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  • unknown
  • unknown
03 Apr 2025 04:11
Replied by unknown on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

OK.

The Linux Kernel loads drivers based on the PCI ID, there's nothing special about it. If it sees a particular PCI ID it loads the driver that matches.
So the reason lInux will load the parport_serial is because that's what the card is reporting.

For Tommy, I replied with what might be the issue directly under your post. But without the PCI ID, end manufactures can change this usually via an eeprom or maybe some other method, there's not enough info to go on.
  • dlc mnl
  • dlc mnl
03 Apr 2025 04:05
Recruitment of a consultant for Linux CNC using a Mesa 7i97t board was created by dlc mnl

Recruitment of a consultant for Linux CNC using a Mesa 7i97t board

Category: General LinuxCNC Questions

Hello, I would like to see if anyone can help me with the Linux CNC configuration of a 7i97t Mesa board and a 7i75 board with Chinese T3D servo drivers. I would like to recruit an advisor who could help me and teach me with the configuration. Payment method to be agreed upon.
  • tommylight
  • tommylight's Avatar
03 Apr 2025 04:05
Replied by tommylight on topic PCIe to ParPort - chipset PCI 60806A works?

PCIe to ParPort - chipset PCI 60806A works?

Category: Computers and Hardware

If it works, do not change it.
Any card has a chance of randomly stopping working, things break/die/release the magic smoke, etc, but that is not a reason for changing a perfectly working card.
  • ContinenteCNC
  • ContinenteCNC's Avatar
03 Apr 2025 04:01
Replied by ContinenteCNC on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

hmm, interesting finding.

Why does it use parport_serial if it is only a single parallel port with no serial ports? Or it has nothing to do?

What do you suggest as next step? Update linuxcnc to 2.9 or just the kernel?

(By the way, I am not an Aussie, I am Brazilian... Just 180 degrees apart xD)
  • heaven
  • heaven
03 Apr 2025 03:50
Replied by heaven on topic Moving robot joints by only 1 Gcode command?

Moving robot joints by only 1 Gcode command?

Category: Advanced Configuration

Thanks for your reply.
Can you explain in more detail, as I understand I should:
1. Creating an O-code for a subroutine that contains these 3 commands
2. Remap a new G-code that will call the O-code above
Is this what you mean or is there a more straightforward way?
  • unknown
  • unknown
03 Apr 2025 03:20
Replied by unknown on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

Just as I thought it's a kernel version thing.
PCI ID 1fd4-1999 is only supported from 5.4 up
The driver is acually parport_serial.
Good info here, linux-hardware.org/?id=pci:1fd4-1999-1fd4-0100

That's why the PCI ID the most important bit of info.

You an Aussie as well ?
  • Cherna
  • Cherna
03 Apr 2025 03:17 - 03 Apr 2025 03:18
PCIe to ParPort - chipset PCI 60806A works? was created by Cherna

PCIe to ParPort - chipset PCI 60806A works?

Category: Computers and Hardware

 
Long time lurker, first time poster. Sorry in advance if I make any mistakes, if there's info missing or if this is the incorrect place to post this.

I was looking through the forum and other related sources to find a PCIe-ParPort board that would work with LinuxCNC and was available where I am (Buenos Aires, Argentina), which turned out to be quite the task. The only one I managed to find was one with the chipset PCI 60806A (It also uses the ASM1083 as PCIe-PCI bridge). Most sources noted this chipset as not supported, but I didn't really have many options, so I decided to give it a try (They said I could return it if it didn't work, so I guess I was trying it for free).

Lo and behold, it worked first try (Second actually, the first address wasn't correct). I'll share some of the details in images below (such as the `lspci -v` output and so on).

My question for you, wise internet people, is: Am I missing something? Will it stop working randomly for some reason I am too ignorant to know? Should I return it and go through the hassle of importing a tried-and-tested board from abroad? Did I just get lucky?

