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Aciera

02 Sep 2025 15:28 - 02 Sep 2025 17:10

Replied by Aciera on topic halui.mdi-command-NN pins not showing up

halui.mdi-command-NN pins not showing up

Category: HAL

I gather that the 'XZ' config is the one that works, still seems odd that this would create the whole set of 'halui.axis.[x,y,z,a,b,c,u,v,w].*' pins instead of just the expected X and Z axes.

[edit]
Just checked the usual 'axis.ini' on master and it looks like halui creates 'axis' pins for all nine axes even if only 'X', 'Y' and 'Z' are configured. That does not look right to me. Not sure if that is related to the issue at hand though.

[edit2]
changing this section:
github.com/LinuxCNC/linuxcnc/blob/master...r_intf/halui.cc#L873

to this avoids the creation of pins for unconfigured axes:

    for (axis_num = 0; axis_num < EMCMOT_MAX_AXIS; axis_num++) {
        if ( !(axis_mask & (1 << axis_num)) ) { continue; }
        char c = "xyzabcuvw"[axis_num];
        retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->axis_nr_select[axis_num]), comp_id, "halui.axis.%c.select", c);
        if (retval < 0) return retval;
        retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_plus[axis_num]), comp_id, "halui.axis.%c.plus", c);
        if (retval < 0) return retval;
        retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_minus[axis_num]), comp_id, "halui.axis.%c.minus", c);
        if (retval < 0) return retval;
        retval =  hal_pin_float_newf(HAL_IN, &(halui_data->ajog_analog[axis_num]), comp_id, "halui.axis.%c.analog", c);
        if (retval < 0) return retval;
        retval =  hal_pin_float_newf(HAL_IN, &(halui_data->ajog_increment[axis_num]), comp_id, "halui.axis.%c.increment", c);
        if (retval < 0) return retval;
        retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_increment_plus[axis_num]), comp_id, "halui.axis.%c.increment-plus", c);
        if (retval < 0) return retval;
        retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_increment_minus[axis_num]), comp_id, "halui.axis.%c.increment-minus", c);
        if (retval < 0) return retval;
    }

This seems not related to the issue discussed here though.

heaven
heaven

02 Sep 2025 15:08

Replied by heaven on topic Issue with Inverse Kinematics Failing During Homing – 3-Axis Robot with LinuxCNC

Issue with Inverse Kinematics Failing During Homing – 3-Axis Robot with LinuxCNC

Category: HAL

i think you have to build a new kinematic module for 3 axis robot because Genserkins can't be used for less than 6-axis robot. Also keep attention to singularities (your 3 axis robot will have a singularity when link 2 and link 3 are straight line, this can cause kinematic fail)

