7i76e to Durapulse connection
11 Mar 2024 21:37 #295685
by PCW
Replied by PCW on topic 7i76e to Durapulse connection
Can you enable the spindle, set it for 1/2 full speed (12000)
and then post the results of this command (run from a terminal)
halcmd show all spin > spindle.txt
(post spindle.txt here)
and then post the results of this command (run from a terminal)
halcmd show all spin > spindle.txt
(post spindle.txt here)
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11 Mar 2024 21:39 #295686
by gardenweazel
Replied by gardenweazel on topic 7i76e to Durapulse connection
Anything that I may have missed in here??
# Generated by PNCconf at Wed Nov 1 13:06:00 2023
# Using LinuxCNC version: 2.10.0~pre0
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=21xxxxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.w,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.w.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
#net estop-out => hm2_7i76e.0.7i76.0.0.output-07
net coolant-flood => hm2_7i76e.0.7i76.0.0.output-06
# external input signals
# --- MIN-HOME-W ---
net min-home-w <= hm2_7i76e.0.7i76.0.0.input-09-not
# --- MIN-HOME-X ---
net min-home-x <= hm2_7i76e.0.7i76.0.0.input-08-not
# --- MIN-HOME-Y ---
net min-home-y <= hm2_7i76e.0.7i76.0.0.input-12-not
# --- PROBE-IN ---
net probe-in <= hm2_7i76e.0.7i76.0.0.input-13-not
# --- MIN-HOME-Y2 ---
net min-home-y2 <= hm2_7i76e.0.7i76.0.0.input-14-not
# --- MIN-HOME-Z ---
net max-home-z <= hm2_7i76e.0.7i76.0.0.input-15-not
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.012700
net x-index-enable => pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable => pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_7i76e.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.012700
net z-index-enable => pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i76e.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i76e.0.stepgen.03.step_type 0
setp hm2_7i76e.0.stepgen.03.control-type 1
setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output => hm2_7i76e.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.03.enable
# ---setup home / limit switch signals---
net max-home-z => joint.3.home-sw-in
net max-home-z => joint.3.neg-lim-sw-in
net z-neg-limit => joint.3.pos-lim-sw-in
#*******************
# AXIS W JOINT 4
#*******************
setp pid.w.Pgain [JOINT_4]P
setp pid.w.Igain [JOINT_4]I
setp pid.w.Dgain [JOINT_4]D
setp pid.w.bias [JOINT_4]BIAS
setp pid.w.FF0 [JOINT_4]FF0
setp pid.w.FF1 [JOINT_4]FF1
setp pid.w.FF2 [JOINT_4]FF2
setp pid.w.deadband [JOINT_4]DEADBAND
setp pid.w.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.w.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.w.maxerror 0.012700
net w-index-enable => pid.w.index-enable
net w-enable => pid.w.enable
net w-pos-cmd => pid.w.command
net w-pos-fb => pid.w.feedback
net w-output <= pid.w.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i76e.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_7i76e.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_7i76e.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_7i76e.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i76e.0.stepgen.04.step_type 0
setp hm2_7i76e.0.stepgen.04.control-type 1
setp hm2_7i76e.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net w-pos-cmd <= joint.4.motor-pos-cmd
net w-vel-cmd <= joint.4.vel-cmd
net w-output => hm2_7i76e.0.stepgen.04.velocity-cmd
net w-pos-fb <= hm2_7i76e.0.stepgen.04.position-fb
net w-pos-fb => joint.4.motor-pos-fb
net w-enable <= joint.4.amp-enable-out
net w-enable => hm2_7i76e.0.stepgen.04.enable
# ---setup home / limit switch signals---
# net max-home-w => joint.4.home-sw-in
# net max-home-w => joint.4.neg-lim-sw-in
# net w-neg-limit => joint.4.pos-lim-sw-in
net min-home-w => joint.4.home-sw-in
net min-home-w => joint.4.neg-lim-sw-in
net w-pos-limit => joint.4.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentiometer output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net y2-is-homed halui.joint.2.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.3.is-homed
