7i96 Configuration Tool

# This file was created with the 7i96 Wizard on Mar 15 2020 14:51:19 # If you make changes to this file your screwed net min-limit-joint-3 joint.3.neg-lim-sw-in <= hm2_7i96.0.gpio.006.in net max-limit-home-joint-3 joint.3.pos-lim-sw-in <= hm2_7i96.0.gpio.007.in net max-limit-home-joint-3 joint.3.home-sw-in

net min-limit-joint-3 joint.3.neg-lim-sw-in <= hm2_7i96.0.gpio.006.in_not net max-limit-home-joint-3 joint.3.pos-lim-sw-in <= hm2_7i96.0.gpio.007.in_not

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl: Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 LINUXCNC - 2.8.0-pre1-5532-gce4300a57 Machine configuration directory is '/home/cnc/linuxcnc/configs/testcnc' Machine configuration file is 'testcnc.ini' INIFILE=/home/cnc/linuxcnc/configs/testcnc/testcnc.ini VERSION=1.1 PARAMETER_FILE=testcnc.var TASK=milltask HALUI= DISPLAY=axis COORDINATES=XY KINEMATICS=trivkins coordinates=XY Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io Found file(REL): ./testcnc.hal Shutting down and cleaning up LinuxCNC... hm2: loading Mesa HostMot2 driver version 0.15 hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2 hm2_eth: 10.10.10.10: Hardware address: 00:60:1b:16:01:0c hm2_eth: discovered 7I96 hm2/hm2_7i96.0: Smart Serial Firmware Version 43 hm2/hm2_7i96.0: 51 I/O Pins used: hm2/hm2_7i96.0: IO Pin 000 (TB3-01): IOPort hm2/hm2_7i96.0: IO Pin 001 (TB3-02): IOPort hm2/hm2_7i96.0: IO Pin 002 (TB3-03): IOPort hm2/hm2_7i96.0: IO Pin 003 (TB3-04): IOPort hm2/hm2_7i96.0: IO Pin 004 (TB3-05): IOPort hm2/hm2_7i96.0: IO Pin 005 (TB3-06): IOPort hm2/hm2_7i96.0: IO Pin 006 (TB3-07): IOPort hm2/hm2_7i96.0: IO Pin 007 (TB3-08): IOPort hm2/hm2_7i96.0: IO Pin 008 (TB3-09): IOPort hm2/hm2_7i96.0: IO Pin 009 (TB3-10): IOPort hm2/hm2_7i96.0: IO Pin 010 (TB3-11): IOPort hm2/hm2_7i96.0: IO Pin 011 (TB3-13/TB3-14): SSR #0, pin Out-00 (Output) hm2/hm2_7i96.0: IO Pin 012 (TB3-15/TB3-16): SSR #0, pin Out-01 (Output) hm2/hm2_7i96.0: IO Pin 013 (TB3-17/TB3-18): SSR #0, pin Out-02 (Output) hm2/hm2_7i96.0: IO Pin 014 (TB3-19/TB3-20): SSR #0, pin Out-03 (Output) hm2/hm2_7i96.0: IO Pin 015 (TB3-21/TB3-22): SSR #0, pin Out-04 (Output) hm2/hm2_7i96.0: IO Pin 016 (TB3-23/TB3-24): SSR #0, pin Out-05 (Output) hm2/hm2_7i96.0: IO Pin 017 (TB1-02/TB1-03): StepGen #0, pin Step (Output) hm2/hm2_7i96.0: IO Pin 018 (TB1-04/TB1-05): StepGen #0, pin Direction (Output) hm2/hm2_7i96.0: IO Pin 019 (TB1-08/TB1-09): StepGen #1, pin Step (Output) hm2/hm2_7i96.0: IO Pin 020 (TB1-10/TB1-11): StepGen #1, pin Direction (Output) hm2/hm2_7i96.0: IO Pin 021 (TB1-14/TB1-15): StepGen #2, pin Step (Output) hm2/hm2_7i96.0: IO Pin 022 (TB1-16/TB1-17): StepGen #2, pin Direction (Output) hm2/hm2_7i96.0: IO Pin 023 (TB1-20/TB1-21): StepGen #3, pin Step (Output) hm2/hm2_7i96.0: IO Pin 024 (TB1-22-TB1-23): StepGen #3, pin Direction (Output) hm2/hm2_7i96.0: IO Pin 025 (TB2-01/TB2-03): IOPort hm2/hm2_7i96.0: IO Pin 026 (TB2-04/TB2-05): IOPort hm2/hm2_7i96.0: IO Pin 027 (TB2-07/TB2-08): Encoder #0, pin A (Input) hm2/hm2_7i96.0: IO Pin 028 (TB2-10/TB2-11): Encoder #0, pin B (Input) hm2/hm2_7i96.0: IO Pin 029 (TB2-13/TB2-14): Encoder #0, pin