issue linking stepper to tool changer coommands

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24 Oct 2021 15:41 - 24 Oct 2021 17:25 #224101 by PaulQUE
hi, i'm trying to setup the toolchanger.comp from the boxford240 library, I think I have it setup alright, looking at s-pos-command in the hal meter, M6T1, than T2, returns the right required positions. When requesting a position, the motor spins up, and toolchange in hal meter indicates turns to  TRUE for a while, then back to FALSE, and S-pos-command is in the right position. however, the motor does not follow the sequence, it spins up when I ask for a tool, and does not stop, does not reverse either. Any clue on how to fix that one?  

thanks
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Last edit: 24 Oct 2021 17:25 by PaulQUE. Reason: forgot to say thanks

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27 Oct 2021 12:05 #224496 by andypugh
I don't think that HAL file contains any of the toolchange-related items?

Is it possible that the tool-changer comp assumes a velocity-mode stepgen and you are set up in position-mode? Or, indeed, vice-versa?

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27 Oct 2021 14:09 - 27 Oct 2021 14:13 #224519 by PaulQUE
that's an interesting lead, looking at the bowford hal exemple, and the boxford comp, (i'll include them below) I don't see any mention of velocity mode, but I may have poorly setup my axis.

could it be that that the axis setup in gmoccapy lock the axis into vel mode? I have the interface for the 4 th axis setup, which is only used by the tool changer 
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Last edit: 27 Oct 2021 14:13 by PaulQUE.

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29 Oct 2021 16:25 #224659 by PaulQUE
So you were right, I do not know why, but this line, was outputting velocity command to the axis :

net s-output <= [HMOT](CARD0).stepgen.02.velocity-cmd

I tried to replace it with

net s-output <= [HMOT](CARD0).stepgen.02.position-cmd

and got nothing, no movement at all

so I now my issue is getting the toolchanger.pos-cmd signal linked to the motor position output, how could I do that properly? Here is the current state of my hal file

# Généré par PNCconf le Wed Oct 20 22:33:22 2021
# Using LinuxCNC version: 2.8
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez PNCconf

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=3 sserial_port_0=0xxxxx"
setp [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt toolchanger

addf [HMOT](CARD0).read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf [HMOT](CARD0).write servo-thread
addf toolchanger servo-thread

# external output signals
setp hm2_7i96.0.encoder.00.counter-mode TRUE
setp hm2_7i96.0.encoder.00.scale 100
setp hm2_7i96.0.encoder.00.filter TRUE


# external input signals


#*******************
# AXIS X JOINT 0
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.012700

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output

# Step Gen signals/setup

setp [HMOT](CARD0).stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_0]DIRHOLD
setp [HMOT](CARD0).stepgen.00.steplen [JOINT_0]STEPLEN
setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_0]STEPSPACE
setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp [HMOT](CARD0).stepgen.00.step_type 0
setp [HMOT](CARD0).stepgen.00.control-type 1
setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= [HMOT](CARD0).stepgen.00.velocity-cmd
net x-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => [HMOT](CARD0).stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

#*******************
# AXIS Z JOINT 1
#*******************

setp pid.z.Pgain [JOINT_1]P
setp pid.z.Igain [JOINT_1]I
setp pid.z.Dgain [JOINT_1]D
setp pid.z.bias [JOINT_1]BIAS
setp pid.z.FF0 [JOINT_1]FF0
setp pid.z.FF1 [JOINT_1]FF1
setp pid.z.FF2 [JOINT_1]FF2
setp pid.z.deadband [JOINT_1]DEADBAND
setp pid.z.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.012700

net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output

# Step Gen signals/setup

setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_1]DIRHOLD
setp [HMOT](CARD0).stepgen.01.steplen [JOINT_1]STEPLEN
setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_1]STEPSPACE
setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp [HMOT](CARD0).stepgen.01.step_type 0
setp [HMOT](CARD0).stepgen.01.control-type 1
setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-output <= [HMOT](CARD0).stepgen.01.velocity-cmd
net z-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb
net z-pos-fb => joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
net z-enable => [HMOT](CARD0).stepgen.01.enable

