"pwm/dir" (Out1) switches for spindle CCW

# Erstellt von PNCconf am Mon May  1 19:24:03 2023 # Verwendete LinuxCNC version:  Master (2.9) # Änderungen an dieser Datei werden beim nächsten # wird überschrieben sobald Sie PNCconf erneut ausführen #2.8.4 loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_pci config="num_encoders=5 num_pwmgens=1 num_stepgens=4 sserial_port_0=0xxxxxxx"  #loadrt hm2_pci config="num_encoders=5 num_pwmgens=1 num_stepgens=3 sserial_port_0=0xxxxxxx"  # firmware=hm2/Discovered:6i25/~/mesa0_discovered.xml.BIT  setp    hm2_6i25.0.pwmgen.pwm_frequency 1000 setp    hm2_6i25.0.pwmgen.pdm_frequency 6000000 setp    hm2_6i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s # lut5: look up table für all-limit-home (because of problem with linit stop detection by other axes when homing) loadrt lut5 names=lut_homing addf lut_homing servo-thread setp lut_homing.function 0x10000 net all-limit-home => lut_homing.in-4 net all-limit <= lut_homing.out net homing-x <= joint.0.homing => lut_homing.in-0 net homing-y <= joint.1.homing => lut_homing.in-1 net homing-z <= joint.2.homing => lut_homing.in-2 ##setp lut_homing.in-3  0 ##net homing-a <= joint.2.homing => lut_homing.in-3 addf hm2_6i25.0.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.z.do-pid-calcs       servo-thread addf pid.a.do-pid-calcs       servo-thread addf pid.s.do-pid-calcs       servo-thread addf hm2_6i25.0.write         servo-thread setp hm2_6i25.0.dpll.01.timer-us -50 setp hm2_6i25.0.stepgen.timer-number 1 # extern signal input # --- MACHINE-IS-ENABLED --- #gpio.001 MESA DB25 PIN PIN 14 setp hm2_6i25.0.gpio.001.is_output true net machine-is-enabled  =>     hm2_6i25.0.gpio.001.out # --- COOLANT-MIST --- #gpio.005 MESA DB25 PIN PIN 16 setp hm2_6i25.0.gpio.005.is_output true #net coolant-mist  =>     hm2_6i25.0.gpio.005.out # externe signal output # --- ESTOP-EXT --- #gpio.013 MESA DB25 PIN PIN 10 # .in_not for NC / .in for NO Limit Switch net estop-ext     <=  hm2_6i25.0.gpio.013.in_not #net estop-ext     <=  hm2_6i25.0.gpio.013.in # --- PROBE-IN --- # -wird in Probe_postgui.hal verwendet / definiert - #gpio.014 MESA DB25 PIN PIN 11 #net probe-in     <=  hm2_6i25.0.gpio.014.in # --- ALL-LIMIT-HOME --- # gpio.015 MESA DB25 PIN PIN 12 # .in_not for NO / .in for NC Limit Switch net all-limit-home     <=  hm2_6i25.0.gpio.015.in_not #net all-limit-home     <=  hm2_6i25.0.gpio.015.in # --- CYCLE-START --- #gpio.016 MESA DB25 PIN PIN 13 #net cycle-start     <=  hm2_6i25.0.gpio.016.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 Signal/Setup setp   hm2_6i25.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP setp   hm2_6i25.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD setp   hm2_6i25.0.stepgen.00.steplen         [JOINT_0]STEPLEN setp   hm2_6i25.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE setp   hm2_6i25.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE setp   hm2_6i25.0.stepgen.00.step_type        0 #setp   hm2_6i25.0.stepgen.00.control-type     1 setp   hm2_6i25.0.stepgen.00.control-type     0 setp   hm2_6i25.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL setp   hm2_6i25.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL #-closed loop umgehen (von sim-maschine) net x-pos-fb     joint.0.motor-pos-fb   <=  hm2_6i25.0.stepgen.00.position-fb net x-pos-cmd    joint.0.motor-pos-cmd  =>  hm2_6i25.0.stepgen.00.position-cmd net x-enable     joint.0.amp-enable-out =>  hm2_6i25.0.stepgen.00.enable # ---Closed-Loop Schrittmotor-Signale--- #net x-pos-cmd    <= joint.0.motor-pos-cmd #net x-vel-cmd    <= joint.0.vel-cmd #net x-output     => hm2_6i25.0.stepgen.00.velocity-cmd #net x-pos-fb     <= hm2_6i25.0.