Thank you for the input! I believe that I did the necessary updates to the hal and ini file (see below). I have read through the hostmot2 and hal manual both a few times but am still feeling pretty ignorant.
I have the following questions:
1.) How would I go about commanding the system to output a signal through the 7i85 for the X-Axis using halcmd? (Note when trying to simply jog through the Axis GUI i get a follow error almost immediately. Once the signal is confirmed with a scope, I can connect to the drive and work to further configure.
2.) How do I configure the PWM duty cycle to 50% = No Movement, 50-100% = Positive movement, 50%-0% = Negative Movement?
3.) From the Hal file and .ini below what might I be missing that will prevent me from getting to the point of being able to test a single axis?
I thank that once I get a single proof of concept, I will be able to fill in the blanks.
Sorry if these questions seem as though I am totally lost, I did read through the manuals at least twice. I am just having a mental block on next steps. Feeling a little dense to be honest.
Thanks for any assistance.
HM2-Servo.hal
Code:
# #######################################
#
# HAL file for HostMot2 with 3 servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# standard components
loadrt pid num_chan=3
# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt hostmot2
# load low-level driver
#loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
loadrt hm2_pci config=" num_encoders=8 num_pwmgens=8 num_stepgens=0 sserial_port_0=00xxxx"
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 15000
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
net emcmot.00.enable <= axis.0.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 4 #Direction on Out0 and PWM on Out1, "for locked antiphase"
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
net emcmot.01.enable <= axis.1.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [AXIS_1]INPUT_SCALE
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
net emcmot.02.enable <= axis.2.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
#
# homing
#
#
# In this example, each of the three axes have their own home switch. All
# home switches are connected to GPIO 25, though hostmot2 boards generally
# have enough GPIO pins to put each axis' home switch on its own pin.
#
# Each switch is normally open, momentarily closed. When the switch is open,
# GPIO 25 floats high (because that is the hostmot2 way). When the switch is
# closed, it shorts GPIO 25 to ground.
#
# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
# True when the switch is closed and False when the switch is open.
# We get this behavior by linking the GPIO .in_not pin instead of the .in
# pin.
#
net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
net home-switch => axis.0.home-sw-in
net home-switch => axis.1.home-sw-in
net home-switch => axis.2.home-sw-in
# only the Y servo has an index, X and Z home without using the index
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
5i25.ini
Code:
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i25
#CONFIG= No config file needed 5i25"
[EMC]
# Name of machine, for use with display, etc.
MACHINE = Altlas Mill
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tkemc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# Path to help file
HELP_FILE = tklinucnc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
# Prefix to be used
PROGRAM_PREFIX = /home/jmyer/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[TRAJ]
AXES = 3
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 3.0
MAX_VELOCITY = 4.0
DEFAULT_ACCELERATION = 6.0
MAX_ACCELERATION = 7.0
#!!!!!!!!!!!!! Comment out NO_FORCE_HOMING as soon as connected to actual machine !!!!!!!!!!!!!!
NO_FORCE_HOMING = 1
#!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
[AXIS_0] # X Axis
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_1] # Y Axis
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_2] #Z Axis
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = tool.tbl
