Rpi 400, 7c85 to 7185s setup? xylotex

pi@raspberrypi:~ $ linuxcnc -d Debug mode on + getopts dvlhkr opt + shift 1 + case "" in + '[' -z ']' + tty -s + trap ErrorCheck EXIT + '[' '!' -z '' ']' + EXTRA_ARGS= + RUN_IN_PLACE=no + echo RUN_IN_PLACE=no + LINUXCNCVERSION=2.9.0-pre0-3640-g8be0ba545 + export LINUXCNCVERSION + INIVAR=inivar + HALCMD='halcmd ' + PICKCONFIG='/usr/bin/wish8.6 /usr/lib/tcltk/linuxcnc/bin/pickconfig.tcl' + LINUXCNC_EMCSH=/usr/bin/wish8.6 + echo LINUXCNC_DIR= + echo LINUXCNC_BIN_DIR=/usr/bin + echo LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc + echo LINUXCNC_SCRIPT_DIR= + echo LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules + echo LINUXCNC_CONFIG_DIR= + echo LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs + echo INIVAR=inivar + echo HALCMD=halcmd + echo LINUXCNC_EMCSH=/usr/bin/wish8.6 + export LINUXCNC_TCL_DIR + export LINUXCNC_EMCSH + export LINUXCNC_HELP_DIR + export LINUXCNC_LANG_DIR + export REALTIME + export HALCMD + export LINUXCNC_NCFILES_DIR + '[' -z ']' + echo 'LINUXCNC - 2.9.0-pre0-3640-g8be0ba545' LINUXCNC - 2.9.0-pre0-3640-g8be0ba545 + '[' '!' -z '' ']' + '[' '!' -n '' ']' ++ /usr/bin/wish8.6 /usr/lib/tcltk/linuxcnc/bin/pickconfig.tcl + INIFILE=/home/pi/linuxcnc/configs/Lathe/Lathe.ini + '[' /home/pi/linuxcnc/configs/Lathe/Lathe.ini.demo = /home/pi/linuxcnc/configs/Lathe/Lathe.ini ']' + '[' '!' -n /home/pi/linuxcnc/configs/Lathe/Lathe.ini ']' ++ handle_includes /home/pi/linuxcnc/configs/Lathe/Lathe.ini ++ hdr='# handle_includes():' ++ inifile=/home/pi/linuxcnc/configs/Lathe/Lathe.ini +++ dirname /home/pi/linuxcnc/configs/Lathe/Lathe.ini ++ cd /home/pi/linuxcnc/configs/Lathe ++ /bin/grep '^#INCLUDE' /home/pi/linuxcnc/configs/Lathe/Lathe.ini ++ status=1 ++ '[' 1 -ne 0 ']' ++ echo /home/pi/linuxcnc/configs/Lathe/Lathe.ini ++ return 0 + INIFILE=/home/pi/linuxcnc/configs/Lathe/Lathe.ini + INI_NAME=Lathe.ini + INI_DIR=/home/pi/linuxcnc/configs/Lathe + CONFIG_DIR=/home/pi/linuxcnc/configs/Lathe + export CONFIG_DIR + export PATH=/home/pi/linuxcnc/configs/Lathe/bin:/usr/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games + PATH=/home/pi/linuxcnc/configs/Lathe/bin:/usr/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games + '[' -z ']' + echo 'Machine configuration directory is '\''/home/pi/linuxcnc/configs/Lathe'\''' Machine configuration directory is '/home/pi/linuxcnc/configs/Lathe' + echo 'Machine configuration file is '\''Lathe.ini'\''' Machine configuration file is 'Lathe.ini' + '[' '!' -f /home/pi/linuxcnc/configs/Lathe/Lathe.ini ']' + echo INIFILE=/home/pi/linuxcnc/configs/Lathe/Lathe.ini + retval= + GetFromIni VERSION EMC + name=VERSION ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var VERSION -sec EMC + retval=1.1 + '[' '!' -n VERSION ']' + echo VERSION=1.1 + '[' 1.1 '!