вывод делаться не захотел, поэтому я по старинке:Nick писал(а):надо посмотреть на пины... сделай вывод halcmd show >1.txt, после того как запустишь свою конфигурацию, и потом содержимое 1.txt скинь сюда...
Код: Выделить всё
cnc@CNC:~$ halcmd show
Loaded HAL Components:
ID Type Name PID State
16 User halcmd4221 4221 ready
14 User axisui 4194 ready
13 User hal_manualtoolchange 4183 ready
11 RT pwmgen ready
10 RT stepgen ready
9 RT hal_parport ready
8 RT probe_parport ready
7 RT motmod ready
6 RT tripodkins ready
5 User iocontrol 4171 ready
Component Pins:
Owner Type Dir Value Name
7 bit OUT TRUE axis.0.active
7 bit OUT FALSE axis.0.amp-enable-out ==> xenable
7 bit IN FALSE axis.0.amp-fault-in
7 float OUT 0 axis.0.backlash-corr
7 float OUT 0 axis.0.backlash-filt
7 float OUT 0 axis.0.backlash-vel
7 float OUT 58903.14 axis.0.coarse-pos-cmd
7 bit OUT FALSE axis.0.error
7 float OUT 0 axis.0.f-error
7 float OUT 1000 axis.0.f-error-lim
7 bit OUT FALSE axis.0.f-errored
7 bit OUT FALSE axis.0.faulted
7 float OUT 0.05246529 axis.0.free-pos-cmd
7 bit OUT FALSE axis.0.free-tp-enable
7 float OUT 1000 axis.0.free-vel-lim
7 bit IN FALSE axis.0.home-sw-in
7 bit OUT TRUE axis.0.homed
7 bit OUT FALSE axis.0.homing
7 bit OUT TRUE axis.0.in-position
7 bit I/O FALSE axis.0.index-enable
7 s32 IN 0 axis.0.jog-counts
7 bit IN FALSE axis.0.jog-enable
7 float IN 0 axis.0.jog-scale
7 bit IN FALSE axis.0.jog-vel-mode
7 float OUT 0.07869794 axis.0.joint-pos-cmd
7 float OUT 0.07869794 axis.0.joint-pos-fb
7 float OUT 0 axis.0.joint-vel-cmd
7 bit OUT FALSE axis.0.kb-jog-active
7 float OUT 0 axis.0.motor-offset
7 float OUT 0.07869794 axis.0.motor-pos-cmd ==> xpos-cmd
7 float IN 0.07869794 axis.0.motor-pos-fb <== xpos-fb
7 bit OUT FALSE axis.0.neg-hard-limit
7 bit IN FALSE axis.0.neg-lim-sw-in
7 bit OUT FALSE axis.0.pos-hard-limit
7 bit IN FALSE axis.0.pos-lim-sw-in
7 bit OUT FALSE axis.0.wheel-jog-active
7 bit OUT TRUE axis.1.active
7 bit OUT FALSE axis.1.amp-enable-out ==> yenable
7 bit IN FALSE axis.1.amp-fault-in
7 float OUT 0 axis.1.backlash-corr
7 float OUT 0 axis.1.backlash-filt
7 float OUT 0 axis.1.backlash-vel
7 float OUT 58903.14 axis.1.coarse-pos-cmd
7 bit OUT FALSE axis.1.error
7 float OUT 0 axis.1.f-error
7 float OUT 1000 axis.1.f-error-lim
7 bit OUT FALSE axis.1.f-errored
7 bit OUT FALSE axis.1.faulted
7 float OUT 0.05246529 axis.1.free-pos-cmd
7 bit OUT FALSE axis.1.free-tp-enable
7 float OUT 1000 axis.1.free-vel-lim
7 bit IN FALSE axis.1.home-sw-in
7 bit OUT TRUE axis.1.homed
7 bit OUT FALSE axis.1.homing
7 bit OUT TRUE axis.1.in-position
7 bit I/O FALSE axis.1.index-enable
7 s32 IN 0 axis.1.jog-counts
7 bit IN FALSE axis.1.jog-enable
7 float IN 0 axis.1.jog-scale
7 bit IN FALSE axis.1.jog-vel-mode
7 float OUT 0.07869794 axis.1.joint-pos-cmd
