Stepper online A6 Servo motor as Spindle motor

Hi Hakan
Thanks for the help I have configured to the directory now, but have a new error message ?

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.6
Machine configuration directory is '/home/cnc/linuxcnc/configs/probe_basic_dev'
Machine configuration file is 'EL8_machine.ini'
INIFILE=/home/cnc/linuxcnc/configs/probe_basic_dev/EL8_machine.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=el8_homecomp
TASK=milltask
HALUI=halui
DISPLAY=probe_basic
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=el8_homecomp EMCMOT=motmod
Found file(REL): ./hallib/EL8_machine.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: function 'cia402pv.Spindle.read-all' not found
./hallib/EL8_machine.hal:18: addf failed
2439
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime


 

Hmm, did you by any chance comment out the loadrt cia402pv line?

Doesn't appear to be commented out in the Hal file ?

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
#loadusr -W hal_manualtoolchange
loadrt cia402 count=4
#loadrt mult2
#loadrt mult2 count=4 etc for multiple instances
loadrt cia402pv names=cia402pv.Spindle

But there must be a reason that linuxcnc won't find it.
It looks okay in your files.
Response is exactly like it is commented out.
I tested to comment out the loadrt line and got exactly thisI also tested to mis-spell cia402pv.Spindl in the loadrt line and got the same error.
Also mis-spelling on the addf line give the same error.
There is some mis-spelling between the loadrt and the addf lines
but I don't see what it is.

From the output messages this is the hal file linuxcnc uses
./hallib/EL8_machine.hal
That's the one you showed, right?

I don't know. Can you retype those two lines?

I have changed the loadrt line slightly  and receive a different error ? 


RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.6
Machine configuration directory is '/home/cnc/linuxcnc/configs/probe_basic_dev'
Machine configuration file is 'EL8_machine.ini'
INIFILE=/home/cnc/linuxcnc/configs/probe_basic_dev/EL8_machine.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=el8_homecomp
TASK=milltask
HALUI=halui
DISPLAY=probe_basic
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=el8_homecomp EMCMOT=motmod
Found file(REL): ./hallib/EL8_machine.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: function 'cia402pv.Spindle.read-all' not found
./hallib/EL8_machine.hal:18: addf failed
2975
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
 

It's like cia402pv isn't loaded.
Try a new thing. The halrun utility, load the cia402pv component manually.This hopefully should work and produce a long list of pins and functions.

cnc@raspberrypi:~$ % halrun
halcmd: loadrt cia402pv names=cia402pv.Spindle
Note: Using POSIX realtime
halcmd: show all
bash: fg: %: no such job
bash: halcmd:: command not found
bash: Note:: command not found
bash: halcmd:: command not found
cnc@raspberrypi:~$ halrun
halcmd: loadrt cia402pv names=cia402pv.Spindle
Note: Using POSIX realtime
halcmd: show all
Loaded HAL Components:
ID Type Name PID State
4 RT cia402pv ready
2 User halcmd2602 2602 ready

Component Pins:
Owner Type Dir Value Name
4 float IN 0 cia402pv.Spindle.acceleration
4 u32 OUT 0x00000000 cia402pv.Spindle.controlword
4 float IN 0 cia402pv.Spindle.deceleration
4 s32 OUT 0 cia402pv.Spindle.drv-acceleration
4 s32 IN 0 cia402pv.Spindle.drv-actual-position
4 s32 IN 0 cia402pv.Spindle.drv-actual-velocity
4 s32 OUT 0 cia402pv.Spindle.drv-deceleration
4 bit OUT FALSE cia402pv.Spindle.drv-fault
4 s32 OUT 0 cia402pv.Spindle.drv-quickstop-deceleration
4 s32 OUT 0 cia402pv.Spindle.drv-target-position
4 s32 OUT 0 cia402pv.Spindle.drv-target-velocity
4 bit IN FALSE cia402pv.Spindle.enable
4 bit IN FALSE cia402pv.Spindle.fault-reset
4 bit I/O FALSE cia402pv.Spindle.home
4 s32 OUT 0 cia402pv.Spindle.opmode
4 bit OUT FALSE cia402pv.Spindle.opmode-cyclic-position
4 bit OUT FALSE cia402pv.Spindle.opmode-cyclic-velocity
4 s32 IN 0 cia402pv.Spindle.opmode-display
4 bit OUT FALSE cia402pv.Spindle.opmode-homing
4 bit OUT FALSE cia402pv.Spindle.opmode-no-mode
4 bit OUT FALSE cia402pv.Spindle.opmode-profile-velocity
4 float IN 0 cia402pv.Spindle.pos-cmd
4 float OUT 0 cia402pv.Spindle.pos-fb
4 float IN 0 cia402pv.Spindle.quickstop-acceleration
4 s32 OUT 0 cia402pv.Spindle.read-all.time
4 bit IN FALSE cia402pv.Spindle.run
4 bit OUT FALSE cia402pv.Spindle.stat-at-speed
4 bit OUT FALSE cia402pv.Spindle.stat-fault
4 bit OUT FALSE cia402pv.Spindle.stat-homed
4 bit OUT FALSE cia402pv.Spindle.stat-homing
4 bit OUT FALSE cia402pv.Spindle.stat-op-enabled
4 bit OUT FALSE cia402pv.Spindle.stat-quick-stop
4 bit OUT FALSE cia402pv.Spindle.stat-quick-stop-valid
4 bit OUT FALSE cia402pv.Spindle.stat-remote
4 bit OUT FALSE cia402pv.Spindle.stat-switched-on
4 bit OUT FALSE cia402pv.Spindle.stat-switchon-disabled
4 bit OUT FALSE cia402pv.Spindle.stat-switchon-ready
4 bit OUT FALSE cia402pv.Spindle.stat-target-reached
4 bit OUT FALSE cia402pv.Spindle.stat-voltage-enabled
4 bit OUT FALSE cia402pv.Spindle.stat-warning
4 bit OUT FALSE cia402pv.Spindle.stat-zero-speed
4 u32 IN 0x00000000 cia402pv.Spindle.statusword
4 float IN 0 cia402pv.Spindle.velocity-cmd
4 float OUT 0 cia402pv.Spindle.velocity-fb
4 s32 OUT 0 cia402pv.Spindle.write-all.time

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)

Parameters:
Owner Type Dir Value Name
4 bit RW TRUE cia402pv.Spindle.auto-fault-reset
4 bit RW TRUE cia402pv.Spindle.csp-mode
4 float RW 1 cia402pv.Spindle.pos-scale
4 bit RW FALSE cia402pv.Spindle.pv-mode
4 s32 RW 0 cia402pv.Spindle.read-all.tmax
4 bit RO FALSE cia402pv.Spindle.read-all.tmax-increased
4 float RW 1 cia402pv.Spindle.velo-scale
4 s32 RW 0 cia402pv.Spindle.write-all.tmax
4 bit RO FALSE cia402pv.Spindle.write-all.tmax-increased

Parameter Aliases:
Alias Original Name

Exported Functions:
Owner CodeAddr Arg FP Users Name
00004 7fff005c2a20 7fff005f0120 YES 0 cia402pv.Spindle.read-all
00004 7fff005c1e04 7fff005f0120 YES 0 cia402pv.Spindle.write-all

Realtime Threads:
Period FP Name ( Time, Max-Time )

halcmd: Note: Using POSIX realtime
cnc@raspberrypi:~$

That looks perfectly fine.
 What's the problem when this is called inside your hal file?
Let's try that. Add the line
show all
after the
loadrt cia402pv names=cia402pv.Spindle
line. It should show many more pins, also the cia402pv pins.