Search Results (Searched for: stepper spindle)
04 Apr 2024 19:55
Taig Mill/Gecko G540/Mesa Card? was created by randale
Taig Mill/Gecko G540/Mesa Card?
Category: Driver Boards
I am trying to put together my first LinuxCNC build using a Taig Mill. My previous experience is limited to GRBL 3D printers and CNC routers.
I have a Gecko 540 in an enclosure (including power supply and e-stop) with 3 steppers on the Taig. I have an older PC (Intel i7 - one core enabled jitter is below 10K) with a SIIG PCIe Parallel port card. I have the steppers working on this hardware. I have not installed any limit or home switches yet. I have a Digital Loggers relay power strip that I was planning on using for turning on and off the spindle.
I am considering switching to a Mesa ethernet solution - just because it seems to be a more elegant solution. I would also love to utilize a RPI5 I have sitting idle, primarily due to space concerns posed by the old gaming PC chassis.
So, from my research it seems that a Mesa 7192TF would allow me to connect to the Gecko box and utilize the ethernet connection from the PC or the RPI5.
Am I on the right path? - or am I missing other components that I need?
TIA
Randale
I have a Gecko 540 in an enclosure (including power supply and e-stop) with 3 steppers on the Taig. I have an older PC (Intel i7 - one core enabled jitter is below 10K) with a SIIG PCIe Parallel port card. I have the steppers working on this hardware. I have not installed any limit or home switches yet. I have a Digital Loggers relay power strip that I was planning on using for turning on and off the spindle.
I am considering switching to a Mesa ethernet solution - just because it seems to be a more elegant solution. I would also love to utilize a RPI5 I have sitting idle, primarily due to space concerns posed by the old gaming PC chassis.
So, from my research it seems that a Mesa 7192TF would allow me to connect to the Gecko box and utilize the ethernet connection from the PC or the RPI5.
Am I on the right path? - or am I missing other components that I need?
TIA
Randale
03 Apr 2024 17:09
Replied by PCW on topic Stepper Motor to work like a DC
Stepper Motor to work like a DC
Category: Driver Boards
Not sure what you mean. A step motor always needs a step motor driver,
and those typically use step/dir commands (though other driver interfaces
are available)
You can treat a stepmotor/drive as a simple velocity controlled device (
say for a spindle) in LinuxCNC if that's what you mean.
and those typically use step/dir commands (though other driver interfaces
are available)
You can treat a stepmotor/drive as a simple velocity controlled device (
say for a spindle) in LinuxCNC if that's what you mean.
31 Mar 2024 02:51
Replied by pippin88 on topic Anyone seen this?
Anyone seen this?
Category: EtherCAT
In drive ethercat is definitely the way to go.
Servo drives: costs is $40-60 per drive for ethercat (vs pulse input variants) across multiple brands.
You then don't need a stepgen card. Decent stepgen card is $120-150.
So cost difference is minimal. Ethercat in drive gives you a lot more and is a lot easier than having a stepgen card.
For a new system, there would be no role for ethercat -> stepgen card -> servo/stepper.
But there is a case where converting an existing step/dir setup would be nice. I have a small lathe with a 750W step/dir servo for the spindle. It's good quality, not a cheap servo. The axis are cheap stepper driven. I'd like to change to ethercat servos for the axis. But then I am stuck with what to do for the spindle which is step/dir.
Servo drives: costs is $40-60 per drive for ethercat (vs pulse input variants) across multiple brands.
You then don't need a stepgen card. Decent stepgen card is $120-150.
So cost difference is minimal. Ethercat in drive gives you a lot more and is a lot easier than having a stepgen card.
For a new system, there would be no role for ethercat -> stepgen card -> servo/stepper.
But there is a case where converting an existing step/dir setup would be nice. I have a small lathe with a 750W step/dir servo for the spindle. It's good quality, not a cheap servo. The axis are cheap stepper driven. I'd like to change to ethercat servos for the axis. But then I am stuck with what to do for the spindle which is step/dir.
27 Mar 2024 23:50
Replied by tommylight on topic How to setup simultaneous tandem Y and tandem Z
How to setup simultaneous tandem Y and tandem Z
Category: StepConf Wizard
Most probably yes, it can be done.
What do you mean by "splitting signals"?
That would require 10 outputs for 5 stepper drives and 5 inputs for limit switches, leaving you 2 outputs free for spindle on/pwm.
No idea if StepConf can make such a config, but PncConf might, although that would require a lot of editing.
Just checked, no Z tandem, so make X and Y with tandem Y and then another Y with tandem Y on the other pins, then edit the hal and ini files to reflect Z axis for the last two stepgens/outputs.
What do you mean by "splitting signals"?
That would require 10 outputs for 5 stepper drives and 5 inputs for limit switches, leaving you 2 outputs free for spindle on/pwm.
No idea if StepConf can make such a config, but PncConf might, although that would require a lot of editing.
Just checked, no Z tandem, so make X and Y with tandem Y and then another Y with tandem Y on the other pins, then edit the hal and ini files to reflect Z axis for the last two stepgens/outputs.