7 float OUT 0.07869794 axis.1.joint-pos-fb
7 float OUT 0 axis.1.joint-vel-cmd
7 bit OUT FALSE axis.1.kb-jog-active
7 float OUT 0 axis.1.motor-offset
7 float OUT 0.07869794 axis.1.motor-pos-cmd ==> ypos-cmd
7 float IN 0.07869794 axis.1.motor-pos-fb <== ypos-fb
7 bit OUT FALSE axis.1.neg-hard-limit
7 bit IN FALSE axis.1.neg-lim-sw-in
7 bit OUT FALSE axis.1.pos-hard-limit
7 bit IN FALSE axis.1.pos-lim-sw-in
7 bit OUT FALSE axis.1.wheel-jog-active
7 bit OUT TRUE axis.2.active
7 bit OUT FALSE axis.2.amp-enable-out ==> zenable
7 bit IN FALSE axis.2.amp-fault-in
7 float OUT 0 axis.2.backlash-corr
7 float OUT 0 axis.2.backlash-filt
7 float OUT 0 axis.2.backlash-vel
7 float OUT 58903.23 axis.2.coarse-pos-cmd
7 bit OUT FALSE axis.2.error
7 float OUT 0 axis.2.f-error
7 float OUT 1000 axis.2.f-error-lim
7 bit OUT FALSE axis.2.f-errored
7 bit OUT FALSE axis.2.faulted
7 float OUT 100.0525 axis.2.free-pos-cmd
7 bit OUT FALSE axis.2.free-tp-enable
7 float OUT 1000 axis.2.free-vel-lim
7 bit IN FALSE axis.2.home-sw-in
7 bit OUT TRUE axis.2.homed
7 bit OUT FALSE axis.2.homing
7 bit OUT TRUE axis.2.in-position
7 bit I/O FALSE axis.2.index-enable
7 s32 IN 0 axis.2.jog-counts
7 bit IN FALSE axis.2.jog-enable
7 float IN 0 axis.2.jog-scale
7 bit IN FALSE axis.2.jog-vel-mode
7 float OUT 100.0787 axis.2.joint-pos-cmd
7 float OUT 100.0787 axis.2.joint-pos-fb
7 float OUT 0 axis.2.joint-vel-cmd
7 bit OUT FALSE axis.2.kb-jog-active
7 float OUT 0 axis.2.motor-offset
7 float OUT 100.0787 axis.2.motor-pos-cmd ==> zpos-cmd
7 float IN 100.0787 axis.2.motor-pos-fb <== zpos-fb
7 bit OUT FALSE axis.2.neg-hard-limit
7 bit IN FALSE axis.2.neg-lim-sw-in
7 bit OUT FALSE axis.2.pos-hard-limit
7 bit IN FALSE axis.2.pos-lim-sw-in
7 bit OUT FALSE axis.2.wheel-jog-active
14 bit OUT FALSE axisui.jog.a
14 bit OUT FALSE axisui.jog.b
14 bit OUT FALSE axisui.jog.c
14 float OUT 0 axisui.jog.increment
14 bit OUT FALSE axisui.jog.u
14 bit OUT FALSE axisui.jog.v
14 bit OUT FALSE axisui.jog.w
14 bit OUT FALSE axisui.jog.x
14 bit OUT FALSE axisui.jog.y
14 bit OUT TRUE axisui.jog.z
14 bit IN FALSE axisui.notifications-clear
14 bit IN FALSE axisui.notifications-clear-error
14 bit IN FALSE axisui.notifications-clear-info
14 bit IN FALSE axisui.set-manual-mode
13 bit IN FALSE hal_manualtoolchange.change <== tool-change
13 bit OUT FALSE hal_manualtoolchange.changed ==> tool-changed
13 s32 IN 0 hal_manualtoolchange.number <== tool-number
5 bit OUT FALSE iocontrol.0.coolant-flood
5 bit OUT FALSE iocontrol.0.coolant-mist
5 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
5 bit OUT TRUE iocontrol.0.lube
5 bit IN FALSE iocontrol.0.lube_level
5 bit OUT FALSE iocontrol.0.tool-change ==> tool-change
5 bit IN FALSE iocontrol.0.tool-changed <== tool-changed
5 s32 OUT 0 iocontrol.0.tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-pocket
