Linuxcnc joint 0 following error

# Generated by PNCconf at Sat Mar 28 17:57:56 2020
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=» num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx»
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_5i25.0.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.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write servo-thread

# external output signals

# external input signals

# — ESTOP-EXT —
net estop-ext <= hm2_5i25.0.7i77.0.0.input-00

# — MIN-HOME-X —
net min-home-x <= hm2_5i25.0.7i77.0.0.input-09

# — MIN-HOME-Y —
net min-home-y <= hm2_5i25.0.7i77.0.0.input-10

# — MAX-HOME-Z —
net max-home-z <= hm2_5i25.0.7i77.0.0.input-11

#*******************
# AXIS X
#*******************

setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output

# —PWM Generator signals/setup—

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT

net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena

# —Encoder feedback signals/setup—

setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE

net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts

# —setup home / limit switch signals—

net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in

#*******************
# AXIS Y
#*******************

setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true

net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output

# —PWM Generator signals/setup—

setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT

net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out

# —Encoder feedback signals/setup—

setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE

net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts

# —setup home / limit switch signals—

net min-home-y => axis.1.home-sw-in
net min-home-y => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.pos-lim-sw-in

#*******************
# AXIS Z
#*******************

setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true

net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output

# —PWM Generator signals/setup—

setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT

net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out

# —Encoder feedback signals/setup—

setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE

net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts

# —setup home / limit switch signals—

net max-home-z => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in

#*******************
# SPINDLE S
#*******************

setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]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 => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# —setup spindle control signals—

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

# —Setup spindle at speed signals—

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# —HALUI signals—

net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.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-ext => iocontrol.0.emc-enable-in

# —manual tool change signals—

loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Following Error

Following Error Definition

While an axis is in motion, LinuxCNC sends commands for the current position. We call this the commanded position. It is where the axis is supposed to be. Whenever a drive receives a velocity command it takes time for it to get up to that velocity and move to the commanded position. The difference between commanded and actual is following error. Commanded and actual position ought to be the same for an ideal machine. Inertia and such get in the way and add to following error.

LinuxCNC checks to see whether the commanded position is within range of the actual position. If this error is out of range, you get an error message something like:

Joint 0 following error.

When this error pops up you can be pretty certain that there are problems with the way your ini file is set.

Following Error Trip Ramp

The LinuxCNC ini file uses two variables, FERROR and MIN_FERROR to define acceptable following error for each axis. Think of MIN_FERROR as the amount of following error (distance) allowed at very low velocity and FERROR as the distance allowed during rapid moves.

The graph shown below approximates what the following error trip line looks like when FERROR is set to 1 and MIN_FERROR is set to 0.01. MAX_Velocity for this graph has been set to 500. I did not set any units here and that is deliberate. The reason is that the meaning of the trip line will follow the units used for velocity, which follows the units that are defined for the axis in the ini. If that unit is inches, then the velocity is in inches per second and the trip line is related to that unit.

You should think of any following error to the left of the diagonal line as acceptable for that velocity . If you look at 250 units velocity (the green lines) any following error less than half way between FERROR and MIN_FERROR is acceptable and will not trip out axis motion. If you increase the velocity to 400 and draw a similar pair of lines there, it will include all acceptable following errors at that velocity.

The units of Ferror and Min_Ferror are the same as the units of length used for that axis. So if your axis is in inches, and your Ferror is 1, that means an error of 1 inch will cause it to trip. Likewise, if Min_Ferror is 0.01, then an error of 0.01 inches will trip it at low speed.

The point of the following error trip as set up in LinuxCNC is to constrain following error and cause the machine to fail if it’s error is greater than some known value. By using both FERROR and MIN_FERROR the integrator is able to define values that are acceptable for their machine.

Following Error and Stepper Driven Machines

The concept of a following error is funny when talking about stepper motors. Since they are an open loop system, there is no position feedback to let you know if you actually are out of range.

