error bij opstarten linuxcnc in 2.8

[Sven]

Wil Bart best doen, maar die heeft eerst nog even een huis te verbouwen, verwachtingen te managen bij de rondborstige directie, en de werkgever tevreden te houden (nouja, voornamelijk de klanten). Komt wel, maar niet binnen nu en een week of 2-3.

Mijn verwachtingen had je goed gemanaged hoor ;)

[thebigbozz]

Sven,

In welke hal file staan de halui.spindle.stop en halui.spindle.stop pins?
Ik heb toch sterk het idee dat deze pins te laat worden aangemaakt of xhc-hb04.tcl te vroeg word aangeroepen.
Misschien je INI even posten dan kunnen we wat minder uit de heup schieten.

Mark

[Sven]

Ik heb geprobeerd de bestanden te doorzoeken maar de enige referentie die ik vond is in de .ini zelf, maar de hele map voor deze configuratie is wat rommelig geworden door de jaren heen.

Hier is de inhoud van de .ini:

Code: Selecteer alles

# This config file was created 2020-10-13 13:48:58.500557 by the update_ini script
# The original config files may be found in the /home/sven/linuxcnc/configs/Alu-XYZA/Alu-XYZA.old directory

# Generated by Dabit en Sven

# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = Alu-XYZA
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = kate
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 
MAX_FEED_OVERRIDE = 2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 2
DEFAULT_LINEAR_VELOCITY = 75
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 100.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 5600.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
PROGRAM_PREFIX = /home/sven/MEGAsync/cnc/cncmanufacturing
#PROGRAM_PREFIX = /home/sven/Dropbox/cnc/cncmanufacturing/Buikbak/
INCREMENTS = 1mm .5mm .1mm .05mm .01mm 
PYVCP = custompanel.xml
##EMBED_TAB_NAME = Camera
##EMBED_TAB_LOCATION = ntb_preview
##EMBED_TAB_COMMAND = mplayer -wid {XID} tv:// -vf rectangle=-1:2:-1:239,rectangle=2:-1:319:-1

[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

[RS274NGC]

PARAMETER_FILE = linuxcnc.var
USER_M_PATH = ../../m_codes
SUBROUTINE_PATH = .
# BvH: sta INI file parameters lezen in G-code toe, en remap M6 code
REMAP = M6 modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog

#BvH: lokatie van de wissellokatie in !!machine!! coordinaten.
# Noot: X en Y worden niet gebruiktRETAIN_G43 = 0
INI_VARS = 1
HAL_PIN_VARS = 1

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
# HALFILE = my-mill.hal
HALFILE = Alu-XYZA.hal
HALFILE = LIB:xhc-hb04.tcl
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
# add halui MDI commands here (max 64) 
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=(debug, example: mdi-01)
MDI_COMMAND=(debug, example: mdi-02)
#03 M110: clears notifications
MDI_COMMAND=M110
MDI_COMMAND=(debug, example: mdi-04)
MDI_COMMAND=(debug, example: mdi-05)
MDI_COMMAND=(debug, example: mdi-06)
#07 M101: example print to stdout
MDI_COMMAND=M101
MDI_COMMAND=(debug, example: mdi-08)
MDI_COMMAND=(debug, example: mdi-09)
MDI_COMMAND=(debug, example: mdi-10)
MDI_COMMAND=(debug, example: mdi-11)
#12
MDI_COMMAND= G10 L20 P0 X0
#13
MDI_COMMAND= G10 L20 P0 Y0
#14
MDI_COMMAND= G10 L20 P0 Z0
#15
MDI_COMMAND= G10 L20 P0 A0
#MDI_COMMAND= o101 call

[TRAJ]

COORDINATES = XYZA
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 80.00
MAX_LINEAR_VELOCITY = 100.00
MAX_LINEAR_ACCELERATION = 400.0
DEFAULT_ACCELERATION = 400
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl


[KINS]
KINEMATICS = trivkins coordinates=XYZA
#This is a best-guess at the number of joints, it should be checked
JOINTS = 4