net axis-select-w halui.axis.w.select
net jog-w-pos halui.axis.w.plus
net jog-w-neg halui.axis.w.minus
net jog-w-analog halui.axis.w.analog
net w-is-homed halui.joint.4.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
# ---Use external manual tool change dialog---
loadusr -W hal_manualtoolchange
net tool-change-request => hal_manualtoolchange.change
net tool-change-confirmed <= hal_manualtoolchange.changed
net tool-number => hal_manualtoolchange.number
# ---ignore tool prepare requests---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Generated by PNCconf at Wed Nov 1 13:06:00 2023
# Using LinuxCNC version: 2.10.0~pre0
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=21xxxxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.w,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.w.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
#net estop-out => hm2_7i76e.0.7i76.0.0.output-07
net coolant-flood => hm2_7i76e.0.7i76.0.0.output-06
# external input signals
# --- MIN-HOME-W ---
net min-home-w <= hm2_7i76e.0.7i76.0.0.input-09-not
# --- MIN-HOME-X ---
net min-home-x <= hm2_7i76e.0.7i76.0.0.input-08-not
# --- MIN-HOME-Y ---
net min-home-y <= hm2_7i76e.0.7i76.0.0.input-12-not
# --- PROBE-IN ---
net probe-in <= hm2_7i76e.0.7i76.0.0.input-13-not
# --- MIN-HOME-Y2 ---
net min-home-y2 <= hm2_7i76e.0.7i76.0.0.input-14-not
# --- MIN-HOME-Z ---
net max-home-z <= hm2_7i76e.0.7i76.0.0.input-15-not
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.012700
net x-index-enable => pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable => pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_7i76e.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.012700
net z-index-enable => pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i76e.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i76e.0.stepgen.03.step_type 0
setp hm2_7i76e.0.stepgen.03.control-type 1
setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output => hm2_7i76e.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.03.enable
# ---setup home / limit switch signals---
net max-home-z => joint.3.home-sw-in
net max-home-z => joint.3.neg-lim-sw-in
net z-neg-limit => joint.3.pos-lim-sw-in
#*******************
# AXIS W JOINT 4
#*******************
setp pid.w.Pgain [JOINT_4]P
setp pid.w.Igain [JOINT_4]I
setp pid.w.Dgain [JOINT_4]D
setp pid.w.bias [JOINT_4]BIAS
setp pid.w.FF0 [JOINT_4]FF0
setp pid.w.FF1 [JOINT_4]FF1
setp pid.w.FF2 [JOINT_4]FF2
setp pid.w.deadband [JOINT_4]DEADBAND
setp pid.w.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.w.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.w.maxerror 0.012700
net w-index-enable => pid.w.index-enable
net w-enable => pid.w.enable
net w-pos-cmd => pid.w.command
net w-pos-fb => pid.w.feedback
net w-output <= pid.w.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i76e.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_7i76e.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_7i76e.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_7i76e.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i76e.0.stepgen.04.step_type 0
setp hm2_7i76e.0.stepgen.04.control-type 1
setp hm2_7i76e.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net w-pos-cmd <= joint.4.motor-pos-cmd
net w-vel-cmd <= joint.4.vel-cmd
net w-output => hm2_7i76e.0.stepgen.04.velocity-cmd
net w-pos-fb <= hm2_7i76e.0.stepgen.04.position-fb
net w-pos-fb => joint.4.motor-pos-fb
net w-enable <= joint.4.amp-enable-out
net w-enable => hm2_7i76e.0.stepgen.04.enable
# ---setup home / limit switch signals---
# net max-home-w => joint.4.home-sw-in
# net max-home-w => joint.4.neg-lim-sw-in
# net w-neg-limit => joint.4.pos-lim-sw-in
net min-home-w => joint.4.home-sw-in
net min-home-w => joint.4.neg-lim-sw-in
net w-pos-limit => joint.4.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentiometer output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net y2-is-homed halui.joint.2.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.3.is-homed
