HELP! with following error! cant figure it out

( test program to see if Z axis loses position ) ( msg, test 1 of X axis configuration ) G21 #1000=100 ( loop 100 times ) ( this loop has delays after moves ) ( tests acc and velocity settings ) o100 while [#1000] G0 X1.000 G4 P0.250 G0 X0.500 G4 P0.250 #1000 = [#1000 - 1] o100 endwhile ( msg, test 2 of X axis configuration S to continue) M1 (stop here) #1000=100 ( loop 100 times ) ( the next loop has no delays after moves ) ( tests direction hold times on driver config and also max accel setting ) o101 while [#1000] G0 X1.000 G0 X0.500 #1000 = [#1000 - 1] o101 endwhile ( msg, Done...X should be exactly .5" above table ) M2

LINUXCNC - 2.8.1 Machine configuration directory is '/home/taz/linuxcnc/configs/workBee_Base' Machine configuration file is 'workBee_Base.ini' INIFILE=/home/taz/linuxcnc/configs/workBee_Base/workBee_Base.ini VERSION=1.1 PARAMETER_FILE=linuxcnc.var TASK=milltask HALUI=halui DISPLAY=axis COORDINATES=XYYZ KINEMATICS=trivkins coordinates=XYYZ kinstype=BOTH Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io Starting HAL User Interface program: halui Found file(REL): ./workBee_Base.hal Found file(REL): ./custom.hal Starting TASK program: milltask Starting DISPLAY program: axis 62914563 joint 0 following error emc/task/taskintf.cc 942: Error on joint 0, command number 5063

# Generated by PNCconf at Sun May 9 17:06:17 2021 # Using LinuxCNC version: 2.8 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = workBee_Base DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis EMBED_TAB_NAME = GladeVCP EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui 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/taz/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 8.333333 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 [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 [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HMOT] # **** This is for info only **** CARD0=hm2_7i96.0 [HAL] HALUI = halui HALFILE = workBee_Base.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero ) MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero ) MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero ) [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH [TRAJ] COORDINATES = XYYZ LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.00 MAX_LINEAR_VELOCITY = 20.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOL_CHANGE_QUILL_UP = 1 #****************************************** [AXIS_X] MAX_VELOCITY = 16.6666666667 MAX_ACCELERATION = 10.0 MIN_LIMIT = -200.0 MAX_LIMIT = 300.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 2.0 MAX_VELOCITY = 16.6666666667 MAX_ACCELERATION = 10.0 # 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 = 20.83 STEPGEN_MAXACCEL = 12.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 1500 STEPLEN = 7000 STEPSPACE = 500 STEP_SCALE = 200.0 MIN_LIMIT = -200.0 MAX_LIMIT = 300.0 HOME_OFFSET = 0.0 #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 20.0 MAX_ACCELERATION = 12.0 MIN_LIMIT = -400.0 MAX_LIMIT = 500.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 2.0 MAX_VELOCITY = 20.0 MAX_ACCELERATION = 12.0 # 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 = 25.00 STEPGEN_MAXACCEL = 15.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 1000 STEPLEN = 5000 STEPSPACE = 500 STEP_SCALE = 200.0 MIN_LIMIT = -400.0 MAX_LIMIT = 500.0 HOME_OFFSET = 0.0 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 2.0 MAX_VELOCITY = 20.0 MAX_ACCELERATION = 12.0 # 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 = 25.00 STEPGEN_MAXACCEL = 15.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 1000 STEPLEN = 5000 STEPSPACE = 500 STEP_SCALE = 200.0 MIN_LIMIT = -400.0 MAX_LIMIT = 500.0 HOME_OFFSET = 0.0 #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 13.3333333333 MAX_ACCELERATION = 10.0 MIN_LIMIT = -30.0 MAX_LIMIT = 30.0 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 2.0 MAX_VELOCITY = 13.3333333333 MAX_ACCELERATION = 10.0 # 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 = 16.67 STEPGEN_MAXACCEL = 12.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 1500 STEPLEN = 7000 STEPSPACE = 500 STEP_SCALE = 200.0 MIN_LIMIT = -30.0 MAX_LIMIT = 30.0 HOME_OFFSET = 0.0 #****************************************** [SPINDLE_0] P = 0.0 I = 0.0 D = 0.0 FF0 = 1.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 2000.0

# Generated by PNCconf at Sun May 9 17:06:17 2021 # 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 loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 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.y2,pid.z,pid.s 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.y2.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_7i96.0.write servo-thread # external output signals # --- MACHINE-IS-ENABLED --- net machine-is-enabled => hm2_7i96.0.ssr.00.out-02 # --- DOUT-00 --- net dout-00 => hm2_7i96.0.ssr.00.out-03 # --- SPINDLE-ENABLE --- net spindle-enable => hm2_7i96.0.ssr.00.out-04 # external input signals # --- PROBE-IN --- net probe-in <= hm2_7i96.0.gpio.010.in #******************* # 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_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 0.012700 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_7i96.0.stepgen.03.dirsetup [JOINT_1]DIRSETUP setp hm2_7i96.0.stepgen.03.dirhold [JOINT_1]DIRHOLD setp hm2_7i96.0.stepgen.03.steplen [JOINT_1]STEPLEN setp hm2_7i96.0.stepgen.03.stepspace [JOINT_1]STEPSPACE setp hm2_7i96.0.stepgen.03.position-scale [JOINT_1]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 [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i96.0.stepgen.03.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.03.velocity-cmd net y-pos-fb <= hm2_7i96.0.stepgen.03.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.03.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 #******************* # 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_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 y2-pos-cmd <= joint.2.motor-pos-cmd net y2-vel-cmd <= joint.2.vel-cmd net y2-output <= hm2_7i96.0.stepgen.02.velocity-cmd net y2-pos-fb <= hm2_7i96.0.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_7i96.0.stepgen.02.enable # ---setup home / limit switch signals--- net y2-home-sw => joint.2.home-sw-in net y2-neg-limit => 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_7i96.0.stepgen.01.dirsetup [JOINT_3]DIRSETUP setp hm2_7i96.0.stepgen.01.dirhold [JOINT_3]DIRHOLD setp hm2_7i96.0.stepgen.01.steplen [JOINT_3]STEPLEN setp hm2_7i96.0.stepgen.01.stepspace [JOINT_3]STEPSPACE setp hm2_7i96.0.stepgen.01.position-scale [JOINT_3]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_3]STEPGEN_MAXACCEL setp hm2_7i96.0.stepgen.01.maxvel [JOINT_3]STEPGEN_MAXVEL setp hm2_7i96.0.stepgen.01.direction.invert_output true # ---closedloop stepper signals--- net z-pos-cmd <= joint.3.motor-pos-cmd net z-vel-cmd <= joint.3.vel-cmd net z-output <= hm2_7i96.0.stepgen.01.velocity-cmd net z-pos-fb <= hm2_7i96.0.stepgen.01.position-fb net z-pos-fb => joint.3.motor-pos-fb net z-enable <= joint.3.amp-enable-out net z-enable => hm2_7i96.0.stepgen.01.enable # ---setup home / limit switch signals--- net z-home-sw => joint.3.home-sw-in net z-neg-limit => joint.3.neg-lim-sw-in net z-pos-limit => joint.3.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 => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---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 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--- net dout-00 <= motion.digital-out-00 # ---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