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Attach the proper files, what are we supposed to do with crippled files?

ip a
 

I'm new to LinuxCNC and hobbyist machining.  For some reason, jogging isn't working on my 3 Axis setup. I feel like I'm just missing one critical configuration but can't figure it out.  I got homing to work from the Axis GUI, but jogging doesn't work. 

I've posted my INI files and HAL files.  I've only included X axis configurations for brevity.  Any tips ?

System Details
* Raspberry Pi 5 
* LinuxCNC 2.9.3

Hey kind folks,

I am working to configure a Raspberry pi 4B to run LinuxCNC for a two-axis machine I'm building.  I am using the HAL driver for Raspberrry PI GPIO pins (hal_pi_gpio).

I am proposing to use the following pins:

net Xdir => hal_pi_gpio.pin-15-out
net Xstep => hal_pi_gpio.pin-16-out
net Ydir => hal_pi_gpio.pin-18-out
net Ystep => hal_pi_gpio.pin-22-out

When I start LinuxCNC the HAL file appears to be loading properly.

But if I go to a terminal and say Halcmd show pins  - it appears to be showing my pins configured as INPUTS - not outputs?
(I'm assuming that's what the direction column in the show pins command means).

nc@raspberrypi:~/Desktop$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
 
    28  bit   IN          FALSE  hal_pi_gpio.pin-15-out <== Xdir
    28  bit   IN          FALSE  hal_pi_gpio.pin-16-out <== Xstep
    28  bit   IN          FALSE  hal_pi_gpio.pin-18-out <== Ydir
    28  bit   IN          FALSE  hal_pi_gpio.pin-22-out <== Ystep

I'm pretty sure I did the math on the mask right although I could be wrong. To confirm, I just tried masking for one output and it still shows up as IN.

The documentation says I should add up the hex values for all pins that should be configured as an output which I think is what I've done.  

Anyone see what I'm missing?  Thanks!!!!

my full .hal file follows:


# Generated by stepconf 1.1 at Fri Nov 17 17:18:50 2023
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

# Load the Raspberry Pi GPIO driver
loadrt hal_pi_gpio dir=0x00F00040


loadrt stepgen step_type=0,0


# Add to the base thread

addf hal_pi_gpio.read base-thread  
addf stepgen.make-pulses base-thread
addf hal_pi_gpio.write base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread


# Configure output pins
net Xdir => hal_pi_gpio.pin-15-out
net Xstep => hal_pi_gpio.pin-16-out
net Ydir => hal_pi_gpio.pin-18-out
net Ystep => hal_pi_gpio.pin-22-out

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed 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


 

Hey thanks for that information! I think it will probably be fine for my needs, mostly light duty stuff and the stage I have planned seems rigid enough. I kind of want to give it a go and see the results. If anybody has more information or examples on how this configuration might work that would be appreciated. I'm digging into the manual , still at a bit of a loss on where to start.

My computer is not connected to the internet and has no wifi should I connect to the internet and try again? I used a cable to do the installation and then I disconnected it to connect the 7i76e.

 
Hi Hamel2020, 

I am currently attempting to integrate computer vision in a cnc machine to develop a closed-loop system. My idea was also to hopefully update the original g-code in real-time but I have been also recommended to use external offsets instead. What progress have you made? Thanks!
 

Yes, looks like you have no network connectivity.

What does

ip a

report

Sorry but i can not help you with stuff i have no clue about, the bash is trying to run an executable file that i do not know what it contains, etc, etc.
I do admire your will to try and fix it and you being hell bent on learning new stuff, but at some point you have to cut the losses and move on.
Find another hard drive, cheap used one, install everything you need, and if this succeeds, then get rid of the old one. This way you still have a backup.

On your screenshot, it clearly states to do
sudo apt-get update
and try again
Although, this being a networking issue, i have to ask:
-how is the PC wired to internet?
-If wired through cable, did you revert back the network settings?

Hello tommylight! I know, you said this somewhere at the beginning of this thread. I must say, I did not know anything about the fickleness of this theme. I am (now as before) absolute newbie to Linux and Linuxcnc, I made my config with the wizard and afaik, I did not touch the /etc/network files at any time until someone in this thread told me to do this. I did not play around with settings but tried to consolidate the network with the help of the guys here. If I have done sth. wrong, I apologize.

Any help with my latest questions (bash) is welcome.

Cheers, Hanno

 

Thank you! Yes, I also use it as a control panel.
OK, no problem!

I think it could be done in multiple ways. I'm sure you should be able to find some configuration examples out there where people have set up Linuxcnc to control knee mills with both the quill and knee contributing to the Z axis position, this would be nearly identical.

It might be better to simply do it using X and U axis, where U would be the extra stage mounted on the X. This set up would give you better control over when and how each axis is used. Alternatively you could simply use a Kinematics model were X is the sum of the two X axis joints, but this might give you less control over when or how each joint contributed to the position and movement of X.

It may even be possible to configure it using a custom Kinematics where the X-axis = joint0 + joint3 and the U-axis = joint3. Allowing you to use U commands to control the extra stage's position, but still have it automatically contribute to the final X position.

(I have never actually tried any of this myself.)

All that said, is this really a good idea? Adding a lot of cantilevered forces and movement beyond the machine's designed structure could have less than desirable results (such as magnifying/multiplying tolerance errors and greatly reduced rigidity.)

Since the 7I73 was designed for control panels and not direct machine control
it does not automatically disable outputs on a fault. I suppose that feature could
be added but it might make more sense to use a 7I84/7I84U in that case.