Following errors usually have two causes on steppers

1. too little ferror or min_ferror

2. the RT pulsing can’t keep up with the speed needed

2.a. BASE_PERIOD set incorrectly or (requested step rate is not possible at this BASE_PERIOD)

Источник

cnc-club.ru

Статьи, обзоры, цены на станки и комплектующие.

ошибка в G коде? axis following error

ошибка в G коде? axis following error

Сообщение roach » 26 янв 2012, 13:32

Re: ошибка в G коде? axis following error

Сообщение Nick » 26 янв 2012, 13:46

Use the Console, Luke.

Re: ошибка в G коде? axis following error

Сообщение roach » 26 янв 2012, 15:44

Re: ошибка в G коде? axis following error

Сообщение Nick » 26 янв 2012, 16:05

Эта ошибка не зависит от Gкода. Может просто резкий поворот на какой-то оси и он вызывает following error. Может настроены скругления. Хотя они не должны вкладываться в following error. Я думаю, если ехать в режиме exact stop G61.1, то ошибки не будет.

Попробуй прогнать это еще раз и сделай скрин осциллографа, в котором будет ferror по оси и cmd по оси.

Use the Console, Luke.

Re: ошибка в G коде? axis following error

Сообщение roach » 26 янв 2012, 16:11

Nick писал(а): Эта ошибка не зависит от Gкода. Может просто резкий поворот на какой-то оси и он вызывает following error. Может настроены скругления. Хотя они не должны вкладываться в following error. Я думаю, если ехать в режиме exact stop G61.1, то ошибки не будет.

Попробуй прогнать это еще раз и сделай скрин осциллографа, в котором будет ferror по оси и cmd по оси.

Re: ошибка в G коде? axis following error

Сообщение roach » 27 янв 2012, 09:40

УП делаю в SprutCam, может у меня постпроцессор кривой? качал отсюда http://download.sprutcam.com/index.php? . ssors/EMC/

У кого токарник? проверьте пожалуйста

Источник

cnc-club.ru

Статьи, обзоры, цены на станки и комплектующие.

[linuxcnc] error: joint 0 following error

[linuxcnc] error: joint 0 following error

Сообщение Романов Семен » 21 июл 2012, 15:33

Присказка:
Станок китайский, благодаря разработкам уважаемого Nick’a смог фрезеровать печатные платы.
Речь не об этом.
Станок стоял, настроенный — прекрасно работал.
И вдруг захотелось мне что-то выточить из дерева.
В край поболававшись на конфиге заточенном под печатные платы — я понял что могу крутое, и начал фрезеровать икону. И с размерами не побоялся: 180мм*250мм
Ну и вообщем медленно это все, и сбился станок по оси Х.
В итоге фрезеровку остановил, и понял. 1680 мм/мин = это маааало.

Внимание вопрос: как подобрать МАКСИМАЛЬНУЮ скорость и УСКОРЕНИЕ?

Вообще китаец заявил что может он 2000мм/мин.
Когда то этот станок по началу цеплял на мач. так я его там раскручивал до 3500 и он не глюкал. причем на более слабом компе.

Сейчасв все чем занимался зимой с линухснс — подзабыл.

Проблема в чем: когда писали компенсацию — по какойто причине снизили максимальную скорость с ранее заявленных 2000 до 1680.
И меня это не пугало — для печатных плат — ЗА ГЛАЗА.

Сейчас хочу попробовать добиться хотя бы 2500.
Но вылетает данная ошибка. При увеличении ускорения. (((пока на оси Х, экспериментирую на ней)))

Вообщем, интересно узнать, кто и как подбирал МАКСИМУМЫ СТАНКА?

Источник

Strange Joint Following Error

• Posts: 40
• Thank you received: 1

Thanks to the fantastic help from this forum, I now have a rotary table running in sync with a lathe spindle for hobbing

I am confused as to why I get a rotary table ‘joint following error’ when I’m running the above hobbing configuration, but not getting it when I load the threading configuration which syncs the spindle to the linear Z axis.

I’m using the Pico-systems USC board, so the step pulsing shouldn’t be an issue. The only thing I can think of is latency could be causing a problem with the sync stuff in the hobbing configuration HAL files.

