Hello! I am stuck on a problem that I cannot figure out. Please take a look here: https://youtu.be/LtP9wE-FUN4 It should be steady jogging back and forth at 1074 mm/min. The motor is not moving at a constant pace and I noticed that the DRO also shows that the velocity is not steady. So that tells me that my wiring is ok and there is no interference with step signals or whatever, but the software is to blame. Where should I start looking for the cause? And then there are 2 more sidequestions (that might have arised only because there have been 5 or 6 years since my previous LinuxCNC build, so I might just missed something obvious): The machine has 7i96 board. I need to use 2 outputs. How do I find their corresponding HAL pin names? Previously I would just "setp ...gpio.xx.is-output 1" and then try to switch that output and see, if it worked or no, but here for 7i96 I saw that some gpio pins are inputs only, but the thing is that my counting suggests that those should be the outputs. And the second question is about creating gantry config. How do I do that with the new gentrivkins? I have AXIS=Y for joints 1 and 3, but that is not enough.
Viesturs P.S. Here are the INI and HAL files: # This file was created with the 7i96 Wizard on Dec 23 2018 15:02:21 # Changes to most things are ok and will be read by the wizard [EMC] VERSION = 1.1 MACHINE = A.V.U. Plazma DEBUG = 0x00000000 [HOSTMOT2] DRIVER = hm2_eth IPADDRESS = "10.10.10.10" BOARD = 7i96 STEPGENS = 3 ENCODERS = 1 SSERIAL_PORT = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.0 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = "" [KINS] KINEMATICS = trivkins JOINTS = 4 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = plasma.var [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = XYZ LINEAR_UNITS = metric ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 150.00 [HAL] HALFILE = hm2-stepper.hal # HALFILE = io.hal # HALFILE = custom.hal # HALFILE = postgui.hal [HALUI] [AXIS_X] MIN_LIMIT = -10.0 MAX_LIMIT = 3050.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 500.0 [AXIS_Y] MIN_LIMIT = -10.0 MAX_LIMIT = 1650.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 500.0 [AXIS_Z] MIN_LIMIT = -10.01 MAX_LIMIT = 250.0 MAX_VELOCITY = 15.0 MAX_ACCELERATION = 400.0 [AXIS_A] MIN_LIMIT = -10.0 MAX_LIMIT = 1650.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 500.0 [JOINT_0] AXIS = X MIN_LIMIT = -10.0 MAX_LIMIT = 3050.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 550.0 TYPE = LINEAR SCALE = 50.9295817894065 STEPGEN_MAX_VEL = 260.0 STEPGEN_MAX_ACC = 600.0 FERROR = 0.5 MIN_FERROR = 0.3 DIRSETUP = 6000 DIRHOLD = 6000 STEPLEN = 2700 STEPSPACE = 2700 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_1] AXIS = Y MIN_LIMIT = -10.0 MAX_LIMIT = 1650.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 550.0 TYPE = LINEAR SCALE = 50.9295817894065 STEPGEN_MAX_VEL = 260.0 STEPGEN_MAX_ACC = 600.0 FERROR = 0.5 MIN_FERROR = 0.3 DIRSETUP = 6000 DIRHOLD = 6000 STEPLEN = 2700 STEPSPACE = 2700 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_2] AXIS = Z MIN_LIMIT = -10.01 MAX_LIMIT = 250.0 MAX_VELOCITY = 15.0 MAX_ACCELERATION = 500.0 TYPE = LINEAR SCALE = -160 STEPGEN_MAX_VEL = 18.0 STEPGEN_MAX_ACC = 600.0 FERROR = 0.5 MIN_FERROR = 0.3 DIRSETUP = 6000 DIRHOLD = 6000 STEPLEN = 2700 STEPSPACE = 2700 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_3] AXIS = Y MIN_LIMIT = -10.0 MAX_LIMIT = 1650.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 550.0 TYPE = LINEAR SCALE = -50.9295817894065 STEPGEN_MAX_VEL = 260.0 STEPGEN_MAX_ACC = 600.0 FERROR = 0.5 MIN_FERROR = 0.3 DIRSETUP = 6000 DIRHOLD = 6000 STEPLEN = 2700 STEPSPACE = 2700 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [INPUTS] # DO NOT change the input text INPUT_0 = None INPUT_JOINT_0 = False INPUT_1 = None INPUT_JOINT_1 = False INPUT_2 = None INPUT_JOINT_2 = False INPUT_3 = None INPUT_JOINT_3 = False INPUT_4 = None INPUT_JOINT_4 = False INPUT_5 = None INPUT_JOINT_5 = False INPUT_6 = None INPUT_JOINT_6 = False INPUT_7 = None INPUT_JOINT_7 = False INPUT_8 = None INPUT_JOINT_8 = False INPUT_9 = None INPUT_JOINT_9 = False INPUT_10 = None INPUT_JOINT_10 = False [OUTPUTS] # DO NOT change the output text OUTPUT_0 = None OUTPUT_1 = None OUTPUT_2 = None OUTPUT_3 = None OUTPUT_4 = None [OPTIONS] MANUAL_TOOL_CHANGE = False HALUI = False PYVCP = False GLADEVCP = False LADDER = False hm2-stepper.hal: # kinematics loadrt [KINS]KINEMATICS # motion controller loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # hostmot2 driver loadrt hostmot2 loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](IPADDRESS) config="num_encoders=[HOSTMOT2](ENCODERS)num_stepgens=[HOSTMOT2](STEPGENS)"sserial_port_0=[HOSTMOT2](SSERIAL_PORT) setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 # THREADS addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread # Joint 0 # axis enable chain newsig emcmot.0.enable bit sets emcmot.0.enable FALSE net emcmot.0.enable <= joint.0.amp-enable-out net emcmot.0.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable # position command and feedback net j.0.pos-cmd hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd joint.0.motor-pos-cmd net j.0.pos-fb hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb joint.0.motor-pos-fb setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 0 # Joint 1 # axis enable chain newsig emcmot.1.enable bit sets emcmot.1.enable FALSE net emcmot.1.enable <= joint.1.amp-enable-out net emcmot.1.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable # position command and feedback net j.1.pos-cmd hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd joint.1.motor-pos-cmd net j.1.pos-fb hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb joint.1.motor-pos-fb setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 0 # Joint 2 # axis enable chain newsig emcmot.2.enable bit sets emcmot.2.enable FALSE net emcmot.2.enable <= joint.2.amp-enable-out net emcmot.2.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable # position command and feedback net j.2.pos-cmd hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd joint.2.motor-pos-cmd net j.2.pos-fb hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb joint.2.motor-pos-fb setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.control-type 0 # Joint 3 # axis enable chain newsig emcmot.3.enable bit sets emcmot.3.enable FALSE net emcmot.3.enable <= joint.3.amp-enable-out net emcmot.3.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.03.enable # position command and feedback net j.3.pos-cmd hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-cmd joint.3.motor-pos-cmd net j.3.pos-fb hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb joint.3.motor-pos-fb setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-scale [JOINT_3]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxvel [JOINT_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxaccel [JOINT_2]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.control-type 0 # 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 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
