HELP! with following error! cant figure it out

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09 May 2021 17:21 #208397 by Taz
Hi All

I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx.

Hardware:
- MESA 7i96
-TB6600 + NEMA23

Software:
-LinuxCNC version 2.8.1
-4.9.0-8-rt-686-pae
Attachments:

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09 May 2021 18:50 #208403 by PCW
Not sure what's going on, the hal/ini files look OK at first glance.

What joint has following errors?

Are there any other errors?

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09 May 2021 19:09 - 09 May 2021 19:10 #208404 by Taz
My machine setup is XYYZ lead screw driven.
So most of the time I get joint 0 (X axis) I kept changing step/dir timings now I get following error joint 1 & 2. Now I think of it, it happened with the same software and post-processor. I used aspire 3D carving, maybe I should try a different software, do you think that would be a cause of the following error?

My LinuxCNC message was task error 942 at command 12045
Last edit: 09 May 2021 19:10 by Taz.

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09 May 2021 19:17 - 09 May 2021 19:17 #208405 by PCW
I tried your hal and ini files and I don't see any issues

Its not likely bad gcode could cause a following error but I guess
if it triggered a LinuxCNC bug it could.

Does something simple like the LinuxCNC text work?

Step timings are probably not significant here (you are a long way
from going fast enough to run into step timing limits)
Last edit: 09 May 2021 19:17 by PCW.

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09 May 2021 19:29 #208407 by Taz

I tried your hal and ini files and I don't see any issues

Its not likely bad gcode could cause a following error but I guess
if it triggered a LinuxCNC bug it could.

Does something simple like the LinuxCNC text work?

Step timings are probably not significant here (you are a long way
from going fast enough to run into step timing limits)


yes, i just ran it and worked perfectly!. i ran few V-carving jobs, simple texts and objects. i did not have any issues if i recall correctly. i attached the gcode i used. it would run fine till lines 11k and then it starts giving me the issue.

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09 May 2021 19:32 - 09 May 2021 19:58 #208408 by Taz
somebody posted this gcode to test step/dir timings. idk if it does work because i didnt get any errors.
( test program to see if Z axis loses position )
( msg, test 1 of X axis configuration )
G21 #1000=100 ( loop 100 times )
( this loop has delays after moves )
( tests acc and velocity settings )
o100 while [#1000]
G0 X1.000
G4 P0.250
G0 X0.500
G4 P0.250
#1000 = [#1000 - 1]
o100 endwhile
( msg, test 2 of X axis configuration S to continue)
M1 (stop here)
#1000=100 ( loop 100 times )
( the next loop has no delays after moves )
( tests direction hold times on driver config and also max accel setting )
o101 while [#1000]
G0 X1.000
G0 X0.500
#1000 = [#1000 - 1]
o101 endwhile
( msg, Done...X should be exactly .5" above table )
M2

the output from linuxCNC
LINUXCNC - 2.8.1
Machine configuration directory is '/home/taz/linuxcnc/configs/workBee_Base'
Machine configuration file is 'workBee_Base.ini'
INIFILE=/home/taz/linuxcnc/configs/workBee_Base/workBee_Base.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYYZ
KINEMATICS=trivkins coordinates=XYYZ kinstype=BOTH
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): ./workBee_Base.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
62914563
joint 0 following error
emc/task/taskintf.cc 942: Error on joint 0, command number 5063
Attachments:
Last edit: 09 May 2021 19:58 by Taz.

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09 May 2021 21:25 #208422 by PCW
The test program runs fine here on a 7I96 with your hal/ini files

Very odd error, may need to plot the commanded and feedback positions
with halscope to determine what's going on

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09 May 2021 22:30 - 09 May 2021 22:52 #208430 by Taz
I’ll try and get those. I just ran the 3DChips test that comes with LinuxCNC examples without any hiccups @1000mm/mm.

for some reason my halscope isnt capturing any data.
Attachments:
Last edit: 09 May 2021 22:52 by Taz.