The computer appears to have high latency — I ran the latency test for 15 mins and messed around with the web browser getting max jitter values of roughly 4,000,000 ns for servo thread and 2,300,000 ns for base thread. This high latency doesn’t seem to affect normal lathe control with the USC board, nor threading, just the newly setup hobbing. I can’t figure out what is going on!

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• llrjt100
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• Posts: 40
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Thanks for the recommendation — I ran Halscope and monitored ferror, which builds linearly until it reaches the FERROR or MIN_FERROR values (both the same) and the joint 1 following error is triggered. This explains nicely why the following error occurs instantaneously with FERROR=MIN_FERROR=1, more slowly when =10, and several seconds when =100.

I’ll take a look at position-cmd and position-fb next.

Working now! — in adapting Andy’s hobbing code, I dropped the final ‘Reset logic’ part of his .hal configuration, so I didn’t have position-fb (pid.1.feedback) connected to scale.0.out! I’ve reset the .ini file FERROR=1 and MIN_FERROR=0.1 and checked the Halscope and all is well.

I’m very relieved I found it, and thank you again for pointing me in the right direction initially

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I’ve reset the .ini file FERROR=1 and MIN_FERROR=0.1 and checked the Halscope and all is well.

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• llrjt100
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• Posts: 40
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I can probably fine tune FERROR etc. but need to confirm that the spindle (hob) to rotary table (worm wheel blank) electronic gear ratio is correct first — it seems to low, and I’m struggling a little to find a way to measure. I’d be very grateful for a check of my calculations:

I want to hob a 200 tooth worm wheel, so the spindle (hob) needs to revolve 200 times for every 1 turn of the rotary table (worm wheel blank).

The spindle encoder outputs 10,000 pulses per revolution.

The rotary table stepper is 1.8 deg. (200 fullsteps per rev) driven at 1/8 microstep through the 90:1 rotary table — this gives 200 x 8 x 90 = 144,000 microsteps per rotary table revolution (400 microsteps per degree).

I need 200 revs of the rotary table for every 1 rev of the spindle, so the ratio of spindle encoder position to rotary table steps is 144,000 / (200 * 10,000) = 0.072, and I’ve set scale.0.gain to this value.

I’d like to perform a quick gear ratio cross check by comparing spindle and rotary table rpms — with the spindle at 200 rpm, the rotary table should be at 1 rpm.

My top spindle speed is 2,300 rpm, and I have simple potentiometer control over the spindle VFD (not connected to LinuxCNC yet) — this has a 1-10 scale, so when set to 1, the spindle is rotating at approximately 230 rpm. What signal do I need to monitor in Halscope to check this? If the gear ratio is right, the rotary table should rotate at (230/200) x 1 rpm = 1.15 rpm

The problem is the rotary table is turning way to slow at approximately 0.027 rpm (roughly 1/43 of the expected 1 rpm!)

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Joint following error

I am using EMC2 with motenc motion control card. Sometimes machines run quite good, but sometimes iam facing two problems.

1. Axis stop but spindle still running during machining.
2. Secondly, when i manually jog machine or try to send machine on home position it gives «joint1 following error». Sometimes it gives «jointo following error».

Can anyone help me out on that issue. Please find the ini file in attachment

File Attachment:

Attachments:

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• cncbasher
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at a guess , if the machine is running fine , and then it gives joint errors etc , you may have a number of points to look at

firstly this could be noting more than electrical noise entering the system through the limit switch wiring , or you are directly switching limits without any pullup resistors on the switches
so to cover the first problem Noise ! . do you have your limit switch cables screened and seperate from your motor drive cables , it is best to screen any input signal cables for this reason .

also is it always the same switch giving problems , this could point to nothing more than a faulty switch .

you say also the motor stays running , depending on how this is wired this could happen , do you have a spindle enable relay ? ,
or charge pump fitted .

also this type of problem can also be attributed to Bad Earth wiring or earth loops

if you can give us some more information on the setup and how it’s wired , we can try and narrow it down
in the meantime i’ll look at your configuration files , but i would say it does seem more electrical related

does the pc lock up at the same time ? by any chance

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1. 05-10-2021, 10:15 PM

   
   

   #1

   

   ---

   Hi All

   I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx[/u].