Main source that says this chipset isn't supported:  Here

Images:
The board:
File Attachment:

File Attachment:


The output from lspci -v, lspci -vv and the port I configured in the .hal file (respectively):

File Attachment:

File Attachment:
File Attachment:

 
  • cmorley
  • cmorley
03 Apr 2025 02:30
Replied by cmorley on topic How to access rt pins in user space

How to access rt pins in user space

Category: General LinuxCNC Questions

The HAL python module allows reading or arbitrary pins and signals without connecting to them.
It's written in C++ but shows the process and borrows C code from HAL cmd.
  • ContinenteCNC
  • ContinenteCNC's Avatar
03 Apr 2025 02:15
Replied by ContinenteCNC on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

That would be great!

I don't know if it helps, but if so I can install 2 Sunix cards (one PCI and one PCIe) and share with you a anydesk login.
  • tommylight
  • tommylight's Avatar
03 Apr 2025 01:52
Replied by tommylight on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

I am more interested in finding what is causing them to show on one PC and not show on the other PC, and i am sure it is not in software as i tried two installs on the same PC with the same card and it did not show on both.
I am also sure that same PC has marginal BIOS battery as it did show "load setup defaults and continue" more than once lately.
  • ContinenteCNC
  • ContinenteCNC's Avatar
03 Apr 2025 01:44
Replied by ContinenteCNC on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

First thing you need to do is get the pci_id.
modinfo parport_pc

That will show you a list of PCI IDs and module parameters.

Then you can use modprobe to load partport_pc using the parameter that's required to set the address of the card.

Now whether the kernel module loads automatically for that card will depend on whether the PCI ID is a match with the driver.
If you can give me your kernel version and PCI ID of the card I can check the kernel sources and see if I can find a match. If not for the kernel you're running but one that might.
In all honesty for the headaches that a parallel port can cause a mesa 7i92 plugged into your existing breakout boards is a better solution. Latency isn't a problem, migration to a another PC is easier.
But I get that parallel port cards can be cheaper.


I love mesa cards, but unfortunately I can only use them in high end projects. Things get expensive really fast bellow equator line. 
File Attachment:


I believe I have attached everthing you've asked. Let me know if you need some more info. Thanks!
  • ContinenteCNC
  • ContinenteCNC's Avatar
03 Apr 2025 01:29
Replied by ContinenteCNC on topic PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

PCIe - No parport registered at "0x " . This is not Always an error.Continuing.

Category: Advanced Configuration

I wonder if there is a way to force these Sunix cards to load parport_pc driver and module from the I/O ports address?

So it will showup in dmesg as a proper enumerated parallel port.

Why?
I had two of those, both showed everything on 2 different PC's, but 1 did not show driver and kernel module on a 3'rd PC. Same card did show on 1 PC and did not show on another PC.
On the PC that did not show modules another PCI card did not show modules loaded, after showing them and working for years.
All this points to something in BIOS causing that, but i am out of luck as i can not find any more of those Sunix cards.
Here is one example of it showing modules loaded
forum.linuxcnc.org/10-advanced-configura...uing?start=20#324494

I thought it might be something trivial to do, but if it is not, nevermind. It is marginally more convenient to find base, extended addresses and available modes (they showup in dmesg and /proc/sys/dev/parport/parport*)

And the bash script I wrote to automate reports assumes it is an enumerated port. If its not, it won't work. 
File Attachment:


I tried using modprobe, setpci and some others, but linux is high in my list of "things I like doing, but I'm also bad at doing".
  • ffffrf
  • ffffrf
03 Apr 2025 00:56
Using a servo as a spindle and positional axis - keep getting vague errors was created by ffffrf

Using a servo as a spindle and positional axis - keep getting vague errors

Category: Advanced Configuration

Hello,

  I have a little lathe that was originally using a bldc motor. I wanted to change it out with a servo motor and use it both in positional mode, but also with turning. I went through the basic configurations in pncconf using my mesa 7i96s and got it to work as a turning machine with a stepgen spindle. 

  I read about the possibility of using mux2 to switch between the two modes but I am stuck getting strange errors like command 176, etc. I cant figure out how to debug or what I need to change in my INI and HAL (I have two hal files I am using). I am wondering if someone could look over my files and see if I am missing something obvious? I keep staring at it and am getting nowhere...