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_6i25.0.stepgen.00.enable # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net all-limit-home     =>  joint.0.home-sw-in net all-limit    =>  joint.0.neg-lim-sw-in net all-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 # Schritt-Gen Signale/Setup #setp hm2_6i25.0.gpio.003.invert_output true setp   hm2_6i25.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP setp   hm2_6i25.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD setp   hm2_6i25.0.stepgen.01.steplen         [JOINT_1]STEPLEN setp   hm2_6i25.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE setp   hm2_6i25.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE setp   hm2_6i25.0.stepgen.01.step_type        0 #setp   hm2_6i25.0.stepgen.01.control-type     1 setp   hm2_6i25.0.stepgen.01.control-type     0 setp   hm2_6i25.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL setp   hm2_6i25.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL #-closed loop umgehen (von sim-maschine) net y-pos-fb     joint.1.motor-pos-fb   <=  hm2_6i25.0.stepgen.01.position-fb net y-pos-cmd    joint.1.motor-pos-cmd  =>  hm2_6i25.0.stepgen.01.position-cmd net y-enable     joint.1.amp-enable-out =>  hm2_6i25.0.stepgen.01.enable # ---Closed-Loop Schrittmotor-Signale--- #net y-pos-cmd    <= joint.1.motor-pos-cmd #net y-vel-cmd    <= joint.1.vel-cmd #net y-output     => hm2_6i25.0.stepgen.01.velocity-cmd #net y-pos-fb     <= hm2_6i25.0.stepgen.01.position-fb #net y-pos-fb     => joint.1.motor-pos-fb #net y-enable     <= joint.1.amp-enable-out #net y-enable     => hm2_6i25.0.stepgen.01.enable # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net all-limit-home     =>  joint.1.home-sw-in net all-limit     =>  joint.1.neg-lim-sw-in net all-limit     =>  joint.1.pos-lim-sw-in #******************* #  AXIS Z JOINT 2 #******************* setp   pid.z.Pgain     [JOINT_2]P setp   pid.z.Igain     [JOINT_2]I setp   pid.z.Dgain     [JOINT_2]D setp   pid.z.bias      [JOINT_2]BIAS setp   pid.z.FF0       [JOINT_2]FF0 setp   pid.z.FF1       [JOINT_2]FF1 setp   pid.z.FF2       [JOINT_2]FF2 setp   pid.z.deadband  [JOINT_2]DEADBAND setp   pid.z.maxoutput [JOINT_2]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 # Schritt-Gen Signale/Setup setp hm2_6i25.0.gpio.003.invert_output true setp   hm2_6i25.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP setp   hm2_6i25.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD setp   hm2_6i25.0.stepgen.02.steplen         [JOINT_2]STEPLEN setp   hm2_6i25.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE setp   hm2_6i25.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE setp   hm2_6i25.0.stepgen.02.step_type        0 #setp   hm2_6i25.0.stepgen.02.control-type     1 setp   hm2_6i25.0.stepgen.02.control-type     0 setp   hm2_6i25.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL setp   hm2_6i25.