net axis-select-w halui.axis.w.select
net jog-w-pos halui.axis.w.plus
net jog-w-neg halui.axis.w.minus
net jog-w-analog halui.axis.w.analog
net w-is-homed halui.joint.4.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
# ---Use external manual tool change dialog---
loadusr -W hal_manualtoolchange
net tool-change-request => hal_manualtoolchange.change
net tool-change-confirmed <= hal_manualtoolchange.changed
net tool-number => hal_manualtoolchange.number
# ---ignore tool prepare requests---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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11 Mar 2024 21:47 #295687
by gardenweazel
Replied by gardenweazel on topic 7i76e to Durapulse connection
andy@file03:~$ cat /home/uploads/spindle.txt
Loaded HAL Components:
ID Type Name PID State
Component Pins:
Owner Type Dir Value Name
31 bit IN FALSE spindle.0.amp-fault-in
31 bit IN TRUE spindle.0.at-speed <== spindle-at-speed
31 bit OUT FALSE spindle.0.brake ==> spindle-brake
31 bit OUT TRUE spindle.0.forward ==> spindle-cw
31 bit I/O FALSE spindle.0.index-enable <=> spindle-index-enable
31 bit IN FALSE spindle.0.inhibit
31 bit IN FALSE spindle.0.is-oriented
31 bit OUT FALSE spindle.0.locked
31 bit OUT TRUE spindle.0.on ==> spindle-enable
31 bit OUT FALSE spindle.0.orient
31 float OUT 0 spindle.0.orient-angle
31 s32 IN 0 spindle.0.orient-fault
31 s32 OUT 0 spindle.0.orient-mode
31 bit OUT FALSE spindle.0.reverse ==> spindle-ccw
31 float IN 0 spindle.0.revs <== spindle-revs
31 float OUT 0.01666667 spindle.0.speed-cmd-rps
31 float IN 0 spindle.0.speed-in <== spindle-vel-fb-rps
31 float OUT 1 spindle.0.speed-out ==> spindle-vel-cmd-rpm
31 float OUT 1 spindle.0.speed-out-abs ==> spindle-vel-cmd-rpm-abs
31 float OUT 0.01666667 spindle.0.speed-out-rps ==> spindle-vel-cmd-rps
31 float OUT 0.01666667 spindle.0.speed-out-rps-abs ==> spindle-vel-cmd-rps-abs
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit TRUE spindle-at-speed
==> pyvcp.spindle-at-speed-led
==> spindle.0.at-speed
bit FALSE spindle-brake
<== spindle.0.brake
bit FALSE spindle-ccw
==> hm2_7i76e.0.7i76.0.0.spindir
<== spindle.0.reverse
bit TRUE spindle-cw
<== spindle.0.forward
bit TRUE spindle-enable
==> hm2_7i76e.0.7i76.0.0.spinena
==> pid.s.enable
<== spindle.0.on
bit FALSE spindle-index-enable
==> pid.s.index-enable
<=> spindle.0.index-enable
bit FALSE spindle-manual-ccw
==> halui.spindle.0.reverse
bit FALSE spindle-manual-cw
==> halui.spindle.0.forward
bit FALSE spindle-manual-stop
==> halui.spindle.0.stop
float 1 spindle-output
==> hm2_7i76e.0.7i76.0.0.spinout
<== pid.s.output
float 0 spindle-revs
==> spindle.0.revs
float 1 spindle-vel-cmd-rpm
<== spindle.0.speed-out
float 1 spindle-vel-cmd-rpm-abs
==> pid.s.command
==> pyvcp.spindle-speed
<== spindle.0.speed-out-abs
float 0.01666667 spindle-vel-cmd-rps
<== spindle.0.speed-out-rps
float 0.01666667 spindle-vel-cmd-rps-abs
<== spindle.0.speed-out-rps-abs
float 0 spindle-vel-fb-rpm-abs
==> pid.s.feedback
float 0 spindle-vel-fb-rps
==> spindle.0.speed-in
Parameters:
Owner Type Dir Value Name
Parameter Aliases:
Alias Original Name
Exported Functions:
Owner CodeAddr Arg FP Users Name
Realtime Threads:
Period FP Name ( Time, Max-Time )
Loaded HAL Components:
ID Type Name PID State
Component Pins:
Owner Type Dir Value Name
31 bit IN FALSE spindle.0.amp-fault-in
31 bit IN TRUE spindle.0.at-speed <== spindle-at-speed
31 bit OUT FALSE spindle.0.brake ==> spindle-brake
31 bit OUT TRUE spindle.0.forward ==> spindle-cw
31 bit I/O FALSE spindle.0.index-enable <=> spindle-index-enable
31 bit IN FALSE spindle.0.inhibit
31 bit IN FALSE spindle.0.is-oriented
31 bit OUT FALSE spindle.0.locked
31 bit OUT TRUE spindle.0.on ==> spindle-enable
31 bit OUT FALSE spindle.0.orient
31 float OUT 0 spindle.0.orient-angle
31 s32 IN 0 spindle.0.orient-fault
31 s32 OUT 0 spindle.0.orient-mode
31 bit OUT FALSE spindle.0.reverse ==> spindle-ccw
31 float IN 0 spindle.0.revs <== spindle-revs
31 float OUT 0.01666667 spindle.0.speed-cmd-rps
31 float IN 0 spindle.0.speed-in <== spindle-vel-fb-rps
