2010/6/2 Andy Pugh <[email protected]>: > On 2 June 2010 15:50, Viesturs Lācis <[email protected]> wrote: > >> open gantry.hal, delete first two lines: >> first is loadrt trivkins >> second one is longer > > It might be easier to copy and rename the gantry_stepper config then > just manually edit the INI file and rearrange the p-port pin > assignments. > > It's worth getting to understand HAL files anyway, it is immensely flexible. > >> i am still geting "joint 1 following error" and other stuff, when i try to >> jog, so i >> have to work on it. I would appreciate, if anyone, who is smarter than me, >> could comment on possible reasons for that. > > While we wait for this hypothetical smarter person to pop up: > You only get following errors with stepper configs if the hal link > between the stepgen-pos-fb and axis-pos-fb lines is missing. Look at > the hal definitions of the working axes and copy that. > I suspect that the process you described has left you with a slightly > odd miss-match between axis, joint and stepgen numbering. There is no > reason that it all has to match, but it makes it easier to follow the > files if they do.
Well, I checked and it seems to me that it is o.k. There are this line: net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb for each axis (with change in the X, Y, Z or A and number 0,1,2 or 3 respectively). The question: this letter - X, Y - does it mean joint or axis? Should i have the same letter for both joints of X axis? (and that would mean that A would be removed at this moment?) Here is the contents of the HAL file, can You tell me, what am I missing (joints 0 and 1 are both on X axis, joint 0 is inverted)?: # Generated by stepconf at Thu May 27 11:22:49 2010 # If you make changes to this file, they will be # overwritten when you run stepconf again loadrt probe_parport loadrt hal_parport cfg="0x378 out " setp parport.0.reset-time 5000 loadrt stepgen step_type=0,0,0,0 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-on <= motion.spindle-on net coolant-flood <= iocontrol.0.coolant-flood net estop-out => parport.0.pin-01-out net xstep => parport.0.pin-02-out setp parport.0.pin-02-out-reset 1 setp parport.0.pin-03-out-invert 1 net xdir => parport.0.pin-03-out net ystep => parport.0.pin-04-out setp parport.0.pin-04-out-reset 1 net ydir => parport.0.pin-05-out net zstep => parport.0.pin-06-out setp parport.0.pin-06-out-reset 1 net zdir => parport.0.pin-07-out net astep => parport.0.pin-08-out setp parport.0.pin-08-out-reset 1 net adir => parport.0.pin-09-out net spindle-on => parport.0.pin-14-out net coolant-flood => parport.0.pin-16-out net xenable => parport.0.pin-17-out setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 35000 setp stepgen.0.dirsetup 35000 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 xdir <= stepgen.0.dir net xenable axis.0.amp-enable-out => stepgen.0.enable setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 35000 setp stepgen.1.dirsetup 35000 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 ydir <= stepgen.1.dir net yenable axis.1.amp-enable-out => stepgen.1.enable setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 35000 setp stepgen.2.dirsetup 35000 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 zdir <= stepgen.2.dir net zenable axis.2.amp-enable-out => stepgen.2.enable setp stepgen.3.position-scale [AXIS_3]SCALE setp stepgen.3.steplen 1 setp stepgen.3.stepspace 0 setp stepgen.3.dirhold 35000 setp stepgen.3.dirsetup 35000 setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb net astep <= stepgen.3.step net adir <= stepgen.3.dir net aenable axis.3.amp-enable-out => stepgen.3.enable 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 ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
