7i96 Configuration Tool

By changing

hm2_7i96.0.gpio.XXX.in

to

hm2_7i96.0.gpio.XXX.in_not

PCW wrote: By changing

hm2_7i96.0.gpio.XXX.in

to

hm2_7i96.0.gpio.XXX.in_not

Ah, the underscore got me
One of my axis is reversed. In not quite sure the best way to invert it

If you are in doubt about pin or parameter names you can run

halcmd show all > all.txt

(with linuxcnc running) to get a list of all parameters, pins and signals

There are many ways to reverse a step motor direction:

1. swap one motor winding
2. reverse the direction pin wiring (use DIR- instead of DIR+ for example)
3. invert the direction pin in hal ( setp hm2_7i96.0.stepgen.XX.direction.invert_output true )
4. invert the stepgen scale

PCW wrote: If you are in doubt about pin or parameter names you can run

halcmd show all > all.txt

(with linuxcnc running) to get a list of all parameters, pins and signals

There are many ways to reverse a step motor direction
hm2_7i95.0.stepgen.00.direction.invert_output
1. swap one motor winding
2. reverse the direction pin wiring (use DIR- instead of DIR+ for example)
3. invert the direction pin in hal ( setp hm2_7i96.0.stepgen.XX.direction.invert_output true )
4. invert the stepgen scale

Thank you, I inverted the scale

When setting the external estop on input 0 I left the joint as select.

It is not tied to CNC however. Other hal files I have found had a couple extra lines under the estop section but I got a pin already defined error when I added them.

I've found some other Hal examples where an external estop was referenced but they were for a plasma machine

You might take a look at Samco's Estop video:

forum.linuxcnc.org/24-hal-components/379...s-work-series#151551