27 Mar 2024 16:15
Replied by scottlaird on topic I need a simple CSP example for CiA 402
I need a simple CSP example for CiA 402
Category: EtherCAT
I've been providing details in github.com/linuxcnc-ethercat/linuxcnc-ethercat/issues/180, but here's a quick summary of the hardware involved:
- Leadshine 2CL3-EC507 (2-axis closed-loop stepper) with 2 steppers
- Rovix ESD-A6 (6-axis open-loop 24V stepper) with 4 steppers
- RTelligent ECT60 (1-axis closed-loop stepper) with 1 stepper
- RTelligent ECR60 X2 (2-axis open-loop stepper) with 2 steppers
- RTelligent DRV400E (1-axis DC servo) with 1 brushless drive
- Omron MX2 (VFD) with a cheap spindle
23 Mar 2024 21:31
Replied by garja on topic Huanyang Wiring To Mesa 7i96s
Huanyang Wiring To Mesa 7i96s
Category: General LinuxCNC Questions
=14.0ptI’m back again with a problem I’m not certain about. I wired everything the way that PCW said to wire it. The problem I have run into is when it comes to running the configuration wizard. =14.0pt =14.0ptIn the TB1/TB2 section, I don’t have any pin options, only the option to choose “Spindle PWM” and then I selected Pin Type of “PWM Gen-P”. Is that correct? I assume it’s like setting up stepper motors where no pins are included in the setup, just what function is being used. =14.0pt =14.0ptWhen it comes to TB3, I expected I’d find output pins 21-24 listed in the configuration, just the same way pins 00 – 10 were listed on the input side. I am not sure if 01 would be pin 20, 02 pin 21, 03 pin 22, 04 pin 23 and 05 pin 24? Is that correct? Pins 21
23 Mar 2024 16:10
Can't get backlash compensation to work was created by ltcnc
Can't get backlash compensation to work
Category: Milling Machines
I have a new build using the 7i96s + 7i85s and closed loop stepper motors. I've worked through pncconf and am able to drive my motors and am getting encoder feedback. I'm trying to take a few thou (0.025-0.075mm) of backlash out of various axes by testing in Axis, but no matter what I set the backlash setting to on each axis, I still get the same backlash reading from my dial indicator. (Even when I set 1mm+ of backlash.) I've ensured STEPGEN_MAXACCEL is 2x MAX_ACCELERATION for each axis. Anyone know what I'm doing wrong?
One more note: pncconf did automatically assign the stepgen position-fb signals to the pos-fb net of each axis, which I had to comment out just to get Axis to open the configuration without throwing an error.
HAL file:
INI file:
One more note: pncconf did automatically assign the stepgen position-fb signals to the pos-fb net of each axis, which I had to comment out just to get Axis to open the configuration without throwing an error.
HAL file:
# Generated by PNCconf at Thu Mar 21 17:28:52 2024
# 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=5 num_pwmgens=1 num_stepgens=9 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.y,pid.z,pid.s
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 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
# external input signals
# --- MIN-X ---
net min-x <= hm2_7i96s.0.inm.00.input-00
# --- MAX-X ---
net max-x <= hm2_7i96s.0.inm.00.input-01
# --- MIN-Y ---
net min-y <= hm2_7i96s.0.inm.00.input-02
# --- MAX-Y ---
net max-y <= hm2_7i96s.0.inm.00.input-03
# --- MIN-Z ---
net min-z <= hm2_7i96s.0.inm.00.input-04
# --- MAX-Z ---
net max-z <= hm2_7i96s.0.inm.00.input-05
#*******************
# 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
# ---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
# ---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 [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_7i96s.0.encoder.00.position
net x-vel-fb <= hm2_7i96s.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i96s.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i96s.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net min-x => joint.0.neg-lim-sw-in
net max-x => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.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
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_7i96s.0.stepgen.01.velocity-cmd
# net y-pos-fb <= hm2_7i96s.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i96s.0.stepgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96s.0.encoder.01.counter-mode 0
setp hm2_7i96s.0.encoder.01.filter 1
setp hm2_7i96s.0.encoder.01.index-invert 0
setp hm2_7i96s.0.encoder.01.index-mask 0
setp hm2_7i96s.0.encoder.01.index-mask-invert 0
setp hm2_7i96s.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
net y-pos-fb <= hm2_7i96s.0.encoder.01.position
net y-vel-fb <= hm2_7i96s.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i96s.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i96s.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net min-y => joint.1.neg-lim-sw-in
net max-y => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]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.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96s.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96s.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i96s.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96s.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96s.0.stepgen.02.step_type 0
setp hm2_7i96s.0.stepgen.02.control-type 1
setp hm2_7i96s.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output => hm2_7i96s.0.stepgen.02.velocity-cmd
# net z-pos-fb <= hm2_7i96s.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i96s.0.stepgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96s.0.encoder.02.counter-mode 0
setp hm2_7i96s.0.encoder.02.filter 1
setp hm2_7i96s.0.encoder.02.index-invert 0
setp hm2_7i96s.0.encoder.02.index-mask 0
setp hm2_7i96s.0.encoder.02.index-mask-invert 0
setp hm2_7i96s.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
net z-pos-fb <= hm2_7i96s.0.encoder.02.position
net z-vel-fb <= hm2_7i96s.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i96s.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i96s.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net min-z => joint.2.neg-lim-sw-in
net max-z => joint.2.pos-lim-sw-in
#******************************
# 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-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.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.2.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-out => 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
INI file:
# Generated by PNCconf at Thu Mar 21 17:28:52 2024
# Using LinuxCNC version: Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = my_LinuxCNC_test4
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/lukecnc/linuxcnc/nc_files
INCREMENTS = 50mm 10mm 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]
# **** This is for info only ****
CARD0=hm2_7i96s.0
[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_test4.hal
HALFILE = custom.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 = 3.75
MAX_LINEAR_VELOCITY = 37.50
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 100.0
MIN_LIMIT = -160.0
MAX_LIMIT = 240.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 0.025
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 100.0
# 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 = 200.0
P = 250.0
I = 1.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.025
MAX_OUTPUT = 0.0
ENCODER_SCALE = -800.0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = -160.0
MIN_LIMIT = -160.0
MAX_LIMIT = 240.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 312.50
P = 250.0
I = 0.1
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.05
MAX_OUTPUT = 0.0
ENCODER_SCALE = 800.0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 160.0
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = -250.0
MAX_LIMIT = 0.00
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 0.025
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 150.0
# 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 = 46.88
STEPGEN_MAXACCEL = 300.0
P = 250.0
I = 0.5
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.05
MAX_OUTPUT = 0.0
ENCODER_SCALE = -800.0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = -160.0
MIN_LIMIT = -250.0
MAX_LIMIT = 0.00
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
#******************************************
19 Mar 2024 23:42
Replied by cncjerry on topic Closed loop stepper driver configuration help
Closed loop stepper driver configuration help
Category: Basic Configuration
do you have a caliper you trust? Take the backlash adjustment out of the config files if any is coded in there. Start with the X-axis, for instance. Chuck up a square piece of steel in the mill head, or a round piece with at least one flat. Lock or clamp your spindle. Move the head to the right say 10cm or more. Clamp the caliper to the table with the depth spike against the square or flat chucked in the spindle so that as you move to the left, the depth spike is pushed into the caliper measuring the motion. You start with a movement to the right to take up the backlash. When you move to the left, the backlash will then have to be taken-up in that direction and most likely the caliper will read something less than the motion expected. So you move to the right 10cm, push the depth spike up against the flat, move back to the left 10cm and read the caliper. Ideally you should see 10CM. You will see 10cm minus your backlash +/- your resolution. This assumes no tool table is in play as well as absolute mode, but you get the idea.
You can code a little backlash compensation into linux CNC but if you have backlash, the compensation will give you near perfect measurements back and forth, but when you cut something with the perpendicular axis moving, the head is going to drift depending if you are climb milling or conventionally milling. You will notice scallops on the finished faces. Backlash compensation in the software might also cause following errors due to the take-up, don't know on LinuxCNC but that was a fault in Mach3/4(?) because the backlash wasn't accelerated correctly. It was assumed to be loose and it would just take-up the backlash expecting no-load on the servos.
lengthy message, but you should be able to figure out your backlash this way. Pushing on the head works, but it only shows you the backlash at that particular leadscrew setting.. the other trick is to put slightly oversized balls in the ballscrew. That will take up some backlash. You can also use compression washers in your motor mounts if your screws are directly coupled. You loosen your motor, uncouple the screw, pull it out slightly, and then tighten the coupler up. then use the compression washers to tighten the motor into the mount carefully. This can take-up some backlash in the end to end movement of the screw but you don't want to bend anything.
Jerry
You can code a little backlash compensation into linux CNC but if you have backlash, the compensation will give you near perfect measurements back and forth, but when you cut something with the perpendicular axis moving, the head is going to drift depending if you are climb milling or conventionally milling. You will notice scallops on the finished faces. Backlash compensation in the software might also cause following errors due to the take-up, don't know on LinuxCNC but that was a fault in Mach3/4(?) because the backlash wasn't accelerated correctly. It was assumed to be loose and it would just take-up the backlash expecting no-load on the servos.
lengthy message, but you should be able to figure out your backlash this way. Pushing on the head works, but it only shows you the backlash at that particular leadscrew setting.. the other trick is to put slightly oversized balls in the ballscrew. That will take up some backlash. You can also use compression washers in your motor mounts if your screws are directly coupled. You loosen your motor, uncouple the screw, pull it out slightly, and then tighten the coupler up. then use the compression washers to tighten the motor into the mount carefully. This can take-up some backlash in the end to end movement of the screw but you don't want to bend anything.
Jerry
18 Mar 2024 16:51 - 18 Mar 2024 16:55
Replied by smplc on topic Axis stopped moving
Axis stopped moving
Category: General LinuxCNC Questions
1. No watchdog LED (CR6) except when closing LinuxCNC that was opened in the command line terminal.
2. All wires okay including stepper drivers and spindle.
3. I tried jogging Z and X axes back and forth and no movement.
4. Step drives have power and their LED's green color lit. The main power supply output is 41 DCV.
Only the power on/off rocker switch wiring was interchanged to mount a new switch. The wires are replaced the same way.
