6x6 Stewart (Parallel Kinematic Machine Tool)
egmak@debian:~$ sudo su
[sudo] password for egmak:
root@debian:/home/egmak# halrun
halcmd: loadrt genhexkins
halcmd: show param
Parameters:
Owner Type Dir Value Name
halcmd:
Parameters did not list. What must i do ?
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I am confused about why there is no error, but no pins.
As I suggested, try "show all"
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yes, "sudo" / "su" should be unnecessary to run linuxcnc or halrun. When building linuxcnc for yourself, the only step done with "sudo" is "sudo make setuid".
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I builded my hexapod. Nowadays i try to control one step motor. I connected the step motor driver and mesa 7i76 daughter card and 6i25 card. I used to pncconfig wizard but i did not move the step motor. Software giving an error like this;
![File Attachment:](http://i.hizliresim.com/D2Z3vZ.png)
And this is the ini file;
# Generated by PNCconf at Sun May 1 15:21:22 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = my_LinuxCNC_machine_deneme
DEBUG = 0
[DISPLAY]
DISPLAY = axis
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/egmach/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
[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
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_machine_deneme.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
P = 50.0
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 = 10000
STEPSPACE = 10000
STEP_SCALE = 400000.0
MIN_LIMIT = -0.01
MAX_LIMIT = 2000000.0
HOME_OFFSET = 0.0
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
P = 50.0
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 = 2000
DIRHOLD = 2000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 400000.0
MIN_LIMIT = -0.01
MAX_LIMIT = 2000000.0
HOME_OFFSET = 0.0
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
P = 50.0
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 = 2000
DIRHOLD = 2000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 400000.0
MIN_LIMIT = -1000000.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
#********************
# Spindle
#********************
[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000
Can you help me ?
Thank you.
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Where did you get those numbers from?
400,000 steps per mm is unlikely to be correct.
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Pncconfig wizard give this number. Is this uncorrect ? or is this number source of error ?
I suspect that your input values to pncconf might be in error.
What do you get if you calculate steps-per-mm by hand?
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I editted the kinematics.hal (configs/sim/axis/vismach/hexapod-sim/hexapod) file for my machine coordinates. And i started linuxcnc but 3D model is not update for my joint coordinates. In addition i can not find genhexkins and trivkins files. Are these files stay in configs/sim/axis/vismach/hexapod-sim/hexapod directory ? Must i install these files ? I am confused. Can you help me ?
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The kinematics files normally live in /usr/bin I think. If the congif starts then LinuxCNC is able to find the files.
which genhexkins
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Did you edit the files in your ~/linuxcnc/configs directory or some others?
The kinematics files normally live in /usr/bin I think. If the congif starts then LinuxCNC is able to find the files.
which genhexkins
might help to find the files that are being used.
Yes i editted ~/linuxcnc/configs directory. The command is not working.
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