Having Trouble getting encoder to work. Amt102-v 5 wire
- Mark Kraus
- Online
- New Member
-
Less
More
- Posts: 9
- Thank you received: 1
26 Jan 2026 21:40 #341972
by Mark Kraus
Having Trouble getting encoder to work. Amt102-v 5 wire was created by Mark Kraus
I was wondering if someone could take a look at my hal and ini files and tell me why i have not encoder count on my halshow but the at speed light is green. All of this worked in uccnc before i switched over. I set the encoder to 1024 ppr. I have 5volts going to encoder.
# Generated by PNCconf at Mon Jan 26 15:37:21 2026
# Using LinuxCNC version: Master (2.9)
# 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=1 num_stepgens=5 sserial_port_0=0xxxxxxx"
setp hm2_7i96s.0.pwmgen.pwm_frequency 5000
setp hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp hm2_7i96s.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt near
addf hm2_7i96s.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 near.0 servo-thread
addf hm2_7i96s.0.write servo-thread
setp hm2_7i96s.0.dpll.01.timer-us -50
setp hm2_7i96s.0.stepgen.timer-number 1
# external output signals
# --- SPINDLE-BRAKE ---
net spindle-brake => hm2_7i96s.0.ssr.00.out-00
# --- COOLANT-MIST ---
net coolant-mist => hm2_7i96s.0.ssr.00.out-01
# --- SPINDLE-CW ---
net spindle-cw => hm2_7i96s.0.outm.00.out-04
# --- SPINDLE-CCW ---
net spindle-ccw => hm2_7i96s.0.outm.00.out-05
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i96s.0.inm.00.input-00
# --- ALL-LIMIT ---
net all-limit <= hm2_7i96s.0.inm.00.input-01
#*******************
# 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 0.000500
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_7i96s.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i96s.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i96s.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i96s.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i96s.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i96s.0.stepgen.00.step_type 0
setp hm2_7i96s.0.stepgen.00.control-type 1
setp hm2_7i96s.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i96s.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_7i96s.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i96s.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_7i96s.0.stepgen.00.enable
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net all-limit => joint.0.neg-lim-sw-in
net all-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 0.000500
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_7i96s.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i96s.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i96s.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i96s.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i96s.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i96s.0.stepgen.01.step_type 0
setp hm2_7i96s.0.stepgen.01.control-type 1
setp hm2_7i96s.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.01.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_7i96s.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i96s.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i96s.0.stepgen.01.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net all-limit => joint.1.neg-lim-sw-in
net all-limit => 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
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_7i96s.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96s.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96s.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i96s.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96s.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96s.0.stepgen.02.step_type 0
setp hm2_7i96s.0.stepgen.02.control-type 1
setp hm2_7i96s.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.02.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_7i96s.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i96s.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i96s.0.stepgen.02.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net all-limit => joint.2.neg-lim-sw-in
net all-limit => 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
# ---PWM Generator signals/setup---
setp hm2_7i96s.0.pwmgen.00.output-type 1
setp hm2_7i96s.0.pwmgen.00.scale [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i96s.0.pwmgen.00.value
net spindle-enable => hm2_7i96s.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96s.0.encoder.00.counter-mode 0
setp hm2_7i96s.0.encoder.00.filter 1
setp hm2_7i96s.0.encoder.00.index-invert 0
setp hm2_7i96s.0.encoder.00.index-mask 0