The address was 10.10.10.1 at the .hal file and /interfaces file. I was using that address when version 2.9.1 and 2.9.2 awhile before the axes stopped moving. I changed to the address 10.10.10.10 both files and still no axes moving and no spindle rotating after MDI and S700 M3;. Also, I altered at the .ini file the X-axis limit to the previous setting and saved. However launching LinuxCNC still no axis and spindle movement.
Powering the control box off and on the 7i96s RJ45 LED's colored green and amber/yellow lit and the logic power (CR8) LED colored yellow lit. CR11-14 LED's aren't lit green until pinging the address 10.10.10.10.
2. All wires okay including stepper drivers and spindle.
3. I tried jogging Z and X axes back and forth and no movement.
4. Step drives have power and their LED's green color lit. The main power supply output is 41 DCV.
Only the power on/off rocker switch wiring was interchanged to mount a new switch. The wires are replaced the same way.
The address was 10.10.10.1 at the .hal file and /interfaces file. I was using that address when version 2.9.1 and 2.9.2 awhile before the axes stopped moving. I changed to the address 10.10.10.10 both files and still no axes moving and no spindle rotating after MDI and S700 M3;. Also, I altered at the .ini file the X-axis limit to the previous setting and saved. However launching LinuxCNC still no axis and spindle movement.
Powering the control box off and on the 7i96s RJ45 LED's colored green and amber/yellow lit and the logic power (CR8) LED colored yellow lit. CR11-14 LED's aren't lit green until pinging the address 10.10.10.10.
18 Mar 2024 00:34
Getting Encoder Reading with 7i96s + 7i85s was created by ltcnc
Getting Encoder Reading with 7i96s + 7i85s
Category: PnCConf Wizard
I'm working through PnCConf for a new build but I can't seem to get any kind of encoder readings when I test my stepper motors. I'm using a 7i96s + 7i85s card. The encoders are technically differential and have QAX, QAX/, QBX, and QBX/ signals. (No index pulse.) I was reading odd pulse voltages (only 1-2V with respect to ground) when I tried using the differential pulse, so now I'm running them as TTL (disconnected QAX/ and QBX/ signals) and changed the jumpers on the 7i85s to the "up" position. This gives 0 and 5 volt readings on both QAX and QBX when I rotate the encoder, but I'm still just seeing encoder readings of zero on the hal probe when I test the motor.
I'm pretty sure I'm using the correct firmware (downloaded from mesa). I flashed the 7i96s_7i85sd.bin, which PnCConf seems to be discovering correctly (at least, I have the option to choose the encoders on the P1 tab). I'm also pretty sure everything is wired correctly, I'm testing encoder 0 on the TB3 connector of the 7i85s and have double checked the wiring multiple times. Also, I can get the 7i96s to drive the stepper, but again only seeing 0's on the encoder reading.
Here's my rough HAL file (I haven't really tuned anything in, mostly trying to get this issued solved first):
Anyone know what I'm doing wrong?
I'm pretty sure I'm using the correct firmware (downloaded from mesa). I flashed the 7i96s_7i85sd.bin, which PnCConf seems to be discovering correctly (at least, I have the option to choose the encoders on the P1 tab). I'm also pretty sure everything is wired correctly, I'm testing encoder 0 on the TB3 connector of the 7i85s and have double checked the wiring multiple times. Also, I can get the 7i96s to drive the stepper, but again only seeing 0's on the encoder reading.
Here's my rough HAL file (I haven't really tuned anything in, mostly trying to get this issued solved first):
# Generated by PNCconf at Sun Mar 17 19:57:24 2024
# 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=6 num_pwmgens=1 num_stepgens=9 sserial_port_0=00xxxxxx"
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.y,pid.z,pid.s
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 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
# external input signals
#*******************
# 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
# ---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
# ---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 [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_7i96s.0.encoder.00.position
net x-vel-fb <= hm2_7i96s.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i96s.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i96s.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
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
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.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
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_7i96s.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i96s.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i96s.0.stepgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96s.0.encoder.01.counter-mode 0
setp hm2_7i96s.0.encoder.01.filter 1
setp hm2_7i96s.0.encoder.01.index-invert 0
setp hm2_7i96s.0.encoder.01.index-mask 0
setp hm2_7i96s.0.encoder.01.index-mask-invert 0
setp hm2_7i96s.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
net y-pos-fb <= hm2_7i96s.0.encoder.01.position
net y-vel-fb <= hm2_7i96s.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i96s.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i96s.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]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.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96s.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96s.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i96s.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96s.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96s.0.stepgen.02.step_type 0
setp hm2_7i96s.0.stepgen.02.control-type 1
setp hm2_7i96s.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output => hm2_7i96s.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i96s.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i96s.0.stepgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96s.0.encoder.02.counter-mode 0
setp hm2_7i96s.0.encoder.02.filter 1
setp hm2_7i96s.0.encoder.02.index-invert 0
setp hm2_7i96s.0.encoder.02.index-mask 0
setp hm2_7i96s.0.encoder.02.index-mask-invert 0
setp hm2_7i96s.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
net z-pos-fb <= hm2_7i96s.0.encoder.02.position
net z-vel-fb <= hm2_7i96s.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i96s.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i96s.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#******************************
# 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-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.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.2.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-out => 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-preparedAnyone know what I'm doing wrong?