5 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
5 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
5 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out
5 bit OUT FALSE iocontrol.0.user-request-enable
7 float IN 1 motion.adaptive-feed
7 float IN 0 motion.analog-in-00
7 float IN 0 motion.analog-in-01
7 float IN 0 motion.analog-in-02
7 float IN 0 motion.analog-in-03
7 float OUT 0 motion.analog-out-00
7 float OUT 0 motion.analog-out-01
7 float OUT 0 motion.analog-out-02
7 float OUT 0 motion.analog-out-03
7 bit OUT FALSE motion.coord-error
7 bit OUT TRUE motion.coord-mode
7 float OUT 0 motion.current-vel
7 bit IN FALSE motion.digital-in-00
7 bit IN FALSE motion.digital-in-01
7 bit IN FALSE motion.digital-in-02
7 bit IN FALSE motion.digital-in-03
7 bit OUT FALSE motion.digital-out-00
7 bit OUT FALSE motion.digital-out-01
7 bit OUT FALSE motion.digital-out-02
7 bit OUT FALSE motion.digital-out-03
7 float OUT 0 motion.distance-to-go
7 bit IN TRUE motion.enable
7 bit IN FALSE motion.feed-hold
7 bit OUT TRUE motion.in-position
7 bit IN FALSE motion.motion-enabled
7 bit OUT TRUE motion.on-soft-limit
7 bit IN FALSE motion.probe-input
7 s32 OUT 0 motion.program-line
7 float OUT 0 motion.requested-vel
7 bit IN TRUE motion.spindle-at-speed
7 bit OUT TRUE motion.spindle-brake
7 bit OUT FALSE motion.spindle-forward ==> spindle-cw
7 bit I/O FALSE motion.spindle-index-enable
7 bit OUT FALSE motion.spindle-on ==> spindle-on
7 bit OUT FALSE motion.spindle-reverse
7 float IN 0 motion.spindle-revs
7 float OUT 0 motion.spindle-speed-cmd-rps
7 float IN 0 motion.spindle-speed-in
7 float OUT 0 motion.spindle-speed-out ==> spindle-cmd
7 float OUT 0 motion.spindle-speed-out-rps
7 bit OUT FALSE motion.teleop-mode
7 float OUT 0 motion.tooloffset.a
7 float OUT 0 motion.tooloffset.b
7 float OUT 0 motion.tooloffset.c
7 float OUT 0 motion.tooloffset.u
7 float OUT 0 motion.tooloffset.v
7 float OUT 0 motion.tooloffset.w
7 float OUT 0 motion.tooloffset.x
7 float OUT 0 motion.tooloffset.y
7 float OUT 0 motion.tooloffset.z
9 bit IN FALSE parport.0.pin-01-out
9 bit IN FALSE parport.0.pin-02-out <== xstep
9 bit IN FALSE parport.0.pin-03-out <== xdir
9 bit IN FALSE parport.0.pin-04-out <== ystep
9 bit IN FALSE parport.0.pin-05-out <== ydir
9 bit IN FALSE parport.0.pin-06-out <== zstep
9 bit IN FALSE parport.0.pin-07-out <== zdir
9 bit IN FALSE parport.0.pin-08-out <== astep
9 bit IN FALSE parport.0.pin-09-out <== adir
9 bit OUT TRUE parport.0.pin-10-in ==> estop-ext
9 bit OUT FALSE parport.0.pin-10-in-not
9 bit OUT TRUE parport.0.pin-11-in
9 bit OUT FALSE parport.0.pin-11-in-not
9 bit OUT TRUE parport.0.pin-12-in
9 bit OUT FALSE parport.0.pin-12-in-not
9 bit OUT TRUE parport.0.pin-13-in
9 bit OUT FALSE parport.0.pin-13-in-not