=' 1.1 ']' + /usr/bin/tclsh8.6 /usr/share/linuxcnc/hallib/check_config.tcl /home/pi/linuxcnc/configs/Lathe/Lathe.ini + exitval=0 + case "$exitval" in + GetFromIni PARAMETER_FILE RS274NGC + name=PARAMETER_FILE ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var PARAMETER_FILE -sec RS274NGC + retval=linuxcnc.var + '[' '!' -n PARAMETER_FILE ']' + echo PARAMETER_FILE=linuxcnc.var + RS274NGC_PARAMFILE=linuxcnc.var + GetFromIniEx MOT MOT EMCMOT EMCMOT motmod + original_var='[MOT]MOT' + '[' 5 -ge 2 ']' ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var MOT -sec MOT + retval= + shift 2 + '[' 3 -ge 2 ']' ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var EMCMOT -sec EMCMOT + retval=motmod + return + EMCMOT=motmod.so + GetFromIniEx IO IO EMCIO EMCIO io + original_var='[IO]IO' + '[' 5 -ge 2 ']' ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var IO -sec IO + retval= + shift 2 + '[' 3 -ge 2 ']' ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var EMCIO -sec EMCIO + retval=io + return + EMCIO=io + GetFromIni TASK TASK + name=TASK ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var TASK -sec TASK + retval=milltask + '[' '!' -n TASK ']' + echo TASK=milltask + EMCTASK=milltask + '[' milltask = emctask ']' + EMCSERVER=linuxcncsvr + GetFromIniQuiet HALUI HAL + name=HALUI ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var HALUI -sec HAL + retval=halui + '[' '!' -n HALUI ']' + echo HALUI=halui + HALUI=halui + GetFromIni DISPLAY DISPLAY + name=DISPLAY ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var DISPLAY -sec DISPLAY + retval=axis + '[' '!' -n DISPLAY ']' + echo DISPLAY=axis ++ set -- axis ++ echo axis + EMCDISPLAY=axis ++ set -- axis ++ shift ++ echo + EMCDISPLAYARGS= + case $EMCDISPLAY in + GetFromIniEx NML_FILE LINUXCNC NML_FILE EMC /usr/share/linuxcnc/linuxcnc.nml + original_var='[LINUXCNC]NML_FILE' + '[' 5 -ge 2 ']' ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var NML_FILE -sec LINUXCNC + retval= + shift 2 + '[' 3 -ge 2 ']' ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var NML_FILE -sec EMC + retval= + shift 2 + '[' 1 -ge 2 ']' + '[' 1 -eq 0 ']' + retval=/usr/share/linuxcnc/linuxcnc.nml + NMLFILE=/usr/share/linuxcnc/linuxcnc.nml + export NMLFILE + GetFromIni COORDINATES TRAJ + name=COORDINATES ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var COORDINATES -sec TRAJ + retval=XZ + '[' '!' -n COORDINATES ']' + echo COORDINATES=XZ + TRAJ_COORDINATES=XZ + export TRAJ_COORDINATES + GetFromIni KINEMATICS KINS + name=KINEMATICS ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var KINEMATICS -sec KINS + retval='trivkins coordinates=XZ' + '[' '!' -n KINEMATICS ']' + echo 'KINEMATICS=trivkins coordinates=XZ' + KINS_KINEMATICS='trivkins coordinates=XZ' + export KINS_KINEMATICS + KILL_TASK= + KILL_TIMEOUT=20 + LOCKFILE=/tmp/linuxcnc.lock + '[' -f /tmp/linuxcnc.lock ']' + echo Starting LinuxCNC... Starting LinuxCNC... + trap 'Cleanup ; exit 0' SIGINT SIGTERM + cd /home/pi/linuxcnc/configs/Lathe + touch /tmp/linuxcnc.lock ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var INTRO_GRAPHIC -sec DISPLAY + img=linuxcnc.gif ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var INTRO_TIME -sec DISPLAY + imgtime=5 + '[' 5 = '' ']' + '[' linuxcnc.gif '!