# ---setup home / limit switch signals---

net z-home-sw => joint.1.home-sw-in
net z-neg-limit => joint.1.neg-lim-sw-in
net z-pos-limit => joint.1.pos-lim-sw-in

#*******************
# AXIS S ATC
#*******************

setp pid.s.Pgain [JOINT_2]P
setp pid.s.Igain [JOINT_2]I
setp pid.s.Dgain [JOINT_2]D
setp pid.s.bias [JOINT_2]BIAS
setp pid.s.FF0 [JOINT_2]FF0
setp pid.s.FF1 [JOINT_2]FF1
setp pid.s.FF2 [JOINT_2]FF2
setp pid.s.deadband [JOINT_2]DEADBAND
setp pid.s.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.s.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.s.maxerror 0.012700

net s-index-enable <=> pid.s.index-enable
net s-enable => pid.s.enable
net s-pos-cmd => pid.s.command
net s-pos-fb => pid.s.feedback
net s-output <= pid.s.output

# Step Gen signals/setup

setp [HMOT](CARD0).stepgen.02.dirsetup 31000
setp [HMOT](CARD0).stepgen.02.dirhold 16000
setp [HMOT](CARD0).stepgen.02.steplen [JOINT_2]STEPLEN
setp [HMOT](CARD0).stepgen.02.stepspace [JOINT_2]STEPSPACE
setp [HMOT](CARD0).stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp [HMOT](CARD0).stepgen.02.step_type 0
setp [HMOT](CARD0).stepgen.02.control-type 1
setp [HMOT](CARD0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL



# ---closedloop stepper signals---

net s-pos-cmd joint.2.motor-pos-cmd
net s-pos-fb joint.2.motor-pos-fb


#net s-vel-cmd <= joint.2.vel-cmd
#net s-output <= s-pos-cmd
# net s-pos-fb <= [HMOT](CARD0).stepgen.02.position-fb
# net s-pos-fb => joint.2.motor-pos-fb
net s-enable <= joint.2.amp-enable-out
net s-enable => [HMOT](CARD0).stepgen.02.enable

# ---setup home / limit switch signals---

net s-home-sw => joint.2.home-sw-in
net s-neg-limit => joint.2.neg-lim-sw-in
net s-pos-limit => joint.2.pos-lim-sw-in

#******************************
#connections de signaux divers
#******************************

# ---signaux HALUI---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.1.is-homed
net s-is-homed halui.joint.2.is-homed

net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi

# ---signaux d'arrosage---

net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood

# ---signal de sonde---

net probe-in => motion.probe-input

# ---signaux contrôle mouvement---

net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled

# ---signaux entrée / sortie numérique---

# ---signaux d'A/U---

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

# ---signaux changeur manuel d'outil---


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 s-pos-cmd toolchanger.position-cmd => [HMOT](CARD0).joint.2.motor-pos-cmd
#net toolchanger-stepgen-fb <= [HMOT](CARD0).joint.2.motor-pos-cmd
net s-is-homed halui.joint.2.is-homed => toolchanger.ishomed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared


Any clue on how to achieve this? cheers

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29 Oct 2021 16:59 #224661 by PCW
1.
net s-output <= [HMOT](CARD0).stepgen.02.velocity-cmd is correct,
position control is done by the PID

2. You would link the toolchanger position output to s-pos-cmd. like this
net s-pos-cmd toolchanger.position-cmd

3. You have removed the stepgen feedback which is required:
# net s-pos-fb <= [HMOT](CARD0).stepgen.02.position-fb

4. You have disconnected the velocity command to the stepgen, you need:
net s-output <= [HMOT](CARD0).stepgen.02.velocity-cmd

5. You have various connectons to joint2, but the tool changer is not a joint

 

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30 Oct 2021 11:03 - 30 Oct 2021 12:44 #224713 by PaulQUE
Thank you very much, this did the trick, the tool change component works as expected, I noticed the motor oscillates a lot at the end of each move, I tried messing with The P value, but it only affected the speed, not the oscillating, the values are the same as the other axis in the ini file , but it's the only motor having this issue.

