How to. 2 or more motors on one axis. Gantry

Thank you. That step was missing or I overlooked it.

So LINUXCNC finally opens without error but I cannot enable the machine (f2). I create a basic ini and hal and it lets me enable the machine but the motors do not turn when I try to jog them from the home screen.

I got the "no hostmot2" error in pncconf but I was able to turn the motors before I modified the hal and ini for the dual motors. I don't know if that matters since I could move the motors, ping the card, etc.

here is my current hal: (I am not sure that I have the # external input signals correctly assigned, I do not have anything connected to those pins yet)
# Generated by PNCconf at Sat Feb 15 16:03:14 2020
# 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="192.168.1.121" config=" num_encoders=1 num_pwmgens=0 num_stepgens=4 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


# external input signals

# --- ESTOP-EXT ---
net estop-ext <= hm2_7i96.0.gpio.000.in

# --- PROBE-IN ---
net probe-in <= hm2_7i96.0.gpio.001.in

# --- MIN-HOME-X ---
net min-home-x <= hm2_7i96.0.gpio.002.in

# --- MAX-X ---
net max-x <= hm2_7i96.0.gpio.003.in

# --- MIN-HOME-Y2 ---
net min-home-y2 <= hm2_7i96.0.gpio.005.in

# --- MAX-Y ---
net max-y <= hm2_7i96.0.gpio.006.in

# --- MAX-Y2 ---
net max-y2 <= hm2_7i96.0.gpio.007.in

# --- MAX-Z ---
net max-z <= hm2_7i96.0.gpio.009.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
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_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 min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net max-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_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 max-y => joint.1.pos-lim-sw-in

#*******************
# AXIS Y 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
setp pid.y2.maxerror .0005

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

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 max-y2 => 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
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_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

# ---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 max-z => joint.3.pos-lim-sw-in


#******************************
# 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-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

And my ini:
# Generated by PNCconf at Sat Feb 15 16:03:14 2020
# Using LinuxCNC version: UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

[DISPLAY]
DISPLAY = axis
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/joe/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.016670
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 = my_LinuxCNC_machine.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=YYXZ

[TRAJ]
COORDINATES = YYXZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
NO_FORCE_HOMING = 1

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 48.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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 = 10000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 3200.0
MIN_LIMIT = -0.001
MAX_LIMIT = 48.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 48.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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 = 10000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 3200.0
MIN_LIMIT = -0.001
MAX_LIMIT = 48.0
HOME_OFFSET = 0.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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 = 10000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 3200.0
MIN_LIMIT = -0.001
MAX_LIMIT = 48.0
HOME_OFFSET = 0.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -4.0
MAX_LIMIT = 0.0

[JOINT_3]
TYPE = LINEAR
HOME = -4.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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 = 10000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 3200.0
MIN_LIMIT = -4.001
MAX_LIMIT = 0.001
HOME_OFFSET = -4.0
#******************************************

Did you home the machine before trying to jog - I'm not sure if pncconf sets up joint jogging before homing.

Do you have an e-stop wired to mesa board ?
If yes, make the input for it inverted.
If no, ommit the line pertaining to e-stop in hal.

J Crowder, I sense your frustation, I have been there myself. Had some great help from RODW (and others), and am happy to share my working Mesa 7i96 gantry style XYYZ cnc config with you

My XYYZ config (all files including .hal and so on)


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Originally my machine used two standard parallel BOB's. I wanted something more modern so I bought a Mesa 7i96 card (more in and outputs for example for my new control panel) and started of with a new config made with BigJohn's excelent 7i96 tool. I merged the two configs and am very happy how everything works now. I use gmoccapy and a touchscreen right now, also a xhc-hb04 for remote control. Gmoccapy does automatic tool measuring with each tool-change (and moves the spindle to a convient location to change the router bit).
My configs are not optimized and could do with some clean up. But it works for now and I am happy. I am sure you could use some of the settings for your setup.

BigJohn's tool:
gnipsel.com/linuxcnc/7i96/index.html (much better then the pncconf that is supplied with LinuxCNC in my opinion.)