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This is the error that appears after compiling remora-eth.c



Root@debian:/usr/include# sudo halcompile --install remora-eth.c
make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: se ingresa al directorio `/usr/src/linux-headers-3.4-9-rtai-686-pae'
  CC [M]  /tmp/tmpROLsSj/remora-eth.o
In file included from /usr/include/features.h:356:0,
                 from /usr/include/math.h:28,
                 from /tmp/tmpROLsSj/remora-eth.c:26:
/usr/include/i386-linux-gnu/sys/cdefs.h:287:0: warning: "__always_inline" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/compiler.h:48:0,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:12,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/compiler-gcc.h:112:0: note: this is the location of the previous definition
In file included from /usr/include/math.h:47:0,
                 from /tmp/tmpROLsSj/remora-eth.c:26:
/usr/include/i386-linux-gnu/bits/mathdef.h:48:6: warning: "__FP_FAST_FMA" is not defined [-Wundef]
/usr/include/i386-linux-gnu/bits/mathdef.h:52:6: warning: "__FP_FAST_FMAF" is not defined [-Wundef]
/usr/include/i386-linux-gnu/bits/mathdef.h:56:6: warning: "__FP_FAST_FMAL" is not defined [-Wundef]
In file included from /usr/include/i386-linux-gnu/bits/fcntl.h:25:0,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/sys/types.h:61:17: error: conflicting types for ‘dev_t’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:24:25: note: previous declaration of ‘dev_t’ was here
In file included from /usr/include/i386-linux-gnu/bits/fcntl.h:25:0,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/sys/types.h:71:18: error: conflicting types for ‘mode_t’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:26:26: note: previous declaration of ‘mode_t’ was here
In file included from /usr/include/i386-linux-gnu/bits/fcntl.h:25:0,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/sys/types.h:76:19: error: conflicting types for ‘nlink_t’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:28:26: note: previous declaration of ‘nlink_t’ was here
In file included from /usr/include/i386-linux-gnu/sys/types.h:133:0,
                 from /usr/include/i386-linux-gnu/bits/fcntl.h:25,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/time.h:104:19: error: conflicting types for ‘timer_t’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:34:26: note: previous declaration of ‘timer_t’ was here
In file included from /usr/include/i386-linux-gnu/bits/fcntl.h:25:0,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/sys/types.h:212:0: warning: "__BIT_TYPES_DEFINED__" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:104:0: note: this is the location of the previous definition
In file included from /usr/include/i386-linux-gnu/sys/select.h:44:0,
                 from /usr/include/i386-linux-gnu/sys/types.h:220,
                 from /usr/include/i386-linux-gnu/bits/fcntl.h:25,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/time.h:120:8: error: redefinition of ‘struct timespec’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/preempt.h:9:0,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/spinlock.h:50,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/seqlock.h:29,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/time.h:8,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:60,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/thread_info.h:12:8: note: originally defined here
In file included from /usr/include/i386-linux-gnu/sys/select.h:46:0,
                 from /usr/include/i386-linux-gnu/sys/types.h:220,
                 from /usr/include/i386-linux-gnu/bits/fcntl.h:25,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/bits/time.h:75:8: error: redefinition of ‘struct timeval’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:60:0,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/time.h:20:8: note: originally defined here
In file included from /usr/include/i386-linux-gnu/sys/types.h:220:0,
                 from /usr/include/i386-linux-gnu/bits/fcntl.h:25,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/sys/select.h:78:5: error: conflicting types for ‘fd_set’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:23:26: note: previous declaration of ‘fd_set’ was here
In file included from /usr/include/i386-linux-gnu/bits/fcntl.h:25:0,
                 from /usr/include/fcntl.h:34,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/sys/types.h:236:20: error: conflicting types for ‘blkcnt_t’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:140:13: note: previous declaration of ‘blkcnt_t’ was here
