On 5/4/20 12:19 PM, andy pugh wrote:
On Mon, 4 May 2020 at 18:00, Ed <ate...@mwt.net> wrote:
Well, that worked! Enclosed is the message. Looks to my unpracticed
eye to be a network error.
No it's this.
./3-axis.hal:9: parameter or pin 'hm2_7i80HD.0.pwmgen.pwm_frequency' not
found
Drop the "HD" from line 9 of your 3-axis.hal file.
Dropped the HD from that line and it simply moved on to the next line
with an HD.
After trying a couple more edits then did a global replace of 7i80HD
with 7i80 and it would start but had no inputs from the encoders and
would run away if the drives were energized.
The initial hal file was done with pncconf. Enclosed is the hal file
without modifications.
# Generated by PNCconf at Mon May 4 13:29:36 2020
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4
num_pwmgens=3 num_stepgens=0"
setp hm2_7i80HD.0.pwmgen.pwm_frequency 20000
setp hm2_7i80HD.0.pwmgen.pdm_frequency 6000000
setp hm2_7i80HD.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf hm2_7i80HD.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.s.do-pid-calcs servo-thread
addf hm2_7i80HD.0.write servo-thread
# external output signals
# external input signals
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_7i80HD.0.pwmgen.00.output-type 1
setp hm2_7i80HD.0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
net x-output => hm2_7i80HD.0.pwmgen.00.value
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out => hm2_7i80HD.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_7i80HD.0.encoder.00.counter-mode 0
setp hm2_7i80HD.0.encoder.00.filter 1
setp hm2_7i80HD.0.encoder.00.index-invert 0
setp hm2_7i80HD.0.encoder.00.index-mask 0
setp hm2_7i80HD.0.encoder.00.index-mask-invert 0
setp hm2_7i80HD.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_7i80HD.0.encoder.00.position
net x-vel-fb <= hm2_7i80HD.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=>
hm2_7i80HD.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i80HD.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_7i80HD.0.pwmgen.01.output-type 1
setp hm2_7i80HD.0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
net y-output => hm2_7i80HD.0.pwmgen.01.value
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out => hm2_7i80HD.0.pwmgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_7i80HD.0.encoder.01.counter-mode 0
setp hm2_7i80HD.0.encoder.01.filter 1
setp hm2_7i80HD.0.encoder.01.index-invert 0
setp hm2_7i80HD.0.encoder.01.index-mask 0
setp hm2_7i80HD.0.encoder.01.index-mask-invert 0
setp hm2_7i80HD.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_7i80HD.0.encoder.01.position
net y-vel-fb <= hm2_7i80HD.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=>
hm2_7i80HD.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i80HD.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net y-home-sw => axis.1.home-sw-in
net y-neg-limit => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_7i80HD.0.pwmgen.02.output-type 1
setp hm2_7i80HD.0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
net z-output => hm2_7i80HD.0.pwmgen.02.value
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out => hm2_7i80HD.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_7i80HD.0.encoder.02.counter-mode 0
setp hm2_7i80HD.0.encoder.02.filter 1
setp hm2_7i80HD.0.encoder.02.index-invert 0
setp hm2_7i80HD.0.encoder.02.index-mask 0
setp hm2_7i80HD.0.encoder.02.index-mask-invert 0
setp hm2_7i80HD.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_7i80HD.0.encoder.02.position
net z-vel-fb <= hm2_7i80HD.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=>
hm2_7i80HD.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i80HD.0.encoder.02.rawcounts
# ---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
#*******************
# 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 => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---Encoder feedback signals/setup---
setp hm2_7i80HD.0.encoder.03.counter-mode 0
setp hm2_7i80HD.0.encoder.03.filter 1
setp hm2_7i80HD.0.encoder.03.index-invert 0
setp hm2_7i80HD.0.encoder.03.index-mask 0
setp hm2_7i80HD.0.encoder.03.index-mask-invert 0
setp hm2_7i80HD.0.encoder.03.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_7i80HD.0.encoder.03.position
net spindle-vel-fb-rps <= hm2_7i80HD.0.encoder.03.velocity
net spindle-index-enable <=> hm2_7i80HD.0.encoder.03.index-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
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