9 bit IN FALSE parport.0.pin-14-out <== spindle-cw
9 bit OUT TRUE parport.0.pin-15-in
9 bit OUT FALSE parport.0.pin-15-in-not
9 bit IN FALSE parport.0.pin-16-out <== spindle-pwm
9 bit IN FALSE parport.0.pin-17-out <== xenable
11 float OUT 0.1142857 pwmgen.0.curr-dc
11 bit OUT FALSE pwmgen.0.dir
11 bit I/O TRUE pwmgen.0.dither-pwm
11 bit IN FALSE pwmgen.0.enable <== spindle-on
11 float I/O 1 pwmgen.0.max-dc
11 float I/O 0 pwmgen.0.min-dc
11 float I/O 0.1142857 pwmgen.0.offset
11 bit OUT FALSE pwmgen.0.pwm ==> spindle-pwm
11 float I/O 100 pwmgen.0.pwm-freq
11 float I/O 1166.667 pwmgen.0.scale
11 float IN 0 pwmgen.0.value <== spindle-cmd
10 s32 OUT 0 stepgen.0.counts
10 bit OUT FALSE stepgen.0.dir ==> xdir
10 bit IN FALSE stepgen.0.enable <== xenable
10 float IN 0.07869794 stepgen.0.position-cmd <== xpos-cmd
10 float OUT 0.07869794 stepgen.0.position-fb ==> xpos-fb
10 bit OUT FALSE stepgen.0.step ==> xstep
10 s32 OUT 0 stepgen.1.counts
10 bit OUT FALSE stepgen.1.dir ==> ydir
10 bit IN FALSE stepgen.1.enable <== yenable
10 float IN 0.07869794 stepgen.1.position-cmd <== ypos-cmd
10 float OUT 0.07869794 stepgen.1.position-fb ==> ypos-fb
10 bit OUT FALSE stepgen.1.step ==> ystep
10 s32 OUT 400 stepgen.2.counts
10 bit OUT FALSE stepgen.2.dir ==> zdir
10 bit IN FALSE stepgen.2.enable <== zenable
10 float IN 100.0787 stepgen.2.position-cmd <== zpos-cmd
10 float OUT 100.0787 stepgen.2.position-fb ==> zpos-fb
10 bit OUT FALSE stepgen.2.step ==> zstep
6 float I/O 400 tripodkins.Bx
6 float I/O 200 tripodkins.Cx
6 float I/O 400 tripodkins.Cy
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE adir
==> parport.0.pin-09-out
bit FALSE astep
==> parport.0.pin-08-out
bit TRUE estop-ext
==> iocontrol.0.emc-enable-in
<== parport.0.pin-10-in
bit FALSE estop-out
<== iocontrol.0.user-enable-out
float 0 spindle-cmd
<== motion.spindle-speed-out
==> pwmgen.0.value
bit FALSE spindle-cw
<== motion.spindle-forward
==> parport.0.pin-14-out
bit FALSE spindle-on
<== motion.spindle-on
==> pwmgen.0.enable
bit FALSE spindle-pwm
==> parport.0.pin-16-out
<== pwmgen.0.pwm
bit FALSE tool-change
==> hal_manualtoolchange.change
<== iocontrol.0.tool-change
bit FALSE tool-changed
<== hal_manualtoolchange.changed
==> iocontrol.0.tool-changed
s32 0 tool-number
==> hal_manualtoolchange.number
<== iocontrol.0.tool-prep-number
bit FALSE tool-prepare-loopback
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared
bit FALSE xdir
==> parport.0.pin-03-out
<== stepgen.0.dir
bit FALSE xenable
<== axis.0.amp-enable-out
==> parport.0.pin-17-out
==> stepgen.0.enable
float 0.07869794 xpos-cmd
<== axis.0.motor-pos-cmd
==> stepgen.0.position-cmd
float 0.07869794 xpos-fb
==> axis.0.motor-pos-fb
<== stepgen.0.position-fb
bit FALSE xstep
==> parport.0.pin-02-out
<== stepgen.0.step
bit FALSE ydir