Index (Input) hm2/hm2_7i96.0: IO Pin 030 (TB2-16/TB2-17): IOPort hm2/hm2_7i96.0: IO Pin 031 (TB2-18/TB2-19): IOPort hm2/hm2_7i96.0: IO Pin 032 (internal): IOPort hm2/hm2_7i96.0: IO Pin 033 (internal): SSR #0, pin AC Ref (internal) (Output) hm2/hm2_7i96.0: IO Pin 034 (P1-01): IOPort hm2/hm2_7i96.0: IO Pin 035 (P1-02): IOPort hm2/hm2_7i96.0: IO Pin 036 (P1-03): IOPort hm2/hm2_7i96.0: IO Pin 037 (P1-04): IOPort hm2/hm2_7i96.0: IO Pin 038 (P1-05): IOPort hm2/hm2_7i96.0: IO Pin 039 (P1-06): IOPort hm2/hm2_7i96.0: IO Pin 040 (P1-07): IOPort hm2/hm2_7i96.0: IO Pin 041 (P1-08): IOPort hm2/hm2_7i96.0: IO Pin 042 (P1-09): IOPort hm2/hm2_7i96.0: IO Pin 043 (P1-11): IOPort hm2/hm2_7i96.0: IO Pin 044 (P1-13): IOPort hm2/hm2_7i96.0: IO Pin 045 (P1-15): IOPort hm2/hm2_7i96.0: IO Pin 046 (P1-17): IOPort hm2/hm2_7i96.0: IO Pin 047 (P1-19): IOPort hm2/hm2_7i96.0: IO Pin 048 (P1-21): IOPort hm2/hm2_7i96.0: IO Pin 049 (P1-23): IOPort hm2/hm2_7i96.0: IO Pin 050 (P1-25): IOPort hm2/hm2_7i96.0: registered hm2_eth: HostMot2 ethernet driver unloaded hm2: unloading Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: Note: Using POSIX realtime ./testcnc.hal:99: parameter or pin 'hm2_7i96.0.pwmgen.00.output-type' not found 2782 Stopping realtime threads Unloading hal components Note: Using POSIX realtime ----------------------------------------------------------------------- Info report created by linuxcnc_info: The file: /tmp/linuxcnc_info.txt can be posted to a forum or a web site like: http://pastebin.com in order to provide information about the linuxcnc system and configuration. Date: Sun Mar 22 15:51:49 CDT 2020 UTC Date: Sun Mar 22 20:51:49 UTC 2020 this program: /usr/bin/linuxcnc_info uptime: 15:51:49 up 28 min, 1 user, load average: 0.25, 0.25, 0.31 lsb_release -sa: Debian Debian GNU/Linux 9.5 (stretch) 9.5 stretch which linuxcnc: /usr/bin/linuxcnc pwd: /home/cnc/linuxcnc/configs/testcnc USER: cnc LOGNAME: cnc HOME: /home/cnc EDITOR: VISUAL: LANGUAGE: TERM: dumb COLORTERM: DISPLAY: :0.0 DESKTOP: lightdm-xsession display size: 1920x1080 pixels (508x285 millimeters) PATH: /usr/bin:/home/cnc/linuxcnc/configs/testcnc/bin:/usr/bin:/home/cnc/.local/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games uname items: nodename -n: cnc kernel-name -s: Linux kernel-vers -v: #1 SMP PREEMPT RT Debian 4.9.110-3+deb9u6 (2018-10-08) machine -m: x86_64 processor -p: unknown platform -i: unknown oper system -o: GNU/Linux /proc items: cmdline: BOOT_IMAGE=/boot/vmlinuz-4.9.0-8-rt-amd64 root=/dev/sda1 ro quiet model name: AMD Athlon(tm) 64 Processor 3000+ cores: 1 cpu MHz: 1802.171 parport: 0000-0000 : parport0 serial: 0000-0000 : serial 0000-0000 : serial Versions: gcc: gcc (Debian 6.3.0-18+deb9u1) 6.3.0 20170516 python: Python 2.7.13 git: git version 2.11.0 git commit: NA tcl: 8.6 tk: 8.6 glade: not_in_PATH glade-gtk2: not_in_PATH linuxcnc_var all: LINUXCNCVERSION: 2.8.0-pre1-5532-gce4300a57 LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples REALTIME: /etc/init.d/realtime RTS: uspace HALLIB_DIR: /usr/share/linuxcnc/hallib dpkg -l '*linuxcnc*': Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad) ||/ Name Version Architecture