31 float OUT 1 spindle.0.speed-out ==> spindle-vel-cmd-rpm
31 float OUT 1 spindle.0.speed-out-abs ==> spindle-vel-cmd-rpm-abs
31 float OUT 0.01666667 spindle.0.speed-out-rps ==> spindle-vel-cmd-rps
31 float OUT 0.01666667 spindle.0.speed-out-rps-abs ==> spindle-vel-cmd-rps-abs
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit TRUE spindle-at-speed
==> pyvcp.spindle-at-speed-led
==> spindle.0.at-speed
bit FALSE spindle-brake
<== spindle.0.brake
bit FALSE spindle-ccw
==> hm2_7i76e.0.7i76.0.0.spindir
<== spindle.0.reverse
bit TRUE spindle-cw
<== spindle.0.forward
bit TRUE spindle-enable
==> hm2_7i76e.0.7i76.0.0.spinena
==> pid.s.enable
<== spindle.0.on
bit FALSE spindle-index-enable
==> pid.s.index-enable
<=> spindle.0.index-enable
bit FALSE spindle-manual-ccw
==> halui.spindle.0.reverse
bit FALSE spindle-manual-cw
==> halui.spindle.0.forward
bit FALSE spindle-manual-stop
==> halui.spindle.0.stop
float 1 spindle-output
==> hm2_7i76e.0.7i76.0.0.spinout
<== pid.s.output
float 0 spindle-revs
==> spindle.0.revs
float 1 spindle-vel-cmd-rpm
<== spindle.0.speed-out
float 1 spindle-vel-cmd-rpm-abs
==> pid.s.command
==> pyvcp.spindle-speed
<== spindle.0.speed-out-abs
float 0.01666667 spindle-vel-cmd-rps
<== spindle.0.speed-out-rps
float 0.01666667 spindle-vel-cmd-rps-abs
<== spindle.0.speed-out-rps-abs
float 0 spindle-vel-fb-rpm-abs
==> pid.s.feedback
float 0 spindle-vel-fb-rps
==> spindle.0.speed-in
Parameters:
Owner Type Dir Value Name
Parameter Aliases:
Alias Original Name
Exported Functions:
Owner CodeAddr Arg FP Users Name
Realtime Threads:
Period FP Name ( Time, Max-Time )
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11 Mar 2024 21:56 #295688
by PCW
Replied by PCW on topic 7i76e to Durapulse connection
OK that looks reasonable for a 1 RPM commanded speed
Can you try at 12000 RPM?
(and measure the SPINOUT vs SPIN- voltage at 12000 RPM)
Can you try at 12000 RPM?
(and measure the SPINOUT vs SPIN- voltage at 12000 RPM)
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11 Mar 2024 22:04 #295689
by gardenweazel
Replied by gardenweazel on topic 7i76e to Durapulse connection
You mean M3 S12000 from the MDI?
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11 Mar 2024 22:05 #295690
by PCW
Replied by PCW on topic 7i76e to Durapulse connection
Yes
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11 Mar 2024 22:11 #295691
by gardenweazel
Replied by gardenweazel on topic 7i76e to Durapulse connection
The spindle started and then stopped:
Err: out of range value for spindle-speed
TCL error in asynchronous code:
while executing
"139985691625088updater"
("after" script)
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Err: out of range value for spindle-speed
TCL error in asynchronous code:
while executing
"139985691625088updater"
("after" script)
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
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11 Mar 2024 22:20 #295693
by PCW
Replied by PCW on topic 7i76e to Durapulse connection
That's possibly an ini file or GUI setup error.
Can you post your main hal file, ini file, and any postgui hal file?
Sounds like you have a maximum spindle speed limit
somewhere in your configuration files
Can you post your main hal file, ini file, and any postgui hal file?
Sounds like you have a maximum spindle speed limit
somewhere in your configuration files
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11 Mar 2024 22:27 #295694
by gardenweazel
Replied by gardenweazel on topic 7i76e to Durapulse connection
Attached
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11 Mar 2024 23:01 #295699
by PCW
Replied by PCW on topic 7i76e to Durapulse connection
Not sure what the issue is but looks GUI related
My guess would be the the pyvcp spindle speed
display doesn't have the maximum spindle speed set right
My guess would be the the pyvcp spindle speed
display doesn't have the maximum spindle speed set right
The following user(s) said Thank You: gardenweazel
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