cnc-club.ru

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Can not find -sec EMC -var NML_FILE -num 1
hm2-servo7i77.hal:84: Pin 'hm2_5i25.0.7i77.0.0.input-00' does not exist
2008
PID TTY STAT TIME COMMAND
2008 ? D 0:00 linuxcncsvr -ini /home/tockfrez/linuxcnc/configs/5i25+7i77/5i25-7i77.ini
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i25
CONFIG="num_encoders=6 sserial_port_0=000xxx"




[EMC]

# Name of machine, for use with display, etc.
MACHINE = HM2-Servo

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0x0



[DISPLAY]

# Name of display program, e.g., tkemc
DISPLAY = axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500

# Path to help file
HELP_FILE = tkemc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5

# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var




[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE = hm2-servo7i77.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta




[TRAJ]

AXES = 3
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 3.0
MAX_VELOCITY = 4.0
DEFAULT_ACCELERATION = 6.0
MAX_ACCELERATION = 7.0




[AXIS_0]

TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002

INPUT_SCALE = 81920

OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0

MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000




[AXIS_1]

TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002

INPUT_SCALE = -81920

OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0

MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES

# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000




[AXIS_2]

TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002

INPUT_SCALE = 81920

OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0

MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000




[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = tool.tbl

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt pid num_chan=3
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
# ----------------------------------------------------------------------------------------X [0] Axis
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogena
net emcmot.00.enable <= axis.0.amp-enable-out

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0

setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE

net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0
#-------------------------------------------------------------------------------------- Z [2] Axis
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable <= axis.2.amp-enable-out

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0

setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-scalemax [AXIS_3]OUTPUT_SCALE

net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2
net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
#---------------------------------------------------------------------------------------- Standard I/O Block - EStop, Etc
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
net home-switch <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-00
net home-switch => axis.0.home-sw-in
net home-switch => axis.1.home-sw-in
net home-switch => axis.2.home-sw-in
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable