I have a working setup for a lathe with 7i76ed, XHC-HB4 and pi400 (4gb) .
I started with linuxcnc-2.8.2-pi4-arm64.zip (3.715.890.579 Bytes)
and used pncconf for the first setup. Eliminating pid for the steppers
the ini and hal is attached.
Joachim
# Generated by PNCconf at Wed Jul 6 18:24:19 2022
# Using LinuxCNC version: 2.8
# 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
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0
num_stepgens=3 sserial_port_0=00xxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.s.do-pid-calcs servo-thread
addf scale.spindle servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
# external input signals
# --- HOME-X ---
net home-x <= hm2_7i76e.0.7i76.0.0.input-04
# --- HOME-Y ---
net home-y <= hm2_7i76e.0.7i76.0.0.input-05
# --- HOME-Z ---
net home-z <= hm2_7i76e.0.7i76.0.0.input-06
#*******************
# AXIS X JOINT 0
#*******************
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 0
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
net x-pos-cmd hm2_7i76e.0.stepgen.00.position-cmd <= joint.0.motor-pos-cmd
net x-pos-fb hm2_7i76e.0.stepgen.00.position-fb => joint.0.motor-pos-fb
net x-enable hm2_7i76e.0.stepgen.00.enable <= joint.0.amp-enable-out
# ---setup home / limit switch signals---
net home-x => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Z JOINT 1
#*******************
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 0
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_1]STEPGEN_MAXVEL
net z-pos-cmd hm2_7i76e.0.stepgen.02.position-cmd <= joint.1.motor-pos-cmd
net z-pos-fb hm2_7i76e.0.stepgen.02.position-fb => joint.1.motor-pos-fb
net z-enable hm2_7i76e.0.stepgen.02.enable <= joint.1.amp-enable-out
# ---setup home / limit switch signals---
net home-z => joint.1.home-sw-in
net z-neg-limit => joint.1.neg-lim-sw-in
net z-pos-limit => joint.1.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]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-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentionmeter output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---Encoder feedback signals/setup---
setp hm2_7i76e.0.encoder.00.counter-mode 0
setp hm2_7i76e.0.encoder.00.filter 1
setp hm2_7i76e.0.encoder.00.index-invert 0
setp hm2_7i76e.0.encoder.00.index-mask 0
setp hm2_7i76e.0.encoder.00.index-mask-invert 0
setp hm2_7i76e.0.encoder.00.scale [SPINDLE_0]ENCODER_SCALE
net spindle-revs <= hm2_7i76e.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i76e.0.encoder.00.velocity
net spindle-vel-fb-rpm <= hm2_7i76e.0.encoder.00.velocity-rpm
net spindle-index-enable <=> hm2_7i76e.0.encoder.00.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.1.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
#jjf
#net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.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---
#jjf
#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
# Generated by PNCconf at Wed Jul 6 18:24:18 2022
# Using LinuxCNC version: 2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = lcnc-test-2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.250000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/jjf/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.500000
MAX_LINEAR_VELOCITY = 6.000000
MIN_LINEAR_VELOCITY = 0.100000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 2000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0
[HAL]
HALUI = halui
HALFILE = lcnc-test-2.hal
HALFILE = LIB:xhc-hb04.tcl
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
# from the set {xyxabcuvw) can be used (if the coord exists)
#coords = x y z c
coords = x z
# lowpass settings:
# coef: slows rate of change of output, range: 0 < coef < 1
coefs = 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 1
# jogmode normal(default) or vnormal
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 1
# require_pendant = yes|no: create xhc-hb04 hal pins when pendant not
# connected at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = mm
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels = 1 2 20 600
#INCLUDE layout2.inc
[APPLICATIONS]
APP = monitor-xhc-hb04
[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ
[TRAJ]
COORDINATES = XZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.83
MAX_LINEAR_VELOCITY = 8.33
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
#MAX_VELOCITY = 8.33333333333
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 50.0
MIN_LIMIT = -200.0
MAX_LIMIT = 200.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 3.33333333333
MAX_ACCELERATION = 50.0
# 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 = 6.67 das ist zu gross
#STEPGEN_MAXVEL = 6.0 das geht
STEPGEN_MAXVEL = 6.0
STEPGEN_MAXACCEL = 20.00
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 = -12800.0
BACKLASH = 0.001
MIN_LIMIT = -200.0
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = -0.166667
HOME_SEARCH_VEL = 0.0
#HOME_LATCH_VEL = -0.016667
HOME_LATCH_VEL = 0.0
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 4.0
#MAX_VELOCITY = 8.33333333333
MAX_ACCELERATION = 50.0
MIN_LIMIT = -300.0
MAX_LIMIT = 300.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 3.33333333333
#MAX_VELOCITY = 8.33333333333
MAX_ACCELERATION = 50.0
# 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 = 6.0
STEPGEN_MAXACCEL = 62.50
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 = -9600.0
MIN_LIMIT = -300.0
MAX_LIMIT = 300.0
HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = -0.166667
HOME_SEARCH_VEL = 0.0
#HOME_LATCH_VEL = -0.016667
HOME_LATCH_VEL = 0.0
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#******************************************
[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
ENCODER_SCALE = 2000.0
OUTPUT_MIN_LIMIT = 0
#für Zahnscheibe 42 21 Kombination
#MAX_OUTPUT = 1500.0
#OUTPUT_SCALE = 1500
#OUTPUT_MAX_LIMIT = 1500
#für Zahnscheiben 25 14 Kombination
MAX_OUTPUT = 2500.0
OUTPUT_SCALE = 2500
OUTPUT_MAX_LIMIT = 2500
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