setp hm2_7i96s.0.encoder.00.index-mask-invert 0
setp hm2_7i96s.0.encoder.00.scale [SPINDLE_0]ENCODER_SCALE
net spindle-revs <= hm2_7i96s.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i96s.0.encoder.00.velocity
net spindle-vel-fb-rpm <= hm2_7i96s.0.encoder.00.velocity-rpm
net spindle-index-enable <=> hm2_7i96s.0.encoder.00.index-enable
# ---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---
net spindle-vel-cmd-rps => near.0.in1
net spindle-vel-fb-rps => near.0.in2
net spindle-at-speed <= near.0.out
setp near.0.scale 1.000000
setp near.0.difference 1.666667
#******************************
# 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---
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
# ---ignore tool prepare requests---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Generated by PNCconf at Mon Jan 26 15:37:21 2026
# Using LinuxCNC version: Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = Bridgeportsimple2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = qtvcp qtdragon
PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_0_OVERRIDE = 2.000000
MIN_SPINDLE_0_OVERRIDE = 0.500000
DEFAULT_SPINDLE_0_SPEED = 500
MIN_SPINDLE_0_SPEED = 100
MAX_SPINDLE_0_SPEED = 2500
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/debian/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
CYCLE_TIME = 100
[MDI_COMMAND_LIST]
MDI_COMMAND = G0 Z0;X0 Y0
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0
[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
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1200000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96s.0
[HAL]
HALUI = halui
HALFILE = Bridgeportsimple2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = qtvcp_postgui.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.15
MAX_LINEAR_VELOCITY = 1.48
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 1.1666666666666667
MAX_ACCELERATION = 10.0
MIN_LIMIT = -7.0
MAX_LIMIT = 8.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.1666666666666667
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 = 2.33
STEPGEN_MAXACCEL = 20.00
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 = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 4000.0
BACKLASH = 0.001
MIN_LIMIT = -7.0
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 10.0
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
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 = 2.00
STEPGEN_MAXACCEL = 20.00
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 = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -16000.0
BACKLASH = 0.001
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 1.4833333333333334
MAX_ACCELERATION = 10.0
MIN_LIMIT = -3.0
MAX_LIMIT = 5.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.4833333333333334
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 = 2.97
STEPGEN_MAXACCEL = 20.00
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 = 2000
DIRHOLD = 2000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = -65000.0
BACKLASH = 0.001
MIN_LIMIT = -3.0
MAX_LIMIT = 5.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************
[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
ENCODER_SCALE = 4096.0
OUTPUT_SCALE = 2000
OUTPUT_MIN_LIMIT = -2000
OUTPUT_MAX_LIMIT = 2000
# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again
# Custom spindle analog PWM setup for 7i96S TB2 (pot replacement mode)
# This file will not be overwritten when you run PNCconf again
setp hm2_7i96s.0.pwmgen.00.scale 3500 # Max RPM = full ~10V output
# Let pncconf's existing connection handle the value signal
# (it usually connects pwmgen.00.value to spindle-output or similar)
# Enable the PWMgen when spindle is on
#net spindle-on spindle.0.on => hm2_7i96s.0.pwmgen.00.enable
# Optional: Digital FWD enable on TB3 (OUT4 for example)
# net spindle-on hm2_7i96s.0.ssr.00.out-04 # Adjust out-04 to match your assignment
# ============================================
# Spindle Encoder RPM Display Fix (Ultimate Final - No Encoder Pin Nets)
# Only setp for encoder config + single bridge net on display side
# Zero duplicate warnings, pncconf-safe
# ============================================
# Encoder configuration (setp only - completely safe)
setp hm2_7i96s.0.encoder.00.counter-mode 0 # Quadrature A/B/Z
setp hm2_7i96s.0.encoder.00.filter 1 # Filter noise/blips
# Scale - CHANGE THIS to your actual PPR × 4
# Test: Spin shaft 1 full turn by hand → count change / 4 = PPR
# Common AMT102-V settings: 400 CPR → 1600, 1000 → 4000, 1024 → 4096
setp hm2_7i96s.0.encoder.00.scale 4096 # ← EDIT THIS LINE !!!
