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XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
- BobBobberton
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7 years 7 months ago #127479
by BobBobberton
Hoping to get some help with an issue I'm having. I built a CNC with dual Gantry Axis and Single axis for Z and Y(?)
When I built the machine I thought that I had my XYZ Configuration correct....
Long Story Short I have a nice working machine that Homes and does not miss steps.
The problem is I set it up Dual X Axis motors (Forward/Revers) that travel the Gantry. and Y Axis that goes Left to Right.
Z Axis Up/Down.
This config is causing me headaches in Fusion 360 as the X and Y are opposite.
I've tried Post Processor Edits (Flipping X and Y) but this caused Radius issues...
I then thought I would just Re-Work my HAL and INI file to Change from XXYZ to XYYZ Config... Simple right?
I edited my Joints and cannot find anything wrong in my setup. With my XXYZ setup homing and everything works but as soon as I change my HAL and INI to my XYYZ edit Nothing Works....
No homing or Jogging on any axis. Nothing moves....
Any ideas? No Errors on start up. And When Homing it shows Z try to move in Program but No Movement....
INI and HAL Files Posted Lower with Pic of Machine for Reference.
When I built the machine I thought that I had my XYZ Configuration correct....
Long Story Short I have a nice working machine that Homes and does not miss steps.
The problem is I set it up Dual X Axis motors (Forward/Revers) that travel the Gantry. and Y Axis that goes Left to Right.
Z Axis Up/Down.
This config is causing me headaches in Fusion 360 as the X and Y are opposite.
I've tried Post Processor Edits (Flipping X and Y) but this caused Radius issues...
I then thought I would just Re-Work my HAL and INI file to Change from XXYZ to XYYZ Config... Simple right?
I edited my Joints and cannot find anything wrong in my setup. With my XXYZ setup homing and everything works but as soon as I change my HAL and INI to my XYYZ edit Nothing Works....
No homing or Jogging on any axis. Nothing moves....
Any ideas? No Errors on start up. And When Homing it shows Z try to move in Program but No Movement....
INI and HAL Files Posted Lower with Pic of Machine for Reference.
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- tommylight
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7 years 7 months ago #127498
by tommylight
Replied by tommylight on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
Double post !
The first attachment is empty.
The first attachment is empty.
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7 years 7 months ago #127504
by pl7i92
Replied by pl7i92 on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
why at all changing the INI
only the HAL needs to be chasnged in pinout
only the HAL needs to be chasnged in pinout
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7 years 7 months ago #127505
by tommylight
Replied by tommylight on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
Ini has to be changed !
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7 years 7 months ago #127519
by BobBobberton
Replied by BobBobberton on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
I'm sorry about the double Post. I didn't think it posted. New to the Forum. It was waiting for Moderator. My Bad.
Thanks for the Reply's. Some how the files I attached were empty. Linux to Windows Issues I guess...
Anyway here are the HAL and INI files Before and After Trying to change from XXYZ to XYYZ.
I am just copying the text into the files to make the change and then it does not move. I can Paste the old files back in and it works normal.
In order of XXYZ.hal Working, XXYZ.INI Working, XYYZ.hal Non Working, XYYZ.IN Non Working
Thanks for your time and help.
XXYZ.Hal Working System
XXYZ.INI Working System
XYYZ.HAL No Motion Not Working
XYYZ.INI Non Working NO Motion
Thanks for the Reply's. Some how the files I attached were empty. Linux to Windows Issues I guess...
Anyway here are the HAL and INI files Before and After Trying to change from XXYZ to XYYZ.
I am just copying the text into the files to make the change and then it does not move. I can Paste the old files back in and it works normal.
In order of XXYZ.hal Working, XXYZ.INI Working, XYYZ.hal Non Working, XYYZ.IN Non Working
Thanks for your time and help.
