I changed my files according to your manual, but somehow the second motor of my Y axis doesn't move. the first motor, which I configured using stepconf does still try to move, but only loses steps due to the other motor stopping it. Here are my hal and ini files. I hope someone can help me with this issue.
Code:
# Generated by stepconf 1.1 at Wed Jan 27 23:05:41 2021
# 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="0xcf00 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
addf parport.0.read base-thread
addf stepgen.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
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
net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 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 zdir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net ydir => parport.0.pin-07-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 xenable => parport.0.pin-14-out
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
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 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
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
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 estop-out <= iocontrol.0.user-enable-out
net estop-out => 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
Code:
# Generated by stepconf 1.1 at Wed Jan 27 23:05:41 2021
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
MACHINE = cnc
DEBUG = 0
VERSION = 1.1
[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 = 1.2
DEFAULT_LINEAR_VELOCITY = 20.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 200.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/linuxcncaddi/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ
[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 = 39062
SERVO_PERIOD = 1000000
[HAL]
HALFILE = cnc.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 20.00
MAX_LINEAR_VELOCITY = 200.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 710.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 710.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 106.666666667
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
[AXIS_Y]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1220.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1220.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 106.666666667
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1220.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 106.666666667
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
[AXIS_Z]
MAX_VELOCITY = 19.0002432031
MAX_ACCELERATION = 60.0
MIN_LIMIT = -80.0
MAX_LIMIT = 0.001
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -80.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 19.0002432031
MAX_ACCELERATION = 60.0
STEPGEN_MAXACCEL = 75.0
SCALE = 1280.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