17 Mar 2024 19:07
Tool height setter and 3d probe inputs was created by natholego11
Tool height setter and 3d probe inputs
Category: General LinuxCNC Questions
Hi,
ive got a 3 axis probe (NC) and a tool height setter(NO), im trying to put them into the same pin so I can use the same motion.probe-input.
I was following this example, but I keep getting an error that my tool_probe.in0 (and I assume in.1) are not defined
forum.linuxcnc.org/10-advanced-configura...nsor?start=10#233776
here is my current HAL. what am I missing here?
ive got a 3 axis probe (NC) and a tool height setter(NO), im trying to put them into the same pin so I can use the same motion.probe-input.
I was following this example, but I keep getting an error that my tool_probe.in0 (and I assume in.1) are not defined
forum.linuxcnc.org/10-advanced-configura...nsor?start=10#233776
here is my current HAL. what am I missing here?
# Generated by PNCconf at Tue Jan 18 09:12:59 2022
# Using LinuxCNC version: 2.8
# 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 #num_dio=30 num_aio=30
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=5 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp hm2_7i96.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt abs names=abs.0,abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt near
addf hm2_7i96.0.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 scale.spindle servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf near.0 servo-thread
addf hm2_7i96.0.write servo-thread
addf abs.0 servo-thread
# external output signals
# --- COOLANT-MIST ---
net coolant-mist => hm2_7i96.0.ssr.00.out-01
# external input signals
# --- MACHINE-ON ---
net external-machine-on <= hm2_7i96.0.gpio.003.in_not
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i96.0.gpio.000.in
# --- PROBE-IN ---
#net probe-in <= hm2_7i96.0.gpio.001.in
net toolsetter-in <= hm2_7i96.0.gpio.001.in => tool_probe.in0
net probe-in <= hm2_7i96.0.gpio.002.in => tool_probe.in1
net tool-or-probe tool_probe.out
# --- Probe Blast---
#net probe-blast => hm2_7i96.0.ssr.00.out-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 0.000500
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_7i96.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i96.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i96.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i96.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i96.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i96.0.stepgen.00.step_type 0
setp hm2_7i96.0.stepgen.00.control-type 1
setp hm2_7i96.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i96.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i96.0.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_7i96.0.stepgen.00.enable
# ---setup home / limit switch signals---
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
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.000500
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i96.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i96.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i96.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i96.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i96.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i96.0.stepgen.01.step_type 0
setp hm2_7i96.0.stepgen.01.control-type 1
setp hm2_7i96.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i96.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i96.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i96.0.stepgen.01.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]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 0.000500
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_7i96.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i96.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96.0.stepgen.02.step_type 0
setp hm2_7i96.0.stepgen.02.control-type 1
setp hm2_7i96.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i96.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i96.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i96.0.stepgen.02.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# 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 0.000500
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_7i96.0.stepgen.03.dirsetup [SPINDLE_0]DIRSETUP
setp hm2_7i96.0.stepgen.03.dirhold [SPINDLE_0]DIRHOLD
setp hm2_7i96.0.stepgen.03.steplen [SPINDLE_0]STEPLEN
setp hm2_7i96.0.stepgen.03.stepspace [SPINDLE_0]STEPSPACE
setp hm2_7i96.0.stepgen.03.position-scale [SPINDLE_0]STEP_SCALE
setp hm2_7i96.0.stepgen.03.step_type 0
setp hm2_7i96.0.stepgen.03.control-type 1
setp hm2_7i96.0.stepgen.03.maxaccel [SPINDLE_0]MAX_ACCELERATION
setp hm2_7i96.0.stepgen.03.maxvel [SPINDLE_0]MAX_VELOCITY
net spindle-vel-cmd-rps => hm2_7i96.0.stepgen.03.velocity-cmd
#(enables the DMM drive with the power button)
net machine-is-on <= halui.machine.is-on
net machine-is-on => hm2_7i96.0.ssr.00.out-00
#(enables the spindle stepgen)
net machine-is-enabled <= motion.motion-enabled
net machine-is-enabled => hm2_7i96.0.stepgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_7i96.0.encoder.04.counter-mode 0
setp hm2_7i96.0.encoder.04.filter 1
setp hm2_7i96.0.encoder.04.index-invert 0
setp hm2_7i96.0.encoder.04.index-mask 0
setp hm2_7i96.0.encoder.04.index-mask-invert 0
setp hm2_7i96.0.encoder.04.scale [SPINDLE_0]ENCODER_SCALE
net spindle-revs <= hm2_7i96.0.encoder.04.position
net spindle-vel-fb-rps <= hm2_7i96.0.encoder.04.velocity
net spindle-index-enable <=> hm2_7i96.0.encoder.04.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-abs => near.0.in2
net spindle-at-speed <= near.0.out
net spindle-vel-fb-rps => abs.0.in
net spindle-vel-fb-rps-abs abs.0.out
setp near.0.scale 1.000000
setp near.0.difference 2.00
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
#******************************
# 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-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.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.2.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
net tool-or-probe => 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---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed 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
17 Mar 2024 06:00 - 17 Mar 2024 06:01
I fixed Tram in Y axis with grub screw but X axis fix requires some modification of spindle holder, so it would take some time and will be done after current project.
