After loading a g-code file in axis gui I move the tooltip to the workpiece and
touch off with 0.
But the loaded path doesn't shift towards the tooltip. Indeed it doesn't shift
with any touch off value on any coordinate.
Should be a configuration error?
# Generated by PNCconf at Wed Oct 8 23:19:52 2014
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0
num_stepgens=4 sserial_port_0=00xxx "
setp hm2_5i25.0.watchdog.timeout_ns 10000000
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_5i25.0.write servo-thread
addf hm2_5i25.0.pet_watchdog servo-thread
# external output signals
# external input signals
# --- MIN-HOME-X ---
net min-home-x <= hm2_5i25.0.7i76.0.0.input-08-not
# --- MAX-HOME-X ---
net max-home-x <= hm2_5i25.0.7i76.0.0.input-13-not
# --- MIN-HOME-Y ---
net min-home-y <= hm2_5i25.0.7i76.0.0.input-09-not
# --- MAX-HOME-Y ---
net max-home-y <= hm2_5i25.0.7i76.0.0.input-12-not
# --- MIN-HOME-Z ---
net min-home-z <= hm2_5i25.0.7i76.0.0.input-11-not
# --- MAX-HOME-Z ---
net max-home-z <= hm2_5i25.0.7i76.0.0.input-10-not
#*******************
# AXIS X
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 0
setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
# ---setup home / limit switch signals---
net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in
net max-home-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 0
setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
net y-pos-fb axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable
# ---setup home / limit switch signals---
net max-home-y => axis.1.home-sw-in
# was ist mit den limitschaltern?
net min-home-y => axis.1.neg-lim-sw-in
net max-home-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 0
setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable
# ---setup home / limit switch signals---
net max-home-z => axis.2.home-sw-in
net min-home-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in
#*******************
# AXIS A
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [AXIS_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 0
setp hm2_5i25.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
net a-pos-fb axis.3.motor-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net a-pos-cmd axis.3.motor-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd
net a-enable axis.3.amp-enable-out => hm2_5i25.0.stepgen.03.enable
# ---setup home / limit switch signals---
net a-home-sw => axis.3.home-sw-in
net a-neg-limit => axis.3.neg-lim-sw-in
net a-pos-limit => axis.3.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net joint-select-d halui.joint.3.select
net a-is-homed halui.joint.3.is-homed
net jog-a-pos halui.jog.3.plus
net jog-a-neg halui.jog.3.minus
net jog-a-analog halui.jog.3.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.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---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled => motion.enable
# ---digital in / out signals---
# ---estop signals---
#net estop-out <= iocontrol.0.user-enable-out
#net estop-out => iocontrol.0.emc-enable-in
net estop-ext <= hm2_5i25.0.7i76.0.0.input-15
net estop-ext => iocontrol.0.emc-enable-in
# Spindel
net spindle-on => hm2_5i25.0.7i76.0.0.output-04
# ---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 Oct 8 23:19:52 2014
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
[EMC]
MACHINE = 5i25_1
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#POSITION_OFFSET = RELATIVE
POSITION_OFFSET = ABSOLUTE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /srv/CNC_Dateien
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.500000
MAX_LINEAR_VELOCITY = 50
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 30
MAX_ANGULAR_VELOCITY = 1000
MIN_ANGULAR_VELOCITY = 0.010000
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]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = 5i25_1.hal
HALFILE = bastel.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal#MAX_LINEAR_VELOCITY = 16.666667
[HALUI]
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 833.33
DEFAULT_ANGULAR_VELOCITY = 60.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 4.00
MAX_LINEAR_VELOCITY = 40.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 110.0
# 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 = 62.5
STEPGEN_MAXACCEL = 138
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = -400.0
MIN_LIMIT = -0.01
MAX_LIMIT = 295
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.100000
HOME_LATCH_VEL = 0.050000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 200.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 110.0
# 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 = 62.5
STEPGEN_MAXACCEL = 138
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = -400.0
MIN_LIMIT = -0.01
MAX_LIMIT = 201
HOME_OFFSET = 201
HOME_SEARCH_VEL = 1.100000
HOME_LATCH_VEL = -0.050000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 130.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 40
MAX_ACCELERATION = 70.0
# 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 = 50
STEPGEN_MAXACCEL = 85.5
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 400.0
MIN_LIMIT = -0.01
MAX_LIMIT = 131
HOME_OFFSET = 131.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = -0.050000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.08
MIN_FERROR = 0.005
MAX_VELOCITY = 900
MAX_ACCELERATION = 4000.0
# 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 = 1225
STEPGEN_MAXACCEL = 5000.0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 35.5556
MIN_LIMIT = -9.999e+158
MAX_LIMIT = 9.999e+158
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
#********************
# Spindle
#********************
[SPINDLE_9]
###
loadrt mux4 count=1
addf mux4.0 servo-thread
setp mux4.0.in0 0.00001 #00
setp mux4.0.in1 0.0001 #01
setp mux4.0.in2 0.001 #10
setp mux4.0.in3 0 #11
net xb10 mux4.0.sel0 <= hm2_5i25.0.7i76.0.0.input-00
net xb01 mux4.0.sel1 <= hm2_5i25.0.7i76.0.0.input-01
net jogscale mux4.0.out => axis.0.jog-scale
net jogscale => axis.1.jog-scale
net jogscale => axis.2.jog-scale
net jogscale => axis.3.jog-scale
### Achsauswahl
net achse-x axis.0.jog-enable <= hm2_5i25.0.7i76.0.0.input-02
net achse-y axis.1.jog-enable <= hm2_5i25.0.7i76.0.0.input-03
net achse-z axis.2.jog-enable <= hm2_5i25.0.7i76.0.0.input-04
net achse-a axis.3.jog-enable <= hm2_5i25.0.7i76.0.0.input-05
###
loadrt ilowpass
addf ilowpass.0 servo-thread
setp ilowpass.0.scale 100
setp ilowpass.0.gain 0.01
net jogcounts ilowpass.0.out => axis.0.jog-counts
net jogcounts => axis.1.jog-counts
net jogcounts => axis.2.jog-counts
net jogcounts => axis.3.jog-counts
#net jogcounts => halui.feed-override.counts
#net jogcounts => halui.spindle-override.counts
###
loadrt encoder num_chan=1
addf encoder.update-counters servo-thread
addf encoder.capture-position servo-thread
net mpg-b encoder.0.phase-B <= hm2_5i25.0.7i76.0.0.input-06
net mpg-a encoder.0.phase-A <= hm2_5i25.0.7i76.0.0.input-07
net mpg-out encoder.0.rawcounts => ilowpass.0.in
###
setp halui.feed-override.scale 0.000025
setp halui.spindle-override.scale 0.000025
### MPG LED
setp hm2_5i25.0.7i76.0.0.output-07 1
### Relaisausgänge
setp hm2_5i25.0.7i76.0.0.output-05 1
#net setfeed select8.0.out4 => halui.feed-override.count-enable
#net setspin select8.0.out5 => halui.spindle-override.count-enable
------------------------------------------------------------------------------
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