I config'd it as an XZ lathe with stepgen spindle originally. I have to HAL files I use: C+turning and the mux HAL

My current issue is as follows: The program compiles and opens. I then home axis, which causes my X and Z axis to home. I can now move those freely. However, when I go to try and move the C axis, I get "error on joint 2" and on terminal it just gives all sorts of "command" errors that I cant seem to debug further. Has anyone experienced this?

Main HAL:
# Generated by PNCconf at Wed Apr  2 16:24:00 2025
# 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 20000
setp    hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp    hm2_7i96s.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s,pid.c
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.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf pid.c.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

# --- X-ENABLE ---
net x-enable  =>     hm2_7i96s.0.ssr.00.out-00

# --- Z-ENABLE ---
net z-enable  =>     hm2_7i96s.0.ssr.00.out-01


# external input signals

# --- MIN-HOME-X ---
net min-home-x     <=  hm2_7i96s.0.inm.00.input-00-not

# --- MAX-HOME-Z ---
net max-home-z     <=  hm2_7i96s.0.inm.00.input-01-not

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i96s.0.inm.00.input-02


#*******************
#  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 0.012700

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

# 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
setp   hm2_7i96s.0.stepgen.00.step.invert_output   true

# ---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 min-home-x     =>  joint.0.home-sw-in
net min-home-x     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 1
#*******************

setp   pid.z.Pgain     [JOINT_1]P
setp   pid.z.Igain     [JOINT_1]I
setp   pid.z.Dgain     [JOINT_1]D
setp   pid.z.bias      [JOINT_1]BIAS
setp   pid.z.FF0       [JOINT_1]FF0
setp   pid.z.FF1       [JOINT_1]FF1
setp   pid.z.FF2       [JOINT_1]FF2
setp   pid.z.deadband  [JOINT_1]DEADBAND
setp   pid.z.maxoutput [JOINT_1]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 0.012700

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.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
setp   hm2_7i96s.0.stepgen.01.step.invert_output   true

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.1.motor-pos-cmd
net z-vel-cmd    <= joint.1.vel-cmd
net z-output     => hm2_7i96s.0.stepgen.01.velocity-cmd
net z-pos-fb     <= hm2_7i96s.0.stepgen.01.position-fb
net z-pos-fb     => joint.1.motor-pos-fb
net z-enable     <= joint.1.amp-enable-out
net z-enable     => hm2_7i96s.0.stepgen.01.enable

# ---setup home / limit switch signals---

net max-home-z     =>  joint.1.home-sw-in
net z-neg-limit     =>  joint.1.neg-lim-sw-in
net max-home-z     =>  joint.1.pos-lim-sw-in


#*******************
#  AXIS C JOINT 2
#*******************
setp   pid.c.Pgain     [JOINT_2]P
setp   pid.c.Igain     [JOINT_2]I
setp   pid.c.Dgain     [JOINT_2]D
setp   pid.c.bias      [JOINT_2]BIAS
setp   pid.c.FF0       [JOINT_2]FF0
setp   pid.c.FF1       [JOINT_2]FF1
setp   pid.c.FF2       [JOINT_2]FF2
setp   pid.c.deadband  [JOINT_2]DEADBAND
setp   pid.c.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.c.error-previous-target true
setp   pid.c.maxerror 0.012700

net c-index-enable  =>  pid.c.index-enable
net c-axis-pos-cmd => pid.c.command
net c-pos-fb        =>  pid.c.feedback
net c-output        <=  pid.c.output

# ---closedloop stepper setup---

net c-vel-cmd    <= joint.2.vel-cmd
net c-output     => hm2_7i96s.0.stepgen.04.velocity-cmd
net c-pos-fb     <= hm2_7i96s.0.stepgen.04.position-fb
net c-pos-fb     => joint.2.motor-pos-fb
net c-enable     <= joint.2.amp-enable-out
net spindle-enable => pid.c.enable



#*******************
#  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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.s.maxerror 0.012700