Meanwhile, I think I found the source of backlash under the load but I don't know how to fix.
Attached image is the X axis ball screw bearing block. When it's not under the load, only screw/nut is spinning based on movement, but once it starts cutting, the inner bearing block itself spins together from time to time. Also I can see the bearing block wiggles within the bearing pocket. In other words, there is play in bearing and bearing pocket which will wiggle under the load. I suspect this is the source of backlash under the load.
Thing is, I don't know how to fix this.
First, how to unscrew this nut? Once put wrench and turn, it just make stepper motor attached on the other hand lose steps. I don't know how to hold the ball screw while unscrew this nut.
Assuming I unscrew the nut and removed the bearing from the pocket, how to set it in place? It's very thin gap.
I might redesign the whole Z plate but due to this wiggle, my hole cutting is always inaccurate and I'm not sure my new z plate has correct size for bearing to tightly fit.
Any insight would be appreciated.
Replied by merongi on topic Dimension accuracy loss under load
Dimension accuracy loss under load
Category: Advanced Configuration
Meanwhile, I think I found the source of backlash under the load but I don't know how to fix.
Attached image is the X axis ball screw bearing block. When it's not under the load, only screw/nut is spinning based on movement, but once it starts cutting, the inner bearing block itself spins together from time to time. Also I can see the bearing block wiggles within the bearing pocket. In other words, there is play in bearing and bearing pocket which will wiggle under the load. I suspect this is the source of backlash under the load.
Thing is, I don't know how to fix this.
First, how to unscrew this nut? Once put wrench and turn, it just make stepper motor attached on the other hand lose steps. I don't know how to hold the ball screw while unscrew this nut.
Assuming I unscrew the nut and removed the bearing from the pocket, how to set it in place? It's very thin gap.
I might redesign the whole Z plate but due to this wiggle, my hole cutting is always inaccurate and I'm not sure my new z plate has correct size for bearing to tightly fit.
Any insight would be appreciated.
12 Mar 2024 23:06
Ignoring task mode change while jogging (version 2.8.4-1-gb7824717b on buster) was created by nottolino
Ignoring task mode change while jogging (version 2.8.4-1-gb7824717b on buster)
Category: AXIS
Hi all, here is Ottorino from Italy.
I've been lurking (and learning !!) intermittently for years on this forum and on the knowledge base.
Thanks to you all.
I have a problem, possibly a bug very similar to this one
forum.linuxcnc.org/48-gladevcp/51399-mes...change-while-jogging
but I get the message on Axis.
Before rising a bug on github, I think is more correct and fair to ask here
Here below what I wrote for github, without submitting the bug
1. the whole stuff has been working fine for a couple of weeks, while I was setting it up (stepconf) for axis name, directions, homing sequence, joypad movement, gedit, git, emacs and so on.
2. When I was finally ready to mill something, the machine started to give problems
3.When I switch to MDI to send a command such as
g53 g0 x0y50z20, i.e.any random coordinates, or
g10 l2 p1 X38 Y140 Z25 or
any other command i get the messages
"Ignoring task mode change while jogging"
and
"It is necessary to be in MDI mode to execute MDI commands" (translated from italian).
These messages appear also when I try to set the zero coordinates either with g10 l2... or by pressing the buttons on manual control (F3) of Axis interface.
4. This happens 8-9 times out of ten, I would say, thus making the CNC unusable
5. Please note that I keep my ~/linuxcnc dir under subversion with git, so I can go back and forth among configuration history and the problem described above is present also when I get back to the original working setup
## Information about my hardware and software:
Distributor ID: Debian
Description: Debian GNU/Linux 10 (buster)
Release: 10
Codename: buster
freshly installed
Linux 8-CNC 4.19.0-26-rt-amd64 #1 SMP PREEMPT RT Debian 4.19.304-1 (2024-01-09) x86_64 GNU/Linux
Installed by means of iso image from linuxcnc site
LinuxCNC/AXIS versione 2.8.4-1-gb7824717b with a USB Joypad
parallel port
The hardware is a Ronchini Minimill with its "2A stepper" controller,
four axis, but the rotary axis not (yet) installed.
The spindle is made by kress and can be activated by the flood output connected to a 220V rele (F8 on keyboard)
I've been lurking (and learning !!) intermittently for years on this forum and on the knowledge base.
Thanks to you all.
I have a problem, possibly a bug very similar to this one
forum.linuxcnc.org/48-gladevcp/51399-mes...change-while-jogging
but I get the message on Axis.
Before rising a bug on github, I think is more correct and fair to ask here
Here below what I wrote for github, without submitting the bug
1. the whole stuff has been working fine for a couple of weeks, while I was setting it up (stepconf) for axis name, directions, homing sequence, joypad movement, gedit, git, emacs and so on.
