torch moving UP when it should be moving DOWN

# Generated by PNCconf at Wed Oct 22 23:20:44 2025 # Using LinuxCNC version:  Master (2.9) # 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 num_spindles=[TRAJ]SPINDLES loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxxxx"  setp    hm2_7i92.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s loadrt plasmac addf hm2_7i92.0.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 plasmac                  servo-thread addf hm2_7i92.0.write         servo-thread setp hm2_7i92.0.dpll.01.timer-us -50 setp hm2_7i92.0.stepgen.timer-number 1 # ---PLASMA INPUT DEBOUNCE--- #values for these are in custom.hal loadrt dbounce names=db_breakaway,db_float,db_ohmic,db_arc-ok addf db_float     servo-thread addf db_ohmic     servo-thread addf db_breakaway servo-thread addf db_arc-ok    servo-thread # ---JOINT ASSOCIATED WITH THE Z AXIS--- net plasmac:axis-position joint.3.pos-fb => plasmac.axis-z-position # ---PLASMA INPUTS--- # ---all modes--- net plasmac:float-switch     => db_float.in net plasmac:breakaway        => db_breakaway.in net plasmac:ohmic-probe      => db_ohmic.in net plasmac:ohmic-sense-in   => plasmac.ohmic-sense-in # ---modes 0 & 1 net plasmac:arc-voltage-in   => plasmac.arc-voltage-in # ---modes 1 & 2 net plasmac:arc-ok-in        => db_arc-ok.in # ---mode 2 net plasmac:move-up          <= plasmac.move-up net plasmac:move-down        <= plasmac.move-down # ---PLASMA OUTPUTS--- # ---all modes--- net plasmac:ohmic-enable     <= plasmac.ohmic-enable net plasmac:scribe-arm       <= plasmac.scribe-arm net plasmac:scribe-on        <= plasmac.scribe-on # external output signals # --- PLASMAC:TORCH-ON --- setp hm2_7i92.0.gpio.030.is_output true net plasmac:torch-on  =>     hm2_7i92.0.gpio.030.out setp hm2_7i92.0.gpio.030.invert_output true # --- PLASMAC:LASER-ON --- setp hm2_7i92.0.gpio.031.is_output true net plasmac:laser-on  =>     hm2_7i92.0.gpio.031.out # --- DOUT-00 --- setp hm2_7i92.0.gpio.032.is_output true net dout-00  =>     hm2_7i92.0.gpio.032.out # --- DOUT-01 --- setp hm2_7i92.0.gpio.033.is_output true #qtplasmac uses digital output dout-01: #net dout-01  =>     hm2_7i92.0.gpio.033.out # external input signals # --- MIN-HOME-X --- net min-home-x     <=  hm2_7i92.0.gpio.018.in # --- MIN-HOME-Y --- net min-home-y     <=  hm2_7i92.0.gpio.019.in # --- MIN-HOME-Y2 --- net min-home-y2     <=  hm2_7i92.0.gpio.020.in # --- MAX-HOME-Z --- net max-home-z     <=  hm2_7i92.0.gpio.021.in # --- PLASMAC:FLOAT-SWITCH --- net plasmac:float-switch     <=  hm2_7i92.0.gpio.022.in # --- PLASMAC:BREAKAWAY --- net plasmac:breakaway     <=  hm2_7i92.0.gpio.023.in # --- PLASMAC:ARC-OK-IN --- net plasmac:arc-ok-in     <=  hm2_7i92.0.gpio.024.in # --- PLASMAC:MOVE-UP --- net plasmac:move-up     <=  hm2_7i92.0.gpio.025.in # --- PLASMAC:MOVE-DOWN --- net plasmac:move-down     <=  hm2_7i92.0.gpio.026.in # --- ESTOP-EXT --- net estop-ext     <=  hm2_7i92.0.gpio.027.in_not #******************* #  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_7i92.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP setp   hm2_7i92.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD setp   hm2_7i92.0.stepgen.00.steplen         [JOINT_0]STEPLEN setp   hm2_7i92.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE setp   hm2_7i92.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE setp   hm2_7i92.0.stepgen.00.step_type        0 setp   hm2_7i92.0.stepgen.00.control-type     1 setp   hm2_7i92.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL setp   hm2_7i92.0.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_7i92.0.stepgen.00.velocity-cmd net x-pos-fb     <= hm2_7i92.0.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_7i92.0.stepgen.00.enable # ---setup home / limit switch signals--- net min-home-x     =>  joint.0.home-sw-in net min-home-x     =>  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_7i92.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP setp   hm2_7i92.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD setp   hm2_7i92.0.stepgen.01.steplen         [JOINT_1]STEPLEN setp   hm2_7i92.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE setp   hm2_7i92.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE setp   hm2_7i92.0.stepgen.01.step_type        0 setp   hm2_7i92.0.stepgen.01.control-type     1 setp   hm2_7i92.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL setp   hm2_7i92.0.stepgen.01.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_7i92.0.stepgen.01.velocity-cmd net y-pos-fb     <= hm2_7i92.0.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_7i92.0.stepgen.01.enable # ---setup home / limit switch signals--- net min-home-y     =>  joint.1.home-sw-in net min-home-y     =>  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_7i92.0.stepgen.04.dirsetup        [JOINT_2]DIRSETUP setp   hm2_7i92.0.stepgen.04.dirhold         [JOINT_2]DIRHOLD setp   hm2_7i92.0.stepgen.04.steplen         [JOINT_2]STEPLEN setp   hm2_7i92.0.stepgen.04.stepspace       [JOINT_2]STEPSPACE setp   hm2_7i92.0.stepgen.04.position-scale  [JOINT_2]STEP_SCALE setp   hm2_7i92.0.stepgen.04.step_type        0 setp   hm2_7i92.0.stepgen.04.control-type     1 setp   hm2_7i92.0.stepgen.04.maxaccel         [JOINT_2]STEPGEN_MAXACCEL setp   hm2_7i92.0.stepgen.04.