==> parport.0.pin-05-out
<== stepgen.1.dir
bit FALSE yenable
<== axis.1.amp-enable-out
==> stepgen.1.enable
float 0.07869794 ypos-cmd
<== axis.1.motor-pos-cmd
==> stepgen.1.position-cmd
float 0.07869794 ypos-fb
==> axis.1.motor-pos-fb
<== stepgen.1.position-fb
bit FALSE ystep
==> parport.0.pin-04-out
<== stepgen.1.step
bit FALSE zdir
==> parport.0.pin-07-out
<== stepgen.2.dir
bit FALSE zenable
<== axis.2.amp-enable-out
==> stepgen.2.enable
float 100.0787 zpos-cmd
<== axis.2.motor-pos-cmd
==> stepgen.2.position-cmd
float 100.0787 zpos-fb
==> axis.2.motor-pos-fb
<== stepgen.2.position-fb
bit FALSE zstep
==> parport.0.pin-06-out
<== stepgen.2.step
Parameters:
Owner Type Dir Value Name
7 s32 RO 0 axis.0.home-state
7 s32 RO 0 axis.1.home-state
7 s32 RO 0 axis.2.home-state
7 s32 RO 796 motion-command-handler.time
7 s32 RW 26757 motion-command-handler.tmax
7 s32 RO 17229 motion-controller.time
7 s32 RW 80558 motion-controller.tmax
7 bit RO FALSE motion.debug-bit-0
7 bit RO FALSE motion.debug-bit-1
7 float RO 1 motion.debug-float-0
7 float RO 0 motion.debug-float-1
7 float RO 0 motion.debug-float-2
7 float RO 1 motion.debug-float-3
7 s32 RO 0 motion.debug-s32-0
7 s32 RO 0 motion.debug-s32-1
7 u32 RO 0x0014BD11 motion.servo.last-period
7 float RO 996963.2 motion.servo.last-period-ns
7 u32 RW 0x00000003 motion.servo.overruns
9 u32 RW 0x00000000 parport.0.debug1
9 u32 RW 0x00000000 parport.0.debug2
9 bit RW FALSE parport.0.pin-01-out-invert
9 bit RW FALSE parport.0.pin-01-out-reset
9 bit RW FALSE parport.0.pin-02-out-invert
9 bit RW FALSE parport.0.pin-02-out-reset
9 bit RW FALSE parport.0.pin-03-out-invert
9 bit RW FALSE parport.0.pin-03-out-reset
9 bit RW FALSE parport.0.pin-04-out-invert
9 bit RW FALSE parport.0.pin-04-out-reset
9 bit RW FALSE parport.0.pin-05-out-invert
9 bit RW FALSE parport.0.pin-05-out-reset
9 bit RW FALSE parport.0.pin-06-out-invert
9 bit RW FALSE parport.0.pin-06-out-reset
9 bit RW FALSE parport.0.pin-07-out-invert
9 bit RW FALSE parport.0.pin-07-out-reset
9 bit RW FALSE parport.0.pin-08-out-invert
9 bit RW FALSE parport.0.pin-08-out-reset
9 bit RW FALSE parport.0.pin-09-out-invert
9 bit RW FALSE parport.0.pin-09-out-reset
9 bit RW FALSE parport.0.pin-14-out-invert
9 bit RW FALSE parport.0.pin-14-out-reset
9 bit RW FALSE parport.0.pin-16-out-invert
9 bit RW FALSE parport.0.pin-16-out-reset
9 bit RW FALSE parport.0.pin-17-out-invert
9 bit RW FALSE parport.0.pin-17-out-reset
9 s32 RO 1821 parport.0.read.time
9 s32 RW 26100 parport.0.read.tmax
9 u32 RW 0x00000000 parport.0.reset-time
9 s32 RO 0 parport.0.reset.time
9 s32 RW 0 parport.0.reset.tmax
9 s32 RO 3662 parport.0.write.time
9 s32 RW 31024 parport.0.write.tmax
9 s32 RO 0 parport.read-all.time
9 s32 RW 0 parport.read-all.tmax
9 s32 RO 0 parport.write-all.time