2. When I was finally ready to mill something, the machine started to give problems
3.When I switch to MDI to send a command such as
g53 g0 x0y50z20, i.e.any random coordinates, or
g10 l2 p1 X38 Y140 Z25 or
any other command i get the messages
"Ignoring task mode change while jogging"
and
"It is necessary to be in MDI mode to execute MDI commands" (translated from italian).
These messages appear also when I try to set the zero coordinates either with g10 l2... or by pressing the buttons on manual control (F3) of Axis interface.
4. This happens 8-9 times out of ten, I would say, thus making the CNC unusable
5. Please note that I keep my ~/linuxcnc dir under subversion with git, so I can go back and forth among configuration history and the problem described above is present also when I get back to the original working setup
## Information about my hardware and software:
Distributor ID: Debian
Description: Debian GNU/Linux 10 (buster)
Release: 10
Codename: buster
freshly installed
Linux 8-CNC 4.19.0-26-rt-amd64 #1 SMP PREEMPT RT Debian 4.19.304-1 (2024-01-09) x86_64 GNU/Linux
Installed by means of iso image from linuxcnc site
LinuxCNC/AXIS versione 2.8.4-1-gb7824717b with a USB Joypad
parallel port
The hardware is a Ronchini Minimill with its "2A stepper" controller,
four axis, but the rotary axis not (yet) installed.
The spindle is made by kress and can be activated by the flood output connected to a 220V rele (F8 on keyboard)
11 Mar 2024 21:39
Replied by gardenweazel on topic 7i76e to Durapulse connection
7i76e to Durapulse connection
Category: Driver Boards
Anything that I may have missed in here??
# Generated by PNCconf at Wed Nov 1 13:06:00 2023
# Using LinuxCNC version: 2.10.0~pre0
# 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=0 num_stepgens=5 sserial_port_0=21xxxxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.w,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
addf hm2_7i76e.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.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.w.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
#net estop-out => hm2_7i76e.0.7i76.0.0.output-07
net coolant-flood => hm2_7i76e.0.7i76.0.0.output-06
# external input signals
# --- MIN-HOME-W ---
net min-home-w <= hm2_7i76e.0.7i76.0.0.input-09-not
# --- MIN-HOME-X ---
net min-home-x <= hm2_7i76e.0.7i76.0.0.input-08-not
# --- MIN-HOME-Y ---
net min-home-y <= hm2_7i76e.0.7i76.0.0.input-12-not
# --- PROBE-IN ---
net probe-in <= hm2_7i76e.0.7i76.0.0.input-13-not
# --- MIN-HOME-Y2 ---
net min-home-y2 <= hm2_7i76e.0.7i76.0.0.input-14-not
# --- MIN-HOME-Z ---
net max-home-z <= hm2_7i76e.0.7i76.0.0.input-15-not
#*******************
# 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_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.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_7i76e.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 Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable => pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_7i76e.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]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_7i76e.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i76e.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i76e.0.stepgen.03.step_type 0
setp hm2_7i76e.0.stepgen.03.control-type 1
setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output => hm2_7i76e.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.03.enable
# ---setup home / limit switch signals---
net max-home-z => joint.3.home-sw-in
net max-home-z => joint.3.neg-lim-sw-in
net z-neg-limit => joint.3.pos-lim-sw-in
#*******************
# AXIS W JOINT 4
#*******************
setp pid.w.Pgain [JOINT_4]P
setp pid.w.Igain [JOINT_4]I
setp pid.w.Dgain [JOINT_4]D
setp pid.w.bias [JOINT_4]BIAS
setp pid.w.FF0 [JOINT_4]FF0
setp pid.w.FF1 [JOINT_4]FF1
setp pid.w.FF2 [JOINT_4]FF2
setp pid.w.deadband [JOINT_4]DEADBAND
setp pid.w.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.w.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.w.maxerror 0.012700
net w-index-enable => pid.w.index-enable
net w-enable => pid.w.enable
net w-pos-cmd => pid.w.command
net w-pos-fb => pid.w.feedback
net w-output <= pid.w.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i76e.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_7i76e.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_7i76e.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_7i76e.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i76e.0.stepgen.04.step_type 0
setp hm2_7i76e.0.stepgen.04.control-type 1
setp hm2_7i76e.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net w-pos-cmd <= joint.4.motor-pos-cmd
net w-vel-cmd <= joint.4.vel-cmd
net w-output => hm2_7i76e.0.stepgen.04.velocity-cmd
net w-pos-fb <= hm2_7i76e.0.stepgen.04.position-fb
net w-pos-fb => joint.4.motor-pos-fb
net w-enable <= joint.4.amp-enable-out
net w-enable => hm2_7i76e.0.stepgen.04.enable
# ---setup home / limit switch signals---
# net max-home-w => joint.4.home-sw-in
# net max-home-w => joint.4.neg-lim-sw-in
# net w-neg-limit => joint.4.pos-lim-sw-in
net min-home-w => joint.4.home-sw-in
net min-home-w => joint.4.neg-lim-sw-in
net w-pos-limit => joint.4.pos-lim-sw-in
#*******************
# 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
net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentiometer output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---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---
sets spindle-at-speed true
#******************************
# 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-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net y2-is-homed halui.joint.2.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.3.is-homed
net axis-select-w halui.axis.w.select