   Hardware:
   — MESA 7i96
   -TB6600 + NEMA23

   Software:
   -LinuxCNC version 2.8.1
   -4.9.0-8-rt-686-pae

   LinuxCNC output

   Code:

   LINUXCNC - 2.8.1
   Machine configuration directory is '/home/taz/linuxcnc/configs/workBee_Base'
   Machine configuration file is 'workBee_Base.ini'
   INIFILE=/home/taz/linuxcnc/configs/workBee_Base/workBee_Base.ini
   VERSION=1.1
   PARAMETER_FILE=linuxcnc.var
   TASK=milltask
   HALUI=halui
   DISPLAY=axis
   COORDINATES=XYYZ
   KINEMATICS=trivkins coordinates=XYYZ kinstype=BOTH
   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
   Found file(REL): ./workBee_Base.hal
   Found file(REL): ./custom.hal
   Starting TASK program: milltask
   Starting DISPLAY program: axis
   62914563
   joint 0 following error
   emc/task/taskintf.cc 942: Error on joint 0, command number 5063

   here are my config files:

   Code:

   # Generated by PNCconf at Sun May  9 17:06:17 2021
   # Using LinuxCNC version:  2.8
   # If you make changes to this file, they will be
   # overwritten when you run PNCconf again
   
   [EMC]
   MACHINE = workBee_Base
   DEBUG = 0
   VERSION = 1.1
   
   [DISPLAY]
   DISPLAY = axis
   EMBED_TAB_NAME = GladeVCP
   EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
   POSITION_OFFSET = RELATIVE
   POSITION_FEEDBACK = ACTUAL
   MAX_FEED_OVERRIDE = 2.000000
   MAX_SPINDLE_OVERRIDE = 1.000000
   MIN_SPINDLE_OVERRIDE = 0.500000
   INTRO_GRAPHIC = linuxcnc.gif
   INTRO_TIME = 5
   PROGRAM_PREFIX = /home/taz/linuxcnc/nc_files
   INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
   POSITION_FEEDBACK = ACTUAL
   DEFAULT_LINEAR_VELOCITY = 8.333333
   MAX_LINEAR_VELOCITY = 25.000000
   MIN_LINEAR_VELOCITY = 0.500000
   DEFAULT_ANGULAR_VELOCITY = 12.000000
   MAX_ANGULAR_VELOCITY = 180.000000
   MIN_ANGULAR_VELOCITY = 1.666667
   EDITOR = gedit
   GEOMETRY = xyz
   
   [FILTER]
   PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
   PROGRAM_EXTENSION = .py Python Script
   png = image-to-gcode
   gif = image-to-gcode
   jpg = image-to-gcode
   py = python
   
   [TASK]
   TASK = milltask
   CYCLE_TIME = 0.010
   
   [RS274NGC]
   PARAMETER_FILE = linuxcnc.var
   
   [EMCMOT]
   EMCMOT = motmod
   COMM_TIMEOUT = 1.0
   SERVO_PERIOD = 1000000
   
   [HMOT]
   # **** This is for info only ****
   CARD0=hm2_7i96.0
   
   [HAL]
   HALUI = halui
   HALFILE = workBee_Base.hal
   HALFILE = custom.hal
   POSTGUI_HALFILE = postgui_call_list.hal
   SHUTDOWN = shutdown.hal
   
   [HALUI]
   MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
   MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
   MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
   
   [KINS]
   JOINTS = 4
   KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
   
   [TRAJ]
   COORDINATES =  XYYZ
   LINEAR_UNITS = mm
   ANGULAR_UNITS = degree
   DEFAULT_LINEAR_VELOCITY = 2.00
   MAX_LINEAR_VELOCITY = 20.00
   
