Hope posting this does not offend anyone, but here is the .hal file edited. I commented out the old mode 0 lines and added in the mode 2 lines based on my interpretation of the section 7 HAL documentation. Is there some other file that I need to change or are all my troubles in these changes?
I have marked in bold type the changes Thanks, Jim C ------------------- .HAL ------------------------------ # Generated by stepconf at Sun Jan 20 16:30:40 2008 # If you make changes to this file, they will be # overwritten when you run stepconf again loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES loadrt probe_parport loadrt hal_parport cfg=0x378 setp parport.0.reset-time 5000 # loadrt stepgen step_type=0,0,0 loadrt stepgen step_type=2,2,2 ctrl_type=v,v,v loadrt pwmgen output_type=0 addf parport.0.read base-thread addf stepgen.make-pulses base-thread addf pwmgen.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 addf pwmgen.update servo-thread net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value net spindle-enable <= motion.spindle-on => pwmgen.0.enable net spindle-pwm <= pwmgen.0.pwm setp pwmgen.0.pwm-freq 0.0 setp pwmgen.0.scale 1166.66666667 setp pwmgen.0.offset -133.333333333 net spindle-cw <= motion.spindle-forward net probe-in => motion.probe-input net estop-out => parport.0.pin-01-out # net xstep => parport.0.pin-02-out net xphase-A => parport.0.pin-02-out setp parport.0.pin-02-out-reset 1 # net xdir => parport.0.pin-03-out net xphase-B => parport.0.pin-03-out # net ystep => parport.0.pin-04-out net yphase-A => parport.0.pin-04-out setp parport.0.pin-04-out-reset 1 # net ydir => parport.0.pin-05-out net yphase-B => parport.0.pin-05-out # net zstep => parport.0.pin-06-out net zphase-A => parport.0.pin-06-out setp parport.0.pin-06-out-reset 1 # net zdir => parport.0.pin-07-out net zphase-B => parport.0.pin-07-out # net astep => parport.0.pin-08-out net aphase-A => parport.0.pin-08-out setp parport.0.pin-08-out-reset 1 # net adir => parport.0.pin-09-out net aphase-B => parport.0.pin-09-out net spindle-cw => parport.0.pin-14-out net spindle-pwm => parport.0.pin-16-out net both-home-x <= parport.0.pin-10-in net both-home-y <= parport.0.pin-11-in net both-home-z <= parport.0.pin-12-in net both-home-a <= parport.0.pin-13-in net probe-in <= parport.0.pin-15-in setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 50000 # setp stepgen.0.stepspace 10000 # setp stepgen.0.dirhold 70000 # setp stepgen.0.dirsetup 70000 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb # net xstep <= stepgen.0.step net xphase-A <= stepgen.0.phase-A # net xdir <= stepgen.0.dir net xphase-B <= stepgen.0.phase-B net xenable axis.0.amp-enable-out => stepgen.0.enable 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 setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.1.steplen 50000 # setp stepgen.1.stepspace 10000 # setp stepgen.1.dirhold 70000 # setp stepgen.1.dirsetup 70000 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb # net ystep <= stepgen.1.step net yphase-A <= stepgen.1.phase-A # net ydir <= stepgen.1.dir net yphase-B <= stepgen.1.phase-B net yenable axis.1.amp-enable-out => stepgen.1.enable net both-home-y => axis.1.home-sw-in net both-home-y => axis.1.neg-lim-sw-in net both-home-y => axis.1.pos-lim-sw-in setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.2.steplen 50000 # setp stepgen.2.stepspace 10000 # setp stepgen.2.dirhold 70000 # setp stepgen.2.dirsetup 70000 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb # net zstep <= stepgen.2.step net zphase-A <= stepgen.2.phase-A # net zdir <= stepgen.2.dir net zphase-B <= stepgen.2.phase-B net zenable axis.2.amp-enable-out => stepgen.2.enable net both-home-z => axis.2.home-sw-in net both-home-z => axis.2.neg-lim-sw-in net both-home-z => axis.2.pos-lim-sw-in 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 ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. 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