Problem with spindle start

# Generated by PNCconf at Fri May 30 19:29:27 2014 # Все изменения в этом файле будут перезаписаны # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES # loadrt probe_parport loadrt hostmot2 # loadrt hm2_eth board_ip=10.10.10.10 config="num_stepgens=4, num_encoders=0, num_pwmgens=1" loadrt hm2_eth board_ip=10.10.10.10 config="num_stepgens=4, num_encoders=0, num_pwmgens=1" setp hm2_7i92.0.pwmgen.pwm_frequency 20000 setp hm2_7i92.0.pwmgen.pdm_frequency 6000000 setp hm2_7i92.0.watchdog.timeout_ns 10000000 loadrt pid names=pid.s addf hm2_7i92.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_7i92.0.write servo-thread # addf hm2_7i92.0.pet_watchdog servo-thread # external output signals # --- MACHINE-IS-ENABLED --- setp hm2_7i92.0.gpio.001.is_output true net machine-is-enabled hm2_7i92.0.gpio.001.out # --- SPINDLE-ON --- setp hm2_7i92.0.gpio.007.is_output true net spindle-on hm2_7i92.0.gpio.007.out # external input signals # --- PROBE-IN --- net probe-in <= hm2_7i92.0.gpio.003.in # --- ESTOP-EXT --- #net estop-ext <= hm2_7i92.0.gpio.013.in # --- BOTH-HOME-X --- #net both-home-x <= hm2_7i92.0.gpio.019.in # --- BOTH-Y --- #net both-y <= hm2_7i92.0.gpio.023.in #******************* # AXIS X #******************* # Step Gen signals/setup setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_7i92.0.stepgen.00.step_type 0 setp hm2_7i92.0.stepgen.00.control-type 0 setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL net x-pos-fb axis.0.motor-pos-fb <= hm2_7i92.0.stepgen.00.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_7i92.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_7i92.0.stepgen.00.enable # ---setup home / limit switch signals--- # net both-home-x => axis.0.home-sw-in # net both-home-x => axis.0.neg-lim-sw-in # net both-home-x => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* # Step Gen signals/setup setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_7i92.0.stepgen.01.step_type 0 setp hm2_7i92.0.stepgen.01.control-type 0 setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL net y-pos-fb axis.1.motor-pos-fb <= hm2_7i92.0.stepgen.01.position-fb net y-pos-cmd axis.1.motor-pos-cmd => hm2_7i92.0.stepgen.01.position-cmd net y-enable axis.1.amp-enable-out => hm2_7i92.0.stepgen.01.enable # ---setup home / limit switch signals--- # net y-home-sw => axis.1.home-sw-in # net both-y => axis.1.neg-lim-sw-in # net both-y => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 0 setp hm2_7i92.0.stepgen.02.control-type 0 setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL net z-pos-fb axis.2.motor-pos-fb <= hm2_7i92.0.stepgen.02.position-fb net z-pos-cmd axis.2.motor-pos-cmd => hm2_7i92.0.stepgen.02.position-cmd net z-enable axis.2.amp-enable-out => hm2_7i92.0.stepgen.02.enable # ---setup home / limit switch signals--- # net z-home-sw => axis.2.home-sw-in # net z-neg-limit => axis.2.neg-lim-sw-in # net z-pos-limit => axis.2.pos-lim-sw-in #******************* # AXIS A #******************* # Step Gen signals/setup setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE setp hm2_7i92.0.stepgen.03.step_type 0 setp hm2_7i92.0.stepgen.03.control-type 0 setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL net a-pos-fb axis.3.motor-pos-fb <= hm2_7i92.0.stepgen.03.position-fb net a-pos-cmd axis.3.motor-pos-cmd => hm2_7i92.0.stepgen.03.position-cmd net a-enable axis.3.amp-enable-out => hm2_7i92.0.stepgen.03.enable #******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]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-abs => pid.s.command net spindle-vel-fb-rpm-abs => pid.s.feedback net spindle-output <= pid.s.output # ---PWM Generator signals/setup--- setp hm2_7i92.0.pwmgen.00.output-type 1 setp hm2_7i92.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd-rpm => hm2_7i92.0.pwmgen.00.value net spindle-enable => hm2_7i92.0.pwmgen.00.enable # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.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

# Generated by PNCconf at Fri May 30 19:29:27 2014 # Все изменения в этом файле будут перезаписаны # overwritten when you run PNCconf again [EMC] MACHINE = 5i25_prob_rfx2 DEBUG = 0 [DISPLAY] DISPLAY = axis 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/nick/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 40 MAX_LINEAR_VELOCITY = 50 MIN_LINEAR_VELOCITY = 0.1 DEFAULT_ANGULAR_VELOCITY = 80 MAX_ANGULAR_VELOCITY = 100 MIN_ANGULAR_VELOCITY = 0.1 EDITOR = gedit GEOMETRY = xyza # ДОБАВЛЕНО!! # добавим GladeVCP панель в виде закладки рядом с Preview/DRO: EMBED_TAB_NAME=Probe Screen EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u python/probe_screen.py -x {XID} probe_icons/probe_screen.glade # /ДОБАВЛЕНО!! [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 # RS274NGC_STARTUP_CODE=G64_P0.1_Q0.01 # ДОБАВЛЕНО! # Возможность чтения INI и HAL переменных из gcode и др. FEATURES=30 # Папка для подпрограмм SUBROUTINE_PATH = macros # /ДОБАВЛЕНО! [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 BASE_PERIOD = 40000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=7i92 [HAL] HALUI = halui HALFILE = 5i25_prob_rfx2.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 4 COORDINATES = X Y Z A LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 10 MAX_LINEAR_VELOCITY = 60 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 0.0 FERROR = 1 MIN_FERROR = 0.01 MAX_VELOCITY = 40 STEPGEN_MAXVEL = 60 MAX_ACCELERATION = 300 STEPGEN_MAXACCEL = 360 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 533.333333 MIN_LIMIT = -480 MAX_LIMIT = 480.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 0.0 FERROR = 1 MIN_FERROR = 0.01 MAX_VELOCITY = 40 STEPGEN_MAXVEL = 60 MAX_ACCELERATION = 300 STEPGEN_MAXACCEL = 360 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 533.333333 MIN_LIMIT = -280 MAX_LIMIT = 280.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 1 MIN_FERROR = 0.01 MAX_VELOCITY = 40 STEPGEN_MAXVEL = 60 MAX_ACCELERATION = 200 STEPGEN_MAXACCEL = 250 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 533.333333 MIN_LIMIT = -320 MAX_LIMIT = 320 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 [AXIS_3] TYPE = ANGULAR #WRAPPED_ROTARY = 1 HOME = 0.0 MAX_VELOCITY = 50 STEPGEN_MAXVEL = 70 MAX_ACCELERATION = 180.0 STEPGEN_MAXACCEL = 220.5 DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 35.5555555556 FERROR = 20 MIN_FERROR = 15 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = -1 #******************** # Spindle #******************** [SPINDLE_9] 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 = 5500.0 OUTPUT_SCALE = 5500 OUTPUT_MIN_LIMIT = 0 OUTPUT_MAX_LIMIT = 5500 # ДОБАВЛЕНО! [TOOLSENSOR] # скорость холостых перемещений RAPID_SPEED = 600 # /ДОБАВЛЕНО!