[Emc-users] Installing Bootloader?

[pmark]

Need some advice for installing bootloader for BDI 4.51 EMC2?  How long 
should it take BDI to Install Bootloader? Progress window appears 
(Installing Bootloader) after 10-15 minutes it comes on an stays on. 
Nothing happens !! Stuck - Freezes Up.

Any suggestions? Thank you very much!

Pete

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Re: [Emc-users] Python Component Loading

[Jeff Epler]

In my interface between the Arduino board and HAL, the first line of the
sample hal file is
loadusr -W arduino /dev/ttyUSB0 3
this runs the python script (which is actually at
/home/jepler/bin/arduino on my particular system) as a userspace
component.

Python programs aren't ever realtime components.

http://axis.unpy.net/01198594294

Jeff

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Re: [Emc-users] Python Component Loading

[Stephen Wille Padnos]

Yes, except that they wouldn't be RT modules, they'd be userspace.

So you'd use "loadusr" instead of "loadrt"

- Steve

Kirk Wallace wrote:

>I am interested in the serial port features available in Python. The
>documentation shows how to make a Python component, and run it from the
>halrun command, but not how to run it in EMC. Do you just use "loadrt
>My_Python_component count=X" like the Comp components?  
>
>The Python component is a script, so could I run shell scripts, or any
>executable file, the same way?
>
>  
>

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Re: [Emc-users] Encoders

[Ormund Williams]

On Sat, 2008-01-19 at 21:51 +, Ian Wright wrote:
> Hi,
> 
> I have a couple of servo motors out of an old Olivetti printer which I'd 
> like to try to use, however, I can't find any information about the 
> encoders fitted to them. The encoders are in flat brown plastic 
> enclosures on the end of the motors and have 7 pin plugs with 6 wires 
> connected (the motor power wires are separate). Looking inside there 
> appears to probably be 3 photo sensing elements and a clear plastic 
> encoder disk with, I think, 100 prismatic lumps on it and so I assume 
> that the 6 wires must somehow represent a quadrature encoder with index 
> mark - or maybe a quadrature encoder with two power connections - I 
> don't know. Has anyone come across this type of motor and worked out the 
> connections or is there some way I could work it out for myself?? thanks.
> 
I've a simillar motor/encoder, though this motor is not in a printer.
So far what I've done is trace out the connection on the PCB that the
resolver is connected to, and found which wires were the power and
confirmed the voltage is 5v.  The next time I have access to the machine
I will power up the encoder, attach a 'scope to the other 6 wires,
rotate the motor and see if I can decipher the output.

I think this unit has differential outputs so a pair of wires for phase
A another for phase B and another for the index, for a total of 8 wires.
Your best bet is figuring out which wires are the power first, do you
still have the circuit the servo was connected to? If not try to get the
cover of the encoder and examin the circuit there.

If you can take some pictures post them.

__
Ormund



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[Emc-users] Python Component Loading

[Kirk Wallace]

I am interested in the serial port features available in Python. The
documentation shows how to make a Python component, and run it from the
halrun command, but not how to run it in EMC. Do you just use "loadrt
My_Python_component count=X" like the Comp components?  

The Python component is a script, so could I run shell scripts, or any
executable file, the same way?

-- 
Kirk Wallace (California, USA
http://www.wallacecompany.com/machine_shop/ 
Hardinge HNC lathe,
Bridgeport mill conversion, doing XY now,
Zubal lathe conversion pending)


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Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[John Kasunich]

[EMAIL PROTECTED] wrote:
> 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
> 

In my opinion, starting with stepconf for this application was a 
mistake, because stepconf uses "doublestep".  Doublestep is a trick that 
improves the maximum step rate that is available for step/dir drives, 
but it does nothing for any other stepping type.  So there is doublestep 
related junk in your file that needs to be removed.  You would have been 
better off to start with one of the standard stepper sample configs. 
But that is a solvable problem - I've marked the stuff that needs fixed 
below.

> 
> --- .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
reset-time is a doublestep thing - get rid of it.

> # loadrt stepgen step_type=0,0,0
> loadrt stepgen step_type=2,2,2 ctrl_type=v,v,v

"step_type=2,2,2" is correct, but for any normal EMC configuration you 
do NOT want "ctrl_type=v,v,v" (velocity).  Get rid of that, you want the 
default control type (position).

> 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
parport.0.reset is a doublestep thing - get rid of it.

> 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 1166.6667
> setp pwmgen.0.offset -133.3
> 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
This is right - as others have pointed out, you now have phase signals, 
not step and direction signals.

> setp parport.0.pin-02-out-reset 1
This is doublestep stuff - get rid of it.

> # 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
Good.

> setp parport.0.pin-04-out-reset 1
Doublestep - delete.

> # 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
Good.

> setp parport.0.pin-06-out-reset 1
Doublestep - delete.

> # net zdir => parport.0.pin-07-out
> net zphase-B => parport.0.pin-07-out
Good.

> # net astep => parport.0.pin-08-out
> net aphase-A => parport.0.pin-08-out
You said in your email that you were trying to set up a three axis mill. 
  Why is this A axis stuff here?  Did you tell stepconf that you had 
four axes?

> setp parport.0.pin-08-out-reset 1
Doublestep - delete.

> # net adir => parport.0.pin-09-out
> net aphase-B => parport.0.pin-09-out
More A axis stuff.

> 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
More A axis stuff.

> net probe-in <= parport.0.pin-15-in
> 
> setp stepgen.0.position-scale [AXIS_0]SCALE
> setp stepgen.0.steplen 5
> # setp stepgen.0.stepspace 1
> # setp stepgen.0.dirhold 7
> # setp stepgen.0.dirsetup 7
Good - stepspace, dirhold, and dirsetup aren't used for step type 2.

> 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
All good.

> 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 5
> # setp stepgen.1.stepspace 1
> # setp stepgen.1.dirhold 7
> # setp stepgen.1.dirsetup 7
> setp stepgen.1.maxacc

Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[Kirk Wallace]

On Wed, 2008-01-23 at 14:08 -0500, [EMAIL PROTECTED] wrote:
> 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
... snip

You are beyond my stepper experience now, but what you have looks okay
to me. There might be a coma where a period should be, a capital for a
lower case or something like that. The error screen near the bottom
might have something similar to:

...
Debug file Information:
your_hal_file.hal:XX pin 'pin_something_or_other' does not exsist
...

The XX should be the line number in the .hal file.

Other than that, a real stepper person may need to help you.
 
-- 
Kirk Wallace (California, USA
http://www.wallacecompany.com/machine_shop/ 
Hardinge HNC lathe,
Bridgeport mill conversion, doing XY now,
Zubal lathe conversion pending)


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Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[Kirk Wallace]

On Wed, 2008-01-23 at 12:59 -0500, [EMAIL PROTECTED] wrote:
> Yep, I do get the real time errors.  I have "fixed" most of the obvious
> ones.  I have my setup at home and for some strange reason my E-Mails from
> home get bounced back immediately from the list server although I am
> getting output from the server (different problem).
> 
> I will grab one of the error logs and post it (at least the bottom
> portion).
> 
> Thanks, Jim C

I think Sebastian has the answer. Type 0 stepping creates HAL pins for
step and direction. Type 2 replaces step/dir with A/B.

Page 102 in Integrator's Manual
...
• ( B I T ) stepgen..step – Step pulse output (step type 0 only).
• ( B I T ) stepgen..dir – Direction output (step type 0 only).
...

• ( B I T ) stepgen..phase-A – Phase A output (step types 2-14
only).
• ( B I T ) stepgen..phase-B – Phase B output (step types 2-14
only).

The .hal file that connects your HAL pins might have an entries like:

net Xstep stepgen.0.step parport.0.pin-03-out
net Xdir stepgen.0.dir parport.0.pin-02-out

etc.

When you changed to step type 2, these pins and signals went away. You
will need to connect the new pins similar to this:

net XphaseA stepgen.0.phase-A parport.0.pin-03-out
net XphaseB stepgen.0.phase-B parport.0.pin-02-out

etc., etc., etc.

-- 
Kirk Wallace (California, USA
http://www.wallacecompany.com/machine_shop/ 
Hardinge HNC lathe,
Bridgeport mill conversion, doing XY now,
Zubal lathe conversion pending)


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Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[jcombs]

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 1166.6667
setp pwmgen.0.offset -133.3
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 5
# setp stepgen.0.stepspace 1
# setp stepgen.0.dirhold 7
# setp stepgen.0.dirsetup 7
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 5
# setp stepgen.1.stepspace 1
# setp stepgen.1.dirhold 7
# setp stepgen.1.dirsetup 7
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 5
# setp stepgen.2.stepspace 1
# setp stepgen.2.dirhold 7
# setp stepgen.2.dirsetup 7
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


--

Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[jcombs]

Yep, I do get the real time errors.  I have "fixed" most of the obvious
ones.  I have my setup at home and for some strange reason my E-Mails from
home get bounced back immediately from the list server although I am
getting output from the server (different problem).

I will grab one of the error logs and post it (at least the bottom
portion).

