installing components

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23 Oct 2021 13:36 #223987 by PaulQUE
Hi i'm running linuxcnc 2.8.2, and I cannot manage to find the right folder to copy the toolchanger.comp file into the documentations points towards inuxcnc/src/hal/components, closest thing I could find is usr/bin/halcompile or usr/bin/liinuxcnc/modules, and I cannot write anything to both of these, what knowledge am I missing to make this work? thanks

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23 Oct 2021 13:59 #223988 by tommylight
Replied by tommylight on topic installing components
sudo halcompile --install NAME_OF_COMP.comp
That will take care of also installing it to the right place.

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23 Oct 2021 14:15 #223989 by PaulQUE
Replied by PaulQUE on topic installing components
thanks for the answer, I get a " no such file or directory: 'toolchanger.comp"
does the .comp file need to be somewhere specific to run the command? is there any previous step to running it? The file is currently in a folder on my desktop.

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23 Oct 2021 14:27 #223991 by tommylight
Replied by tommylight on topic installing components
It has to be run in a terminal from the folder it is located at, so for desktop:
cd Desktop
then halcompile
also use
ls
to list the files so you can check if you are in the right folder.
cd ..
to go back through folders in terminal, and
cd~
to go to home directory from anywhere.
The following user(s) said Thank You: PaulQUE

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23 Oct 2021 16:13 - 23 Oct 2021 16:13 #224002 by PaulQUE
Replied by PaulQUE on topic installing components
thanks a lot, that, along with installing the build-essential compiler, did the trick.

however, I now have trouble getting the hal linkage, my third step gen is defined as per the pncconf wizard syntax, which does not match the code written in the hal linkage component. By the way, it is the boxford240 tool changer I am trying to integrate, I think I definitely lack the proper knowledge to do this right...

So my third stepgen is setup in the hal file, and linked to AXIS_A and JOINT_2 in the ini file,

and it is that part of the code I cannot figure out:

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 16000
setp stepgen.3.dirsetup 31000
## make sure accel and velocity are sensibly low or it will take off!
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
### must unlink these 2 to access stepgen.3.position-cmd
### and prevent continual following errors if motor-pos-fb left linked
#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

###########################################################
# loading the toolchange component in .hal file
###########################################################

loadrt toolchanger
addf toolchanger servo-thread

net tool-change iocontrol.0.tool-change => toolchanger.toolchange
net tool-changed iocontrol.0.tool-changed <= toolchanger.toolchanged
net tool-number iocontrol.0.tool-prep-number => toolchanger.toolnumber
net tool-oldnumber iocontrol.0.tool-number => toolchanger.currenttoolnumber
net apos-cmd toolchanger.position-cmd => stepgen.3.position-cmd
net ahomed axis.3.homed => toolchanger.ishomed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

 
Last edit: 23 Oct 2021 16:13 by PaulQUE.

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24 Oct 2021 23:28 #224146 by andypugh
Replied by andypugh on topic installing components
Does your INI actually have an [AXIS_3] section?
Which version of LinuxCNC are you using? It looks like you might be trying to splice in HAL written for an older version of LinuxCNC where axes and joints were used interchangeably.

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26 Oct 2021 10:14 #224367 by PaulQUE
Replied by PaulQUE on topic installing components
my ini has an Axis_A and Joint_2 section. That's what I thought... i run linux 2.8 but the component was written for a previous version of linuxcnc,

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26 Oct 2021 12:19 #224385 by andypugh
Replied by andypugh on topic installing components
You will need to swap all [AXIS_3] references in the HAL to point to sections that actually exist. _Probably_ [JOINT_2] but potentially [AXIS_A] for certain items. Just see where the referenced entries are and choose accordingly.

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26 Oct 2021 12:43 #224388 by PaulQUE
Replied by PaulQUE on topic installing components
thanks for the reply, since then i've done that, or at least I think I do, and I got the stepper to react to tool change commands, but it is a bit funky, I think I may have left out some parameters I could not find up-to-date references for, like stepgen.X.step and so on, I've posted the issue right here:

forum.linuxcnc.org/24-hal-components/440...ol-changer-coommands

and here

forum.linuxcnc.org/38-general-linuxcnc-q...n-2-8-with-mesa-7i96

I'm not quite sure what belongs where in this forum, so do not hesitate to tell me if I over post or post in the wrong subject.

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02 Nov 2021 12:29 #224981 by andypugh
Replied by andypugh on topic installing components

thanks for the reply, since then i've done that, or at least I think I do, and I got the stepper to react to tool change commands, but it is a bit funky, I think I may have left out some parameters I could not find up-to-date references for, like stepgen.X.step and so on,
 

Just to clarify:

You will not find any references for signals, ie the first item after the "net" command. Signals are freely-choosable strings and will vary from  config to config. 

You should be able to find all other HAL pins here:

Scroll down to the "Man Pages" section and then, if necessary, expand the "Commands and userspace components" and "Realtime components and kernel modules" sections.
Generally you will find (for example) all "stepgen...." pins under "stepgen". There are a a few exceptions:

All axis... joint... spindle... pins live in the "motion" module.
Mesa cards are documented under "hostmnot2"

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