02 Sep 2025 14:41

Replied by JT on topic halui.mdi-command-NN pins not showing up

halui.mdi-command-NN pins not showing up

Category: HAL

john@cave:~$ halcmd show pin halui
Component Pins:
Owner   Type  Dir         Value  Name
    10  bit   IN          FALSE  halui.abort
    10  float IN              0  halui.axis.a.analog
    10  float IN              0  halui.axis.a.increment
    10  bit   IN          FALSE  halui.axis.a.increment-minus
    10  bit   IN          FALSE  halui.axis.a.increment-plus
    10  bit   IN          FALSE  halui.axis.a.minus
    10  bit   IN          FALSE  halui.axis.a.plus
    10  bit   IN          FALSE  halui.axis.a.select
    10  float IN              0  halui.axis.b.analog
    10  float IN              0  halui.axis.b.increment
    10  bit   IN          FALSE  halui.axis.b.increment-minus
    10  bit   IN          FALSE  halui.axis.b.increment-plus
    10  bit   IN          FALSE  halui.axis.b.minus
    10  bit   IN          FALSE  halui.axis.b.plus
    10  bit   IN          FALSE  halui.axis.b.select
    10  float IN              0  halui.axis.c.analog
    10  float IN              0  halui.axis.c.increment
    10  bit   IN          FALSE  halui.axis.c.increment-minus
    10  bit   IN          FALSE  halui.axis.c.increment-plus
    10  bit   IN          FALSE  halui.axis.c.minus
    10  bit   IN          FALSE  halui.axis.c.plus
    10  bit   IN          FALSE  halui.axis.c.select
    10  float IN            0.2  halui.axis.jog-deadband
    10  float IN              0  halui.axis.jog-speed
    10  u32   OUT    0x00000000  halui.axis.selected
    10  float IN              0  halui.axis.selected.increment
    10  bit   IN          FALSE  halui.axis.selected.increment-minus
    10  bit   IN          FALSE  halui.axis.selected.increment-plus
    10  bit   IN          FALSE  halui.axis.selected.minus
    10  bit   IN          FALSE  halui.axis.selected.plus
    10  float IN              0  halui.axis.u.analog
    10  float IN              0  halui.axis.u.increment
    10  bit   IN          FALSE  halui.axis.u.increment-minus
    10  bit   IN          FALSE  halui.axis.u.increment-plus
    10  bit   IN          FALSE  halui.axis.u.minus
    10  bit   IN          FALSE  halui.axis.u.plus
    10  bit   IN          FALSE  halui.axis.u.select
    10  float IN              0  halui.axis.v.analog
    10  float IN              0  halui.axis.v.increment
    10  bit   IN          FALSE  halui.axis.v.increment-minus
    10  bit   IN          FALSE  halui.axis.v.increment-plus
    10  bit   IN          FALSE  halui.axis.v.minus
    10  bit   IN          FALSE  halui.axis.v.plus
    10  bit   IN          FALSE  halui.axis.v.select
    10  float IN              0  halui.axis.w.analog
    10  float IN              0  halui.axis.w.increment
    10  bit   IN          FALSE  halui.axis.w.increment-minus
    10  bit   IN          FALSE  halui.axis.w.increment-plus
    10  bit   IN          FALSE  halui.axis.w.minus
    10  bit   IN          FALSE  halui.axis.w.plus
    10  bit   IN          FALSE  halui.axis.w.select
    10  float IN              0  halui.axis.x.analog
    10  float IN              0  halui.axis.x.increment
    10  bit   IN          FALSE  halui.axis.x.increment-minus
    10  bit   IN          FALSE  halui.axis.x.increment-plus
    10  bit   OUT          TRUE  halui.axis.x.is-selected
    10  bit   IN          FALSE  halui.axis.x.minus
    10  bit   IN          FALSE  halui.axis.x.plus
    10  float OUT             0  halui.axis.x.pos-commanded
    10  float OUT             0  halui.axis.x.pos-feedback
    10  float OUT             0  halui.axis.x.pos-relative
    10  bit   IN          FALSE  halui.axis.x.select
    10  float IN              0  halui.axis.y.analog
    10  float IN              0  halui.axis.y.increment
    10  bit   IN          FALSE  halui.axis.y.increment-minus
    10  bit   IN          FALSE  halui.axis.y.increment-plus
    10  bit   IN          FALSE  halui.axis.y.minus
    10  bit   IN          FALSE  halui.axis.y.plus
    10  bit   IN          FALSE  halui.axis.y.select
    10  float IN              0  halui.axis.z.analog
    10  float IN              0  halui.axis.z.increment
    10  bit   IN          FALSE  halui.axis.z.increment-minus
    10  bit   IN          FALSE  halui.axis.z.increment-plus
    10  bit   OUT         FALSE  halui.axis.z.is-selected
    10  bit   IN          FALSE  halui.axis.z.minus