In file included from /usr/include/fcntl.h:41:0,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/bits/stat.h:39:8: error: redefinition of ‘struct stat’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:6:0,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/arch/x86/include/asm/stat.h:7:8: note: originally defined here
In file included from /usr/include/fcntl.h:41:0,
                 from /tmp/tmpROLsSj/remora-eth.c:27:
/usr/include/i386-linux-gnu/bits/stat.h:96:8: error: redefinition of ‘struct stat64’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:6:0,
                 from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/arch/x86/include/asm/stat.h:33:8: note: originally defined here
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:43:0: warning: "S_IFMT" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:12:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:44:0: warning: "S_IFDIR" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:17:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:45:0: warning: "S_IFCHR" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:18:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:46:0: warning: "S_IFBLK" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:16:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:47:0: warning: "S_IFREG" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:15:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:49:0: warning: "S_IFIFO" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:19:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:52:0: warning: "S_IFLNK" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:14:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:55:0: warning: "S_IFSOCK" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:13:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:60:0: warning: "S_ISUID" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:20:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:61:0: warning: "S_ISGID" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:21:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:65:0: warning: "S_ISVTX" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:22:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:68:0: warning: "S_IRUSR" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:33:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:69:0: warning: "S_IWUSR" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:34:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:70:0: warning: "S_IXUSR" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:35:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:72:0: warning: "S_IRWXU" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:32:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:74:0: warning: "S_IRGRP" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:38:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:75:0: warning: "S_IWGRP" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:39:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:76:0: warning: "S_IXGRP" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:40:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:78:0: warning: "S_IRWXG" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:37:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:80:0: warning: "S_IROTH" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:43:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:81:0: warning: "S_IWOTH" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:44:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:82:0: warning: "S_IXOTH" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:45:0: note: this is the location of the previous definition
In file included from /tmp/tmpROLsSj/remora-eth.c:27:0:
/usr/include/fcntl.h:84:0: warning: "S_IRWXO" redefined [enabled by default]
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/module.h:10:0,
                 from /usr/include/linuxcnc/rtapi.h:781,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/stat.h:42:0: note: this is the location of the previous definition
In file included from /usr/include/netinet/in.h:24:0,
                 from /usr/include/arpa/inet.h:23,
                 from /tmp/tmpROLsSj/remora-eth.c:34:
/usr/include/stdint.h:129:23: error: conflicting types for ‘uintptr_t’
In file included from /usr/src/linux-headers-3.4-9-common-rtai/include/linux/ioport.h:13:0,
                 from /usr/include/linuxcnc/rtapi.h:673,
                 from /tmp/tmpROLsSj/remora-eth.c:22:
/usr/src/linux-headers-3.4-9-common-rtai/include/linux/types.h:45:24: note: previous declaration of ‘uintptr_t’ was here
In file included from /usr/include/arpa/inet.h:23:0,
                 from /tmp/tmpROLsSj/remora-eth.c:34:
/usr/include/netinet/in.h:365:17: error: expected declaration specifiers or ‘...’ before ‘(’ token
/usr/include/ne

