If make a sample lathe configuration with pncconf and select
step-dir & encoder for Z axis and for step-dir only for X axis i get
(2 step generators & 1 encoder)
Code:
Found file(REL): ./test1.hal
./test1.hal:129: Signal 'z-pos-fb' can not add OUT pin 'hm2_5i24.0.encoder.00.position', it already has OUT pin 'hm2_5i24.0.stepgen.00.position-fb'
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
there is some conflict in signals.
the auto generated hal file
Code:
# Generated by PNCconf at Wed Jul 13 05:14:30 2016
# 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="firmware=hm2/5i24/SVST4_8.BIT num_encoders=1 num_pwmgens=0 num_stepgens=2"
setp hm2_5i24.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
addf hm2_5i24.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i24.0.write servo-thread
# external output signals
# external input signals
#*******************
# 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_5i24.0.stepgen.01.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i24.0.stepgen.01.dirhold [AXIS_0]DIRHOLD
setp hm2_5i24.0.stepgen.01.steplen [AXIS_0]STEPLEN
setp hm2_5i24.0.stepgen.01.stepspace [AXIS_0]STEPSPACE
setp hm2_5i24.0.stepgen.01.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i24.0.stepgen.01.step_type 0
setp hm2_5i24.0.stepgen.01.control-type 1
setp hm2_5i24.0.stepgen.01.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i24.0.stepgen.01.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_5i24.0.stepgen.01.velocity-cmd
net x-pos-fb <= hm2_5i24.0.stepgen.01.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i24.0.stepgen.01.enable
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.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_5i24.0.stepgen.00.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i24.0.stepgen.00.dirhold [AXIS_2]DIRHOLD
setp hm2_5i24.0.stepgen.00.steplen [AXIS_2]STEPLEN
setp hm2_5i24.0.stepgen.00.stepspace [AXIS_2]STEPSPACE
setp hm2_5i24.0.stepgen.00.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i24.0.stepgen.00.step_type 0
setp hm2_5i24.0.stepgen.00.control-type 1
setp hm2_5i24.0.stepgen.00.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i24.0.stepgen.00.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_5i24.0.stepgen.00.velocity-cmd
net z-pos-fb <= hm2_5i24.0.stepgen.00.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_5i24.0.stepgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i24.0.encoder.00.counter-mode 0
setp hm2_5i24.0.encoder.00.filter 1
setp hm2_5i24.0.encoder.00.index-invert 0
setp hm2_5i24.0.encoder.00.index-mask 0
setp hm2_5i24.0.encoder.00.index-mask-invert 0
setp hm2_5i24.0.encoder.00.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i24.0.encoder.00.position
net z-vel-fb <= hm2_5i24.0.encoder.00.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i24.0.encoder.00.index-enable
net z-pos-rawcounts <= hm2_5i24.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net z-home-sw => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-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
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 <= 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-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---