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL #-closed loop umgehen (von sim-maschine) net z-pos-fb     joint.2.motor-pos-fb   <=  hm2_6i25.0.stepgen.02.position-fb net z-pos-cmd    joint.2.motor-pos-cmd  =>  hm2_6i25.0.stepgen.02.position-cmd net z-enable     joint.2.amp-enable-out =>  hm2_6i25.0.stepgen.02.enable # ---Closed-Loop Schrittmotor-Signale--- #net z-pos-cmd    <= joint.2.motor-pos-cmd #net z-vel-cmd    <= joint.2.vel-cmd #net z-output     => hm2_6i25.0.stepgen.02.velocity-cmd #net z-pos-fb     <= hm2_6i25.0.stepgen.02.position-fb #net z-pos-fb     => joint.2.motor-pos-fb #net z-enable     <= joint.2.amp-enable-out #net z-enable     => hm2_6i25.0.stepgen.02.enable # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net all-limit-home     =>  joint.2.home-sw-in net all-limit     =>  joint.2.neg-lim-sw-in net all-limit     =>  joint.2.pos-lim-sw-in #******************* #  AXIS A JOINT 3 #******************* #******************* #  SPINDEL #******************* 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-abs     => pid.s.command #net spindle-vel-fb-rpm-abs      => pid.s.feedback #net spindle-output        <=  pid.s.output # ---PWM Generator Signale/Setup--- setp   hm2_6i25.0.pwmgen.00.output-type 1 setp   hm2_6i25.0.pwmgen.00.scale  [SPINDLE_0]OUTPUT_SCALE # Invert the DIR signal #setp   hm2_6i25.0.gpio.007.invert_output true # invert the PWM signal setp   hm2_6i25.0.gpio.000.invert_output true #--- SPINDLE-ENABLE --- net spindle-vel-cmd-rpm     => hm2_6i25.0.pwmgen.00.value net spindle-enable      => hm2_6i25.0.pwmgen.00.enable net spindle-enable      => hm2_6i25.0.gpio.005.out # ---Setup Spindel Steuerungs-Signale--- 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 # ---Einrichtung der Signale zur Spindel-Geschwindigkeits-Steuerung--- sets spindle-at-speed true #****************************** # Verbinden verschiedener Signale #****************************** #  ---HALUI Signale--- # xhc: 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 # xhc: net x-is-homed     halui.joint.0.is-homed # xhc: 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 # xhc: 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 axis-select-a  halui.axis.a.select net jog-a-pos      halui.axis.a.plus net jog-a-neg      halui.axis.a.minus net jog-a-analog   halui.axis.a.analog #net a-is-homed     halui.joint.3.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 # xhc: net machine-is-on         halui.machine.is-on # net jog-speed             halui.axis.jog-speed # xhc: net MDI-mode              halui.mode.is-mdi # xhc: net cycle-start           halui.program.run # net abort                 halui.abort #  ---Kühlmittel-Signale--- net coolant-mist      <=  iocontrol.0.coolant-mist net coolant-flood     <=  iocontrol.0.coolant-flood #  ---Sonde/Taster Signal (probe signal)--- # easyprobe net probe-in     =>  motion.probe-input #  ---Signale zur Bewegungs-Steuerung--- net in-position               <=  motion.in-position net machine-is-enabled        <=  motion.motion-enabled #  ---Digitale ein-/ausgehende-Signale--- #  ---E-Stop-- net estop-out     <=  iocontrol.0.user-enable-out net estop-ext     =>  iocontrol.0.emc-enable-in #  ---signal  manual toolchange--- net tool-change-request    <= iocontrol.0.tool-change net tool-change-confirmed  => iocontrol.0.tool-changed net tool-number            <= iocontrol.0.tool-prep-number #  ---use extern dialog for toolchange--- loadusr -W hal_manualtoolchange net tool-change-request    =>  hal_manualtoolchange.change net tool-change-confirmed  <=  hal_manualtoolchange.changed net tool-number            =>  hal_manualtoolchange.number #  ---ignoriere Anfragen zu Werkzeug-Vorbereitungen--- net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