# Optional: Invert A/B if direction is reversed (counts decrease on forward spin)
# setp hm2_7i96s.0.encoder.00.phase-a-invert 1
# setp hm2_7i96s.0.encoder.00.phase-b-invert 1
# Route pncconf's existing velocity signal to QtDragon RPM display pin
# This is the only net - it never touches encoder pins
# net spindle-vel-fb-rpm => spindle.0.speed-in-rpm
# Optional: Extra smoothing to eliminate random blips when stopped
# Uncomment if blips persist after scale fix
# loadrt lowpass
# addf lowpass.0 servo-thread
# setp lowpass.0.gain 0.05 # Lower = smoother (0.01–0.1 range)
# net spindle-velocity-filtered lowpass.0.out => spindle.0.speed-in-rpm
# Generated by PNCconf at Mon Jan 26 15:37:21 2026
# Using LinuxCNC version: Master (2.9)
# 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=1 num_stepgens=5 sserial_port_0=0xxxxxxx"
setp hm2_7i96s.0.pwmgen.pwm_frequency 5000
setp hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp hm2_7i96s.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt near
addf hm2_7i96s.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 near.0 servo-thread
addf hm2_7i96s.0.write servo-thread
setp hm2_7i96s.0.dpll.01.timer-us -50
setp hm2_7i96s.0.stepgen.timer-number 1
# external output signals
# --- SPINDLE-BRAKE ---
net spindle-brake => hm2_7i96s.0.ssr.00.out-00
# --- COOLANT-MIST ---
net coolant-mist => hm2_7i96s.0.ssr.00.out-01
# --- SPINDLE-CW ---
net spindle-cw => hm2_7i96s.0.outm.00.out-04
# --- SPINDLE-CCW ---
net spindle-ccw => hm2_7i96s.0.outm.00.out-05
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i96s.0.inm.00.input-00
# --- ALL-LIMIT ---
net all-limit <= hm2_7i96s.0.inm.00.input-01
#*******************
# 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 0.000500
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_7i96s.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i96s.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i96s.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i96s.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i96s.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i96s.0.stepgen.00.step_type 0
setp hm2_7i96s.0.stepgen.00.control-type 1
setp hm2_7i96s.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i96s.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_7i96s.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i96s.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_7i96s.0.stepgen.00.enable
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net all-limit => joint.0.neg-lim-sw-in
net all-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 0.000500
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_7i96s.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i96s.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i96s.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i96s.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i96s.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i96s.0.stepgen.01.step_type 0
setp hm2_7i96s.0.stepgen.01.control-type 1
setp hm2_7i96s.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.01.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_7i96s.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i96s.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i96s.0.stepgen.01.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net all-limit => joint.1.neg-lim-sw-in
net all-limit => 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
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_7i96s.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96s.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96s.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i96s.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96s.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96s.0.stepgen.02.step_type 0
setp hm2_7i96s.0.stepgen.02.control-type 1
setp hm2_7i96s.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.02.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_7i96s.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i96s.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i96s.0.stepgen.02.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net all-limit => joint.2.neg-lim-sw-in
net all-limit => 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
# ---PWM Generator signals/setup---
setp hm2_7i96s.0.pwmgen.00.output-type 1
setp hm2_7i96s.0.pwmgen.00.scale [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i96s.0.pwmgen.00.value
net spindle-enable => hm2_7i96s.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96s.0.encoder.00.counter-mode 0
setp hm2_7i96s.0.encoder.00.filter 1
setp hm2_7i96s.0.encoder.00.index-invert 0
setp hm2_7i96s.0.encoder.00.index-mask 0
setp hm2_7i96s.0.encoder.00.index-mask-invert 0
setp hm2_7i96s.0.encoder.00.scale [SPINDLE_0]ENCODER_SCALE
net spindle-revs <= hm2_7i96s.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i96s.0.encoder.00.velocity
net spindle-vel-fb-rpm <= hm2_7i96s.0.encoder.00.velocity-rpm
net spindle-index-enable <=> hm2_7i96s.0.encoder.00.index-enable