   [EMCIO]
   EMCIO = io
   CYCLE_TIME = 0.100
   TOOL_TABLE = tool.tbl
   TOOL_CHANGE_QUILL_UP = 1
   
   #******************************************
   [AXIS_X]
   MAX_VELOCITY = 16.6666666667
   MAX_ACCELERATION = 10.0
   MIN_LIMIT = -200.0
   MAX_LIMIT = 300.0
   
   [JOINT_0]
   TYPE = LINEAR
   HOME = 0.0
   FERROR = 10.0
   MIN_FERROR = 2.0
   MAX_VELOCITY = 16.6666666667
   MAX_ACCELERATION = 10.0
   # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
   # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
   STEPGEN_MAXVEL = 20.83
   STEPGEN_MAXACCEL = 12.50
   P = 1000.0
   I = 0.0
   D = 0.0
   FF0 = 0.0
   FF1 = 1.0
   FF2 = 0.0
   BIAS = 0.0
   DEADBAND = 0.0
   MAX_OUTPUT = 0.0
   # these are in nanoseconds
   DIRSETUP   = 10000
   DIRHOLD    = 1500
   STEPLEN    = 7000
   STEPSPACE  = 500
   STEP_SCALE = 200.0
   MIN_LIMIT = -200.0
   MAX_LIMIT = 300.0
   HOME_OFFSET = 0.0
   #******************************************
   
   #******************************************
   [AXIS_Y]
   MAX_VELOCITY = 20.0
   MAX_ACCELERATION = 12.0
   MIN_LIMIT = -400.0
   MAX_LIMIT = 500.0
   
   [JOINT_1]
   TYPE = LINEAR
   HOME = 0.0
   FERROR = 10.0
   MIN_FERROR = 2.0
   MAX_VELOCITY = 20.0
   MAX_ACCELERATION = 12.0
   # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
   # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
   STEPGEN_MAXVEL = 25.00
   STEPGEN_MAXACCEL = 15.00
   P = 1000.0
   I = 0.0
   D = 0.0
   FF0 = 0.0
   FF1 = 1.0
   FF2 = 0.0
   BIAS = 0.0
   DEADBAND = 0.0
   MAX_OUTPUT = 0.0
   # these are in nanoseconds
   DIRSETUP   = 10000
   DIRHOLD    = 1000
   STEPLEN    = 5000
   STEPSPACE  = 500
   STEP_SCALE = 200.0
   MIN_LIMIT = -400.0
   MAX_LIMIT = 500.0
   HOME_OFFSET = 0.0
   
   [JOINT_2]
   TYPE = LINEAR
   HOME = 0.0
   FERROR = 10.0
   MIN_FERROR = 2.0
   MAX_VELOCITY = 20.0
   MAX_ACCELERATION = 12.0
   # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
   # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
   STEPGEN_MAXVEL = 25.00
   STEPGEN_MAXACCEL = 15.00
   P = 1000.0
   I = 0.0
   D = 0.0
   FF0 = 0.0
   FF1 = 1.0
   FF2 = 0.0
   BIAS = 0.0
   DEADBAND = 0.0
   MAX_OUTPUT = 0.0
   # these are in nanoseconds
   DIRSETUP   = 10000
   DIRHOLD    = 1000
   STEPLEN    = 5000
   STEPSPACE  = 500
   STEP_SCALE = 200.0
   MIN_LIMIT = -400.0
   MAX_LIMIT = 500.0
   HOME_OFFSET = 0.0
   #******************************************
   
   #******************************************
   [AXIS_Z]
   MAX_VELOCITY = 13.3333333333
   MAX_ACCELERATION = 10.0
   MIN_LIMIT = -30.0
   MAX_LIMIT = 30.0
   
   [JOINT_3]
   TYPE = LINEAR
   HOME = 0.0
   FERROR = 10.0
   MIN_FERROR = 2.0
   MAX_VELOCITY = 13.3333333333
   MAX_ACCELERATION = 10.0
   # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
   # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
   STEPGEN_MAXVEL = 16.67
   STEPGEN_MAXACCEL = 12.50
   P = 1000.0
   I = 0.0
   D = 0.0
   FF0 = 0.0
   FF1 = 1.0
   FF2 = 0.0
   BIAS = 0.0
   DEADBAND = 0.0
   MAX_OUTPUT = 0.0
   # these are in nanoseconds
   DIRSETUP   = 10000
   DIRHOLD    = 1500
   STEPLEN    = 7000
   STEPSPACE  = 500
   STEP_SCALE = 200.0
   MIN_LIMIT = -30.0
   MAX_LIMIT = 30.0
   HOME_OFFSET = 0.0
   #******************************************
   