# Erstellt von PNCconf am Mon May  1 19:24:03 2023 # Verwendete LinuxCNC version:  Master (2.9) #2.8.4 # reduced to bare minimum 2025-08-10 #aa [EMC] MACHINE = ttm_a DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 3.000000 MAX_SPINDLE_OVERRIDE = 1.500000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files/ngc OPEN_FILE="" INCREMENTS = .1mm .05mm .01mm .005mm #POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 8.3333 MAX_LINEAR_VELOCITY = 90 MIN_LINEAR_VELOCITY = 0.100000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = geany #GEOMETRY = xyza GEOMETRY = xyz PYVCP = custompanel.xml [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 = G21 G40 G90 G94 G97 G64 P0.025 #SUBROUTINE_PATH = /home/cnc/linuxcnc/nc_files/ngc/sub SUBROUTINE_PATH = ./sub [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HMOT] # **** Nur zur Information **** CARD0=hm2_6i25.0 [HAL] HALUI = halui HALFILE = ttm_a.hal HALFILE = custom.hal POSTGUI_HALFILE = custom_postgui.hal SHUTDOWN = shutdown.hal [HALUI] # midi 0-->26 (27) #custom_postgui.hal # midi 0-->26 MDI_COMMAND = m3 s2000 MDI_COMMAND = m3 s3000 MDI_COMMAND = m3 s4000 MDI_COMMAND = m3 s5000 MDI_COMMAND = m3 s6000 MDI_COMMAND = m3 s7000 MDI_COMMAND = m3 s8000 MDI_COMMAND = m3 s9000 MDI_COMMAND = m3 s10000 MDI_COMMAND = m3 s11000 MDI_COMMAND = m3 s12000 MDI_COMMAND = m3 s13000 MDI_COMMAND = m3 s14000 MDI_COMMAND = m3 s16000 MDI_COMMAND = m3 s18000 MDI_COMMAND = m3 s20000 MDI_COMMAND = m3 s22000 MDI_COMMAND = m3 s24000 # midi 18-28 MDI_COMMAND = g0 x0 y0 MDI_COMMAND = O<midi_com1> CALL MDI_COMMAND = O<midi_com2> CALL MDI_COMMAND = O<midi_com3> CALL MDI_COMMAND = O<midi_com4> CALL MDI_COMMAND = O<midi_com5> CALL MDI_COMMAND = O<midi_go_tool_probe> CALL MDI_COMMAND = O<midi_go_tool_change_pos> CALL MDI_COMMAND = O<midi_set_tool_length> CALL MDI_COMMAND = O<midi_load_tool> CALL MDI_COMMAND = M5 M9 #29 #/custom_postgui.hal [KINS] #JOINTS = 4 JOINTS = 3 #KINEMATICS = trivkins coordinates=XYZA KINEMATICS = trivkins coordinates=XYZ [TRAJ] #COORDINATES =  XYZA COORDINATES =  XYZ MAX_ANGULAR_VELOCITY = 360.00 DEFAULT_ANGULAR_VELOCITY = 36.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 90 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] MAX_VELOCITY = 50 MAX_ACCELERATION = 1500 #MIN_LIMIT =-255 MIN_LIMIT =-190 MAX_LIMIT =0 [JOINT_0] TYPE = LINEAR HOME = -1 FERROR = 0.01 MIN_FERROR = 10 MAX_VELOCITY =50 MAX_ACCELERATION = 1500 # Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION # Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein. #STEPGEN_MAXVEL = 62.5 #STEPGEN_MAXACCEL = 187.5 STEPGEN_MAXVEL = 200 STEPGEN_MAXACCEL = 1875 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 0 # diese sind in Nanosekunden DIRSETUP   = 3000 DIRHOLD    = 3000 STEPLEN    = 2000 STEPSPACE  = 1000 #STEP_SCALE = 160 STEP_SCALE = 250 MIN_LIMIT = -190 MAX_LIMIT = 0 #HOME_OFFSET = 3 #HOME_SEARCH_VEL =30 #HOME_LATCH_VEL = 5 HOME_FINAL_VEL = 0 #HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_IS_SHARED = 1 #HOME_SEQUENCE = 2 #4.5.6.14 Immediate Homing HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_OFFSET = 0  HOME_SEQUENCE = 0  #****************************************** [AXIS_Y] MAX_VELOCITY = 50 MAX_ACCELERATION = 1500 MIN_LIMIT =0 MAX_LIMIT =120 [JOINT_1] TYPE = LINEAR HOME = 1 FERROR = 0.01 MIN_FERROR = 10 MAX_VELOCITY =50 MAX_ACCELERATION = 1500 # Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION # Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein. STEPGEN_MAXVEL = 200 STEPGEN_MAXACCEL = 1875 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 # diese sind in Nanosekunden DIRSETUP   = 3000 DIRHOLD    = 3000 STEPLEN    = 2000 STEPSPACE  = 1000 # original: STEP_SCALE = -160 STEP_SCALE = -160 MIN_LIMIT = 0 MAX_LIMIT = 120 # HOME_OFFSET = -3 #HOME_OFFSET = -1 # HOME_SEARCH_VEL = -5 #HOME_SEARCH_VEL = -20 #HOME_LATCH_VEL = -5 HOME_FINAL_VEL = 0 #HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_IS_SHARED = 1 #HOME_SEQUENCE = 3 #4.5.6.14 Immediate Homing HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_OFFSET = 0  HOME_SEQUENCE = 0  #****************************************** [AXIS_Z] MAX_VELOCITY = 50 MAX_ACCELERATION = 1500 MIN_LIMIT =-210 MAX_LIMIT =0 [JOINT_2] TYPE = LINEAR HOME = -2 FERROR = 0.01 MIN_FERROR = 10 MAX_VELOCITY =50 MAX_ACCELERATION = 1500 # Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION # Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein. STEPGEN_MAXVEL = 100 STEPGEN_MAXACCEL = 1875 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 # diese sind in Nanosekunden DIRSETUP   = 3000 DIRHOLD    = 3000 STEPLEN    = 2000 STEPSPACE  = 1000 STEP_SCALE = 160 MIN_LIMIT = -210 #HOME_OFFSET = 2 #HOME_SEARCH_VEL =40 #HOME_LATCH_VEL = 5 HOME_FINAL_VEL = 0 #HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_IS_SHARED = 1 #HOME_SEQUENCE = 1 #4.5.6.14 Immediate Homing HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_OFFSET = 0  HOME_SEQUENCE = 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 = 24000 OUTPUT_SCALE = 24000 OUTPUT_MIN_LIMIT = 0 OUTPUT_MAX_LIMIT = 24000 MAX_VELOCITY = 24000 MIN_VELOCITY = 0 INCREMENT = 1000 DEFAULT_SPINDLE_0_SPEED = 1000 #MAX_REVERSE_VELOCITY = 2400 #MIN_REVERSE_VELOCITY = 100 #******************************************

Configuration Name: HOSTMOT2 General configuration information:   BoardName : MESA6I25   FPGA Size: 9 KGates   FPGA Pins: 144   Number of IO Ports: 2   Width of one I/O port: 17   Clock Low frequency: 66.6667 MHz   Clock High frequency: 200.0000 MHz   IDROM Type: 3   Instance Stride 0: 4   Instance Stride 1: 64   Register Stride 0: 256   Register Stride 1: 256 Modules in configuration:   Module: DPLL   There are 1 of DPLL in configuration   Version: 0   Registers: 7   BaseAddress: 7000   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: WatchDog   There are 1 of WatchDog in configuration   Version: 0   Registers: 3   BaseAddress: 0C00   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: IOPort   There are 2 of IOPort in configuration   Version: 0   Registers: 5   BaseAddress: 1000   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: PWM   There are 1 of PWM in configuration   Version: 0   Registers: 5   BaseAddress: 4100   ClockFrequency: 200.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: QCount   There are 5 of QCount in configuration   Version: 2   Registers: 5   BaseAddress: 3000   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: SSerial   There are 1 of SSerial in configuration   Version: 0   Registers: 6   BaseAddress: 5B00   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 64 bytes   Module: StepGen   There are 4 of StepGen in configuration   Version: 2   Registers: 10   BaseAddress: 2000   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: LED   There are 1 of LED in configuration   Version: 0   Registers: 1   BaseAddress: 0200   ClockFrequency: 66.667 