[AXIS_X]
MIN_LIMIT = 0.0
MAX_LIMIT = 1300.0
MAX_VELOCITY = 170
MAX_ACCELERATION = 400.0

[JOINT_0]
TYPE = LINEAR
HOME = 725.0
MAX_VELOCITY = 170
STEPGEN_MAXVEL = 220
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 500.0
DIRSETUP   = 20000
DIRHOLD    = 20000
STEPLEN    = 5000
STEPSPACE  = 5000
SCALE = -180.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = 0.0
MAX_LIMIT = 1300.0
# MAX_LIMIT = 1325.0
HOME_OFFSET = 719.832000
HOME_SEARCH_VEL = 15.000
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 1

[AXIS_Y]
MIN_LIMIT = -650.0
MAX_LIMIT = 650.0
MAX_VELOCITY = 100
MAX_ACCELERATION = 400.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 100
STEPGEN_MAXVEL = 220
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 500.0
DIRSETUP   = 20000
DIRHOLD    = 20000
STEPLEN    = 5000
STEPSPACE  = 5000
SCALE = -180.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -650.0
MAX_LIMIT = 650.0
HOME_OFFSET = -8.611000
# HOME_OFFSET = -6.689000
# offset aangepast met 1.922
HOME_SEARCH_VEL = 15.000
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -260
MAX_LIMIT = 0
MAX_VELOCITY = 170
MAX_ACCELERATION = 400.0

[JOINT_2]
TYPE = LINEAR
HOME = -50
MAX_VELOCITY = 170
STEPGEN_MAXVEL = 220
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 500.0
DIRSETUP   = 20000
DIRHOLD    = 20000
STEPLEN    = 5000
STEPSPACE  = 5000
SCALE = 180.0
FERROR = 1
MIN_FERROR = .25
MAX_LIMIT = 0
MIN_LIMIT = -260
HOME_OFFSET = -49.00
#BvH: oude waarden
#MIN_LIMIT = 20.0
#MAX_LIMIT = 280.0
#HOME_OFFSET = 231.000000
HOME_SEARCH_VEL = 15.0000
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 0

[AXIS_A]
MIN_LIMIT = -999999999999999999999999.0
MAX_LIMIT = 999999999999999999999999.0
MAX_VELOCITY = 9000.0
MAX_ACCELERATION = 7200.0

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 9000.0
STEPGEN_MAXVEL = 12000.0
MAX_ACCELERATION = 7200.0
STEPGEN_MAXACCEL = 50000.0
DIRSETUP   = 20000
DIRHOLD    = 20000
STEPLEN    = 2000
STEPSPACE  = 2000
#BvH: VEL_xx are limits in rpm/sec instead of units/min, thus divided by 60
VEL_MAX_ACCELERATION = 1200.0
VEL_MAX_VELOCITY = 108333.0
#BvH: 1600 stappen/omw, 1:1 overbrenging -> scale=1600/360=4.4444444
SCALE = 4.444444444444
FERROR = 10000
MIN_FERROR = 1000
MIN_LIMIT = -999999999999999999999999.0
MAX_LIMIT = 999999999999999999999999.0
HOME_USE_INDEX NO
HOME_LATCH_VEL 0
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 1
[PYTHON]
TOPLEVEL=/home/sven/linuxcnc/configs/Alu-XYZA/python/toplevel.py
PATH_APPEND=/home/sven/linuxcnc/configs/Alu-XYZA/python

[CHANGE_POSITION]
X = 1300
Y = -100
Z = 0

# BvH: Lokatie van de toolsetter zelf (het hart)

[TOOLSENSOR]
X = 1300
Y = 600
# max probing distance for given tool
MAXPROBE = -50
# trigger point from spindle nose in absolute coordinates, F50
ZABS_DNMOVE = -175.140
ZABS_UPMOVE = -175.109
SEARCHVEL = 600
PROBEVEL = 50

[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
#         from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z a
# lowpass settings:
# coef: slows rate of change of output,  range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 1
# jogmode normal(default) or vnormal or plus-minus
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 1
# require_pendant = no: create xhc-hb04 hal pins when pendant not connecte
#                       at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = mm
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels = 50 50 500 600