Thanks, Jim C




   
 Kirk Wallace  
 <[EMAIL PROTECTED] 
 company.com>   To 
 Sent by:  "Enhanced Machine Controller (EMC)" 
 emc-users-bounces
 @lists.sourceforg  cc 
 e.net 
   Subject 
   Re: [Emc-users] Need some help -
 01/23/2008 12:45  Stepper Mode 2 - HAL
 PM
   
   
 Please respond to 
 "Enhanced Machine 
 Controller (EMC)" 
 <[EMAIL PROTECTED] 
 sourceforge.net>  
   
   



On Wed, 2008-01-23 at 12:19 -0500, [EMAIL PROTECTED] wrote:
> I am new to this, and need some help.
>
> I am trying to setup a three axis mill using stepper motors and a
parallel
> port
> to output the motor phases.
>
> I have used the step wizard and that works but it defaults to mode 0
(step-
> direction).  When I change to mode 2 (Phase A/B), I get HAL errors.  I
have
> tried looking through the documentation, but seem to be missing
something.
>
> Does anyone have a working example of what the HAL file should look like
> for
> mode 2 steppers?
>
> Any help would be much appreciated.
>
> I am converting a wood router tool from a HP 7475 emulation to CNC.  So
far
> the
> EMC2 stuff is really sweet.  I am almost there, but this has me stumped.
>
> Thanks, Jim C

I assume when you start EMC, the banner pops up for a while, then
disappears. Then an error window pops up. Are there any error messages
about twenty or thirty lines down, and at the bottom of the messages? Or
any place else. If you can indicate what those error messages are, I can
try to help, but I don't have any stepper setups myself.

--
Kirk Wallace (California, USA
http://www.wallacecompany.com/machine_shop/
Hardinge HNC lathe,
Bridgeport mill conversion, doing XY now,
Zubal lathe conversion pending)


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Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[Sebastian Kuzminsky]

[EMAIL PROTECTED] wrote:
> I am new to this, and need some help.
>   

Welcome!


> I am trying to setup a three axis mill using stepper motors and a parallel
> port
> to output the motor phases.
>
> I have used the step wizard and that works but it defaults to mode 0 (step-
> direction).  When I change to mode 2 (Phase A/B), I get HAL errors.  I have
> tried looking through the documentation, but seem to be missing something.
>   

The stepgen component exports different pins depending on what mode it's 
configured with at load-time.  If the step wizard configured it with 
mode 0, and then you changed just the stepgen mode, it'll break.  If 
that's what's happening, you need to change the stepgen pins in your hal 
file.  See section 7.1 in the HAL User Manual here: 



-- 
Sebastian Kuzminsky
Immanentize the Eschaton


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Re: [Emc-users] Need some help - Stepper Mode 2 - HAL

[Kirk Wallace]

On Wed, 2008-01-23 at 12:19 -0500, [EMAIL PROTECTED] wrote:
> I am new to this, and need some help.
> 
> I am trying to setup a three axis mill using stepper motors and a parallel
> port
> to output the motor phases.
> 
> I have used the step wizard and that works but it defaults to mode 0 (step-
> direction).  When I change to mode 2 (Phase A/B), I get HAL errors.  I have
> tried looking through the documentation, but seem to be missing something.
> 
> Does anyone have a working example of what the HAL file should look like
> for
> mode 2 steppers?
> 
> Any help would be much appreciated.
> 
> I am converting a wood router tool from a HP 7475 emulation to CNC.  So far
> the
> EMC2 stuff is really sweet.  I am almost there, but this has me stumped.
> 
> Thanks, Jim C

I assume when you start EMC, the banner pops up for a while, then
disappears. Then an error window pops up. Are there any error messages
about twenty or thirty lines down, and at the bottom of the messages? Or
any place else. If you can indicate what those error messages are, I can
try to help, but I don't have any stepper setups myself.

-- 
Kirk Wallace (California, USA
http://www.wallacecompany.com/machine_shop/ 
Hardinge HNC lathe,
Bridgeport mill conversion, doing XY now,
Zubal lathe conversion pending)


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[Emc-users] Need some help - Stepper Mode 2 - HAL

[jcombs]

I am new to this, and need some help.

I am trying to setup a three axis mill using stepper motors and a parallel
port
to output the motor phases.

I have used the step wizard and that works but it defaults to mode 0 (step-
direction).  When I change to mode 2 (Phase A/B), I get HAL errors.  I have
tried looking through the documentation, but seem to be missing something.

Does anyone have a working example of what the HAL file should look like
for
mode 2 steppers?

Any help would be much appreciated.

I am converting a wood router tool from a HP 7475 emulation to CNC.  So far
the
EMC2 stuff is really sweet.  I am almost there, but this has me stumped.

Thanks, Jim C


-
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2008.
http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/
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