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes Configuration pin-out: IO Connections for P3 Pin#                  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir  1                      0   IOPort       PWM              0        PWM             (Out) 14                      1   IOPort       None             2                      2   IOPort       StepGen          0        Step/Table1     (Out) 15                      3   IOPort       None             3                      4   IOPort       StepGen          0        Dir/Table2      (Out) 16                      5   IOPort       None             4                      6   IOPort       StepGen          1        Step/Table1     (Out) 17                      7   IOPort       PWM              0        Dir             (Out)  5                      8   IOPort       StepGen          1        Dir/Table2      (Out)  6                      9   IOPort       StepGen          2        Step/Table1     (Out)  7                     10   IOPort       StepGen          2        Dir/Table2      (Out)  8                     11   IOPort       StepGen          3        Step/Table1     (Out)  9                     12   IOPort       StepGen          3        Dir/Table2      (Out) 10                     13   IOPort       None            11                     14   IOPort       None            12                     15   IOPort       None            13                     16   IOPort       None            IO Connections for P2 Pin#                  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir  1                     17   IOPort       QCount           0        Quad-A          (In) 14                     18   IOPort       QCount           4        Quad-B          (In)  2                     19   IOPort       QCount           0        Quad-B          (In) 15                     20   IOPort       QCount           4        Quad-IDX        (In)  3                     21   IOPort       QCount           0        Quad-IDX        (In) 16                     22   IOPort       SSerial          0        TXData0         (Out)  4                     23   IOPort       QCount           1        Quad-A          (In) 17                     24   IOPort       SSerial          0        RXData0         (In)  5                     25   IOPort       QCount           1        Quad-B          (In)  6                     26   IOPort       QCount           1        Quad-IDX        (In)  7                     27   IOPort       QCount           2        Quad-A          (In)  8                     28   IOPort       QCount           2        Quad-B          (In)  9                     29   IOPort       QCount           2        Quad-IDX        (In) 10                     30   IOPort       QCount           3        Quad-A          (In) 11                     31   IOPort       QCount           3        Quad-B          (In) 12                     32   IOPort       QCount           3        Quad-IDX        (In) 13                     33   IOPort       QCount           4        Quad-A          (In)