Description +++-===================-============================-============-===================================================================== un linuxcnc <none> <none> (no description available) un linuxcnc-dev <none> <none> (no description available) un linuxcnc-doc <none> <none> (no description available) ii linuxcnc-doc-en 1:2.7.14 all motion controller for CNC machines and robots (English documentation) un linuxcnc-sim <none> <none> (no description available) un linuxcnc-sim-dev <none> <none> (no description available) ii linuxcnc-uspace 1:2.8.0~pre1.5532.gce4300a57 amd64 motion controller for CNC machines and robots ii linuxcnc-uspace-dev 1:2.8.0~pre1.5532.gce4300a57 amd64 PC based motion controller for real-time Linux

# This file was created with the 7i96 Wizard on Mar 19 2020 19:40:47 # If you make changes to this file DO NOT run the configuration tool again! # This file will be replaced with a new file if you do! # kinematics loadrt [KINS]KINEMATICS # motion controller loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # standard components loadrt pid num_chan=2 # hostmot2 driver loadrt hostmot2 loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](IPADDRESS) config="num_encoders=[HOSTMOT2](ENCODERS) num_stepgens=[HOSTMOT2](STEPGENS) sserial_port_0=[HOSTMOT2](SSERIAL_PORT)" setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 # THREADS addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread setp hm2_[HOSTMOT2](BOARD).0.dpll.01.timer-us -100 setp hm2_[HOSTMOT2](BOARD).0.stepgen.timer-number 1 addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread # Joint 0 # axis enable chain newsig emcmot.0.enable bit sets emcmot.0.enable FALSE net emcmot.0.enable <= joint.0.amp-enable-out net emcmot.0.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable pid.0.enable # position command and feedback net emcmot.0.pos-cmd joint.0.motor-pos-cmd => pid.0.command net motor.0.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb joint.0.motor-pos-fb pid.0.feedback net motor.0.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd setp pid.0.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 setp pid.0.Pgain [JOINT_0]P setp pid.0.Igain [JOINT_0]I setp pid.0.Dgain [JOINT_0]D setp pid.0.bias [JOINT_0]BIAS setp pid.0.FF0 [JOINT_0]FF0 setp pid.0.FF1 [JOINT_0]FF1 setp pid.0.FF2 [JOINT_0]FF2 setp pid.0.deadband [JOINT_0]DEADBAND setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT setp pid.0.maxerror [JOINT_0]MAX_ERROR # Joint 1 # axis enable chain newsig emcmot.1.enable bit sets emcmot.1.enable FALSE net emcmot.1.enable <= joint.1.amp-enable-out net emcmot.1.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable pid.1.enable # position command and feedback net emcmot.1.pos-cmd joint.1.motor-pos-cmd => pid.1.command net motor.1.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb joint.1.motor-pos-fb pid.1.feedback net motor.1.command pid.1.output hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd setp pid.1.