net jog-w-pos halui.axis.w.plus
net jog-w-neg halui.axis.w.minus
net jog-w-analog halui.axis.w.analog
net w-is-homed halui.joint.4.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-out => 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
# Generated by PNCconf at Wed Nov 1 13:06:00 2023
# Using LinuxCNC version: 2.10.0~pre0
# 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=0 num_stepgens=5 sserial_port_0=21xxxxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.w,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
addf hm2_7i76e.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.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.w.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
#net estop-out => hm2_7i76e.0.7i76.0.0.output-07
net coolant-flood => hm2_7i76e.0.7i76.0.0.output-06
# external input signals
# --- MIN-HOME-W ---
net min-home-w <= hm2_7i76e.0.7i76.0.0.input-09-not
# --- MIN-HOME-X ---
net min-home-x <= hm2_7i76e.0.7i76.0.0.input-08-not
# --- MIN-HOME-Y ---
net min-home-y <= hm2_7i76e.0.7i76.0.0.input-12-not
# --- PROBE-IN ---
net probe-in <= hm2_7i76e.0.7i76.0.0.input-13-not
# --- MIN-HOME-Y2 ---
net min-home-y2 <= hm2_7i76e.0.7i76.0.0.input-14-not
# --- MIN-HOME-Z ---
net max-home-z <= hm2_7i76e.0.7i76.0.0.input-15-not
#*******************
# 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_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.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_7i76e.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 Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable => pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_7i76e.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]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_7i76e.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i76e.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i76e.0.stepgen.03.step_type 0
setp hm2_7i76e.0.stepgen.03.control-type 1
setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output => hm2_7i76e.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.03.enable
# ---setup home / limit switch signals---
net max-home-z => joint.3.home-sw-in
net max-home-z => joint.3.neg-lim-sw-in
net z-neg-limit => joint.3.pos-lim-sw-in
#*******************
# AXIS W JOINT 4
#*******************
setp pid.w.Pgain [JOINT_4]P
setp pid.w.Igain [JOINT_4]I
setp pid.w.Dgain [JOINT_4]D
setp pid.w.bias [JOINT_4]BIAS
setp pid.w.FF0 [JOINT_4]FF0
setp pid.w.FF1 [JOINT_4]FF1
setp pid.w.FF2 [JOINT_4]FF2
setp pid.w.deadband [JOINT_4]DEADBAND
setp pid.w.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.w.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.w.maxerror 0.012700
net w-index-enable => pid.w.index-enable
net w-enable => pid.w.enable
net w-pos-cmd => pid.w.command
net w-pos-fb => pid.w.feedback
net w-output <= pid.w.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i76e.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_7i76e.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_7i76e.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_7i76e.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i76e.0.stepgen.04.step_type 0
setp hm2_7i76e.0.stepgen.04.control-type 1
setp hm2_7i76e.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net w-pos-cmd <= joint.4.motor-pos-cmd
net w-vel-cmd <= joint.4.vel-cmd
net w-output => hm2_7i76e.0.stepgen.04.velocity-cmd
net w-pos-fb <= hm2_7i76e.0.stepgen.04.position-fb
net w-pos-fb => joint.4.motor-pos-fb
net w-enable <= joint.4.amp-enable-out
net w-enable => hm2_7i76e.0.stepgen.04.enable
# ---setup home / limit switch signals---
# net max-home-w => joint.4.home-sw-in
# net max-home-w => joint.4.neg-lim-sw-in
# net w-neg-limit => joint.4.pos-lim-sw-in
net min-home-w => joint.4.home-sw-in
net min-home-w => joint.4.neg-lim-sw-in
net w-pos-limit => joint.4.pos-lim-sw-in
#*******************
# 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
net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentiometer output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---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---
sets spindle-at-speed true
#******************************
# 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-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net y2-is-homed halui.joint.2.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.3.is-homed
net axis-select-w halui.axis.w.select
net jog-w-pos halui.axis.w.plus
net jog-w-neg halui.axis.w.minus
net jog-w-analog halui.axis.w.analog
net w-is-homed halui.joint.4.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-out => 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
08 Mar 2024 20:39
Replied by tommylight on topic How do I find out what setup I'm using (dialect, post-processor, etc)?
How do I find out what setup I'm using (dialect, post-processor, etc)?
Category: General LinuxCNC Questions
It is using a Mesa 5i25 that is inside the PC and has a DB25 port that is the same shape and pinout as a parallel port, but much faster and is wired to a Mesa 7i76 that is on the machine, the stepper/servo drives are wired to it and so are input/outputs, sensors and spindle.
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For simple 2.5D stuff look at Inkscape, it is very easy to use and can export gcode that LinuxCNC works perfectly with.
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For simple 2.5D stuff look at Inkscape, it is very easy to use and can export gcode that LinuxCNC works perfectly with.
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