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Created February 5, 2015 00:11
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gistfile1.txt
waiting for s.axes
Waiting for component 'inihal' to become ready.emcTrajSetAxes failing: axes=1 axismask=7
.....waiting for s.axes
.....emcTrajSetAxes failing: axes=1 axismask=7
........waiting for s.axes
..emcTrajSetAxes failing: axes=1 axismask=7
..........emcTrajSetAxes failing: axes=1 axismask=7
..........emcTrajSetAxes failing: axes=1 axismask=7
...A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
Shutting down and cleaning up LinuxCNC...
.......emcTrajSetAxes failing: axes=1 axismask=7
..HAL: ERROR: exit called before init
<commandline>:0: milltask exited without becoming ready
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
_______________________________________________________________-
# #######################################
#
# HAL file for HostMot2 with 3 servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# standard components
loadrt pid num_chan=0
# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
# ################################################
# THREADS
# ################################################
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
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ########
______________________________________________________________
[HOSTMOT2]
DRIVER=hm2_eth board_ip="192.168.1.121"
BOARD=7i92
CONFIG="num_encoders=0 num_stepgens=1 sserial_port_0=20xxxxxx""
[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 = 0
[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 = tklinucnc.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 = linuxcnc.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-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[TRAJ]
AXES = 1
# 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
HOME_SEQUENCE = 1
# 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
HOME_SEQUENCE = 1
# 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
HOME_SEQUENCE = 0
# 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
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