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

# Step Gen signals/setup

setp   hm2_7i96s.0.stepgen.04.dirsetup        [SPINDLE_0]DIRSETUP
setp   hm2_7i96s.0.stepgen.04.dirhold         [SPINDLE_0]DIRHOLD
setp   hm2_7i96s.0.stepgen.04.steplen         [SPINDLE_0]STEPLEN
setp   hm2_7i96s.0.stepgen.04.stepspace       [SPINDLE_0]STEPSPACE
setp   hm2_7i96s.0.stepgen.04.position-scale  [SPINDLE_0]STEP_SCALE
setp   hm2_7i96s.0.stepgen.04.step_type        0
setp   hm2_7i96s.0.stepgen.04.control-type     1
setp   hm2_7i96s.0.stepgen.04.maxaccel         [SPINDLE_0]STEPGEN_MAXACCEL
setp   hm2_7i96s.0.stepgen.04.maxvel           [SPINDLE_0]STEPGEN_MAXVEL
setp   hm2_7i96s.0.stepgen.04.step.invert_output   true

#net machine-is-on           =>  hm2_7i96s.0.stepgen.04.enable
#net spindle-vel-cmd-rps     =>  hm2_7i96s.0.stepgen.04.velocity-cmd
# ---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 3.333333


#******************************
# 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-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.1.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

#  ---Use external manual tool change dialog---

loadusr -W hal_manualtoolchange
net tool-change-request    =>  hal_manualtoolchange.change
net tool-change-confirmed  <=  hal_manualtoolchange.changed
net tool-number            =>  hal_manualtoolchange.number

#  ---ignore tool prepare requests---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

Auxillary HAL
# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt mux2 count=1
addf mux2.0 servo-thread

# Mux inputs
net c-axis-pos-cmd joint.2.motor-pos-cmd => mux2.0.in0
net spindle-vel-cmd-rpm    => mux2.0.in1


net spindle-enable            => mux2.0.sel
net spindle-enable => hm2_7i96s.0.stepgen.04.enable

# Mux output to stepgen.04
net mux-out mux2.0.out => hm2_7i96s.0.stepgen.04.position-cmd


# Feedback and enable
net c-pos-fb <= hm2_7i96s.0.stepgen.04.position-fb
net c-pos-fb => joint.2.motor-pos-fb

INI FILE
# Generated by PNCconf at Wed Apr  2 16:24:00 2025
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = Turn+C_lathe
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/maksym/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 13.333333
MAX_LINEAR_VELOCITY = 41.666667
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]
# **** This is for info only ****
CARD0=hm2_7i96s.0

[HAL]
HALUI = halui
HALFILE = Turn+C_lathe.hal
HALFILE = c_axis_mux.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

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

[TRAJ]
COORDINATES =  XZC
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 4.17
MAX_LINEAR_VELOCITY = 41.67
NO_FORCE_HOMING = 1

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 41.666666666666664
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.0
MAX_LIMIT = 100.0

[JOINT_0]
TYPE = LINEAR
HOME = 20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 41.666666666666664
MAX_ACCELERATION = 500.0
# 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 = 52.08
STEPGEN_MAXACCEL = 625.00
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = -800.0
MIN_LIMIT = -0.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -13.333333
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -432.0
MAX_LIMIT = 0.0

[JOINT_1]
TYPE = LINEAR
HOME = -20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 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
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = 800.0
MIN_LIMIT = -432.0
MAX_LIMIT = 0.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -13.333333
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_C]
MAX_VELOCITY = 360
MAX_ACCELERATION = 720
MIN_LIMIT = -999999
MAX_LIMIT = 999999
ANGULAR = 1

[JOINT_2]
TYPE = ANGULAR
HOME = 0
FERROR = 5
MIN_FERROR = 1.0
MAX_VELOCITY = 360
MAX_ACCELERATION = 720
# 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 = 400
STEPGEN_MAXACCEL = 800
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 27.77778
HOME_SEQUENCE = 0

[SPINDLE_0]
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 300.0
# 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 = 4.17
STEPGEN_MAXACCEL = 375.00
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 = 8000.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -1000.0
  • RushA
  • RushA
03 Apr 2025 00:34
Replied by RushA on topic How to access rt pins in user space

How to access rt pins in user space

Category: General LinuxCNC Questions

That's great, thank you!
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