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl: Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 LINUXCNC - 2.8.4-1-gb7824717b Machine configuration directory is '/home/cnc/linuxcnc/configs/ttm_a' Machine configuration file is 'ttm_a.ini' INIFILE=/home/cnc/linuxcnc/configs/ttm_a/ttm_a.ini VERSION=1.1 PARAMETER_FILE=linuxcnc.var TASK=milltask HALUI=halui DISPLAY=axis COORDINATES=XYZ KINEMATICS=trivkins coordinates=XYZ 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): ./ttm_a.hal Shutting down and cleaning up LinuxCNC... Running HAL shutdown script hm2: loading Mesa HostMot2 driver version 0.15 hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7 hm2_pci: discovered 6i25 at 0000:06:00.0 hm2/hm2_6i25.0: Low Level init 0.15 hm2/hm2_6i25.0: Smart Serial Firmware Version 43 hm2/hm2_6i25.0: 34 I/O Pins used: hm2/hm2_6i25.0:     IO Pin 000 (P3-01): PWMGen #0, pin Out0 (PWM or Up) (Output) hm2/hm2_6i25.0:     IO Pin 001 (P3-14): IOPort hm2/hm2_6i25.0:     IO Pin 002 (P3-02): StepGen #0, pin Step (Output) hm2/hm2_6i25.0:     IO Pin 003 (P3-15): IOPort hm2/hm2_6i25.0:     IO Pin 004 (P3-03): StepGen #0, pin Direction (Output) hm2/hm2_6i25.0:     IO Pin 005 (P3-16): IOPort hm2/hm2_6i25.0:     IO Pin 006 (P3-04): StepGen #1, pin Step (Output) hm2/hm2_6i25.0:     IO Pin 007 (P3-17): PWMGen #0, pin Out1 (Dir or Down) (Output) hm2/hm2_6i25.0:     IO Pin 008 (P3-05): StepGen #1, pin Direction (Output) hm2/hm2_6i25.0:     IO Pin 009 (P3-06): StepGen #2, pin Step (Output) hm2/hm2_6i25.0:     IO Pin 010 (P3-07): StepGen #2, pin Direction (Output) hm2/hm2_6i25.0:     IO Pin 011 (P3-08): StepGen #3, pin Step (Output) hm2/hm2_6i25.0:     IO Pin 012 (P3-09): StepGen #3, pin Direction (Output) hm2/hm2_6i25.0:     IO Pin 013 (P3-10): IOPort hm2/hm2_6i25.0:     IO Pin 014 (P3-11): IOPort hm2/hm2_6i25.0:     IO Pin 015 (P3-12): IOPort hm2/hm2_6i25.0:     IO Pin 016 (P3-13): IOPort hm2/hm2_6i25.0:     IO Pin 017 (P2-01): Encoder #0, pin A (Input) hm2/hm2_6i25.0:     IO Pin 018 (P2-14): Encoder #4, pin B (Input) hm2/hm2_6i25.0:     IO Pin 019 (P2-02): Encoder #0, pin B (Input) hm2/hm2_6i25.0:     IO Pin 020 (P2-15): Encoder #4, pin Index (Input) hm2/hm2_6i25.0:     IO Pin 021 (P2-03): Encoder #0, pin Index (Input) hm2/hm2_6i25.0:     IO Pin 022 (P2-16): IOPort hm2/hm2_6i25.0:     IO Pin 023 (P2-04): Encoder #1, pin A (Input) hm2/hm2_6i25.0:     IO Pin 024 (P2-17): IOPort hm2/hm2_6i25.0:     IO Pin 025 (P2-05): Encoder #1, pin B (Input) hm2/hm2_6i25.0:     IO Pin 026 (P2-06): Encoder #1, pin Index (Input) hm2/hm2_6i25.0:     IO Pin 027 (P2-07): Encoder #2, pin A (Input) hm2/hm2_6i25.0:     IO Pin 028 (P2-08): Encoder #2, pin B (Input) hm2/hm2_6i25.0:     IO Pin 029 (P2-09): Encoder #2, pin Index (Input) hm2/hm2_6i25.0:     IO Pin 030 (P2-10): Encoder #3, pin A (Input) hm2/hm2_6i25.0:     IO Pin 031 (P2-11): Encoder #3, pin B (Input) hm2/hm2_6i25.0:     IO Pin 032 (P2-12): Encoder #3, pin Index (Input) hm2/hm2_6i25.0:     IO Pin 033 (P2-13): Encoder #4, pin A (Input) hm2/hm2_6i25.0: registered hm2_6i25.0: initialized AnyIO board at 0000:06:00.0 hm2_6i25.0: dropping AnyIO board at 0000:06:00.0 hm2/hm2_6i25.0: unregistered hm2_pci: driver unloaded hm2: unloading Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: Note: Using POSIX realtime ./ttm_a.hal:298: parameter or pin 'hm2_6i25.0.gpio.007.is_output' not found 2077 Stopping realtime threads Unloading hal components RTAPI_PCI: Unmapped 65536 bytes at 0x7f0222141000 Note: Using POSIX realtime ----------------------------------------------------------------------- Info report created by linuxcnc_info: The file:    /tmp/linuxcnc_info.txt can be posted to a forum or a web site like:      http://pastebin.com in order to provide information about the linuxcnc system and configuration.                 