# ---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---
net spindle-vel-cmd-rps => near.0.in1
net spindle-vel-fb-rps => near.0.in2
net spindle-at-speed <= near.0.out
setp near.0.scale 1.000000
setp near.0.difference 1.666667
#******************************
# 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---
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
# ---ignore tool prepare requests---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Generated by PNCconf at Mon Jan 26 15:37:21 2026
# Using LinuxCNC version: Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = Bridgeportsimple2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = qtvcp qtdragon
PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_0_OVERRIDE = 2.000000
MIN_SPINDLE_0_OVERRIDE = 0.500000
DEFAULT_SPINDLE_0_SPEED = 500
MIN_SPINDLE_0_SPEED = 100
MAX_SPINDLE_0_SPEED = 2500
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/debian/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
CYCLE_TIME = 100
[MDI_COMMAND_LIST]
MDI_COMMAND = G0 Z0;X0 Y0
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0
[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
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1200000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96s.0
[HAL]
HALUI = halui
HALFILE = Bridgeportsimple2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = qtvcp_postgui.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.15
MAX_LINEAR_VELOCITY = 1.48
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 1.1666666666666667
MAX_ACCELERATION = 10.0
MIN_LIMIT = -7.0
MAX_LIMIT = 8.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.1666666666666667
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 = 2.33
STEPGEN_MAXACCEL = 20.00
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 = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 4000.0
BACKLASH = 0.001
MIN_LIMIT = -7.0
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 10.0
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
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 = 2.00
STEPGEN_MAXACCEL = 20.00
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 = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -16000.0
BACKLASH = 0.001
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 1.4833333333333334
MAX_ACCELERATION = 10.0
MIN_LIMIT = -3.0
MAX_LIMIT = 5.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.4833333333333334
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 = 2.97
STEPGEN_MAXACCEL = 20.00
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 = 2000
DIRHOLD = 2000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = -65000.0
BACKLASH = 0.001
MIN_LIMIT = -3.0
MAX_LIMIT = 5.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************
[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
ENCODER_SCALE = 4096.0
OUTPUT_SCALE = 2000
OUTPUT_MIN_LIMIT = -2000
OUTPUT_MAX_LIMIT = 2000
# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again
# Custom spindle analog PWM setup for 7i96S TB2 (pot replacement mode)
# This file will not be overwritten when you run PNCconf again
setp hm2_7i96s.0.pwmgen.00.scale 3500 # Max RPM = full ~10V output
# Let pncconf's existing connection handle the value signal
# (it usually connects pwmgen.00.value to spindle-output or similar)
# Enable the PWMgen when spindle is on
#net spindle-on spindle.0.on => hm2_7i96s.0.pwmgen.00.enable
# Optional: Digital FWD enable on TB3 (OUT4 for example)
# net spindle-on hm2_7i96s.0.ssr.00.out-04 # Adjust out-04 to match your assignment
# ============================================
# Spindle Encoder RPM Display Fix (Ultimate Final - No Encoder Pin Nets)
# Only setp for encoder config + single bridge net on display side
# Zero duplicate warnings, pncconf-safe
# ============================================
# Encoder configuration (setp only - completely safe)
setp hm2_7i96s.0.encoder.00.counter-mode 0 # Quadrature A/B/Z
setp hm2_7i96s.0.encoder.00.filter 1 # Filter noise/blips
# Scale - CHANGE THIS to your actual PPR × 4
# Test: Spin shaft 1 full turn by hand → count change / 4 = PPR
# Common AMT102-V settings: 400 CPR → 1600, 1000 → 4000, 1024 → 4096
setp hm2_7i96s.0.encoder.00.scale 4096 # ← EDIT THIS LINE !!!
# Optional: Invert A/B if direction is reversed (counts decrease on forward spin)
# setp hm2_7i96s.0.encoder.00.phase-a-invert 1
# setp hm2_7i96s.0.encoder.00.phase-b-invert 1
# Route pncconf's existing velocity signal to QtDragon RPM display pin
# This is the only net - it never touches encoder pins
# net spindle-vel-fb-rpm => spindle.0.speed-in-rpm
# Optional: Extra smoothing to eliminate random blips when stopped
# Uncomment if blips persist after scale fix
# loadrt lowpass
# addf lowpass.0 servo-thread
# setp lowpass.0.gain 0.05 # Lower = smoother (0.01–0.1 range)
# net spindle-velocity-filtered lowpass.0.out => spindle.0.speed-in-rpm
Please Log in or Create an account to join the conversation.
Time to create page: 0.164 seconds