Configuring Plasmac - a complete THC/plasma config for any hardware

JTknives
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7 years 5 months ago #133460 by JTknives

Replied by JTknives on topic Configuring Plasmac - a complete THC/plasma config for any hardware

I am so lost
I have no idea what a joint is. I never deleted anything just used the files and added my pins. I’m almost to the point where I want to completely format the computer and start over agian from scratch.

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JTknives
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7 years 5 months ago #133463 by JTknives

Replied by JTknives on topic Configuring Plasmac - a complete THC/plasma config for any hardware

every time i update i get this error

Code:

twopass: Error in file ./plasmac.hal:
    Pin 'joint.3.pos-fb' does not exist
Shutting down and cleaning up LinuxCNC...
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading

If I go into the plasmac.hal I find this is missing any refrence to Z.

Code:

# inputs
# the next line needs to be the joint associated with the Z axis
net plasmac:axis-position        joint.3.pos-fb                  =>  plasmac.axis-z-position 
net plasmac:axis-x-position      axis.x.pos-cmd                  =>  plasmac.axis-x-position
net plasmac:axis-y-position      axis.y.pos-cmd                  =>  plasmac.axis-y-position

but if I change that line to this the error goes away

Code:

net plasmac:axis-z-position        axis.z.pos-cmd                 =>  plasmac.axis-z-position

Am i messing up here by changing this?

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rodw
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7 years 5 months ago #133468 by rodw

Replied by rodw on topic Configuring Plasmac - a complete THC/plasma config for any hardware

For that pin not to exist, it sounds like you are running the standard 2.7 version of linuxcnc.
A joint is a motor and you might have 2 of them on a single axis on a gantry machine...
Joints do not exist in Linux 2.7, only in master branch (2.

When you run linuxcnc from the command line do you see 2.8 showing up on the splash screen or not?

Make sure you are following the commands to set the rip-environment at the very end of the first post.

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JTknives
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7 years 5 months ago #133472 by JTknives

Replied by JTknives on topic Configuring Plasmac - a complete THC/plasma config for any hardware

yes I set the environment first and i do see the the 2.8 on splash and says like pre 1 or some such thing.

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JTknives
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7 years 5 months ago #133478 by JTknives

Replied by JTknives on topic Configuring Plasmac - a complete THC/plasma config for any hardware

when i first ran the pncconf to make my working files i used 2.7 as thats what installed with copy of linux.

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rodw
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7 years 5 months ago #133479 by rodw

Replied by rodw on topic Configuring Plasmac - a complete THC/plasma config for any hardware

JTknives wrote: yes I set the environment first and i do see the the 2.8 on splash and says like pre 1 or some such thing.

Ok, phill mentioned it in his earlier post but there is a large section setting up joints missing from your ini file. It looks like the ini file has reverted to one from the sim. The reason why that joint does not exist is your ini file says you only have 3 joints (which are numbered 0,1,2) so joint 3 does not exist!
Here is the part of the ini file I'm looking at

Code:

[KINS]
KINEMATICS              = trivkins coordinates=xyz
JOINTS                  = 3

If you have a gantry machine it would have 4 joints and that section should look something like this

Code:

[KINS]
KINEMATICS              = trivkins coordinates=xyyz
JOINTS                  = 4

This is the joints section from my INI file....

Warning: Spoiler!

Code:

# Joint 0 - Y
[JOINT_0]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 180
MAX_ACCELERATION = 2000

# 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 = 700
STEPGEN_MAXACCEL = 2000
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   = 500
DIRHOLD    = 500
STEPLEN    = 1500
STEPSPACE  = 1500
STEP_SCALE = 261.130715645

MIN_LIMIT = -0.01
MAX_LIMIT = 1258

HOME_OFFSET = 43
HOME_SEARCH_VEL = -100 
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 50
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1


# Joint 1 - Y1
[JOINT_1]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 300
MAX_ACCELERATION = 1500

# 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 = 700
STEPGEN_MAXACCEL = 2000
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   = 500
DIRHOLD    = 500
STEPLEN    = 1500
STEPSPACE  = 1500
STEP_SCALE = 261.130715645

