On Monday 04 May 2020 15:15:54 Ed wrote: > 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.
I do not see any encoder A/B or index signals netted in the file below. Shouldn't there be? > > 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 > > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