Date: Di 12. Aug 09:22:22 CEST 2025             UTC Date: Di 12. Aug 07:22:22 UTC 2025         this program: /usr/bin/linuxcnc_info               uptime: 09:22:22 up 10 min, 1 user, load average: 1,09, 0,87, 0,52      lsb_release -sa: Debian Debian GNU/Linux 10 (buster) 10 buster       which linuxcnc: /usr/bin/linuxcnc                  pwd: /home/cnc/linuxcnc/configs/ttm_a                 USER: cnc              LOGNAME: cnc                 HOME: /home/cnc               EDITOR:               VISUAL:             LANGUAGE:                 TERM: dumb            COLORTERM:              DISPLAY: :0.0              DESKTOP: lightdm-xsession         display size: 1920x1080 pixels (508x285 millimeters)                 PATH: /usr/bin:/home/cnc/linuxcnc/configs/ttm_a/bin:/usr/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games uname items:          nodename -n: debian       kernel-name -s: Linux       kernel-vers -v: #1 SMP PREEMPT RT Debian 4.19.316-1 (2024-06-25)           machine -m: x86_64         processor -p: unknown          platform -i: unknown       oper system -o: GNU/Linux /proc items:              cmdline: BOOT_IMAGE=/boot/vmlinuz-4.19.0-27-rt-amd64 root=UUID=9c449597-d44a-4504-9fed-3d2541ad317f ro initrd=/install/initrd.gz quiet           model name: Intel(R) Core(TM) i5-4440 CPU @ 3.10GHz                cores: 4              cpu MHz: 1935.655              parport: 0000-0000 : parport0               serial: 0000-0000 : serial Versions:                  gcc: gcc (Debian 8.3.0-6) 8.3.0               python: Python 2.7.16                  git: not_in_PATH           git commit: NA                  tcl: 8.6                   tk: 8.6                glade: not_in_PATH           glade-gtk2: not_in_PATH linuxcnc_var all:      LINUXCNCVERSION: 2.8.4-1-gb7824717b LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples             REALTIME: /etc/init.d/realtime                  RTS: uspace           HALLIB_DIR: /usr/share/linuxcnc/hallib dpkg -l '*linuxcnc*': Gewünscht=Unbekannt/Installieren/R=Entfernen/P=Vollständig Löschen/Halten | Status=Nicht/Installiert/Config/U=Entpackt/halb konFiguriert/          Halb installiert/Trigger erWartet/Trigger anhängig |/ Fehler?=(kein)/R=Neuinstallation notwendig (Status, Fehler: GROSS=schlecht) ||/ Name                Version              Architektur  Beschreibung +++-===================-====================-============-===================================================================== un  linuxcnc            <keine>              <keine>      (keine Beschreibung vorhanden) un  linuxcnc-dev        <keine>              <keine>      (keine Beschreibung vorhanden) un  linuxcnc-doc        <keine>              <keine>      (keine Beschreibung vorhanden) ii  linuxcnc-doc-en     1:2.8.4.1.gb7824717b all          motion controller for CNC machines and robots (English documentation) ii  linuxcnc-doc-es     1:2.8.4.1.gb7824717b all          controlador de movimiento para máquinas CNC y robots (Español). ii  linuxcnc-doc-fr     1:2.8.4.1.gb7824717b all          motion controller for CNC machines and robots (French documentation) un  linuxcnc-sim        <keine>              <keine>      (keine Beschreibung vorhanden) un  linuxcnc-sim-dev    <keine>              <keine>      (keine Beschreibung vorhanden) ii  linuxcnc-uspace     1:2.8.4.1.gb7824717b amd64        motion controller for CNC machines and robots ii  linuxcnc-uspace-dev 1:2.8.4.1.gb7824717b amd64        PC based motion controller for real-time Linux