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_7i92.0.stepgen.04.velocity-cmd net y2-pos-fb     <= hm2_7i92.0.stepgen.04.position-fb net y2-pos-fb     => joint.2.motor-pos-fb net y2-enable     <= joint.2.amp-enable-out net y2-enable     => hm2_7i92.0.stepgen.04.enable # ---setup home / limit switch signals--- net min-home-y2     =>  joint.2.home-sw-in net min-home-y2     =>  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_7i92.0.stepgen.03.dirsetup        [JOINT_3]DIRSETUP setp   hm2_7i92.0.stepgen.03.dirhold         [JOINT_3]DIRHOLD setp   hm2_7i92.0.stepgen.03.steplen         [JOINT_3]STEPLEN setp   hm2_7i92.0.stepgen.03.stepspace       [JOINT_3]STEPSPACE setp   hm2_7i92.0.stepgen.03.position-scale  [JOINT_3]STEP_SCALE setp   hm2_7i92.0.stepgen.03.step_type        0 setp   hm2_7i92.0.stepgen.03.control-type     1 setp   hm2_7i92.0.stepgen.03.maxaccel         [JOINT_3]STEPGEN_MAXACCEL setp   hm2_7i92.0.stepgen.03.maxvel           [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd    <= joint.3.motor-pos-cmd net z-vel-cmd    <= joint.3.vel-cmd net z-output     => hm2_7i92.0.stepgen.03.velocity-cmd net z-pos-fb     <= hm2_7i92.0.stepgen.03.position-fb net z-pos-fb     => joint.3.motor-pos-fb net z-enable     <= joint.3.amp-enable-out net z-enable     => hm2_7i92.0.stepgen.03.enable # ---setup home / limit switch signals--- net max-home-z     =>  joint.3.home-sw-in net z-neg-limit     =>  joint.3.neg-lim-sw-in net max-home-z     =>  joint.3.pos-lim-sw-in #  ---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 #qtplasmac uses digital output dout-01: #net dout-01     <=  motion.digital-out-01 #  ---estop signals--- net estop-out     <=  iocontrol.0.user-enable-out net estop-ext     =>  iocontrol.0.emc-enable-in # ---QTPLASMAC TOOLCHANGE PASSTHROUGH--- net tool:change iocontrol.0.tool-change  => iocontrol.0.tool-changed net tool:prep   iocontrol.0.tool-prepare => iocontrol.0.tool-prepared .ini  [code]# Generated by PNCconf at Wed Oct 22 23:20:44 2025 # Using LinuxCNC version:  Master (2.9) # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = test-2 DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = qtvcp qtplasmac POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/x/linuxcnc/nc_files INCREMENTS = 10mm 1mm .1mm .01mm .001mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 6.000000 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 GEOMETRY = xyz CYCLE_TIME = 100 [FILTER] PROGRAM_EXTENSION = .ngc,.nc,.tap GCode File (*.ngc, *.nc, *.tap) ngc = qtplasmac_gcode nc  = qtplasmac_gcode tap = qtplasmac_gcode [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var RS274NGC_STARTUP_CODE = G21 G40 G49 G80 G90 G92.1 G94 G97 M52P1 SUBROUTINE_PATH = ./:../../nc_files USER_M_PATH = ./:../../nc_files [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HMOT] # **** This is for info only **** CARD0=hm2_7i92.0 [HAL] HALUI = halui HALFILE = test-2.hal HALFILE = qtplasmac_comp.hal HALFILE = custom.hal POSTGUI_HALFILE = custom_postgui.hal SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=XYYZ [TRAJ] SPINDLES = 3 COORDINATES =  XYYZ LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 25.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] # MAX_VEL & MAX_ACC need to be twice the corresponding joint value MAX_VELOCITY = 50.0 MAX_ACCELERATION = 1500.0 OFFSET_AV_RATIO = 0.5 MIN_LIMIT = -0.01 MAX_LIMIT = 2000.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # 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 = 31.25 STEPGEN_MAXACCEL = 937.50 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    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 100.0 MIN_LIMIT = -0.01 MAX_LIMIT = 2000.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 #****************************************** #****************************************** [AXIS_Y] # MAX_VEL & MAX_ACC need to be twice the corresponding joint value MAX_VELOCITY = 50.0 MAX_ACCELERATION = 1500.0 OFFSET_AV_RATIO = 0.5 MIN_LIMIT = -0.01 MAX_LIMIT = 3000.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # 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 = 31.25 STEPGEN_MAXACCEL = 937.50 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    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 100.0 MIN_LIMIT = -0.01 MAX_LIMIT = 3000.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = -3 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # 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 = 31.25 STEPGEN_MAXACCEL = 937.50 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    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 100.0 MIN_LIMIT = -0.01 MAX_LIMIT = 3000.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = -3 #****************************************** #****************************************** [AXIS_Z] # MAX_VEL & MAX_ACC need to be twice the corresponding joint value MAX_VELOCITY = 50.0 MAX_ACCELERATION = 1500.0 OFFSET_AV_RATIO = 0.5 MIN_LIMIT = -200.0 MAX_LIMIT = 0.01 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # 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 = 31.25 STEPGEN_MAXACCEL = 937.50 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    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 100.0 MIN_LIMIT = -200.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #****************************************** Any help or working HAL example with PROMA 150 + Mesa hardware would be greatly appreciated! Thank you in advance