    10  bit   IN          FALSE  halui.axis.z.plus
    10  float OUT             0  halui.axis.z.pos-commanded
    10  float OUT             0  halui.axis.z.pos-feedback
    10  float OUT             0  halui.axis.z.pos-relative
    10  bit   IN          FALSE  halui.axis.z.select
    10  bit   IN          FALSE  halui.estop.activate
    10  bit   OUT          TRUE  halui.estop.is-activated
    10  bit   IN          FALSE  halui.estop.reset
    10  bit   IN           TRUE  halui.feed-override.count-enable
    10  s32   IN              0  halui.feed-override.counts
    10  bit   IN          FALSE  halui.feed-override.decrease
    10  bit   IN          FALSE  halui.feed-override.direct-value
    10  bit   IN          FALSE  halui.feed-override.increase
    10  bit   IN          FALSE  halui.feed-override.reset
    10  float IN            0.1  halui.feed-override.scale
    10  float OUT             1  halui.feed-override.value
    10  bit   OUT         FALSE  halui.flood.is-on
    10  bit   IN          FALSE  halui.flood.off
    10  bit   IN          FALSE  halui.flood.on
    10  bit   IN          FALSE  halui.home-all
    10  float IN              0  halui.joint.0.analog
    10  bit   OUT         FALSE  halui.joint.0.has-fault
    10  bit   IN          FALSE  halui.joint.0.home
    10  float IN              0  halui.joint.0.increment
    10  bit   IN          FALSE  halui.joint.0.increment-minus
    10  bit   IN          FALSE  halui.joint.0.increment-plus
    10  bit   OUT         FALSE  halui.joint.0.is-homed
    10  bit   OUT          TRUE  halui.joint.0.is-selected
    10  bit   IN          FALSE  halui.joint.0.minus
    10  bit   OUT         FALSE  halui.joint.0.on-hard-max-limit
    10  bit   OUT         FALSE  halui.joint.0.on-hard-min-limit
    10  bit   OUT         FALSE  halui.joint.0.on-soft-max-limit
    10  bit   OUT         FALSE  halui.joint.0.on-soft-min-limit
    10  bit   OUT         FALSE  halui.joint.0.override-limits
    10  bit   IN          FALSE  halui.joint.0.plus
    10  bit   IN          FALSE  halui.joint.0.select
    10  bit   IN          FALSE  halui.joint.0.unhome
    10  float IN              0  halui.joint.1.analog
    10  bit   OUT         FALSE  halui.joint.1.has-fault
    10  bit   IN          FALSE  halui.joint.1.home
    10  float IN              0  halui.joint.1.increment
    10  bit   IN          FALSE  halui.joint.1.increment-minus
    10  bit   IN          FALSE  halui.joint.1.increment-plus
    10  bit   OUT         FALSE  halui.joint.1.is-homed
    10  bit   OUT         FALSE  halui.joint.1.is-selected
    10  bit   IN          FALSE  halui.joint.1.minus
    10  bit   OUT         FALSE  halui.joint.1.on-hard-max-limit
    10  bit   OUT         FALSE  halui.joint.1.on-hard-min-limit
    10  bit   OUT         FALSE  halui.joint.1.on-soft-max-limit
    10  bit   OUT         FALSE  halui.joint.1.on-soft-min-limit
    10  bit   OUT         FALSE  halui.joint.1.override-limits
    10  bit   IN          FALSE  halui.joint.1.plus
    10  bit   IN          FALSE  halui.joint.1.select
    10  bit   IN          FALSE  halui.joint.1.unhome
    10  float IN            0.2  halui.joint.jog-deadband
    10  float IN              0  halui.joint.jog-speed
    10  u32   OUT    0x00000000  halui.joint.selected
    10  bit   OUT         FALSE  halui.joint.selected.has-fault
    10  bit   IN          FALSE  halui.joint.selected.home
    10  float IN              0  halui.joint.selected.increment
    10  bit   IN          FALSE  halui.joint.selected.increment-minus
    10  bit   IN          FALSE  halui.joint.selected.increment-plus
    10  bit   OUT         FALSE  halui.joint.selected.is-homed
    10  bit   IN          FALSE  halui.joint.selected.minus
    10  bit   OUT         FALSE  halui.joint.selected.on-hard-max-limit
    10  bit   OUT         FALSE  halui.joint.selected.on-hard-min-limit
    10  bit   OUT         FALSE  halui.joint.selected.on-soft-max-limit
    10  bit   OUT         FALSE  halui.joint.selected.on-soft-min-limit
    10  bit   OUT         FALSE  halui.joint.selected.override-limits
    10  bit   IN          FALSE  halui.joint.selected.plus
    10  bit   IN          FALSE  halui.joint.selected.unhome
    10  bit   OUT         FALSE  halui.lube.is-on
    10  bit   IN          FALSE  halui.lube.off
    10  bit   IN          FALSE  halui.lube.on
    10  bit   OUT         FALSE  halui.machine.is-on