# Généré par PNCconf le Wed Oct 20 22:33:22 2021
# Using LinuxCNC version:  2.8
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez PNCconf

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=3 sserial_port_0=0xxxxx" 
setp    [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt toolchanger

addf [HMOT](CARD0).read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf [HMOT](CARD0).write         servo-thread
addf toolchanger servo-thread

# external output signals
setp hm2_7i96.0.encoder.00.counter-mode TRUE
setp hm2_7i96.0.encoder.00.scale 100
setp hm2_7i96.0.encoder.00.filter TRUE


# external input signals


#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   [HMOT](CARD0).stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   [HMOT](CARD0).stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   [HMOT](CARD0).stepgen.00.steplen         [JOINT_0]STEPLEN
setp   [HMOT](CARD0).stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   [HMOT](CARD0).stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   [HMOT](CARD0).stepgen.00.step_type        0
setp   [HMOT](CARD0).stepgen.00.control-type     1
setp   [HMOT](CARD0).stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   [HMOT](CARD0).stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     <= [HMOT](CARD0).stepgen.00.velocity-cmd
net x-pos-fb     <= [HMOT](CARD0).stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => [HMOT](CARD0).stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 1
#*******************

setp   pid.z.Pgain     [JOINT_1]P
setp   pid.z.Igain     [JOINT_1]I
setp   pid.z.Dgain     [JOINT_1]D
setp   pid.z.bias      [JOINT_1]BIAS
setp   pid.z.FF0       [JOINT_1]FF0
setp   pid.z.FF1       [JOINT_1]FF1
setp   pid.z.FF2       [JOINT_1]FF2
setp   pid.z.deadband  [JOINT_1]DEADBAND
setp   pid.z.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   [HMOT](CARD0).stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   [HMOT](CARD0).stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   [HMOT](CARD0).stepgen.01.steplen         [JOINT_1]STEPLEN
setp   [HMOT](CARD0).stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   [HMOT](CARD0).stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   [HMOT](CARD0).stepgen.01.step_type        0
setp   [HMOT](CARD0).stepgen.01.control-type     1
setp   [HMOT](CARD0).stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   [HMOT](CARD0).stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.1.motor-pos-cmd
net z-vel-cmd    <= joint.1.vel-cmd
net z-output     <= [HMOT](CARD0).stepgen.01.velocity-cmd
net z-pos-fb     <= [HMOT](CARD0).stepgen.01.position-fb
net z-pos-fb     => joint.1.motor-pos-fb
net z-enable     <= joint.1.amp-enable-out
net z-enable     => [HMOT](CARD0).stepgen.01.enable

# ---setup home / limit switch signals---

net z-home-sw     =>  joint.1.home-sw-in
net z-neg-limit     =>  joint.1.neg-lim-sw-in
net z-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS S ATC
#*******************

setp   pid.s.Pgain     [AXIS_2]P
setp   pid.s.Igain     [AXIS_2]I
setp   pid.s.Dgain     [AXIS_2]D
setp   pid.s.bias      [AXIS_2]BIAS
setp   pid.s.FF0       [AXIS_2]FF0
setp   pid.s.FF1       [AXIS_2]FF1
setp   pid.s.FF2       [AXIS_2]FF2
setp   pid.s.deadband  [AXIS_2]DEADBAND
setp   pid.s.maxoutput [AXIS_2]MAX_OUTPUT
setp   pid.s.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.s.maxerror 0.012700

net s-index-enable  <=> pid.s.index-enable
net s-enable        =>  pid.s.enable
net s-pos-cmd       =>  pid.s.command
net s-pos-fb        =>  pid.s.feedback
net s-output        <=  pid.s.output
net s-output       <= [HMOT](CARD0).stepgen.02.velocity-cmd

