7i92M default IP

# Generated by PNCconf at Sat Nov 30 09:20:28 2019
# Using LinuxCNC version:  UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="102.168.1.121" config=" num_encoders=2 num_pwmgens=0 num_stepgens=10 sserial_port_0=0000xx" 
setp    hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_7i92.0.write         servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals


# external input signals


# --- BOTH-X ---
net both-x     <=  hm2_7i92.0.7i76.0.0.input-01

# --- BOTH-Y ---
net both-y     <=  hm2_7i92.0.7i76.0.0.input-02

# --- BOTH-Z ---
net both-z     <=  hm2_7i92.0.7i76.0.0.input-03

#*******************
#  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
setp   pid.x.maxerror .0005

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   hm2_7i92.0.stepgen.05.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i92.0.stepgen.05.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i92.0.stepgen.05.steplen         [JOINT_0]STEPLEN
setp   hm2_7i92.0.stepgen.05.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i92.0.stepgen.05.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i92.0.stepgen.05.step_type        0
setp   hm2_7i92.0.stepgen.05.control-type     1
setp   hm2_7i92.0.stepgen.05.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.05.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     <= hm2_7i92.0.stepgen.05.velocity-cmd
net x-pos-fb     <= hm2_7i92.0.stepgen.05.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i92.0.stepgen.05.enable

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

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

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
setp   pid.y.maxerror .0005

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

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.06.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i92.0.stepgen.06.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i92.0.stepgen.06.steplen         [JOINT_1]STEPLEN
setp   hm2_7i92.0.stepgen.06.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i92.0.stepgen.06.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i92.0.stepgen.06.step_type        0
setp   hm2_7i92.0.stepgen.06.control-type     1
setp   hm2_7i92.0.stepgen.06.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.06.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-vel-cmd    <= joint.1.vel-cmd
net y-output     <= hm2_7i92.0.stepgen.06.velocity-cmd
net y-pos-fb     <= hm2_7i92.0.stepgen.06.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i92.0.stepgen.06.enable

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

net y-home-sw     =>  joint.1.home-sw-in
net both-y     =>  joint.1.neg-lim-sw-in
net both-y     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
setp   pid.z.maxerror .0005

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   hm2_7i92.0.stepgen.07.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i92.0.stepgen.07.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i92.0.stepgen.07.steplen         [JOINT_2]STEPLEN
setp   hm2_7i92.0.stepgen.07.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i92.0.stepgen.07.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i92.0.stepgen.07.step_type        0
setp   hm2_7i92.0.stepgen.07.control-type     1
setp   hm2_7i92.0.stepgen.07.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.07.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     <= hm2_7i92.0.stepgen.07.velocity-cmd
net z-pos-fb     <= hm2_7i92.0.stepgen.07.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => hm2_7i92.0.stepgen.07.enable

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

net z-home-sw     =>  joint.2.home-sw-in
net both-z     =>  joint.2.neg-lim-sw-in
net both-z     =>  joint.2.pos-lim-sw-in

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

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-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.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.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

#  ---coolant signals---

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

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

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

#  ---digital in / out signals---

#  ---estop signals---

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

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.0~pre0
Machine configuration directory is '/home/fab1/linuxcnc/configs/AXYZ-1'
Machine configuration file is 'AXYZ-1.ini'
INIFILE=/home/fab1/linuxcnc/configs/AXYZ-1/AXYZ-1.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZ
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Found file(REL): ./AXYZ-1.hal
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: ERROR: 102.168.1.121: Could not retrieve mac address
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
hm2_eth: rtapi_app_main: Resource temporarily unavailable (-11)
./AXYZ-1.hal:9: waitpid failed /usr/bin/rtapi_app hm2_eth
./AXYZ-1.hal:9: /usr/bin/rtapi_app exited without becoming ready
./AXYZ-1.hal:9: insmod for hm2_eth failed, returned -1
7512
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime



-----------------------------------------------------------------------
Info report created by linuxcnc_info:
The file:    /tmp/linuxcnc_info.txt
can be posted to a forum or a web site like:
     http://pastebin.com
in order to provide information about the linuxcnc
system and configuration.

                Date: Sat Nov 30 10:26:37 EST 2019
            UTC Date: Sat Nov 30 15:26:37 UTC 2019
        this program: /usr/bin/linuxcnc_info
              uptime: 10:26:37 up 1:18, 1 user, load average: 0.58, 0.50, 0.43
     lsb_release -sa: LinuxMint Linux Mint 18.3 Sylvia 18.3 sylvia
      which linuxcnc: /usr/bin/linuxcnc
                 pwd: /home/fab1/linuxcnc/configs/AXYZ-1
                USER: fab1
             LOGNAME: fab1
                HOME: /home/fab1
              EDITOR: 
              VISUAL: 
            LANGUAGE: en_US
                TERM: dumb
           COLORTERM: 
             DISPLAY: :0
             DESKTOP: mate
        display size: 1600x900 pixels (423x238 millimeters)
                PATH: /usr/bin:/home/fab1/linuxcnc/configs/AXYZ-1/bin:/usr/bin:/home/fab1/bin:/home/fab1/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games

uname items:
         nodename -n: AXYZ-1
      kernel-name -s: Linux
      kernel-vers -v: #1 SMP PREEMPT RT Thu Nov 28 17:03:52 EST 2019
          machine -m: x86_64
        processor -p: x86_64
         platform -i: x86_64
      oper system -o: GNU/Linux

/proc items:
             cmdline: BOOT_IMAGE=/boot/vmlinuz-4.19.1-rt3 root=UUID=79161947-d3cb-4f61-a46c-161602296caa ro quiet splash vt.handoff=7
          model name: Intel(R) Core(TM) i5-2500 CPU @ 3.30GHz
               cores: 4
             cpu MHz: 1838.956
             parport: 0000-0000 : parport0 0000-0000 : parport0
              serial: 0000-0000 : serial 0000-0000 : serial

Versions:
                 gcc: gcc (Ubuntu 5.4.0-6ubuntu1~16.04.12) 5.4.0 20160609
              python: Python 2.7.12
                 git: git version 2.7.4
          git commit: NA
                 tcl: 8.6
                  tk: 8.6
               glade: not_in_PATH
          glade-gtk2: not_in_PATH

linuxcnc_var all:

     LINUXCNCVERSION: 2.9.0~pre0
LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp
LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples
            REALTIME: /etc/init.d/realtime
                 RTS: uspace
          HALLIB_DIR: /usr/share/linuxcnc/hallib

dpkg -l '*linuxcnc*':
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name            Version      Architecture Description
+++-===============-============-============-=====================================================================
un  linuxcnc        <none>       <none>       (no description available)
un  linuxcnc-doc    <none>       <none>       (no description available)
ii  linuxcnc-doc-en 1:2.9.0~pre0 all          motion controller for CNC machines and robots (English documentation)
un  linuxcnc-sim    <none>       <none>       (no description available)
ii  linuxcnc-uspace 1:2.9.0~pre0 amd64        motion controller for CNC machines and robots