Newb help with 5i25 and Novakon breakout board

Thank Peter I got the 5i25 flashed with the new firmware and so far I have the "e-stop" responding so I know the BOB and the mesa are communicating. I can't get any motion yet - and I am sure it has to do w/ the charge pump/machine enable.

When I tried it with the parallel port I had to change a line in the hal from:
net estop-out charge-pump.enable iocontrol.0.user-enable-out

TO:
net motion-enabled charge-pump.enable motion.motion-enabled

I am not sure how to do that with the new hal using the mesa.

Here is my .hal file so far as generated by pncconf - hopefully you have some tips:

# Generated by PNCconf at Fri Jul 24 14:30:42 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=0 num_pwmgens=0 num_stepgens=14"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_5i25.0.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_5i25.0.write servo-thread

# ---Chargepump StepGen: 0.25 velocity = 10Khz square wave output---

setp hm2_5i25.0.stepgen.03.dirsetup 100
setp hm2_5i25.0.stepgen.03.dirhold 100
setp hm2_5i25.0.stepgen.03.steplen 100
setp hm2_5i25.0.stepgen.03.stepspace 100
setp hm2_5i25.0.stepgen.03.position-scale 10000
setp hm2_5i25.0.stepgen.03.step_type 2
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel 0
setp hm2_5i25.0.stepgen.03.maxvel 0
setp hm2_5i25.0.stepgen.03.velocity-cmd 0.25

net x-enable => hm2_5i25.0.stepgen.03.enable

# external output signals

# --- COOLANT-FLOOD ---
setp hm2_5i25.0.gpio.015.is_output true
net coolant-flood hm2_5i25.0.gpio.015.out

# external input signals

# --- ALL-LIMIT ---
net all-limit <= hm2_5i25.0.gpio.012.in

# --- ESTOP-EXT ---
net estop-ext <= hm2_5i25.0.gpio.013.in_not

#*******************
# AXIS X
#*******************

setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_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-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 1
setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable

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

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

#*******************
# AXIS Y
#*******************

setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_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-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 1
setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= axis.1.motor-pos-cmd
net y-vel-cmd <= axis.1.joint-vel-cmd
net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-fb => axis.1.motor-pos-fb
net y-enable <= axis.1.amp-enable-out
net y-enable => hm2_5i25.0.stepgen.01.enable

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

net y-home-sw => axis.1.home-sw-in
net all-limit => axis.1.neg-lim-sw-in
net all-limit => axis.1.pos-lim-sw-in

#*******************
# AXIS Z
#*******************

setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_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-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.05.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.05.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.05.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.05.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.05.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.05.step_type 0
setp hm2_5i25.0.stepgen.05.control-type 1
setp hm2_5i25.0.stepgen.05.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.05.maxvel [AXIS_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output <= hm2_5i25.0.stepgen.05.velocity-cmd
net z-pos-fb <= hm2_5i25.0.stepgen.05.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_5i25.0.stepgen.05.enable

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

net z-home-sw => axis.2.home-sw-in
net all-limit => axis.2.neg-lim-sw-in
net all-limit => axis.2.pos-lim-sw-in

#*******************
# SPINDLE S
#*******************

setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
setp pid.s.maxerror .0005

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

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.02.dirsetup [SPINDLE_9]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [SPINDLE_9]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [SPINDLE_9]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [SPINDLE_9]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [SPINDLE_9]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 1
setp hm2_5i25.0.stepgen.02.maxaccel [SPINDLE_9]MAX_ACCELERATION
setp hm2_5i25.0.stepgen.02.maxvel [SPINDLE_9]MAX_VELOCITY

net machine-is-enabled => hm2_5i25.0.stepgen.02.enable
net spindle-vel-cmd-rps => hm2_5i25.0.stepgen.02.velocity-cmd
net spindle-vel-fb-rps <= hm2_5i25.0.stepgen.02.velocity-fb

# ---closedloop stepper signals---

net s-pos-cmd <= axis.9.motor-pos-cmd
net s-vel-cmd <= axis.9.joint-vel-cmd
net s-output <= hm2_5i25.0.stepgen.02.velocity-cmd
net s-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net s-pos-fb => axis.9.motor-pos-fb
net s-enable <= axis.9.amp-enable-out
net s-enable => hm2_5i25.0.stepgen.02.enable

# ---setup spindle control signals---

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

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

sets spindle-at-speed true


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

# ---HALUI signals---

net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.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-ext => 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

First take a look at the .pin file and you will see that the chargepump stepgen(on pin 17) is stepgen 6 instead of
stepgen 3 so the chargepump section of the hal file needs to be changed to reflect this

(you will also note that I made a mistake and skipped stepgen 4 in my numbering. I can make a new confg on Monday
but the current config should work )

Also the spindle is stepgen 5 and PNCConf doesnt know how to set up a step/dir driven spindle

(When I fix the config, the chargpump will be stepgen 5 and the spindle will be stepgen 4)

thanks Peter - I can be bone headed sometimes. The pncconf threw me off as it looks a little crazy with the numbering.

I will try your suggestions.

Thanks again!

Woohoo! It works!!

I did have to change this line in the hal:

setp hm2_5i25.0.stepgen.06.velocity-cmd 0.25

to

setp hm2_5i25.0.stepgen.06.velocity-cmd 1

and that seemed to get the charge pump to work.

Now off to get the spindle moving.

Thanks again!!