    10  bit   IN          FALSE  halui.machine.off
    10  bit   IN          FALSE  halui.machine.on
    10  float OUT    0.03937008  halui.machine.units-per-mm
    10  bit   IN           TRUE  halui.max-velocity.count-enable
    10  s32   IN              0  halui.max-velocity.counts
    10  bit   IN          FALSE  halui.max-velocity.decrease
    10  bit   IN          FALSE  halui.max-velocity.direct-value
    10  bit   IN          FALSE  halui.max-velocity.increase
    10  float IN              0  halui.max-velocity.scale
    10  float OUT             1  halui.max-velocity.value
    10  bit   OUT         FALSE  halui.mist.is-on
    10  bit   IN          FALSE  halui.mist.off
    10  bit   IN          FALSE  halui.mist.on
    10  bit   IN          FALSE  halui.mode.auto
    10  bit   OUT         FALSE  halui.mode.is-auto
    10  bit   OUT          TRUE  halui.mode.is-joint
    10  bit   OUT          TRUE  halui.mode.is-manual
    10  bit   OUT         FALSE  halui.mode.is-mdi
    10  bit   OUT         FALSE  halui.mode.is-teleop
    10  bit   IN          FALSE  halui.mode.joint
    10  bit   IN          FALSE  halui.mode.manual
    10  bit   IN          FALSE  halui.mode.mdi
    10  bit   IN          FALSE  halui.mode.teleop
    10  bit   OUT          TRUE  halui.program.block-delete.is-on
    10  bit   IN          FALSE  halui.program.block-delete.off
    10  bit   IN          FALSE  halui.program.block-delete.on
    10  bit   OUT          TRUE  halui.program.is-idle
    10  bit   OUT         FALSE  halui.program.is-paused
    10  bit   OUT         FALSE  halui.program.is-running
    10  bit   OUT          TRUE  halui.program.optional-stop.is-on
    10  bit   IN          FALSE  halui.program.optional-stop.off
    10  bit   IN          FALSE  halui.program.optional-stop.on
    10  bit   IN          FALSE  halui.program.pause
    10  bit   IN          FALSE  halui.program.resume
    10  bit   IN          FALSE  halui.program.run
    10  bit   IN          FALSE  halui.program.step
    10  bit   IN          FALSE  halui.program.stop
    10  bit   IN           TRUE  halui.rapid-override.count-enable
    10  s32   IN              0  halui.rapid-override.counts
    10  bit   IN          FALSE  halui.rapid-override.decrease
    10  bit   IN          FALSE  halui.rapid-override.direct-value
    10  bit   IN          FALSE  halui.rapid-override.increase
    10  bit   IN          FALSE  halui.rapid-override.reset
    10  float IN            0.1  halui.rapid-override.scale
    10  float OUT             1  halui.rapid-override.value
    10  bit   OUT          TRUE  halui.spindle.0.brake-is-on
    10  bit   IN          FALSE  halui.spindle.0.brake-off
    10  bit   IN          FALSE  halui.spindle.0.brake-on
    10  bit   IN          FALSE  halui.spindle.0.decrease
    10  bit   IN          FALSE  halui.spindle.0.forward
    10  bit   IN          FALSE  halui.spindle.0.increase
    10  bit   OUT         FALSE  halui.spindle.0.is-on
    10  bit   IN           TRUE  halui.spindle.0.override.count-enable
    10  s32   IN              0  halui.spindle.0.override.counts
    10  bit   IN          FALSE  halui.spindle.0.override.decrease
    10  bit   IN          FALSE  halui.spindle.0.override.direct-value
    10  bit   IN          FALSE  halui.spindle.0.override.increase
    10  bit   IN          FALSE  halui.spindle.0.override.reset
    10  float IN            0.1  halui.spindle.0.override.scale
    10  float OUT             1  halui.spindle.0.override.value
    10  bit   IN          FALSE  halui.spindle.0.reverse
    10  bit   OUT         FALSE  halui.spindle.0.runs-backward
    10  bit   OUT         FALSE  halui.spindle.0.runs-forward
    10  bit   IN          FALSE  halui.spindle.0.start
    10  bit   IN          FALSE  halui.spindle.0.stop
    10  float OUT             0  halui.tool.diameter
    10  float OUT             0  halui.tool.length_offset.a
    10  float OUT             0  halui.tool.length_offset.b
    10  float OUT             0  halui.tool.length_offset.c
    10  float OUT             0  halui.tool.length_offset.u
    10  float OUT             0  halui.tool.length_offset.v
    10  float OUT             0  halui.tool.length_offset.w
    10  float OUT             0  halui.tool.length_offset.x
    10  float OUT             0  halui.tool.length_offset.y
    10  float OUT             0  halui.tool.length_offset.z
    10  u32   OUT    0x00000000  halui.tool.number