That is very logical.
-Change the .ini file. (SCALE= -nnn)
-Keep the current working hal with no inversion.
I am greatly appreciative.

Put everything back to normal and in your ini file invert the scale for the x axis. See red text

[JOINT_0]
AXIS = X
MIN_LIMIT = -1
MAX_LIMIT = 486
MAX_VELOCITY = 80
MAX_ACCELERATION = 360
TYPE = LINEAR
SCALE = -320

The x axis motors moving after estop is likely due to them not being perpendicular to the y axis. Adjust your homing offset settings in the ini file to tune this.

Sometimes things are bent (usually the main structural member) and the motors need to compensate for this and can cause the spring back you are seeing.

Seeing peaks of 17a isn't that weird if your accelerations are really high relative to the weight of your axis. Just make sure your average is decent.
However make sure things aren't too tight. Trying to eliminate backlash entirely can easily cause things to bind up. Easy way to check is to turn the axis by hand and make sure it isn't binding up anywhere. Sometimes the lead screw has wobble and can cause things to bind (can happen with just about any drive system) or the rails are bolted funny.

I could really use a leg-up on my rpi5 .hal. I try to be reserved and not overuse your talents but I am really at a dead-end. I have read countless threads on hal development but have seen nothing that will get through Axis launch w/o throwing an error. I have 10 years experience with emc2 on my homebrew 3 axis machine. The GPIO conversion is the difference.
My challange is to simply invert ydir. You can see some of my failed solutions in the "Stepper Outputs" section below. My hal file is based on the RPi5 file provided by Byte2Bot (I am using their parallel V. level conversion board) but they did not deal with GPIO output inversion. And I have not found one other indication that anyone else has either.. Advanced HAL doc. has about 4 lines on the setp command which are too obscur for me. I asked a couple AI bots with no help. Chatgpt4 suggested this:
loadusr -w hal_invert
addf hal_invert.0 servo-thread
net inverted_stepper_direction <= hal_invert.in
net original_stepper_direction motion.stepper.23.dir
net direction motion.stepper.0.dir => inverted_stepper_direction

....to be placed at the front of the Stepper Outputs section but it looks very foreign and posts errors on launch. This is the now defunct code in my old emc2 hal:      setp parport.0.pin-03-out-invert 1

If anyone has any ideas of what to do or has seen a .hal example with a pin inverter command for RP5 parallel output please let know.

##########

To clairify what Raf is talking about,
We are trying to set the enable pin for the stepper drivers, to control them from linuxcnc like normal. We are wondering how everyone else is wiring up their enable pin. Im not finding any examples of it in the configs, so it made me curious. Wondering what pin was used and how you wired it, it would be appreciated.

Danke Aciera für Deine Antwort! Also ich habe das hin und her probiert mit den Vorzeichen. Es scheint tatsächlich auch bei gleichen Vorzeichen genau so zu gehen. Entscheidend ist nur erstmal, dass die Richtung stimmt und man auf den Schalter fährt und nicht von ihm weg. Ich hatte mich nach dem Talla83 Video #12 -Homing gerichtet, der verwendet entgegengesetzte Vorzeichen.

Ja, ich habe Search_Vel auf 5 (=300mm/min bei meinem Setup) und Latch_Vel auf 2 (=120 mm/min) eingestellt.. Vielleicht ist das noch zu schnell, das werde ich an der Maschine noch endgültig einstellen. Momentan ist meine 7i76e noch auf dem Tisch zum Testen, bis ich ein Basis Setup damit habe.

OK. Minuten später - manchmal hilft die Formulierung des Problems schon, um auf weitere Ideen zu kommen. Denn beim Schreiben/Kopieren der INI WErte fiel mir der Parameter HOME_IGNORE_LIMITS=NO ins Gesicht und ich dachte mir stell doch mal einfach auf YES.

Damit funktioniert jetzt tatsächlich die zweite Anfahrt. Hurra! (Ich habe daran schon Tage rumprobiert und war der Meinung das hätte ich schon gemacht gehabt...) Also - dieser Wert ignoriert dann wohl den Limitswitch, wodurch nur eine Anfahrt auf den Taster erfolgt. Hmm, da habe ich wohl den Text in der Hilfedatei nicht komplett durchdrungen. Auch die DE Übersetzung hat mich nicht auf YES gebracht. Aber - schön, wieder mehr zu wissen. (Yes sollte man bei gemeinsamen Home/Limit Switches einstellen)

Weitere Erkenntnis: Die _Vel Werte definieren grundsätzlich die Verfahrgeschwindigkeit und mit dem Vorzeichen die Richtung. Prinzipiell ganz einfach. RTFM eben.

Also - danke für die Aufmerksamkeit und bis zum nächsten Problem! (ich hab noch ein paar in der Pipeline)
VG Arno

Hello everybody,
Bit of context: i've recently overhauled my CNC Router. Just moved to bigger rails on every axis, built a mineral casting (epoxy granite), to increase rigidity. It's not even a week since i've finished putting it together and i just started to machine some parts.

I had to stop the first program i ran as the first endmill ended up rubbing on the side of the part, melting the aluminum i was machining, thing that i found strange, as the part was only 15mm thick. On closer inspection i found that the part was shifted almost half a mm in the Y+ direction, which could have caused the endmill to rub on the finishing passes. Odd.

I've checked every screw on the Y axis and found none loose. I've checked whether the Y axis ballscrew bearing block nut could have been loose, thing that happened to me before, but again, everything is tight. 