XXYZ.Hal Working System
Code:
# Generated by stepconf 1.1 at Sun Jun 22 11:16:29 2008
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
# ---had to add a fourth zero to the line below for the fourth joint
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=1
#******************
# Base Thread
#******************
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
#******************
# Servo Thread
#******************
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
#******************
# Spindle
#******************
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 10000
setp pwmgen.0.offset 0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
#******************
# Outputs to Motors
#******************
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net x1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net x1dir => parport.0.pin-03-out
net x2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net x2dir => parport.0.pin-09-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
net yenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
#******************
# Estop Input
#******************
#******************
# Spindle IO
#******************
#******************
# Home/Limit Signals
#******************
net max-home-z <= parport.0.pin-11-in-not
net min-home-y <= parport.0.pin-12-in-not
net max-home-x1 <= parport.0.pin-15-in-not
net max-home-x2 <= parport.0.pin-13-in-not
# net both-home-x1 joint.0.home-sw-in <= parport.0.pin-11-in-not
# net both-home-x2 joint.1.home-sw-in <= parport.0.pin-12-in-not
# net both-home-y joint.2.home-sw-in <= parport.0.pin-13-in-not
# net both-home-z joint.3.home-sw-in <= parport.0.pin-15-in-not
#******************
# Axis X / Joints 0 and 1
#******************
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net x1pos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net x1pos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net x1step <= stepgen.0.step
net x1dir <= stepgen.0.dir
net x1enable joint.0.amp-enable-out => stepgen.0.enable
net max-home-x1 => joint.0.home-sw-in
net max-home-x1 => joint.0.neg-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net x2pos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net x2pos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net x2step <= stepgen.1.step
net x2dir <= stepgen.1.dir
net x2enable joint.1.amp-enable-out => stepgen.1.enable
net max-home-x2 => joint.1.home-sw-in
net max-home-x2 => joint.1.neg-lim-sw-in
#******************
# Axis Y / Joint 2
#******************
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net ypos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net ypos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net ystep <= stepgen.2.step
net ydir <= stepgen.2.dir
net yenable joint.2.amp-enable-out => stepgen.2.enable
net min-home-y => joint.2.home-sw-in
net min-home-y => joint.2.neg-lim-sw-in
#******************
# Axis Z / Joint 3
#******************
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net max-home-z => joint.3.home-sw-in
net max-home-z => joint.3.pos-lim-sw-in
# ---E-Stop---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# net estop-out => iocontrol.0.emc-enable-in
# ---Manual tool change---
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
XXYZ.INI Working System
Code:
# Generated by stepconf 1.1 at Sun Jun 22 11:16:29 2008
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
MACHINE = 3x4CNCRouter
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 2.0
MIN_SPINDLE_OVERRIDE = 0.0
MAX_SPINDLE_OVERRIDE = 2.0
DEFAULT_LINEAR_VELOCITY = 0.20
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.0
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/me/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
PYVCP = custompanel.xml
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XXYZ kinstype=BOTH
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
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
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 31250
SERVO_PERIOD = 1000000
[HAL]
HALFILE = 3x4CNCRouter.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = XXYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.100
DEFAULT_LINEAR_VELOCITY = 2.0
MAX_LINEAR_VELOCITY = 10.0
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************
# Axis X
#******************
[AXIS_X]
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
MIN_LIMIT = -0.01
MAX_LIMIT = 32.5
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 32.5
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.25
HOME_LATCH_VEL = 0.02
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 32.5
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.25
HOME_LATCH_VEL = 0.02
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
#******************
# Axis Y
#******************
[AXIS_Y]
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
MIN_LIMIT = -0.01
MAX_LIMIT = 45.5
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 45.5
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = -1.5
HOME_SEARCH_VEL = -0.2
HOME_LATCH_VEL = 0.015625
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
#******************
# Axis Z
#******************
[AXIS_Z]
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
MIN_LIMIT = -9.0
MAX_LIMIT = 0.01
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = 0.1
HOME_SEARCH_VEL = 0.2
HOME_LATCH_VEL = -0.015625
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
XYYZ.HAL No Motion Not Working
Code:
# Generated by stepconf 1.1 at Sun Jun 22 11:16:29 2008
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
# ---had to add a fourth zero to the line below for the fourth joint
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=1
#******************
# Base Thread
#******************
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
#******************
# Servo Thread
#******************
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
#******************
# Spindle
#******************
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 10000
setp pwmgen.0.offset 0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
#******************
# Outputs to Motors
#******************
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net y1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net y1dir => parport.0.pin-03-out
net y2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net y2dir => parport.0.pin-09-out
net xstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net xdir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
net yenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
#******************
# Estop Input
#******************
#******************
# Spindle IO
#******************
#******************
# Home/Limit Signals
#******************
net max-home-z <= parport.0.pin-11-in-not
net min-home-x <= parport.0.pin-12-in-not
net max-home-y1 <= parport.0.pin-15-in-not
net max-home-y2 <= parport.0.pin-13-in-not
# net both-home-y1 joint.0.home-sw-in <= parport.0.pin-11-in-not
# net both-home-y2 joint.1.home-sw-in <= parport.0.pin-12-in-not
# net both-home-x joint.2.home-sw-in <= parport.0.pin-13-in-not
# net both-home-z joint.3.home-sw-in <= parport.0.pin-15-in-not
#******************