MIN_LIMIT = -0.01
MAX_LIMIT = 1258

HOME_OFFSET = 45
HOME_SEARCH_VEL = -100 
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 50
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1


 Joint 2
[JOINT_2]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 360
MAX_ACCELERATION = 1500

# 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 = 700
STEPGEN_MAXACCEL = 2000
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   = 500
DIRHOLD    = 500
STEPLEN    = 2500
STEPSPACE  = 2500
#STEP_SCALE = 254.647880868
#40x STEP_SCALE = 254.647930868
STEP_SCALE      = -159.154925543

MIN_LIMIT = -0.01
MAX_LIMIT = 1221.1

HOME_OFFSET = 45.0
HOME_SEARCH_VEL = -100 
HOME_LATCH_VEL = 25
HOME_FINAL_VEL = 100
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
# Joint 3
[JOINT_3]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0

#MAX_VELOCITY = 220
MAX_VELOCITY = 120
MAX_ACCELERATION = 1800
# 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 = 450
STEPGEN_MAXACCEL = 5000
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   = 500
DIRHOLD    = 500
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 1000
MIN_LIMIT = -84
MAX_LIMIT = 0.001

HOME_OFFSET = 1.0 
HOME_SEARCH_VEL = 10 
HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1

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rodw
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7 years 5 months ago #133480 by rodw

Replied by rodw on topic Configuring Plasmac - a complete THC/plasma config for any hardware

So now I understand. Joints did not exist in v 2.7. as they were tied to the Axes

I think I would run pncconf again with V 2.8 which will set all of the default joint settings. Alternatively, you could use an example setup I did a long time ago and updated it for you velocity and accelleration and machine size settings. It predates the multi spindle stuff. so the spindle has moved from motion.spindle-xxxxxx to spindle.0.xxxxx

forum.linuxcnc.org/47-hal-examples/34072...ranch-gantry-example

When I first set my machine up, I did not use pncconf, but copied a basic 7i76e config Islander261 published at the time.

But, I've since used pncconf and it worked out OK. you could just run it with rough settings and copy over your machine setttings (vel, accel, limits etc). I better update my first post!

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rodw
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7 years 5 months ago #133482 by rodw

Replied by rodw on topic Configuring Plasmac - a complete THC/plasma config for any hardware

Actually, first try making a copy of your original working config and run it from the chooser branch. With a bit of luck there will be a conversion script that notices the change and converts your files to 2.8 format. I've never done that as I've only ever run master branch

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rodw
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7 years 5 months ago #133483 by rodw

Replied by rodw on topic Configuring Plasmac - a complete THC/plasma config for any hardware

So the second post has been updated

Ok, this post might grow a bit but lets start getting it onto real hardware. At this point, I'm going to assume you have a basic working config on master branch (V2.

that gives basic XYZ movement.

If you have your machine set up on an earlier version of Linuxcnc, you have a bit more work to do as there are significant differences in configuration of the machine between V 2.7 to V 2.8. There is a conversion program that should sense you've upgraded when you first run your old config. I have never run v 2.7 so can't really guide you. If all else fails, rebuild a working config using stepconf or pncconf and make sure it works before proceeding.

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phillc54
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7 years 5 months ago #133489 by phillc54

Replied by phillc54 on topic Configuring Plasmac - a complete THC/plasma config for any hardware

If your config was done in 2.7 then this may be worth a try.

Where it says:

Code:

[EMC]
VERSION                 = 1.1

Change it to something like:

Code:

[EMC]
VERSION                 = 0.1

Then when you run LinuxCNC it 'should' attempt to convert your ini file to a 2.8 compatible version.
Then, if you only have three joints, make the line:

Code:

net plasmac:axis-z-position      joint.2.pos-fb                  =>  plasmac.axis-z-position

It needs to be the joint that is associated withe the Z axis.
Then move this line from plasmac.hal to your machine hal file.

Cheers, Phill.

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