In emc2 after altering core_stepper.hal to: stepper.hal
# core HAL config file for steppers # first load the core RT modules that will be needed # kinematics loadrt trivkins # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY # stepper module, three step generators, all three using step/dir loadrt stepgen step_type=2,2,2 # hook functions to base thread (high speed thread for step generation) addf stepgen.make-pulses base-thread # hook functions to servo thread addf stepgen.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf stepgen.update-freq servo-thread # connect position commands from motion module to step generator newsig Xpos-cmd float linksp Xpos-cmd <= axis.0.motor-pos-cmd linksp Xpos-cmd => stepgen.0.position-cmd newsig Ypos-cmd float linksp Ypos-cmd <= axis.1.motor-pos-cmd linksp Ypos-cmd => stepgen.1.position-cmd newsig Zpos-cmd float linksp Zpos-cmd <= axis.2.motor-pos-cmd linksp Zpos-cmd => stepgen.2.position-cmd # connect position feedback from step generators # to motion module newsig Xpos-fb float linksp Xpos-fb <= stepgen.0.position-fb linksp Xpos-fb => axis.0.motor-pos-fb newsig Ypos-fb float linksp Ypos-fb <= stepgen.1.position-fb linksp Ypos-fb => axis.1.motor-pos-fb newsig Zpos-fb float linksp Zpos-fb <= stepgen.2.position-fb linksp Zpos-fb => axis.2.motor-pos-fb # connect enable signals for step generators newsig Xen bit linksp Xen <= axis.0.amp-enable-out linksp Xen => stepgen.0.enable newsig Yen bit linksp Yen <= axis.1.amp-enable-out linksp Yen => stepgen.1.enable newsig Zen bit linksp Zen <= axis.2.amp-enable-out linksp Zen => stepgen.2.enable # connect signals to step pulse generator outputs newsig Xstep bit newsig Xdir bit newsig Ystep bit newsig Ydir bit newsig Zstep bit newsig Zdir bit linkps stepgen.0.step Xstep linkps stepgen.0.dir Xdir linkps stepgen.1.step Ystep linkps stepgen.1.dir Ydir linkps stepgen.2.step Zstep linkps stepgen.2.dir Zdir # set stepgen module scaling - get values from ini file setp stepgen.0.position-scale [AXIS_0]INPUT_SCALE setp stepgen.1.position-scale [AXIS_1]INPUT_SCALE setp stepgen.2.position-scale [AXIS_2]INPUT_SCALE # set stepgen module velocity limits - get values from ini file setp stepgen.0.maxvel [AXIS_0]STEPGEN_MAXVEL setp stepgen.1.maxvel [AXIS_1]STEPGEN_MAXVEL setp stepgen.2.maxvel [AXIS_2]STEPGEN_MAXVEL # set stepgen module accel limits - get values from ini file setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL and standard_pinout.hal to: pinout.hal # standard pinout config file for 3-axis steppers # using a parport for I/O # # first load the parport driver loadrt hal_parport cfg="0x0378" "0xdff0" # # next connect the parport functions to threads # read inputs first addf parport.0.read base-thread 1 addf parport.1.read base-thread 1 # write outputs last addf parport.0.write base-thread -1 addf parport.1.write base-thread -1 # # finally connect physical pins to the signals linksp X_phaseA => parport.0.pin-09-out linksp X_phaseA => parport.0.pin-08-out setp parport.0.pin-08-out-invert TRUE linksp X_phaseB => parport.0.pin-07-out linksp X_phaseB => parport.0.pin-06-out setp parport.0.pin-06-out-invert TRUE linksp Y_phaseA => parport.0.pin-05-out linksp Y_phaseA => parport.0.pin-17-out setp parport.0.pin-17-out-invert TRUE linksp Y_phaseB => parport.0.pin-04-out linksp Y_phaseB => parport.0.pin-16-out setp parport.0.pin-16-out-invert TRUE linksp Z_phaseA => parport.1.pin-09-out linksp Z_phaseA => parport.1.pin-08-out setp parport.1.pin-08-out-invert TRUE linksp Z_phaseB => parport.1.pin-07-out linksp Z_phaseB => parport.1.pin-06-out-invert # create a signal for the estop loopback linkpp iocontrol.0.user-enable-out iocontrol.0.emc-enable-in # create signals for tool loading loopback linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared linkpp iocontrol.0.tool-change iocontrol.0.tool-changed # create a signal for "spindle on" newsig spindle-on bit # connect the controller to it linkps motion.spindle-on => spindle-on # connect it to a physical pin linksp spindle-on => parport.0.pin-09-out ### ### You might use something like this to enable chopper drives when machine ON ### the Xen signal is defined in core_stepper.hal ### linksp Xen => parport.0.pin-03-out linksp