02 Sep 2025 14:39

Replied by JT on topic halui.mdi-command-NN pins not showing up

halui.mdi-command-NN pins not showing up

Category: HAL

john@cave:~$ halcmd show pin halui
Component Pins:
Owner   Type  Dir         Value  Name
    10  bit   OUT         FALSE  halui.axis.a.is-selected
    10  float OUT             0  halui.axis.a.pos-commanded
    10  float OUT             0  halui.axis.a.pos-feedback
    10  float OUT             0  halui.axis.a.pos-relative
    10  bit   OUT         FALSE  halui.axis.z.is-selected
    10  float OUT             0  halui.axis.z.pos-commanded
    10  float OUT             0  halui.axis.z.pos-feedback
    10  float OUT             0  halui.axis.z.pos-relative
    10  bit   OUT         FALSE  halui.estop.is-activated
    10  bit   OUT         FALSE  halui.flood.is-on
    10  bit   OUT         FALSE  halui.joint.0.has-fault
    10  bit   OUT         FALSE  halui.joint.0.is-homed
    10  bit   OUT          TRUE  halui.joint.0.is-selected
    10  bit   OUT         FALSE  halui.joint.0.on-hard-max-limit
    10  bit   OUT         FALSE  halui.joint.0.on-hard-min-limit
    10  bit   OUT         FALSE  halui.joint.0.on-soft-max-limit
    10  bit   OUT         FALSE  halui.joint.0.on-soft-min-limit
    10  bit   OUT         FALSE  halui.joint.0.override-limits
    10  bit   OUT         FALSE  halui.joint.1.has-fault
    10  bit   OUT         FALSE  halui.joint.1.is-homed
    10  bit   OUT         FALSE  halui.joint.1.is-selected
    10  bit   OUT         FALSE  halui.joint.1.on-hard-max-limit
    10  bit   OUT         FALSE  halui.joint.1.on-hard-min-limit
    10  bit   OUT         FALSE  halui.joint.1.on-soft-max-limit
    10  bit   OUT         FALSE  halui.joint.1.on-soft-min-limit
    10  bit   OUT         FALSE  halui.joint.1.override-limits
    10  bit   OUT         FALSE  halui.joint.selected.has-fault
    10  bit   OUT         FALSE  halui.joint.selected.is-homed
    10  bit   OUT         FALSE  halui.joint.selected.on-hard-max-limit
    10  bit   OUT         FALSE  halui.joint.selected.on-hard-min-limit
    10  bit   OUT         FALSE  halui.joint.selected.on-soft-max-limit
    10  bit   OUT         FALSE  halui.joint.selected.on-soft-min-limit
    10  bit   OUT         FALSE  halui.joint.selected.override-limits
    10  bit   OUT         FALSE  halui.lube.is-on
    10  bit   OUT         FALSE  halui.machine.is-on
    10  float OUT             0  halui.machine.units-per-mm
    10  bit   OUT         FALSE  halui.mist.is-on
    10  bit   OUT         FALSE  halui.mode.is-auto
    10  bit   OUT         FALSE  halui.mode.is-joint
    10  bit   OUT         FALSE  halui.mode.is-manual
    10  bit   OUT         FALSE  halui.mode.is-mdi
    10  bit   OUT         FALSE  halui.mode.is-teleop
    10  bit   OUT         FALSE  halui.program.block-delete.is-on
    10  bit   OUT         FALSE  halui.program.is-idle
    10  bit   OUT         FALSE  halui.program.is-paused
    10  bit   OUT         FALSE  halui.program.is-running
    10  bit   OUT         FALSE  halui.program.optional-stop.is-on
    10  bit   OUT         FALSE  halui.spindle.0.brake-is-on
    10  bit   IN          FALSE  halui.spindle.0.brake-off
    10  bit   IN          FALSE  halui.spindle.0.brake-on
    10  bit   IN          FALSE  halui.spindle.0.decrease
    10  bit   IN          FALSE  halui.spindle.0.forward
    10  bit   IN          FALSE  halui.spindle.0.increase
    10  bit   OUT         FALSE  halui.spindle.0.is-on
    10  bit   IN           TRUE  halui.spindle.0.override.count-enable
    10  s32   IN              0  halui.spindle.0.override.counts
    10  bit   IN          FALSE  halui.spindle.0.override.decrease
    10  bit   IN          FALSE  halui.spindle.0.override.direct-value
    10  bit   IN          FALSE  halui.spindle.0.override.increase
    10  bit   IN          FALSE  halui.spindle.0.override.reset
    10  float IN              0  halui.spindle.0.override.scale
    10  float OUT             0  halui.spindle.0.override.value
    10  bit   IN          FALSE  halui.spindle.0.reverse
    10  bit   OUT         FALSE  halui.spindle.0.runs-backward
    10  bit   OUT         FALSE  halui.spindle.0.runs-forward
    10  bit   IN          FALSE  halui.spindle.0.start
    10  bit   IN          FALSE  halui.spindle.0.stop

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