[APPLICATIONS]
#APP = xhc-hb04-accels
APP = monitor-xhc-hb04

[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
#        controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:

goto-zero   = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""

start-pause = std_start_pause
rewind      = halui.program.step
# probe-input for simulating a probe:
#probe-z     = motion.probe-input
macro-3     = halui.mdi-command-03

half        = halui.spindle.stop
# synthesized per-axis buttons for half button:
half-x      = ""
half-y      = ""
half-z      = ""
half-a      = ""

zero        = ""
# synthesized per-axis buttons for zero button:
zero-x      = halui.mdi-command-12
zero-y      = halui.mdi-command-13
zero-z      = halui.mdi-command-14
zero-a      = halui.mdi-command-15

safe-z      = halui.mdi-command-10
# in this sim, home-all only works first time, hold down till finished:
home        = halui.home-all
macro-1     = halui.mdi-command-01
macro-2     = halui.mdi-command-02
spindle     = halui.spindle.start
step        = xhc-hb04.stepsize-up
mode        = ""
macro-6     = halui.mdi-command-06
macro-7     = halui.mdi-command-07
stop        = halui.program.stop
reset       = halui.estop.activate

En de inhoud van de .hal:

Code: Selecteer alles

# BvH 5 april 2017: functionaliteit toegevoegd voor continu draaien A-as.
# Dit is gedaan door een 'offset' component tussen motion en stepgen.3 te plaatsen. De offset komt uit een integrator welke de positie accumuleert.
# Om aan de acceleratielimieten te voldoen gaat de input van de integrator via een limit2 component

# BvH 21 maart 2018: conversie naar Mesa 5i25+7i76

loadrt [KINS]KINEMATICS
#autoconverted  trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
loadrt hostmot2
loadrt hm2_pci config="num_encoders=1 num_stepgens=5 sserial_port_0=0XXX"
setp    hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt offset names=a_offset
loadrt integ names=a_integ
loadrt limit2 names=a_limit
loadrt debounce cfg=1
loadrt lut5  names=estop-and

addf hm2_5i25.0.read         	servo-thread
addf motion-command-handler 	servo-thread
addf motion-controller 		servo-thread
addf a_offset.update-output	servo-thread
addf a_offset.update-feedback	servo-thread
addf a_integ 			servo-thread
addf a_limit 			servo-thread
addf debounce.0 		servo-thread
addf estop-and			servo-thread
addf hm2_5i25.0.write        	servo-thread

net spindle-cmd-rpm     <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps     <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed    => spindle.0.at-speed

# BvH: Homeswitch X -> 7i76 input 7, Homeswitch Y -> 7i76 input 6, Homeswitch Z -> 7i76 input 5
net home-x          <= hm2_5i25.0.7i76.0.0.input-07-not
net home-y          <= hm2_5i25.0.7i76.0.0.input-06-not
net home-z          <= hm2_5i25.0.7i76.0.0.input-05-not

# BvH: toolsetter switch op 7i76 input 8, overtravel op 7i76 input 9
# BvH: 2017-10-05: added debouncer for noisy probe input signal
setp debounce.0.delay 3
net toolsetter-debounce hm2_5i25.0.7i76.0.0.input-08-not => debounce.0.0.in
net toolsetter debounce.0.0.out => motion.probe-input


# BvH: stepgen 00: X0, stepgen 01: X1
setp   hm2_5i25.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [JOINT_0]SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     0
setp   hm2_5i25.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL
setp   hm2_5i25.0.stepgen.01.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_5i25.0.stepgen.01.dirhold         [JOINT_0]DIRHOLD
setp   hm2_5i25.0.stepgen.01.steplen         [JOINT_0]STEPLEN
setp   hm2_5i25.0.stepgen.01.stepspace       [JOINT_0]STEPSPACE
setp   hm2_5i25.0.stepgen.01.position-scale  [JOINT_0]SCALE
setp   hm2_5i25.0.stepgen.01.step_type        0
setp   hm2_5i25.0.stepgen.01.control-type     0
setp   hm2_5i25.0.stepgen.01.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.01.maxvel           [JOINT_0]STEPGEN_MAXVEL

net xpos-cmd joint.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd => hm2_5i25.0.stepgen.01.position-cmd
net xpos-fb hm2_5i25.0.stepgen.00.position-fb => joint.0.motor-pos-fb
net xenable joint.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable => hm2_5i25.0.stepgen.01.enable
net home-x => joint.0.home-sw-in