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10 May 2021 00:54 - 10 May 2021 01:01 #208442 by Taz

I’ll try and get those. I just ran the 3DChips test that comes with LinuxCNC examples without any hiccups @1000mm/mm.

for some reason my halscope isnt capturing any data.


i dont know what happened! now im running the same 3d gcode i was having trouble with. its still running past 38k lines which i couldnt have done before without getting the following error with joint 0 or joint 1/2.
so ive been taking screenshots every now and then. im attaching them.

here is my config files
# Generated by PNCconf at Sun May  9 17:06:17 2021
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = workBee_Base
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
EMBED_TAB_NAME = GladeVCP
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
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/taz/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 8.333333
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
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
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96.0

[HAL]
HALUI = halui
HALFILE = workBee_Base.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH

[TRAJ]
COORDINATES =  XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.00
MAX_LINEAR_VELOCITY = 20.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

#******************************************
[AXIS_X]
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 10.0
MIN_LIMIT = -200.0
MAX_LIMIT = 300.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 10.0
# 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 = 20.83
STEPGEN_MAXACCEL = 12.50
P = 1000.0
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    = 1500
STEPLEN    = 7000
STEPSPACE  = 500
STEP_SCALE = 200.0
MIN_LIMIT = -200.0
MAX_LIMIT = 300.0
HOME_OFFSET = 0.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 12.0
MIN_LIMIT = -400.0
MAX_LIMIT = 500.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 12.0
# 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 = 25.00
STEPGEN_MAXACCEL = 15.00
P = 1000.0
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    = 1000
STEPLEN    = 5000
STEPSPACE  = 500
STEP_SCALE = 200.0
MIN_LIMIT = -400.0
MAX_LIMIT = 500.0
HOME_OFFSET = 0.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 12.0
# 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 = 25.00
STEPGEN_MAXACCEL = 15.00
P = 1000.0
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    = 1000
STEPLEN    = 5000
STEPSPACE  = 500
STEP_SCALE = 200.0
MIN_LIMIT = -400.0
MAX_LIMIT = 500.0
HOME_OFFSET = 0.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 13.3333333333
MAX_ACCELERATION = 10.0
MIN_LIMIT = -30.0
MAX_LIMIT = 30.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 13.3333333333
MAX_ACCELERATION = 10.0
# 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 = 16.67
STEPGEN_MAXACCEL = 12.50
P = 1000.0
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    = 1500
STEPLEN    = 7000
STEPSPACE  = 500
STEP_SCALE = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 30.0
HOME_OFFSET = 0.0
#******************************************

[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2000.0
# Generated by PNCconf at Sun May  9 17:06:17 2021
# Using LinuxCNC version:  2.8
# 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="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" 
setp    hm2_7i96.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s

addf hm2_7i96.0.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.y2.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_7i96.0.write         servo-thread

# external output signals

# --- MACHINE-IS-ENABLED ---
net machine-is-enabled  =>     hm2_7i96.0.ssr.00.out-02

# --- DOUT-00 ---
net dout-00  =>     hm2_7i96.0.ssr.00.out-03

# --- SPINDLE-ENABLE ---
net spindle-enable  =>     hm2_7i96.0.ssr.00.out-04


# external input signals

# --- PROBE-IN ---
net probe-in     <=  hm2_7i96.0.gpio.010.in


#*******************
#  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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700

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_7i96.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i96.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i96.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i96.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i96.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i96.0.stepgen.00.step_type        0
setp   hm2_7i96.0.stepgen.00.control-type     1
setp   hm2_7i96.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i96.0.stepgen.00.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_7i96.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i96.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i96.0.stepgen.00.enable

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

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y.maxerror 0.012700

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_7i96.0.stepgen.03.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i96.0.stepgen.03.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i96.0.stepgen.03.steplen         [JOINT_1]STEPLEN
setp   hm2_7i96.0.stepgen.03.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i96.0.stepgen.03.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i96.0.stepgen.03.step_type        0
setp   hm2_7i96.0.stepgen.03.control-type     1
setp   hm2_7i96.0.stepgen.03.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i96.0.stepgen.03.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_7i96.0.stepgen.03.velocity-cmd
net y-pos-fb     <= hm2_7i96.0.stepgen.03.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i96.0.stepgen.03.enable

