5 Axis ParPort Stepper Setup with RTCP

Don't delete any entries from the INI file, create duplicates for the extra axes/joints. You need a full set of 6 axes in the INI.

In the HAL connect motors 0, 2, 3, 4, 5 to the required parallel port stepper pins.

Set [TRAJ]AXES to 6, set [TRAJ]COORDINATES to XZABC

www.linuxcnc.org/docs/html/config/ini-config.html

i have pasted my hal file can you confirm if any mistakes ? i did added b and c axis


# Generated by stepconf 1.1 at Thu Sep 10 13:58:36 2015
# 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 1 out"
setp parport.0.reset-time 3500
loadrt stepgen step_type=0,0,0,0
loadrt abs count=1
loadrt pwmgen output_type=1

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.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
addf pwmgen.update servo-thread
addf abs.0 servo-thread

net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-on <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 1166.66666667
setp pwmgen.0.offset 0.114285714286
setp pwmgen.0.dither-pwm true
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward

net xstep => parport.0.pin-01-out
setp parport.0.pin-01-out-reset 1
net xdir => parport.0.pin-02-out
net zstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net zdir => parport.0.pin-04-out
net bstep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net bdir => parport.0.pin-06-out
net cstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
net cdir => parport.0.pin-08-out
net spindle-cw => parport.0.pin-09-out
net spindle-pwm => parport.0.pin-14-out


net estop-ext <= parport.0.pin-10-in
net all-home <= parport.0.pin-11-in



setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
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 all-home => axis.0.home-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 15200
setp stepgen.1.dirsetup 15200
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 all-home => axis.1.home-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
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 all-home => axis.2.home-sw-in

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 15200
setp stepgen.3.dirsetup 15200
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable
net all-home => axis.3.home-sw-in

setp stepgen.4.position-scale [AXIS_4]SCALE
setp stepgen.4.steplen 1
setp stepgen.4.stepspace 0
setp stepgen.4.dirhold 15200
setp stepgen.4.dirsetup 15200
setp stepgen.4.maxaccel [AXIS_4]STEPGEN_MAXACCEL
net bpos-cmd axis.4.motor-pos-cmd => stepgen.4.position-cmd
net bpos-fb stepgen.e.position-fb => axis.4.motor-pos-fb
net bstep <= stepgen.e.step
net bdir <= stepgen.e.dir
net benable axis.e.amp-enable-out => stepgen.4.enable
net all-home => axis.e.home-sw-in

setp stepgen.5.position-scale [AXIS_5]SCALE
setp stepgen.5.steplen 1
setp stepgen.5.stepspace 0
setp stepgen.5.dirhold 15200
setp stepgen.5.dirsetup 15200
setp stepgen.5.maxaccel [AXIS_5]STEPGEN_MAXACCEL
net cpos-cmd axis.5.motor-pos-cmd => stepgen.5.position-cmd
net cpos-fb stepgen.e.position-fb => axis.5.motor-pos-fb
net cstep <= stepgen.e.step
net cdir <= stepgen.e.dir
net cenable axis.e.amp-enable-out => stepgen.5.enable
net all-home => axis.e.home-sw-in

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

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

You haven't allocated parport pins to astep and adir.

Otherwise, that part looks OK. If it isn't loading then I would suspect the INI file is where the problem lies.

I dont want to configure A axis, i want to configure B axis, so is it necessary to put A information ?

i did added A axis but no luck ....both time same error triggered

marq_torque wrote: I dont want to configure A axis, i want to configure B axis, so is it necessary to put A information ?

If you don't have an A-axis, then why do you have 5 stepgens? You do everything else for the A axis except link it to parport pins.