Managed to get out to the shop for a little bit today and monkeyed
around with the lincurve hal coding.
Here's the code in lincurve.hal:
##############################
loadrt lincurve
loadrt offset
addf lincurve.0 servo-thread
addf offset.0.update-output servo-thread
setp lincurve.0.x-val-00 3.000
setp lincurve.0.y-val-00 -0.007
setp lincurve.0.x-val-01 5.000
setp lincurve.0.y-val-01 0.000
setp lincurve.0.x-val-02 11.000
setp lincurve.0.y-val-02 0.000
setp lincurve.0.x-val-03 12.000
setp lincurve.0.y-val-03 -0.001
setp lincurve.0.x-val-04 18.000
setp lincurve.0.y-val-04 -0.001
setp lincurve.0.x-val-05 19.000
setp lincurve.0.y-val-05 0.000
setp lincurve.0.x-val-06 27.000
setp lincurve.0.y-val-06 0.000
setp lincurve.0.x-val-07 28.000
setp lincurve.0.y-val-07 0.003
setp lincurve.0.x-val-08 33.000
setp lincurve.0.y-val-08 0.000
setp lincurve.0.x-val-09 34.000
setp lincurve.0.y-val-09 -0.002
setp lincurve.0.x-val-10 38.000
setp lincurve.0.y-val-10 -0.002
setp lincurve.0.x-val-11 39.000
setp lincurve.0.y-val-11 0.001
setp lincurve.0.x-val-12 41.000
setp lincurve.0.y-val-12 0.001
setp lincurve.0.x-val-13 42.000
setp lincurve.0.y-val-13 0.002
setp lincurve.0.x-val-14 47.000
setp lincurve.0.y-val-14 0.002
setp lincurve.0.x-val-15 48.000
setp lincurve.0.y-val-15 0.005
net axis.0.joint-pos-cmd offset.0.in
net lincurve.0.out offset.0.offset
net z-raw axis.2.joint-pos-cmd offset.0.in
net z-corr lincurve.0.out offset.0.offset
net z-cmd offset.0.out stepgen.2.pos-cmd
net z-pos-fb-raw stepgen.2.pos-fb offset.0.fb-in
net z-pos-fb-offs offset.0.fb-out axis.2.joint-pos-fb
################################
An here's what I get when I run it:
mark@canecutter:~$ /usr/bin/linuxcnc
'/home/mark/linuxcnc/configs/Cane-Cutter/Cane-Cutter.ini'
LINUXCNC - 2.7.12
Machine configuration directory is '/home/mark/linuxcnc/configs/Cane-Cutter'
Machine configuration file is 'Cane-Cutter.ini'
Starting LinuxCNC...
.
Found file(REL): ./Cane-Cutter.hal
Found file(REL): ./lin_curve.hal
./lin_curve.hal:11: parameter or pin 'lincurve.0.x-val-02' not found
Shutting down and cleaning up LinuxCNC...
LinuxCNC terminated with an error. You can find more information in the
log:
/home/mark/linuxcnc_debug.txt
and
/home/mark/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
Nothing of note in either the debug or print text files to point me in
the right direction, nor is there anything of note in dmesg. If it's
reading lincurve.0.x-val-00 and lincurve.0.x-val-01, why is is saying
"parameter or pin 'lincurve.0.x-val-02' not found"? Am I missing
something in the hal file, or is there a typo somewhere before this
that's killing it? Lincurve is supposed to take up to 16 x,y pairs, but
it seems to be bombing at 3 x,y pairs. Does the qualifier "personality"
have to be set to something like 16?
Thanks,
Mark
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