=' '' ']' + '[' -e linuxcnc.gif ']' + '[' -e /home/pi/linuxcnc/configs/Lathe/linuxcnc.gif ']' + '[' -e /usr/share/linuxcnc/linuxcnc.gif ']' + img=/usr/share/linuxcnc/linuxcnc.gif + '[' /usr/share/linuxcnc/linuxcnc.gif '!=' '' ']' + '[' -x /usr/lib/tcltk/linuxcnc/bin/popimage ']' + echo 'Starting LinuxCNC server program: linuxcncsvr' + /usr/lib/tcltk/linuxcnc/bin/popimage /usr/share/linuxcnc/linuxcnc.gif 5 + program_available linuxcncsvr + type -path linuxcncsvr + export INI_FILE_NAME=/home/pi/linuxcnc/configs/Lathe/Lathe.ini + INI_FILE_NAME=/home/pi/linuxcnc/configs/Lathe/Lathe.ini + linuxcncsvr -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini + echo 'Loading Real Time OS, RTAPI, and HAL_LIB modules' + /etc/init.d/realtime start + export HAL_RTMOD_DIR=/usr/lib/linuxcnc/modules + HAL_RTMOD_DIR=/usr/lib/linuxcnc/modules + '[' io '!=' '' ']' + echo 'Starting LinuxCNC IO program: io' + program_available io + type -path io + halcmd loadusr -Wn iocontrol io -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini + '[' -n halui ']' + echo 'Starting HAL User Interface program: halui' + program_available halui + type -path halui + halcmd loadusr -Wn halui halui -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var TWOPASS -sec HAL -num 1 + TWOPASS= + '[' -n '' ']' + NUM=1 ++ inivar -tildeexpand -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var HALFILE -sec HAL -num 1 + CFGFILE=Lathe.hal + '[' -n Lathe.hal ']' + IFS='\ ' + read CFGFILE CFGFILE_ARGS + foundmsg= + saveIFS=' ' + IFS=: + explicit_file_in_hallib=Lathe.hal + '[' -z Lathe.hal ']' + '[' Lathe.hal '!=' Lathe.hal ']' + '[' L = / ']' + for pathdir in $HALLIB_PATH + foundfile=./Lathe.hal + '[' -r ./Lathe.hal ']' + '[' . = . ']' + foundmsg='Found file(REL): ./Lathe.hal' + break + '[' -d ./Lathe.hal ']' + IFS=' ' + '[' -z 'Found file(REL): ./Lathe.hal' ']' + echo 'Found file(REL): ./Lathe.hal' Found file(REL): ./Lathe.hal + CFGFILE=./Lathe.hal + case $CFGFILE in + halcmd -i /home/pi/linuxcnc/configs/Lathe/Lathe.ini -f ./Lathe.hal Note: Using POSIX non-realtime hm2: loading Mesa HostMot2 driver version 0.15 hm2/hm2_7c81.0: Low Level init 0.15 hm2/hm2_7c81.0: Smart Serial Firmware Version 43 hm2/hm2_7c81.0: 57 I/O Pins used: hm2/hm2_7c81.0: IO Pin 000 (P1-01/DB25-01): IOPort hm2/hm2_7c81.0: IO Pin 001 (P1-02/DB25-14): IOPort hm2/hm2_7c81.0: IO Pin 002 (P1-03/DB25-02): StepGen #3, pin Step (Output) hm2/hm2_7c81.0: IO Pin 003 (P1-04/DB25-15): StepGen #3, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 004 (P1-05/DB25-03): StepGen #2, pin Step (Output) hm2/hm2_7c81.0: IO Pin 005 (P1-06/DB25-16): StepGen #2, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 006 (P1-07/DB25-04): StepGen #1, pin Step (Output) hm2/hm2_7c81.0: IO Pin 007 (P1-08/DB25-17): StepGen #1, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 008 (P1-09/DB25-05): StepGen #0, pin Step (Output) hm2/hm2_7c81.0: IO Pin 009 (P1-11/DB25-06): StepGen #0, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 010 (P1-13/DB25-07): Muxed Encoder Select #0, pin Mux Select 0 (Output) hm2/hm2_7c81.0: IO Pin 011 (P1-15/DB25-08): Muxed Encoder #0, pin Muxed A (Input) hm2/hm2_7c81.0: IO Pin 012 (P1-17/DB25-09): Muxed Encoder #0, pin Muxed B (Input) hm2/hm2_7c81.0: IO Pin 013 (P1-19/DB25-10): Muxed Encoder #0, pin Muxed Index (Input) hm2/hm2_7c81.0: IO Pin 014 (P1-21/DB25-11): IOPort hm2/hm2_7c81.0: IO Pin 015 (P1-23/DB25-12): IOPort hm2/hm2_7c81.0: IO Pin 016 (P1-25/DB25-13): IOPort hm2/hm2_7c81.0: IO Pin 017 (J5-TX0): IOPort hm2/hm2_7c81.0: IO Pin 018 (J6-TX1): IOPort hm2/hm2_7c81.0: IO Pin 019 (P2-01/DB25-01): IOPort hm2/hm2_7c81.0: IO Pin 020 (P2-02/DB25-14): IOPort hm2/hm2_7c81.0: IO Pin 021 (P2-03/DB25-02): IOPort hm2/hm2_7c81.0: IO Pin 022 (P2-04/DB25-15): IOPort hm2/hm2_7c81.0: IO Pin 023 (P2-05/DB25-03): StepGen #6, pin Step (Output) hm2/hm2_7c81.0: IO Pin 024 (P2-06/DB25-16): StepGen #6, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 025 (P2-07/DB25-04): StepGen #5, pin Step (Output) hm2/hm2_7c81.0: IO Pin 026 (P2-08/DB25-17): StepGen #5, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 027 (P2-09/DB25-05): StepGen #4, pin Step (Output) hm2/hm2_7c81.0: IO Pin 028 (P2-11/DB25-06): StepGen #4, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 029 (P2-13/DB25-07): IOPort hm2/hm2_7c81.0: IO Pin 030 (P2-15/DB25-08): IOPort hm2/hm2_7c81.0: IO Pin 031 (P2-17/DB25-09): IOPort hm2/hm2_7c81.0: IO Pin 032 (P2-19/DB25-10): IOPort hm2/hm2_7c81.0: IO Pin 033 (P2-21/DB25-11): IOPort hm2/hm2_7c81.0: IO Pin 034 (P2-23/DB25-12): IOPort hm2/hm2_7c81.0: IO Pin 035 (P2-25/DB25-13): IOPort hm2/hm2_7c81.0: IO Pin 036 (J5-TXEN0): IOPort hm2/hm2_7c81.0: IO Pin 037 (J6-TXEN1): IOPort hm2/hm2_7c81.0: IO Pin 038 (P7-01/DB25-01): IOPort hm2/hm2_7c81.0: IO Pin 039 (P7-02/DB25-14): IOPort hm2/hm2_7c81.0: IO Pin 040 (P7-03/DB25-02): IOPort hm2/hm2_7c81.0: IO Pin 041 (P7-04/DB25-15): IOPort hm2/hm2_7c81.0: IO Pin 042 (P7-05/DB25-03): IOPort hm2/hm2_7c81.0: IO Pin 043 (P7-06/DB25-16): IOPort hm2/hm2_7c81.0: IO Pin 044 (P7-07/DB25-04): IOPort hm2/hm2_7c81.0: IO Pin 045 (P7-08/DB25-17): IOPort hm2/hm2_7c81.0: IO Pin 046 (P7-09/DB25-05): IOPort hm2/hm2_7c81.0: IO Pin 047 (P7-11/DB25-06): IOPort hm2/hm2_7c81.0: IO Pin 048 (P7-13/DB25-07): IOPort hm2/hm2_7c81.0: IO Pin 049 (P7-15/DB25-08): IOPort hm2/hm2_7c81.0: IO Pin 050 (P7-17/DB25-09): IOPort hm2/hm2_7c81.0: IO Pin 051 (P7-19/DB25-10): IOPort hm2/hm2_7c81.0: IO Pin 052 (P7-21/DB25-11): IOPort hm2/hm2_7c81.0: IO Pin 053 (P7-23/DB25-12): IOPort hm2/hm2_7c81.0: IO Pin 054 (P7-25/DB25-13): IOPort hm2/hm2_7c81.0: IO Pin 055 (P5-RX0): IOPort hm2/hm2_7c81.0: IO Pin 056 (P6-RX1): IOPort hm2/hm2_7c81.0: registered + NUM=2 ++ inivar -tildeexpand -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var HALFILE -sec HAL -num 2 + CFGFILE=custom.hal + '[' -n custom.hal ']' + IFS='\ ' + read CFGFILE CFGFILE_ARGS + foundmsg= + saveIFS=' ' + IFS=: + explicit_file_in_hallib=custom.hal + '[' -z custom.hal ']' + '[' custom.hal '!