Hey thanks for the reply. I'm not quite sure how to check to see if its working correctly. Maybe with HAL scope? I was looking around in there today through the GUI but couldn't really see any difference between the X, Y or Z sensors. I'm pretty new to this Linux thing. I know how to modify INIT files but that about it.
Here are my INIT and HAL files. Maybe you could see something strange in there but it is just weird that it worked last night.
INIT:
Code:
# Generated by stepconf 1.1 at Wed May 15 11:54:56 2019
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
MACHINE = SPIRIT001
DEBUG = 0
VERSION = 1.0
[DISPLAY]
DISPLAY = gmoccapy
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 2
DEFAULT_LINEAR_VELOCITY = 0.5
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 1.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[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 = 100000
SERVO_PERIOD = 1000000
[HAL]
HALFILE = SPIRIT001.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 0.95
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.01
MAX_LIMIT = 9.0
[JOINT_0]
TYPE = LINEAR
HOME = 4.5
MIN_LIMIT = -0.01
MAX_LIMIT = 9.0
MAX_VELOCITY = 0.95
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 50.0
SCALE = 10000.0
FERROR = 0.05
MIN_FERROR = 0.01
HOME_OFFSET = -0.100000
HOME_SEARCH_VEL = -0.750000
HOME_LATCH_VEL = -0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3
BACKLASH = 0.006
[AXIS_Y]
MAX_VELOCITY = 0.95
MAX_ACCELERATION = 30.0
MIN_LIMIT = -4.385
MAX_LIMIT = -0.0625
[JOINT_1]
TYPE = LINEAR
HOME = -2.1875
MIN_LIMIT = -4.385
MAX_LIMIT = -0.0625
MAX_VELOCITY = 0.95
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 50.0
SCALE = 10005
FERROR = 0.05
MIN_FERROR = 0.01
HOME_OFFSET = -0.0500000
HOME_SEARCH_VEL = 0.750000
HOME_LATCH_VEL = 0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
BACKLASH = 0.0085
[AXIS_Z]
MAX_VELOCITY = 0.67
MAX_ACCELERATION = 30.0
MIN_LIMIT = -9.0
MAX_LIMIT = 0.0
[JOINT_2]
TYPE = LINEAR
HOME = -0.05
MIN_LIMIT = -9.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 0.67
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 50.0
SCALE = 10003
FERROR = 0.05
MIN_FERROR = 0.01
HOME_OFFSET = 0.02
HOME_SEARCH_VEL = 0.166
HOME_LATCH_VEL = 0.083
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
BACKLASH = 0.0005
HAL:
Code:
# Generated by stepconf 1.1 at Wed May 15 11:54:56 2019
# 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 1000
loadrt stepgen step_type=0,0,0
loadrt charge_pump
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net charge-pump <= charge-pump.out
loadrt pwmgen output_type=1
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-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
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 6000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net probe-in => motion.probe-input
net spindle-on => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
setp parport.0.pin-05-out-invert 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 spindle-cw => parport.0.pin-14-out
net spindle-pwm => parport.0.pin-16-out
net charge-pump => parport.0.pin-17-out
net estop-ext <= parport.0.pin-10-in-not
net min-home-x <= parport.0.pin-11-in-not
net max-home-y <= parport.0.pin-12-in-not
net max-home-z <= parport.0.pin-13-in-not
net probe-in <= parport.0.pin-15-in-not
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
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
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 15200
setp stepgen.1.dirsetup 15200
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net max-home-y => joint.1.home-sw-in
net max-home-y => joint.1.pos-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 15200
setp stepgen.2.dirsetup 15200
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net max-home-z => joint.2.home-sw-in
net max-home-z => joint.2.pos-lim-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
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