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

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

#*******************
#  Tandem AXIS Y2 JOINT 2
#*******************

setp   pid.y2.Pgain     [JOINT_2]P
setp   pid.y2.Igain     [JOINT_2]I
setp   pid.y2.Dgain     [JOINT_2]D
setp   pid.y2.bias      [JOINT_2]BIAS
setp   pid.y2.FF0       [JOINT_2]FF0
setp   pid.y2.FF1       [JOINT_2]FF1
setp   pid.y2.FF2       [JOINT_2]FF2
setp   pid.y2.deadband  [JOINT_2]DEADBAND
setp   pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y2.maxerror 0.012700

net y2-index-enable  <=> pid.y2.index-enable
net y2-enable        =>  pid.y2.enable
net y2-pos-cmd       =>  pid.y2.command
net y2-pos-fb        =>  pid.y2.feedback
net y2-output        <=  pid.y2.output

# Step Gen signals/setup for tandem axis

setp   hm2_7i96.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i96.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i96.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_7i96.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i96.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i96.0.stepgen.02.step_type        0
setp   hm2_7i96.0.stepgen.02.control-type     1
setp   hm2_7i96.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i96.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y2-pos-cmd    <= joint.2.motor-pos-cmd
net y2-vel-cmd    <= joint.2.vel-cmd
net y2-output     <= hm2_7i96.0.stepgen.02.velocity-cmd
net y2-pos-fb     <= hm2_7i96.0.stepgen.02.position-fb
net y2-pos-fb     => joint.2.motor-pos-fb
net y2-enable     <= joint.2.amp-enable-out
net y2-enable     => hm2_7i96.0.stepgen.02.enable

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

net y2-home-sw     =>  joint.2.home-sw-in
net y2-neg-limit     =>  joint.2.neg-lim-sw-in
net y2-pos-limit     =>  joint.2.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 3
#*******************

setp   pid.z.Pgain     [JOINT_3]P
setp   pid.z.Igain     [JOINT_3]I
setp   pid.z.Dgain     [JOINT_3]D
setp   pid.z.bias      [JOINT_3]BIAS
setp   pid.z.FF0       [JOINT_3]FF0
setp   pid.z.FF1       [JOINT_3]FF1
setp   pid.z.FF2       [JOINT_3]FF2
setp   pid.z.deadband  [JOINT_3]DEADBAND
setp   pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

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_7i96.0.stepgen.01.dirsetup        [JOINT_3]DIRSETUP
setp   hm2_7i96.0.stepgen.01.dirhold         [JOINT_3]DIRHOLD
setp   hm2_7i96.0.stepgen.01.steplen         [JOINT_3]STEPLEN
setp   hm2_7i96.0.stepgen.01.stepspace       [JOINT_3]STEPSPACE
setp   hm2_7i96.0.stepgen.01.position-scale  [JOINT_3]STEP_SCALE
setp   hm2_7i96.0.stepgen.01.step_type        0
setp   hm2_7i96.0.stepgen.01.control-type     1
setp   hm2_7i96.0.stepgen.01.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
setp   hm2_7i96.0.stepgen.01.maxvel           [JOINT_3]STEPGEN_MAXVEL
setp   hm2_7i96.0.stepgen.01.direction.invert_output   true

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.3.motor-pos-cmd
net z-vel-cmd    <= joint.3.vel-cmd
net z-output     <= hm2_7i96.0.stepgen.01.velocity-cmd
net z-pos-fb     <= hm2_7i96.0.stepgen.01.position-fb
net z-pos-fb     => joint.3.motor-pos-fb
net z-enable     <= joint.3.amp-enable-out
net z-enable     => hm2_7i96.0.stepgen.01.enable

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

net z-home-sw     =>  joint.3.home-sw-in
net z-neg-limit     =>  joint.3.neg-lim-sw-in
net z-pos-limit     =>  joint.3.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---

net dout-00     <=  motion.digital-out-00
#  ---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
Last edit: 10 May 2021 01:01 by Taz.

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