=' custom.hal ']' + '[' c = / ']' + for pathdir in $HALLIB_PATH + foundfile=./custom.hal + '[' -r ./custom.hal ']' + '[' . = . ']' + foundmsg='Found file(REL): ./custom.hal' + break + '[' -d ./custom.hal ']' + IFS=' ' + '[' -z 'Found file(REL): ./custom.hal' ']' + echo 'Found file(REL): ./custom.hal' Found file(REL): ./custom.hal + CFGFILE=./custom.hal + case $CFGFILE in + halcmd -i /home/pi/linuxcnc/configs/Lathe/Lathe.ini -f ./custom.hal + NUM=3 ++ inivar -tildeexpand -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var HALFILE -sec HAL -num 3 + CFGFILE= + '[' -n '' ']' + echo 'Starting TASK program: milltask' + program_available milltask + type -path milltask + NUM=1 + halcmd loadusr -Wn inihal milltask -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini ++ inivar -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var HALCMD -sec HAL -num 1 + HALCOMMAND= + '[' -n '' ']' + halcmd start + run_applications + NUM=1 ++ inivar -tildeexpand -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini -var APP -sec APPLICATIONS -num 1 + APPFILE= + '[' -z '' ']' + return + echo 'Starting DISPLAY program: axis' + result=0 + case $EMCDISPLAY in + program_available axis + type -path axis + axis -ini /home/pi/linuxcnc/configs/Lathe/Lathe.ini note: MAXV max: 1.000 units/sec 60.000 units/min note: LJOG max: 1.000 units/sec 60.000 units/min note: LJOG default: 0.250 units/sec 15.000 units/min note: jog_order='ZX' note: jog_invert=set(['X']) hm2/hm2_7c81.0: Watchdog has bit! (set the .has-bit pin to False to resume) hm2/hm2_7c81.0: Watchdog has bit! (set the .has-bit pin to False to resume)

hm2: loading Mesa HostMot2 driver version 0.15 hm2/hm2_7c81.0: Low Level init 0.15 hm2/hm2_7c81.0: Smart Serial Firmware Version 43 hm2/hm2_7c81.0: 57 I/O Pins used: hm2/hm2_7c81.0: IO Pin 000 (P1-01/DB25-01): IOPort hm2/hm2_7c81.0: IO Pin 001 (P1-02/DB25-14): IOPort hm2/hm2_7c81.0: IO Pin 002 (P1-03/DB25-02): StepGen #3, pin Step (Output) hm2/hm2_7c81.0: IO Pin 003 (P1-04/DB25-15): StepGen #3, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 004 (P1-05/DB25-03): StepGen #2, pin Step (Output) hm2/hm2_7c81.0: IO Pin 005 (P1-06/DB25-16): StepGen #2, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 006 (P1-07/DB25-04): StepGen #1, pin Step (Output) hm2/hm2_7c81.0: IO Pin 007 (P1-08/DB25-17): StepGen #1, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 008 (P1-09/DB25-05): StepGen #0, pin Step (Output) hm2/hm2_7c81.0: IO Pin 009 (P1-11/DB25-06): StepGen #0, pin Direction (Output) hm2/hm2_7c81.0: IO Pin 010 (P1-13/DB25-07): IOPort hm2/hm2_7c81.0: IO Pin 011 (P1-15/DB25-08): IOPort hm2/hm2_7c81.0: IO Pin 012 (P1-17/DB25-09): IOPort hm2/hm2_7c81.0: IO Pin 013 (P1-19/DB25-10): IOPort hm2/hm2_7c81.0: IO Pin 014 (P1-21/DB25-11): IOPort hm2/hm2_7c81.0: IO Pin 015 (P1-23/DB25-12): IOPort hm2/hm2_7c81.0: IO Pin 016 (P1-25/DB25-13): IOPort hm2/hm2_7c81.0: IO Pin 017 (J5-TX0): IOPort hm2/hm2_7c81.0: IO Pin 018 (J6-TX1): IOPort hm2/hm2_7c81.0: IO Pin 019 (P2-01/DB25-01): IOPort hm2/hm2_7c81.0: IO Pin 020 (P2-02/DB25-14): IOPort hm2/hm2_7c81.0: IO Pin 021 (P2-03/DB25-02): IOPort hm2/hm2_7c81.0: IO Pin 022 (P2-04/DB25-15): IOPort hm2/hm2_7c81.0: IO Pin 023 (P2-05/DB25-03): IOPort hm2/hm2_7c81.0: IO Pin 024 (P2-06/DB25-16): IOPort hm2/hm2_7c81.0: IO Pin 025 (P2-07/DB25-04): IOPort hm2/hm2_7c81.0: IO Pin 026 (P2-08/DB25-17): IOPort hm2/hm2_7c81.0: IO Pin 027 (P2-09/DB25-05): IOPort hm2/hm2_7c81.0: IO Pin 028 (P2-11/DB25-06): IOPort hm2/hm2_7c81.0: IO Pin 029 (P2-13/DB25-07): IOPort hm2/hm2_7c81.0: IO Pin 030 (P2-15/DB25-08): IOPort hm2/hm2_7c81.0: IO Pin 031 (P2-17/DB25-09): IOPort hm2/hm2_7c81.0: IO Pin 032 (P2-19/DB25-10): IOPort hm2/hm2_7c81.0: IO Pin 033 (P2-21/DB25-11): IOPort hm2/hm2_7c81.0: IO Pin 034 (P2-23/DB25-12): IOPort hm2/hm2_7c81.0: IO Pin 035999o (P2-25/DB25-13): IOPort hm2/hm2_7c81.0: IO Pin 036 (J5-TXEN0): IOPort hm2/hm2_7c81.0: IO Pin 037 (J6-TXEN1): IOPort hm2/hm2_7c81.0: IO Pin 038 (P7-01/DB25-01): IOPort hm2/hm2_7c81.0: IO Pin 039 (P7-02/DB25-14): IOPort hm2/hm2_7c81.0: IO Pin 040 (P7-03/DB25-02): IOPort hm2/hm2_7c81.0: IO Pin 041 (P7-04/DB25-15): IOPort hm2/hm2_7c81.0: IO Pin 042 (P7-05/DB25-03): IOPort hm2/hm2_7c81.0: IO Pin 043 (P7-06/DB25-16): IOPort hm2/hm2_7c81.0: IO Pin 044 (P7-07/DB25-04): IOPort hm2/hm2_7c81.0: IO Pin 045 (P7-08/DB25-17): IOPort hm2/hm2_7c81.0: IO Pin 046 (P7-09/DB25-05): IOPort hm2/hm2_7c81.0: IO Pin 047 (P7-11/DB25-06): IOPort hm2/hm2_7c81.0: IO Pin 048 (P7-13/DB25-07): IOPort hm2/hm2_7c81.0: IO Pin 049 (P7-15/DB25-08): IOPort hm2/hm2_7c81.0: IO Pin 050 (P7-17/DB25-09): IOPort hm2/hm2_7c81.0: IO Pin 051 (P7-19/DB25-10): IOPort hm2/hm2_7c81.0: IO Pin 052 (P7-21/DB25-11): IOPort hm2/hm2_7c81.0: IO Pin 053 (P7-23/DB25-12): IOPort hm2/hm2_7c81.0: IO Pin 054 (P7-25/DB25-13): IOPort hm2/hm2_7c81.0: IO Pin 055 (P5-RX0): IOPort hm2/hm2_7c81.0: IO Pin 056 (P6-RX1): IOPort hm2/hm2_7c81.0: registered

# Generated by PNCconf at Sun Mar 7 17:18:55 2021 # 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_rpspi config=" num_encoders=0 num_pwmgens=0 num_stepgens=4" setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.z,pid.s addf [HMOT](CARD0).read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf [HMOT](CARD0).write servo-thread # external output signals # --- COOLANT-FLOOD --- setp [HMOT](CARD0).gpio.000.is_output true # setp [HMOT](CARD0).gpio.000.invert_output true net coolant-flood => [HMOT](CARD0).gpio.000.out # 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 0.000500 