   [SPINDLE_0]
   P = 0.0
   I = 0.0
   D = 0.0
   FF0 = 1.0
   FF1 = 0.0
   FF2 = 0.0
   BIAS = 0.0
   DEADBAND = 0.0
   MAX_OUTPUT = 2000.0

   Code:

   # Generated by PNCconf at Sun May  9 17:06:17 2021
   # Using LinuxCNC version:  2.8
   # 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=00xxxx" 
   setp    hm2_7i96.0.watchdog.timeout_ns 5000000
   loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s
   
   addf hm2_7i96.0.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.s.do-pid-calcs       servo-thread
   addf hm2_7i96.0.write         servo-thread
   
   # external output signals
   
   # --- MACHINE-IS-ENABLED ---
   net machine-is-enabled  =>     hm2_7i96.0.ssr.00.out-02
   
   # --- DOUT-00 ---
   net dout-00  =>     hm2_7i96.0.ssr.00.out-03
   
   # --- SPINDLE-ENABLE ---
   net spindle-enable  =>     hm2_7i96.0.ssr.00.out-04
   
   
   # external input signals
   
   # --- PROBE-IN ---
   net probe-in     <=  hm2_7i96.0.gpio.010.in
   
   
   #*******************
   #  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_7i96.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
   setp   hm2_7i96.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
   setp   hm2_7i96.0.stepgen.00.steplen         [JOINT_0]STEPLEN
   setp   hm2_7i96.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
   setp   hm2_7i96.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
   setp   hm2_7i96.0.stepgen.00.step_type        0
   setp   hm2_7i96.0.stepgen.00.control-type     1
   setp   hm2_7i96.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
   setp   hm2_7i96.0.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_7i96.0.stepgen.00.velocity-cmd
   net x-pos-fb     <= hm2_7i96.0.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_7i96.0.stepgen.00.enable
   
   # ---setup home / limit switch signals---
   
   net x-home-sw     =>  joint.0.home-sw-in
   net x-neg-limit     =>  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_7i96.0.stepgen.03.dirsetup        [JOINT_1]DIRSETUP
   setp   hm2_7i96.0.stepgen.03.dirhold         [JOINT_1]DIRHOLD
   setp   hm2_7i96.0.stepgen.03.steplen         [JOINT_1]STEPLEN
   setp   hm2_7i96.0.stepgen.03.stepspace       [JOINT_1]STEPSPACE
   setp   hm2_7i96.0.stepgen.03.position-scale  [JOINT_1]STEP_SCALE
   setp   hm2_7i96.0.stepgen.03.step_type        0
   setp   hm2_7i96.0.stepgen.03.control-type     1
   setp   hm2_7i96.0.stepgen.03.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
   setp   hm2_7i96.0.stepgen.03.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_7i96.0.stepgen.03.velocity-cmd
   net y-pos-fb     <= hm2_7i96.0.stepgen.03.position-fb
   net y-pos-fb     => joint.1.motor-pos-fb
   net y-enable     <= joint.1.amp-enable-out
   net y-enable     => hm2_7i96.0.stepgen.03.enable
   
   # ---setup home / limit switch signals---
   
   net y-home-sw     =>  joint.1.home-sw-in
   net y-neg-limit     =>  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_7i96.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
   setp   hm2_7i96.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
   setp   hm2_7i96.0.stepgen.02.steplen         [JOINT_2]STEPLEN
   setp   hm2_7i96.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
   setp   hm2_7i96.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
   setp   hm2_7i96.0.stepgen.02.step_type        0
   setp   hm2_7i96.0.stepgen.02.control-type     1
   setp   hm2_7i96.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
   setp   hm2_7i96.0.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_7i96.0.stepgen.02.velocity-cmd
   net y2-pos-fb     <= hm2_7i96.0.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_7i96.0.stepgen.02.enable
   
