Sebastian I should have said the encoders are working when I turn the motors by hand. I don't have the amps plugged into the backplane. I have the X and Y motors disconnected from the ball screws.
I haved used the halmeter. I can't seam to get the limit inputs either. They are 5 volt prox switches that have a seperate set on Opto couplers that feed to the servo amps. Now were do I set ".is_output " to true at? I pasted the Hal file and ini file Donnie hal file # ####################################### # # Combination Hal file for m5i23 - TESTING # Rev 1.0 # 20 Oct 2008 # T.Hyde - CasaFrog # # Based up work and discussion with Seb & Peter & Jeff # GNU license references - insert here. www.linuxcnc.org # # # ######################################## # Firmware files are in /lib/firmware/hm2/5i23/ # Must symlink the hostmot2 firmware directory of sanbox to # /lib/firmware before running EMC2... # sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2 # # See also: # <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam> # and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2 # # ##################################################################### # ################################### # Core EMC/HAL Loads # ################################### # 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 num_joints=[TRAJ]AXES # standard components loadrt pid num_chan=3 # only the 7i43 needs this, but it doesnt hurt the others loadrt probe_parport # hostmot2 driver loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1 # 5i23 driver and firmware load from sandbox loadrt hm2_pci config="firmware=hm2/5i23/SVST4_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=1" # 5i23 PWMGen base frequency setp hm2_5i23.0.pwmgen.pwm_frequency 40000 # 5i23 watchdog, enable only if loaded firmware supports it #setp hm2_5i23.0.watchdog.timeout_ns 10000000 # ################################################ # THREADS # ################################################ # hook functions to servo thread addf hm2_5i23.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf hm2_5i23.0.write servo-thread #addf hm2_5i23.0.pet_watchdog servo-thread #enable if fw supported # ###################################################### # Axis-of-motion Specific Configs (not the GUI) # ###################################################### # ################ # X [0] Axis # ################ # axis enable chain newsig emcmot.00.enable bit sets emcmot.00.enable FALSE net emcmot.00.enable => pid.0.enable net emcmot.00.enable => hm2_5i23.0.pwmgen.00.enable net emcmot.00.enable <= axis.0.amp-enable-out # encoder feedback setp hm2_5i23.0.encoder.00.counter-mode 0 setp hm2_5i23.0.encoder.00.filter 1 setp hm2_5i23.0.encoder.00.index-invert 0 setp hm2_5i23.0.encoder.00.index-mask 0 setp hm2_5i23.0.encoder.00.index-mask-invert 0 setp hm2_5i23.0.encoder.00.scale 20000 net motor.00.pos-fb hm2_5i23.0.encoder.00.position => pid.0.feedback net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI # set PID loop gains from inifile setp pid.0.Pgain [AXIS_0]P setp pid.0.Igain [AXIS_0]I setp pid.0.Dgain [AXIS_0]D setp pid.0.bias [AXIS_0]BIAS setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 setp pid.0.deadband [AXIS_0]DEADBAND setp pid.0.maxoutput [AXIS_0]MAX_VELOCITY # position command signals setp hm2_5i23.0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2 setp hm2_5i23.0.pwmgen.00.scale 1.0 net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command net motor.00.command pid.0.output => hm2_5i23.0.pwmgen.00.value # Connect limit/home switch outputs to motion controller. newsig Xminlim bit newsig Xmaxlim bit #newsig Xhome bit #net axis.0.neg-lim-sw-in hm2_5i23.0.gpio.P3.024.in linksp Xminlim => axis.0.neg-lim-sw-in linksp Xminlim <= hm2_5i23.0.gpio.P3.034.in #net axis.0.neg-lim-sw-in hm2_5i23.0.gpio.P3.025.in linksp Xmaxlim => axis.0.pos-lim-sw-in linksp Xmaxlim <= hm2_5i23.0.gpio.P3.035.in #linksp Xhome <= hm2_5i23.0.in-02 #linksp Xhome => axis.0.home-sw-in # Connect amp faults to motion controller. #newsig Xfault bit #linksp Xfault <= hm2_5i23.0.in-03-not #linksp Xfault => axis.0.amp-fault-in # ################ # Y [1] Axis # ################ # axis enable chain newsig emcmot.01.enable bit sets emcmot.01.enable FALSE net emcmot.01.enable => pid.1.enable net emcmot.01.enable => hm2_5i23.0.pwmgen.01.enable net emcmot.01.enable <= axis.1.amp-enable-out # encoder feedback setp hm2_5i23.0.encoder.01.counter-mode 0 setp hm2_5i23.0.encoder.01.filter 1 setp hm2_5i23.0.encoder.01.index-invert 0 setp hm2_5i23.0.encoder.01.index-mask 0 setp hm2_5i23.0.encoder.01.index-mask-invert 0 setp hm2_5i23.0.encoder.01.scale 20000 net motor.01.pos-fb hm2_5i23.0.encoder.01.position => pid.1.feedback net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI # set PID loop gains from inifile setp pid.1.Pgain [AXIS_1]P setp pid.1.Igain [AXIS_1]I setp pid.1.Dgain [AXIS_1]D setp pid.1.bias [AXIS_1]BIAS setp pid.1.FF0 [AXIS_1]FF0 setp pid.1.FF1 [AXIS_1]FF1 setp pid.1.FF2 [AXIS_1]FF2 setp pid.1.deadband [AXIS_1]DEADBAND setp pid.1.maxoutput [AXIS_1]MAX_VELOCITY # position command signals setp hm2_5i23.0.pwmgen.01.output-type 1 #pwmaxis.0.home-sw-in on pin1, dir on pin2 setp hm2_5i23.0.pwmgen.01.scale 1.0 net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command net motor.01.command pid.1.output => hm2_5i23.0.pwmgen.01.value # Connect limit/home linksp Xmaxlim =>switch outputs to motion controller. newsig Yminlim bit newsig Ymaxlim bit #newsig Yhome bit #net axis.1.neg-lim-sw-in hm2_5i23.0.gpio.P3.026.in #net axis.1.pos-lim-sw-in hm2_5i23.0.gpio.P3.037.in linksp Yminlim <= hm2_5i23.0.gpio.P3.036.in linksp Yminlim => axis.1.neg-lim-sw-in linksp Ymaxlim <= hm2_5i23.0.gpio.P3.037.in linksp Ymaxlim => axis.1.pos-lim-sw-in #linksp Yhome <= hm2_5i23.0.in-06 #linksp Yhome => axis.1.home-sw-in # Connect amp faults to motion controller. #newsig Yfault bit #linksp Yfault <= hm2_5i23.0.in-07-not #linksp Yfault => axis.1.amp-fault-in # ################ # Z [2] Axis # ################ # axis enable chain newsig emcmot.02.enable bit sets emcmot.02.enable FALSE net emcmot.02.enable => pid.2.enable net emcmot.02.enable => hm2_5i23.0.pwmgen.02.enable net emcmot.02.enable <= axis.2.amp-enable-out # encoder feedback setp hm2_5i23.0.encoder.02.counter-mode 0 setp hm2_5i23.0.encoder.02.filter 1 setp hm2_5i23.0.encoder.02.index-invert 0 setp hm2_5i23.0.encoder.02.index-mask 0 setp hm2_5i23.0.encoder.02.index-mask-invert 0 setp hm2_5i23.0.encoder.02.scale 20000 net motor.02.pos-fb hm2_5i23.0.encoder.02.position => pid.2.feedback net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI # set PID loop gains from inifile setp pid.2.Pgain [AXIS_2]P setp pid.2.Igain [AXIS_2]I setp pid.2.Dgain [AXIS_2]D setp pid.2.bias [AXIS_2]BIAS setp pid.2.FF0 [AXIS_2]FF0 setp pid.2.FF1 [AXIS_2]FF1 setp pid.2.FF2 [AXIS_2]FF2 setp pid.2.deadband [AXIS_2]DEADBAND setp pid.2.maxoutput [AXIS_2]MAX_VELOCITY # position command signals setp hm2_5i23.0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2 setp hm2_5i23.0.pwmgen.02.scale 1.0 net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command net motor.02.command pid.2.output => hm2_5i23.0.pwmgen.02.value # Connect limit/home switch outputs to motion controller. newsig Zminlim bit newsig Zmaxlim bit #newsig Zhome bit #net axis.2.neg-lim-sw-in hm2_5i23.0.gpio.P3.028.in #net axis.2.pos-lim-sw-in hm2_5i23.0.gpio.P3.029.in linksp Zminlim <= hm2_5i23.0.gpio.P3.038.in linksp Zminlim => axis.2.neg-lim-sw-in linksp Zmaxlim <= hm2_5i23.0.gpio.P3.039.in linksp Zmaxlim => axis.2.pos-lim-sw-in #linksp Zhome <= hm2_5i23.0.in-10 #linksp Zhome => axis.2.home-sw-in # Connect amp faults to motion controller. #newsig Zfault bit #linksp Zfault <= hm2_5i23.0.in-11-not #linksp Zfault => axis.2.amp-fault-in # ################################################## # Standard I/O Block - EStop, Etc # ################################################## # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed net spindle-fwd motion.spindle-forward net spindle-rev motion.spindle-reverse net spindle-speed motion.spindle-speed-out newsig EstopSense bit newsig EstopWrite bit # create a signal for the estop loopback -- remove for external net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in # use this if you have an external estop switch # linksp EstopSense <= hm2_5i23.0.estop-in-not # linksp EstopSense <= hm2_5i23.0.in-15 # linksp EstopSense => iocontrol.0.emc-enable-in # linksp EstopWrite => hm2_5i23.0.out-07 # linksp EstopWrite <= iocontrol.0.user-enable-out # Connect spindle