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[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/jmpm/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
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
CYCLE_TIME = 100

[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 = G21 G40 G90 G94 G97 G64 P0.025

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** Esto es sólo para información ****
CARD0=hm2_7i96s.0


[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_machine.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal


[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Los valores a continuación deben ser un 25% más grandes que MAX_VELOCITY y MAX_ACCELERATION
# Si se usa compensación de CONTRAGOLPE, STEPGEN_MAXACCEL debe ser 100% mayor.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
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
# estos son en nanosegundos
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Los valores a continuación deben ser un 25% más grandes que MAX_VELOCITY y MAX_ACCELERATION
# Si se usa compensación de CONTRAGOLPE, STEPGEN_MAXACCEL debe ser 100% mayor.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
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
# estos son en nanosegundos
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Los valores a continuación deben ser un 25% más grandes que MAX_VELOCITY y MAX_ACCELERATION
# Si se usa compensación de CONTRAGOLPE, STEPGEN_MAXACCEL debe ser 100% mayor.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
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
# estos son en nanosegundos
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

[HM2ETH]
IP = 192.168.1.121
Interface = enp2s0

Hi!

# Generado por PNCconf en Mon Oct 13 14:42:16 2025
# Utilizando la versión LinuxCNC: Master (2.9)
# Si realiza cambios en este archivo, serán
# sobrescrito cuando ejecuta PNCconf nuevamente

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=1 num_stepgens=5 sserial_port_0=0xxxxxxx"
setp hm2_7i96s.0.pwmgen.pwm_frequency 20000
setp hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp hm2_7i96s.0.watchdog.timeout_ns 5000000

# loadrt hal_parport cfg="0 out" # <-- comentado
loadrt pid names=pid.x,pid.y,pid.z,pid.s

#addf parport.0.read servo-thread <-- comentado/eliminado
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 parport.0.write servo-thread <-- comentado/eliminado
addf hm2_7i96s.0.write servo-thread

setp hm2_7i96s.0.dpll.01.timer-us -50
setp hm2_7i96s.0.stepgen.timer-number 1

# señales de salida externas
# señales de entrada externas

#*******************
# 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 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

# Stepgen X
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

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

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

Hi...need help..on 5 axis setup...A Axis now is not coordinated..also gives false warnings about going beyond a limits in file at line 72...
I have used this machine before in a similar way but not rotating more that 90 degrees either way...seems like it keeps looking to end of file and then starts moving continuous ahead of other axis??

Thanks for any help!!

Rick

You are welcomed, always.

Parport base address set to 0x2000 is the solution. Now the motor is working! Thank you very much!

I have a something similar setup and you should be able to do it with the one configuration. Since linuxcnc supports multiple spindles I just made another spindle instance and then used a mux2 component to switch between outputting the axis velocity and spindle velocity to the mesa stepgen.  I think I just used the spindle.1.on signal to switch the mux2 component.  That way when I issue m3 s100 $1 it will run the second spindle at 100 rpm.  There could be some issues keeping position if you switch back and forth between the modes depending on how things are setup.    

In StepConf wizard, the "parallel port" page there is an entry for "parport base address" so set that to 0x2000 and test if the stepper moves.
If not, also try 0x2010 but it would be good to reboot the PC before testing it.

Habe ich das mit der Konfig der mesa Karten richtig verstanden, dass ich zuerst herausfinden muss wieviele Ein- und Ausgänge ich brauche um dann die passende Konfig auf die Karte zu spielen?

Installiere linuxcnc auf den Raspberry und starte einfach pncconf, dann kannst du dir die Mesakarte aussuchen und siehst selber was man braucht.
Du brauchst die Steigung deiner Spindeln (der Hersteller gibt 0.00375mm/schritt an, also vermutlich 1.5 oder 3 mm).
In pncconf werden Takt/Richtung für die Achsen fix vergeben sein, du musst den Pins nur korrekte Achsen zuordnen. Dann noch angeben an welchen Pins welche Endschalter hängen und das war eigentlich schon alles. Also praktisch nur von deiner HAL-Datei abschreiben.
Oder du schaust hier:  linuxcnc.org/docs/html/config/pncconf.html

If the "Emergency Stop" button (red X) does nothing, this is likely an issue in the hal or ini files.

Can you post your hal/ini files here?

Axis should look something like this initially (before estop is released):


 


After Estop is released and before power (Orange button) is on:


 


and after power is on:


 


 

On the stepper driver, the led is green and on the BOB there are 3 red led lights. I have a 36V 11A Stepperonline and a 24V 6A MeanWell power supply. I measured the output of the power supplies and they are working properly. For now, I just connected the X axis to test if the wiring is correctly and to learn to operate LinuxCNC.I also tried with another driver and stepper motor but is the same. Maybe because I didn't connected the Y and Z axis the stepper motor is not moving? Thank you for your time!

Hello. I have installed the latest version of LinuxCNC. Everything seems to be correct, but I cannot see the jogs to control the motors on the interface and the red ‘X’ does nothing. I do not know what to do. I cannot find a way to continue. Thank you.

   

Weird.

Is the status LED red or green?

Are the Y and Z axes also controlled via stepper motors?

Try connecting them to the X-axis driver.

Perhaps your power supply is at fault?

What is your power supply?

You should be able to take the oritinal working ini file and copy it into it's original configuration directory, Saving it with a new name .ini.

Then you without making any changes to the original ini file other than it's name start the configuration. It of course will still be the same but have a new name. Then start making small changes to the ini file. You need to be aware of any variable references to the ini file that the hal file(s) use, and if any of them refer to sections of the ini that you are changing you will need to address them. These are very common in the sections of hal code referring to the joints and axis. There is a good chance you will have to make a copy of the main hal file, rename, and make changes there to go along with your ini changes.

I was talking about the index from the motorencoder - the inductive sensor is seen only once per rev.

Hi ruediger,

ich versuche gerade auch LinuxCNC mit IndraDrive CS HCS01.1E-W0028-A-03-B-ET-EC-NN-NN-NN-FW Treibern zu verbinden. Dafür verwende ich 2 Linearmotoren und und ein Standardservo. Ich bin erst recht neu in dem ganzen LinuxCnC Thematik. Ich habe bereits der Treiber auf CoE umgestellt, wodurch man diese dann ja nicht mehr im Indradrive finden kann bzw anpingen kann, was man dann ja über EoE beheben kann. Wie schwierig ist es die Treiber im LinuxCnC zum laufen zu bringen und wie bist du vorgegangen?

Gruß Timo