9 s32 RW 0 parport.write-all.tmax
11 s32 RO 131 pwmgen.make-pulses.time
11 s32 RW 23931 pwmgen.make-pulses.tmax
11 s32 RO 974 pwmgen.update.time
11 s32 RW 25054 pwmgen.update.tmax
10 u32 RW 0x0001867F stepgen.0.dirhold
10 u32 RW 0x0001867F stepgen.0.dirsetup
10 float RO 0 stepgen.0.frequency
10 float RW 12500 stepgen.0.maxaccel
10 float RW 0 stepgen.0.maxvel
10 float RW 4 stepgen.0.position-scale
10 s32 RO 0 stepgen.0.rawcounts
10 u32 RW 0x0001867F stepgen.0.steplen
10 u32 RW 0x0001867F stepgen.0.stepspace
10 u32 RW 0x0001867F stepgen.1.dirhold
10 u32 RW 0x0001867F stepgen.1.dirsetup
10 float RO 0 stepgen.1.frequency
10 float RW 12500 stepgen.1.maxaccel
10 float RW 0 stepgen.1.maxvel
10 float RW 4 stepgen.1.position-scale
10 s32 RO 0 stepgen.1.rawcounts
10 u32 RW 0x0001867F stepgen.1.steplen
10 u32 RW 0x0001867F stepgen.1.stepspace
10 u32 RW 0x0001867F stepgen.2.dirhold
10 u32 RW 0x0001867F stepgen.2.dirsetup
10 float RO 0 stepgen.2.frequency
10 float RW 12500 stepgen.2.maxaccel
10 float RW 0 stepgen.2.maxvel
10 float RW 4 stepgen.2.position-scale
10 s32 RO 400 stepgen.2.rawcounts
10 u32 RW 0x0001867F stepgen.2.steplen
10 u32 RW 0x0001867F stepgen.2.stepspace
10 s32 RO 465 stepgen.capture-position.time
10 s32 RW 22561 stepgen.capture-position.tmax
10 s32 RO 339 stepgen.make-pulses.time
10 s32 RW 24334 stepgen.make-pulses.tmax
10 s32 RO 783 stepgen.update-freq.time
10 s32 RW 26210 stepgen.update-freq.tmax
7 float RO 0 tc.0.acc
7 float RO 0 tc.0.pos
7 float RO 0 tc.0.vel
7 float RO 0 tc.1.acc
7 float RO 0 tc.1.pos
7 float RO 0 tc.1.vel
7 float RO 0 tc.2.acc
7 float RO 0 tc.2.pos
7 float RO 0 tc.2.vel
7 float RO 0 tc.3.acc
7 float RO 0 tc.3.pos
7 float RO 0 tc.3.vel
7 u32 RO 0x00000000 traj.active_tc
7 float RO 0 traj.pos_out
7 float RO 0 traj.vel_out
Parameter Aliases:
Alias Original Name
Exported Functions:
Owner CodeAddr Arg FP Users Name
00007 f102f75d 00000000 YES 1 motion-command-handler
00007 f1031c82 00000000 YES 1 motion-controller
00009 f0f10000 f0fc7c10 NO 1 parport.0.read
00009 f0f10219 f0fc7c10 NO 0 parport.0.reset
00009 f0f102fa f0fc7c10 NO 1 parport.0.write
00009 f0f100ac f0fc7c10 NO 0 parport.read-all
00009 f0f10488 f0fc7c10 NO 0 parport.write-all
00011 f0f51000 f0fc7fb8 NO 1 pwmgen.make-pulses
00011 f0f5110e f0fc7fb8 YES 1 pwmgen.update
00010 f0f2120f f0fc7d30 YES 1 stepgen.capture-position
00010 f0f21000 f0fc7d30 NO 1 stepgen.make-pulses
00010 f0f21315 f0fc7d30 YES 1 stepgen.update-freq
Realtime Threads:
Period FP Name ( Time, Max-Time )
999670 YES servo-thread ( 17276, 89930 )
1 stepgen.capture-position
2 motion-command-handler
3 motion-controller
4 stepgen.update-freq
5 pwmgen.update
99967 NO base-thread ( 6389, 33470 )
1 parport.0.read
2 stepgen.make-pulses
3 pwmgen.make-pulses
4 parport.0.write
cnc@CNC:~$
z както стала не так..