# Axis X / Joint 0
#******************
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
#******************
# Axis Y / Joints 1 and 2
#******************
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net y1pos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net y1pos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net y1step <= stepgen.1.step
net y1dir <= stepgen.1.dir
net y1enable joint.1.amp-enable-out => stepgen.1.enable
net max-home-y1 => joint.1.home-sw-in
net max-home-y1 => joint.1.neg-lim-sw-in
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net y2pos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net y2pos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net y2step <= stepgen.2.step
net y2dir <= stepgen.2.dir
net y2enable joint.2.amp-enable-out => stepgen.2.enable
net max-home-y2 => joint.2.home-sw-in
net max-home-y2 => joint.2.neg-lim-sw-in
#******************
# Axis Z / Joint 3
#******************
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net max-home-z => joint.3.home-sw-in
net max-home-z => joint.3.pos-lim-sw-in
# ---E-Stop---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# net estop-out => iocontrol.0.emc-enable-in
# ---Manual tool change---
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Code:
# Generated by stepconf 1.1 at Sun Jun 22 11:16:29 2008
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
MACHINE = 3x4CNCRouter
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 2.0
MIN_SPINDLE_OVERRIDE = 0.0
MAX_SPINDLE_OVERRIDE = 2.0
DEFAULT_LINEAR_VELOCITY = 0.20
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.0
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/me/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
PYVCP = custompanel.xml
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
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
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 31250
SERVO_PERIOD = 1000000
[HAL]
HALFILE = 3x4CNCRouter.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.100
DEFAULT_LINEAR_VELOCITY = 2.0
MAX_LINEAR_VELOCITY = 10.0
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************
# Axis X
#******************
[AXIS_X]
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
MIN_LIMIT = -0.01
MAX_LIMIT = 45.5
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 45.5
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = -1.5
HOME_SEARCH_VEL = -0.2
HOME_LATCH_VEL = 0.015625
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
#******************
# Axis Y
#******************
[AXIS_Y]
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
MIN_LIMIT = -0.01
MAX_LIMIT = 32.5
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 32.5
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.25
HOME_LATCH_VEL = 0.02
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 32.5
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.25
HOME_LATCH_VEL = 0.02
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
#******************
# Axis Z
#******************
[AXIS_Z]
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
MIN_LIMIT = -9.0
MAX_LIMIT = 0.01
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 1.8
MAX_ACCELERATION = 3.6
STEPGEN_MAXACCEL = 4.0
SCALE = 10180
FERROR = 0.1
MIN_FERROR = 0.05
HOME_OFFSET = 0.1
HOME_SEARCH_VEL = 0.2
HOME_LATCH_VEL = -0.015625
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# HOME_SEARCH_VEL = 0
# HOME_LATCH_VEL = 0
# HOME_USE_INDEX = NO
# HOME_SEQUENCE = 0
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7 years 7 months ago #127521
by BobBobberton
Replied by BobBobberton on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
I got this files posted now on this board. Thanks
I will post a pic of machine for reference.
I will post a pic of machine for reference.
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7 years 7 months ago #127523
by BobBobberton
Replied by BobBobberton on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes
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7 years 7 months ago #127526
by BobBobberton
Replied by BobBobberton on topic XXYZ vs. XYYZ Changes - No Motion after Hal and INI Changes - SOLVED!!!!
I found my problem finally.... I missed my enable output. Yenable was not recognized after changing to Y1 and Y2.
Changed to xenable and all was well in the World.
See below
*ORIGINAL*
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net x1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net x1dir => parport.0.pin-03-out
net x2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net x2dir => parport.0.pin-09-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
*******net yenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
*WRONG*
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net y1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net y1dir => parport.0.pin-03-out
net y2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net y2dir => parport.0.pin-09-out
net xstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net xdir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
*******net yenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
*CORRECTED*
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net y1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net y1dir => parport.0.pin-03-out
net y2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net y2dir => parport.0.pin-09-out
net xstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net xdir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
******net xenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
Changed to xenable and all was well in the World.
See below
*ORIGINAL*
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net x1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net x1dir => parport.0.pin-03-out
net x2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net x2dir => parport.0.pin-09-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
*******net yenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
*WRONG*
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net y1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net y1dir => parport.0.pin-03-out
net y2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net y2dir => parport.0.pin-09-out
net xstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net xdir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
*******net yenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
*CORRECTED*
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
net y1step => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net y1dir => parport.0.pin-03-out
net y2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net y2dir => parport.0.pin-09-out
net xstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net xdir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net estop-ext <= parport.0.pin-10-in
******net xenable => parport.0.pin-14-out
net spindle-on => parport.0.pin-17-out
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