# Step Gen signals/setup

setp   [HMOT](CARD0).stepgen.02.dirsetup        31000
setp   [HMOT](CARD0).stepgen.02.dirhold         16000
setp   [HMOT](CARD0).stepgen.02.steplen         [AXIS_2]STEPLEN
setp   [HMOT](CARD0).stepgen.02.stepspace       [AXIS_2]STEPSPACE
setp   [HMOT](CARD0).stepgen.02.position-scale  [AXIS_2]STEP_SCALE
setp   [HMOT](CARD0).stepgen.02.step_type        0
setp   [HMOT](CARD0).stepgen.02.control-type     1
setp   [HMOT](CARD0).stepgen.02.maxaccel         [AXIS_2]STEPGEN_MAXACCEL
setp   [HMOT](CARD0).stepgen.02.maxvel           [AXIS_2]STEPGEN_MAXVEL



# ---closedloop stepper signals---

#net s-pos-cmd    joint.2.motor-pos-cmd 
net s-pos-fb   <= [HMOT](CARD0).stepgen.02.position-fb


#net s-vel-cmd    <= joint.2.vel-cmd
#net s-output     <= s-pos-cmd
# net s-pos-fb     <= [HMOT](CARD0).stepgen.02.position-fb
# net s-pos-fb     => joint.2.motor-pos-fb
net s-enable     <= joint.2.amp-enable-out
net s-enable     => [HMOT](CARD0).stepgen.02.enable

# ---setup home / limit switch signals---

net s-home-sw     =>  joint.2.home-sw-in
net s-neg-limit     =>  joint.2.neg-lim-sw-in
net s-pos-limit     =>  joint.2.pos-lim-sw-in

#******************************
#connections de signaux divers
#******************************

#  ---signaux HALUI---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.1.is-homed
net s-is-homed     halui.joint.2.is-homed

net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---signaux d'arrosage---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---signal de sonde---

net probe-in     =>  motion.probe-input

#  ---signaux contrôle mouvement---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---signaux entrée / sortie numérique---

#  ---signaux d'A/U---
net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---signaux changeur manuel d'outil--
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 s-pos-cmd toolchanger.position-cmd 
# net s-pos-fb toolchanger-stepgen-fb 
net s-is-homed halui.joint.2.is-homed => toolchanger.ishomed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared




and here's the ini 

# Généré par PNCconf le Thu Oct 21 12:25:00 2021
# Using LinuxCNC version:  2.8
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez PNCconf

[EMC]
MACHINE = EMCO_C5_PC
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/paul/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 900
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 100
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
TOLERANCE_MM = 0.0003

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
CARD0=hm2_7i96.0

[HAL]
HALUI = halui
HALFILE = EMCO_C5_PC.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XZA

[TRAJ]
COORDINATES =  XZA
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.42
MAX_LINEAR_VELOCITY = 14.17
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 850
MAX_ACCELERATION = 100.0
MIN_LIMIT = -200
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 850
MAX_ACCELERATION = 100.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 17.71
STEPGEN_MAXACCEL = 125.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 3000
STEPSPACE  = 1000
STEP_SCALE = 72.50
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_OFFSET = 0.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 850
MAX_ACCELERATION = 100.0
MIN_LIMIT = -500
MAX_LIMIT = 500

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 850
MAX_ACCELERATION = 100.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 17.71
STEPGEN_MAXACCEL = 125.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 3000
STEPSPACE  = 1000
STEP_SCALE = 72.5
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_OFFSET = 0.0
#******************************************
[AXIS_2]
MAX_VELOCITY = 100
MAX_ACCELERATION = 100.0
MIN_LIMIT = -99999
MAX_LIMIT = 99999
STEP_SCALE = 34
TYPE = ANGULAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 0.25
MAX_VELOCITY = 100
MAX_ACCELERATION = 100.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 80
STEPGEN_MAXACCEL = 125.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 3000
STEPSPACE  = 1000
STEP_SCALE = 34
MIN_LIMIT = -99999
MAX_LIMIT = 99999
HOME_OFFSET = 0.0
#******************************************

 
Last edit: 30 Oct 2021 12:44 by PaulQUE.

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