3 lines.

and change stepgen.6 to stepgen.3.

and AXIS_3 to AXIS_6

John
Last edit: 20 Aug 2012 18:52 by BigJohnT.

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20 Aug 2012 19:18 #23431 by Gadget047
I'm getting an error on start now as follows hal:86: Ini variable '[AXIS_6]SCALE' not found

Here's the latest on the [AXIS_6] HAL file

setp stepgen.3.position-scale [AXIS_6]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 1
setp stepgen.3.dirhold 38000
setp stepgen.3.dirsetup 38000
setp stepgen.3.maxaccel [AXIS_6]STEPGEN_MAXACCEL
# net upos-cmd axis.6.motor-pos-cmd => stepgen.3.position-cmd
net upos axis.6.motor-pos-cmd => axis.6.motor-pos-fb
net ustep <= stepgen.3.step
net udir <= stepgen.3.dir
net uenable axis.6.amp-enable-out => stepgen.3.enable

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20 Aug 2012 19:45 #23432 by BigJohnT
A typo or you still have the SCALE commented out in your ini file. [AXIS_6]SCALE in your hal file means look in the ini file for section [AXIS_6] and find SCALE the insert that value here.

John

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20 Aug 2012 20:28 #23435 by Gadget047
BigJohnT wrote:

A typo or you still have the SCALE commented out in your ini file. [AXIS_6]SCALE in your hal file means look in the ini file for section [AXIS_6] and find SCALE the insert that value here.

John

Thanks, now EMC will start and the GUI shows movement for U but the motor still doesn't turn.
I'm attaching the entire config folder and stepconf file, maybe that will help you find the issue.

File Attachment:

File Name: configs.zip
File Size:6 KB
Attachments:

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