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 [HMOT](CARD0).stepgen.00.dirsetup [JOINT_0]DIRSETUP setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_0]DIRHOLD setp [HMOT](CARD0).stepgen.00.steplen [JOINT_0]STEPLEN setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_0]STEPSPACE setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_0]STEP_SCALE setp [HMOT](CARD0).stepgen.00.step_type 0 setp [HMOT](CARD0).stepgen.00.control-type 1 setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.00.velocity-cmd net x-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => [HMOT](CARD0).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 Z JOINT 1 #******************* setp pid.z.Pgain [JOINT_1]P setp pid.z.Igain [JOINT_1]I setp pid.z.Dgain [JOINT_1]D setp pid.z.bias [JOINT_1]BIAS setp pid.z.FF0 [JOINT_1]FF0 setp pid.z.FF1 [JOINT_1]FF1 setp pid.z.FF2 [JOINT_1]FF2 setp pid.z.deadband [JOINT_1]DEADBAND setp pid.z.maxoutput [JOINT_1]MAX_OUTPUT setp pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 0.000500 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 [HMOT](CARD0).stepgen.01.dirsetup [JOINT_1]DIRSETUP setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_1]DIRHOLD setp [HMOT](CARD0).stepgen.01.steplen [JOINT_1]STEPLEN setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_1]STEPSPACE setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_1]STEP_SCALE setp [HMOT](CARD0).stepgen.01.step_type 0 setp [HMOT](CARD0).stepgen.01.control-type 1 setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.1.motor-pos-cmd net z-vel-cmd <= joint.1.vel-cmd net z-output <= [HMOT](CARD0).stepgen.01.velocity-cmd net z-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb net z-pos-fb => joint.1.motor-pos-fb net z-enable <= joint.1.amp-enable-out net z-enable => [HMOT](CARD0).stepgen.01.enable # ---setup home / limit switch signals--- net z-home-sw => joint.1.home-sw-in net z-neg-limit => joint.1.neg-lim-sw-in net z-pos-limit => joint.1.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 [HMOT](CARD0).stepgen.02.dirsetup [SPINDLE_0]DIRSETUP setp [HMOT](CARD0).stepgen.02.dirhold [SPINDLE_0]DIRHOLD setp [HMOT](CARD0).stepgen.02.steplen [SPINDLE_0]STEPLEN setp [HMOT](CARD0).stepgen.02.stepspace [SPINDLE_0]STEPSPACE setp [HMOT](CARD0).stepgen.02.position-scale [SPINDLE_0]STEP_SCALE setp [HMOT](CARD0).stepgen.02.step_type 0 setp [HMOT](CARD0).stepgen.02.control-type 1 setp [HMOT](CARD0).stepgen.02.maxaccel [SPINDLE_0]MAX_ACCELERATION setp [HMOT](CARD0).stepgen.02.maxvel [SPINDLE_0]MAX_VELOCITY net spindle-enable => [HMOT](CARD0).stepgen.02.enable net spindle-vel-cmd-rps => [HMOT](CARD0).stepgen.02.velocity-cmd net spindle-vel-fb-rps <= [HMOT](CARD0).stepgen.02.velocity-fb # ---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-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.1.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => 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