On Tuesday 20 March 2018 15:00:16 Mark wrote: > Managed to get some shop time today, and was working on the lincurve > stuff. Got most of the kinks worked out, as it now loads without > error, but now getting joint following errors as soon as I try to home > the machine. Nota beni, prior to using the lincurve hal code, the > machine homed fine with no errors. Here's the error I get once I start > the homing sequence: > > 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 > joint 2 following error > emc/task/taskintf.cc 617: Error on axis 2, command number 65 > > Here's the current main hal file: > > ############################## > > # Generated by stepconf at Sat Mar 13 15:20:58 201 > # If you make changes to this file, they will be > # overwritten when you run stepconf again > > loadrt trivkins > loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD > servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES > loadrt hal_parport cfg="0xec00 out 0e000 in" > setp parport.0.reset-time 5000 > loadrt stepgen step_type=0,0,0 > addf parport.0.read base-thread > addf stepgen.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 > net spindle-cmd <= motion.spindle-speed-out > addf parport.1.read base-thread # added for pendant > addf parport.1.write base-thread # added for pendant > > ########################## > > setp stepgen.0.position-scale [AXIS_0]SCALE > setp stepgen.0.steplen 1 > setp stepgen.0.stepspace 0 > setp stepgen.0.dirhold 33934 > setp stepgen.0.dirsetup 33934 > setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL > setp stepgen.1.position-scale [AXIS_0]SCALE > setp stepgen.1.steplen 1 > setp stepgen.1.stepspace 0 > setp stepgen.1.dirhold 33934 > setp stepgen.1.dirsetup 33934 > setp stepgen.1.maxaccel [AXIS_0]STEPGEN_MAXACCEL > net ypos-cmd axis.1.motor-pos-cmd => axis.1.motor-pos-fb > net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd > stepgen.1.position-cmd > net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb > setp parport.0.pin-02-out-invert 1 > setp parport.0.pin-03-out-invert 1 > setp parport.0.pin-04-out-invert 1 > #setp parport.0.pin-05-out-invert 1 > net x1step stepgen.0.step => parport.0.pin-02-out > net x1dir stepgen.0.dir => parport.0.pin-03-out > net x2step stepgen.1.step => parport.0.pin-04-out > net x2dir stepgen.1.dir => parport.0.pin-05-out > net xenable axis.0.amp-enable-out => stepgen.0.enable stepgen.1.enable > net home-x => axis.0.home-sw-in > net both-x => axis.0.neg-lim-sw-in > net both-x => axis.0.pos-lim-sw-in > > ############################## > > setp stepgen.2.position-scale [AXIS_2]SCALE > setp stepgen.2.steplen 1 > setp stepgen.2.stepspace 0 > setp stepgen.2.dirhold 33934 > setp stepgen.2.dirsetup 33934 > setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL > #net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd > net zpos-cmd stepgen.2.position-cmd > #net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb > net zpos-fb stepgen.2.position-fb > setp parport.0.pin-06-out-invert 1 > net zstep => parport.0.pin-06-out > setp parport.0.pin-06-out-reset 1 > net zdir => parport.0.pin-07-out > net zstep <= stepgen.2.step > net zdir <= stepgen.2.dir > net zenable axis.2.amp-enable-out => stepgen.2.enable > net home-z => axis.2.home-sw-in > net both-z => axis.2.neg-lim-sw-in > net both-z => axis.2.pos-lim-sw-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 > > ################################## > > > Here's the current lincurve hal file: > > ################################## > > loadrt lincurve personality=16 > 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 z-raw axis.2.joint-pos-cmd offset.0.in > net z-corr lincurve.0.out offset.0.offset > net zpos-cmd offset.0.out > net zpos-fb offset.0.fb-in > net z-pos-fb-offs offset.0.fb-out axis.2.motor-pos-fb > > ################### > > > Not sure what would cause the joint following error on homing though. > I did have to change the net zpos-fb assignment in the main and > lincurve hal files because I was getting a similar error on load that > I was getting for the net zpos-cmd assignment previously. > > Also, it didn't like having offset.0.fb-out sent to > axis.2.joint-pos-fb, so I set that to axis.2.motor-pos-fb. > > Here's the error I was getting for the z-pos-fb-offs: > > ######################## > 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:46: Signal 'z-pos-fb-offs' can not add OUT pin > 'axis.2.joint-pos-fb', it already has OUT pin 'offset.0.fb-out'
Again, you must have dual srcs. I think you want: net z-pos-fb-offs offset.0.fb-out joint.N.motor-pos-fb Or something similar... > Shutting down and cleaning up LinuxCNC... > > At any rate, something in the homing sequence does not like something > in these hal files. In my homing sequence, Z homes first, so here's > the applicable section of the ini file: > > > [AXIS_2] > TYPE = LINEAR > MAX_VELOCITY = 0.09 > MAX_ACCELERATION = 0.3 > STEPGEN_MAXACCEL = 3.3 > #STEPGEN_MAXACCEL = 1.0 > SCALE = 48000.0 > FERROR = 0.05 > MIN_FERROR = 0.01 > MIN_LIMIT = 0.080 # used for table 0 so saw blades do not hit vacuum > table MAX_LIMIT = 2.4005 # used for table 0 > HOME = 2.4 # used for table 0 > HOME_OFFSET=2.5670 # used for table 0 - 04/3/15 - distance down from > Z home to table top > HOME_SEARCH_VEL = -0.09 > HOME_LATCH_VEL = 0.01 > HOME_SEQUENCE = 0 > > > I'm stumped at this point. Any help, pointers, or hand holding would > be much appreciated. > > Thanks, > Mark > > > > ---------------------------------------------------------------------- >-------- Check out the vibrant tech community on one of the world's > most engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users -- Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