Yen => parport.0.pin-02-out linksp Zen => parport.1.pin-03-out ### ### If you want active low for this pin, invert it like this: ### # setp parport.0.pin-01-out-invert 1 ### ### A sample home switch on the X axis (axis 0). make a signal, ### link the incoming parport pin to the signal, then link the signal ### to EMC's axis 0 home switch input pin ### # newsig Xhome bit # linkps parport.0.pin-10-in => Xhome # linksp Xhome => axis.0.home-sw-in ### ### Shared home switches all on one parallel port pin? ### that's ok, hook the same signal to all the axes, but be sure to ### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file. See the ### user manual! ### # newsig homeswitches bit # linkps parport.0.pin-10-in => homeswitches # linksp homeswitches => axis.0.home-sw-in # linksp homeswitches => axis.1.home-sw-in # linksp homeswitches => axis.2.home-sw-in ### ### Sample separate limit switches on the X axis (axis 0) ### # newsig X-neg-limit bit # linkps parport.0.pin-11-in => X-neg-limit # linksp X-neg-limit => axis.0.neg-lim-sw-in # newsig X-pos-limit bit # linkps parport.0.pin-12-in => X-pos-limit # linksp X-pos-limit => axis.0.pos-lim-sw-in ### ### Just like the shared home switches example, you can wire together ### limit switches. Beware if you hit one, EMC will stop but can't tell ### you which switch/axis has faulted. Use caution when recovering from this. ### # newsig Xlimits bit # linkps parport.pin-13-in => Xlimits # linksp Xlimits => axis.0.neg-lim-sw-in # linksp Xlimits => axis.0.pos-lim-sw-in ### ### you can also use the "net" syntax to accomplish the "newsig" and "link" ### operations all at once. This command does the same thing as the above ### block. ### # net Xlimits parport.pin-13-in => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in I get the following emc2 error: Print file information: RUN_IN_PLACE=no EMC2_DIR= EMC2_BIN_DIR=/usr/bin EMC2_TCL_DIR=/usr/share/emc/tcl EMC2_SCRIPT_DIR= EMC2_RTLIB_DIR=/usr/realtime-2.6.15-magma/modules/emc2 EMC2_CONFIG_DIR= EMC2_LANG_DIR=/usr/share/emc/tcl/msgs INIVAR=/usr/bin/inivar HALCMD=/usr/bin/halcmd EMC2_EMCSH=/usr/bin/emcsh EMC2_IOSH=/usr/bin/iosh EMC2 - 2.1.0 Machine configuration directory is '/home/jack/emc2/configs/stepper' Machine configuration file is 'test.ini' INIFILE=/home/jack/emc2/configs/stepper/test.ini PARAMETER_FILE=stepper.var EMCMOT=motmod EMCIO=io TASK=milltask HALUI= DISPLAY=tkemc NML_FILE=emc.nml Starting EMC2... Starting EMC2 server program: emcsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting EMC2 IO program: io Running HAL config file /home/jack/emc2/configs/stepper/stepper.hal HAL: ERROR: pin 'stepgen.0.step' not found HAL:62: link failed HAL config file /home/jack/emc2/configs/stepper/stepper.hal failed. Shutting down and cleaning up EMC2... Killing task emcsvr, PID=2631 Removing HAL_LIB, RTAPI, and Real Time OS modules Cleanup done Big Snip [22.719459] USB Universal Host Controller Interface driver v2.3 [183775.112454] MOTION: setting Traj cycle time to 10000000 nsecs [183775.112462] MOTION: setting Servo cycle time to 1000000 nsecs [183775.112467] MOTION: init_threads() complete [183775.112475] MOTION: init_module() complete [183775.121375] STEPGEN: installed 3 step pulse generators [183775.237549] MOTION: cleanup_module() started. [183775.237556] HAL: threads stopped [183775.237764] MOTION: cleanup_module() finished. [183775.436195] RTAPI: WARNING: tried to delete task 02 while running [183775.436211] RTAPI: WARNING: tried to delete task 01 while running [183775.442900] RTAPI: Exiting [183775.442950] RTAPI: Exit complete [183775.449755] RTAI[math]: unloaded. [183775.558123] RTAI[malloc]: vfreed extent d0b10000, size 2097152. [183775.558406] RTAI[malloc]: unloaded. [183775.658094] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [183775.663378] I-pipe: Domain RTAI unregistered. [183775.663392] RTAI[hal]: unmounted. Debug file information: Can not find -sec HAL -var HALUI -num 1 Stopping realtime threads Unloading hal components 2631 PID TTY STAT TIME COMMAND Can you see what the problem may be? Also I want to make one of the parallel port output pins a 1. What would the commands to do this be? 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