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1 setp pid.1.Pgain [JOINT_1]P setp pid.1.Igain [JOINT_1]I setp pid.1.Dgain [JOINT_1]D setp pid.1.bias [JOINT_1]BIAS setp pid.1.FF0 [JOINT_1]FF0 setp pid.1.FF1 [JOINT_1]FF1 setp pid.1.FF2 [JOINT_1]FF2 setp pid.1.deadband [JOINT_1]DEADBAND setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.1.maxerror [JOINT_1]MAX_ERROR # Spindle setp hm2_7i96.0.pwmgen.00.output-type 0 setp hm2_7i96.0.pwmgen.00.scale [SPINDLE]MAX_RPM setp hm2_7i96.0.pwmgen.pwm_frequency [SPINDLE]PWM_FREQUENCY # Standard I/O Block - EStop, Etc # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# This file was created with the 7i96 Wizard on Mar 19 2020 19:40:47 # Changes to most things are ok and will be read by the wizard [EMC] VERSION = 1.1 MACHINE = testcnc DEBUG = 0x00000000 [HOSTMOT2] DRIVER = hm2_eth IPADDRESS = "10.10.10.10" BOARD = 7i96 STEPGENS = 4 ENCODERS = 1 SSERIAL_PORT = 1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = COMMANDED MAX_FEED_OVERRIDE = 1.2 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = "" [KINS] KINEMATICS = trivkins coordinates=XY JOINTS = 2 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = testcnc.var [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = XY LINEAR_UNITS = inch ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 10 [HAL] HALFILE = testcnc.hal HALFILE = io.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui.hal [HALUI] [AXIS_X] MIN_LIMIT = 0 MAX_LIMIT = 48 MAX_VELOCITY = 10 MAX_ACCELERATION = 15 [AXIS_Y] MIN_LIMIT = 0 MAX_LIMIT = 48 MAX_VELOCITY = 10 MAX_ACCELERATION = 15 [JOINT_0] AXIS = X MIN_LIMIT = 0 MAX_LIMIT = 48 MAX_VELOCITY = 10 MAX_ACCELERATION = 15 TYPE = LINEAR SCALE = 1600 STEPGEN_MAX_VEL = 12.0 STEPGEN_MAX_ACC = 18.0 FERROR = 0.0002 MIN_FERROR = 0.0001 DIRSETUP = 5500 DIRHOLD = 2500 STEPLEN = 3000 STEPSPACE = 4000 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0005 HOME = 0 HOME_OFFSET = 1 HOME_SEARCH_VEL = 1 HOME_LATCH_VEL = .5 HOME_SEQUENCE = 0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_1] AXIS = Y MIN_LIMIT = 0 MAX_LIMIT = 48 MAX_VELOCITY = 10 MAX_ACCELERATION = 15 TYPE = LINEAR SCALE = 1600 STEPGEN_MAX_VEL = 12.0 STEPGEN_MAX_ACC = 18.0 FERROR = 0.0002 MIN_FERROR = 0.0001 DIRSETUP = 5500 DIRHOLD = 2500 STEPLEN = 3000 STEPSPACE = 4000 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0005 HOME = 0 HOME_OFFSET = 1 HOME_SEARCH_VEL = 1 HOME_LATCH_VEL = .5 HOME_SEQUENCE = 1 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [SPINDLE] SPINDLE_TYPE = False SCALE = PWM_FREQUENCY = 20000 MAX_RPM = MIN_RPM = DEADBAND = P = I = D = FF0 = FF1 = FF2 = BIAS = MAX_ERROR = [INPUTS] # DO NOT change the input text INPUT_0 = Home INPUT_JOINT_0 = 0 INPUT_1 = Home INPUT_JOINT_1 = 1 INPUT_2 = Select INPUT_JOINT_2 = False INPUT_3 = Select INPUT_JOINT_3 = False INPUT_4 = Select INPUT_JOINT_4 = False INPUT_5 = Select INPUT_JOINT_5 = False INPUT_6 = Select INPUT_JOINT_6 = False INPUT_7 = Select INPUT_JOINT_7 = False INPUT_8 = Select INPUT_JOINT_8 = False INPUT_9 = Select INPUT_JOINT_9 = False INPUT_10 = Select INPUT_JOINT_10 = False [OUTPUTS] # DO NOT change the output text OUTPUT_0 = Select OUTPUT_1 = Select OUTPUT_2 = Select OUTPUT_3 = Select OUTPUT_4 = Select [OPTIONS] MANUAL_TOOL_CHANGE = False HALUI = False PYVCP = False GLADEVCP = False LADDER = False