   # ---setup home / limit switch signals---
   
   net y2-home-sw     =>  joint.2.home-sw-in
   net y2-neg-limit     =>  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_7i96.0.stepgen.01.dirsetup        [JOINT_3]DIRSETUP
   setp   hm2_7i96.0.stepgen.01.dirhold         [JOINT_3]DIRHOLD
   setp   hm2_7i96.0.stepgen.01.steplen         [JOINT_3]STEPLEN
   setp   hm2_7i96.0.stepgen.01.stepspace       [JOINT_3]STEPSPACE
   setp   hm2_7i96.0.stepgen.01.position-scale  [JOINT_3]STEP_SCALE
   setp   hm2_7i96.0.stepgen.01.step_type        0
   setp   hm2_7i96.0.stepgen.01.control-type     1
   setp   hm2_7i96.0.stepgen.01.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
   setp   hm2_7i96.0.stepgen.01.maxvel           [JOINT_3]STEPGEN_MAXVEL
   setp   hm2_7i96.0.stepgen.01.direction.invert_output   true
   
   # ---closedloop stepper signals---
   
   net z-pos-cmd    <= joint.3.motor-pos-cmd
   net z-vel-cmd    <= joint.3.vel-cmd
   net z-output     <= hm2_7i96.0.stepgen.01.velocity-cmd
   net z-pos-fb     <= hm2_7i96.0.stepgen.01.position-fb
   net z-pos-fb     => joint.3.motor-pos-fb
   net z-enable     <= joint.3.amp-enable-out
   net z-enable     => hm2_7i96.0.stepgen.01.enable
   
   # ---setup home / limit switch signals---
   
   net z-home-sw     =>  joint.3.home-sw-in
   net z-neg-limit     =>  joint.3.neg-lim-sw-in
   net z-pos-limit     =>  joint.3.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     => pid.s.command
   net spindle-vel-fb-rpm      => pid.s.feedback
   net spindle-output        <=  pid.s.output
   
   # ---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 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.2.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---
   
   net dout-00     <=  motion.digital-out-00
   #  ---estop signals---
   
   net estop-out     <=  iocontrol.0.user-enable-out
   net estop-out     =>  iocontrol.0.emc-enable-in
   
   #  ---manual tool change signals---
   
   loadusr -W hal_manualtoolchange
   net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
   net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
   net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
   net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

   Thanks
   T

   ---

2. 05-14-2021, 06:21 PM

   
   

   #2

   

   
   Registered
   

   ---

   Re: Joint xx following error!
   

   [QUOTE=azant;2450884]Hi All

   I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx[/u].

   this explains better than I can.
   http://www.vdwalle.com/Norte/LinuxCNC%20Following%20Error.htm[/URL]

   ---

3. 05-14-2021, 10:18 PM

   
   

   #3

   

   
   Registered
   

   ---

   Re: Joint xx following error!
   

   [QUOTE=jschmitt;2451730]

   Originally Posted by azant
   

   Hi All

   I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx[/u].

   this explains better than I can.
   http://www.vdwalle.com/Norte/LinuxCNC%20Following%20Error.htm[/URL]

   That’s a very strange error especially since the following error limits are so wide
   I recall this from the LinuxCNC forum. I could not duplicate your issue on my test
   machine using your hal/ini files. What computer is LinuxCNC running on?
   What kind of Ethernet interface is it using (motherboard, addon, etc)

   It may require plotting the following error with halscope to determine what is happening.
   The only thing I can think of off hand that would cause large following errors would be some large issue
   with the host PCs timebase or corrupted data (but corrupted in the 7I96 or PC, since Ethernet data is all checked)

   ---

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

# estop
loadrt estop_latch
loadrt not

addf estop-latch.0 servo-thread
addf not.0 servo-thread

net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
net inv_fault not.0.in <= picnc.ready
net remote-estop estop-latch.0.fault-in <= not.0.out

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