# BvH: stepgen 02: Y
setp   hm2_5i25.0.stepgen.02.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_5i25.0.stepgen.02.dirhold         [JOINT_1]DIRHOLD
setp   hm2_5i25.0.stepgen.02.steplen         [JOINT_1]STEPLEN
setp   hm2_5i25.0.stepgen.02.stepspace       [JOINT_1]STEPSPACE
setp   hm2_5i25.0.stepgen.02.position-scale  [JOINT_1]SCALE
setp   hm2_5i25.0.stepgen.02.step_type        0
setp   hm2_5i25.0.stepgen.02.control-type     0
setp   hm2_5i25.0.stepgen.02.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.02.maxvel           [JOINT_1]STEPGEN_MAXVEL

net ypos-cmd joint.1.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
net ypos-fb hm2_5i25.0.stepgen.02.position-fb => joint.1.motor-pos-fb
net yenable joint.1.amp-enable-out => hm2_5i25.0.stepgen.02.enable
net home-y => joint.1.home-sw-in

# BvH: stepgen 03: Z
setp   hm2_5i25.0.stepgen.03.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_5i25.0.stepgen.03.dirhold         [JOINT_2]DIRHOLD
setp   hm2_5i25.0.stepgen.03.steplen         [JOINT_2]STEPLEN
setp   hm2_5i25.0.stepgen.03.stepspace       [JOINT_2]STEPSPACE
setp   hm2_5i25.0.stepgen.03.position-scale  [JOINT_2]SCALE
setp   hm2_5i25.0.stepgen.03.step_type        0
setp   hm2_5i25.0.stepgen.03.control-type     0
setp   hm2_5i25.0.stepgen.03.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.03.maxvel           [JOINT_2]STEPGEN_MAXVEL

net zpos-cmd joint.2.motor-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd
net zpos-fb hm2_5i25.0.stepgen.03.position-fb => joint.2.motor-pos-fb
net zenable joint.2.amp-enable-out => hm2_5i25.0.stepgen.03.enable
net home-z => joint.2.home-sw-in

# BvH: stepgen 04: A
setp   hm2_5i25.0.stepgen.04.dirsetup        [JOINT_3]DIRSETUP
setp   hm2_5i25.0.stepgen.04.dirhold         [JOINT_3]DIRHOLD
setp   hm2_5i25.0.stepgen.04.steplen         [JOINT_3]STEPLEN
setp   hm2_5i25.0.stepgen.04.stepspace       [JOINT_3]STEPSPACE
setp   hm2_5i25.0.stepgen.04.position-scale  [JOINT_3]SCALE
setp   hm2_5i25.0.stepgen.04.step_type        0
setp   hm2_5i25.0.stepgen.04.control-type     0
setp   hm2_5i25.0.stepgen.04.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.04.maxvel           [JOINT_3]STEPGEN_MAXVEL

net apos-cmd joint.3.motor-pos-cmd => a_offset.in
net apos_motorcmd a_offset.out => hm2_5i25.0.stepgen.04.position-cmd
net apos_motorfb hm2_5i25.0.stepgen.04.position-fb => a_offset.fb-in
net apos-fb a_offset.fb-out => joint.3.motor-pos-fb

setp a_limit.maxv [JOINT_3]VEL_MAX_ACCELERATION
setp a_limit.max [JOINT_3]VEL_MAX_VELOCITY
# BvH: rpm -> degrees/min
setp a_integ.gain 6.0
net vel-integ-in a_limit.out => a_integ.in
net vel-integ-out a_integ.out => a_offset.offset
net aenable joint.3.amp-enable-out => hm2_5i25.0.stepgen.04.enable

# BvH: EStop chain. Dit is een logische AND van de signalen:
# - noodstop input, op input 4 van de 7i76 (NC naar Vfield, 1 bij vrijgave)
# - Toolsetter overtravel op input 9 van de 7i76 (NC naar Vfield, 1 in rust)
# - Drive alarm op input 10 van de 7i76 (4 drives in serie, contacten NC)
setp estop-and.function 0x80000000

net estop-sw hm2_5i25.0.7i76.0.0.input-04 => estop-and.in-0
net overtravel-sw hm2_5i25.0.7i76.0.0.input-09 => estop-and.in-1
net drive-alarm hm2_5i25.0.7i76.0.0.input-10 => estop-and.in-2
setp estop-and.in-3 true
setp estop-and.in-4 true
net estop-anded estop-and.out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed 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

Eventueel kan ik de hele config map naar je mailen.