So i ran another part, different one this time, with a lot more travel along the Y axis. Result? The part was shifted over 2mm in the Y+ direction. On closer inspection i found out that the part presented a sort of stairstepping coinciding with the stepdowns in the roughing program, but each stepdown was shifted in the Y+ direction a bit, creating something like a real stair. Another strange thing is that this phenomenon only presented in the Y+ direction, another indication that the endmill was shifting right (Y+) on each stepdown.

Now, i've checked for backlash by pushing and pulling on the machine while measuring with an indicator for deflection. The machine was rock solid (i could move the machine by 0.01mm if i pushed with all of my strength, which for a DIY CNC is not bad i think).

I've than checked for backlash in the usual way, by setting an indicator at the end of travel, moving the axis over, than going back to zero. BINGO!
I found where my movement was going. Almost 0.2mm when moving the axis from 0 to 600mm and back, and this error was adding each time i've done 0-600-0.

I've checked the servo(the machine has IHS-60 integrated servos that i haven't retuned yet since the reassembly, i should), and it showed sporadic peaks of 15 pulse of "latency" or following error on the Y axis, usually it stayed between 3 and 7 though. Is this the problem? 15 pulses at 800 pulses/rev on a 5mm ballscrew results on a bit over 0.09mm of following error.

Now, following error refers only on a latency between what the controller thinks that the position is, and the real position.

Another thing that i've measured was the current draw from the motor, looking at the onboard current meter. It showed peaks of more than 17A, which for me is not real, or the unit of measure is not amps, as the servo is rated at 400W @ 48V and has an allowable peak of 15A, as for a parameter set inside of the motor controller.

And now i'm turning to this forum looking for ideas on what to check next. Tomorrow i will tear down the Y axis to check the motor coupler, but testing it, it didn't look like it was slipping at all.

Other simptoms that this might be something software/tuning related is that when E-stopping / disabling the machine, the X axis motors on the gantry move a bit, one in one direction and the other in the opposite direction. I should retune those too, but looking at the following error and the current draw they don't look like they are acting like springs, neither that they need retuning for high following error.

If anyone wants to look into this madness, i leave the link to the entire configuration of the machine. 
github.com/EragonPower/LinuxCNCMachineConfiguration 

Thanks to anyone in advance, even for only reading this post
 

(assuming you want floating point position)

loadrt sum2
addf sum2.0 servo-thread
net pump_pos sum2.0.out sum2.0.in0
net pump_velocity sum2.0.in1

You can scale the velocity command with gain1
for example:

setp sum2.0.gain1 .001

Sets the velocity scaling to counts per second
(at a 1 ms servo thread period)

Gantry homing has been a part of LinuxCNC since 2.8 IIRC. I would read the docs I linked for better information.

JT

JT wrote:

aparecido wrote:

Well, as there is no way to update the Linuxcnc version, is there any other way to manually configure the INI and Hal to square the gantry using two motors and two sensors on the same axis?
 
Yes, you just need to set the home sequence to a negative number.
linuxcnc.org/docs/stable/html/config/ini...l#sec:homing-section

JT
 

 I found a post by Rodw here on the forum where he says he has been using the sequence for a few years without any problems:

Joint_0 (x) - 1
Joint_1 (x2) - 1
Joint_2 (y) - 1
Joint_3 (z) - 0

Hi everyone,

I intend to use a EL7031 card to drive a small stepper which in turns operates a peristaltic pump for an MQL system. Before switching to EtherCAT I used a hm2 stepgen in velocity mode which took care of all necessary steps.
I have now realized, that the driver for EL7031 requires a pos-cmd as input. Is there a way within linuxcnc to create pos-cmd from velocity? I thought about using stepgen comps to feed their position-fb into the stepper driver. However, without the make-counts  function I do not see that this would work. I'd rather like to avoid running the make-counts thread to avoid the tuning hazzle that comes with this...

Any ideas?

aparecido wrote:

Well, as there is no way to update the Linuxcnc version, is there any other way to manually configure the INI and Hal to square the gantry using two motors and two sensors on the same axis?
 

Yes, you just need to set the home sequence to a negative number.
linuxcnc.org/docs/stable/html/config/ini...l#sec:homing-section

JT

Well, as there is no way to update the Linuxcnc version, is there any other way to manually configure the INI and Hal to square the gantry using two motors and two sensors on the same axis?