fwd/rev to I/O controller. #newsig SpindleFwd bit #newsig SpindleRev bit #linksp SpindleFwd => hm2_5i23.0.out-00 #linksp SpindleFwd <= motion.spindle-forward #linksp SpindleRev => hm2_5i23.0.out-01 #linksp SpindleRev <= motion.spindle-reverse # Connect spindle brake to I/O controller. # newsig SpindleBrakeOn bit linksp SpindleBrakeOn <= motion.spindle-brake linksp SpindleBrakeOn => hm2_5i23.0.gpio.P3.042.out #net motion.spindle-brake hm2_5i23.0.gpio.P3.042.out # Connect mist/flood coolant to I/O controller. newsig MistOn bit #newsig FloodOn bit linksp MistOn <= iocontrol.0.coolant-mist linksp MistOn => hm2_5i23.0.gpio.P3.041.out #net iocontrol.0.coolant-mist hm2_5i23.0.gpio.P3.041.out #linksp FloodOn => hm2_5i23.0.out-06 #linksp FloodOn <= iocontrol.0.coolant-flood Ini file # EMC controller parameters for generic controller. Make these what you need # for your system. # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = $Revision: 1.1.4.1 $ # Name of machine, for use with display, etc. MACHINE = EMC-MESA-5i23 # Name of NML file to use, default is emc.nml NML_FILE = emc.nml # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., tkemc #DISPLAY = tkemc DISPLAY = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.0500 # Path to help file HELP_FILE = tkemc.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.5 MAX_SPINDLE_OVERRIDE = 1.0 # Prefix to be used PROGRAM_PREFIX = /home/donnie/emc2/nc_files # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 # Task controller section ----------------------------------------------------- [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = m5i23.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Key for real OS shared memory, e.g., for simulated motion SHMEM_KEY = 101 # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 # Base task period, in nanoseconds - this is the fastest thread in the machine BASE_PERIOD = 500000 # Servo task period, in nanoseconds - will be rounded to an integer multiple # of BASE_PERIOD SERVO_PERIOD = 1000000 # Trajectory Planner task period, in nanoseconds - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 10000000 # Hardware Abstraction Layer section -------------------------------------------------- [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = m5i23.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 # COORDINATES = X Y Z R P W COORDINATES = X Y Z HOME = 0 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 3.0 MAX_VELOCITY = 4.0 DEFAULT_ACCELERATION = 6.0 MAX_ACCELERATION = 7.0 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 INPUT_SCALE = 81920 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -32.0 MAX_LIMIT = 0.0 FERROR = 1.000 MIN_FERROR = 0.002 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = 0.10 HOME_LATCH_VEL = -0.01 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES MAX_OUTPUT = 1.0 # PID tuning params DEADBAND = 0.000015 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 1.000 FF2 = 0.0 BIAS = 0.000 # Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 INPUT_SCALE = -81920 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -14.0 MAX_LIMIT = 0.0 FERROR = 0.020 MIN_FERROR = 0.001 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = 0.10 HOME_LATCH_VEL = -0.01 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES MAX_OUTPUT = 1.0 # PID tuning params DEADBAND = 0.000015 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 1.000 FF2 = 0.0 BIAS = 0.000 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 INPUT_SCALE = 81920 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -6.0 MAX_LIMIT = 0.0 FERROR = 0.020 MIN_FERROR = 0.001 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = 0.10 HOME_LATCH_VEL = -0.01 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES MAX_OUTPUT = 1.0 # PID tuning params DEADBAND = 0.000015 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 1.000 FF2 = 0.0 BIAS = 0.000 # section for main IO controller parameters ----------------------------------- [EMCIO] # Name of IO controller program, e.g., io EMCIO = io # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = m5i23.tbl ------------------------------------------------------------------------------ This SF.net email is sponsored by: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
