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Forum Configuring LinuxCNC PnCConf Wizard help understanding the difference ...
Forum Configuring LinuxCNC PnCConf Wizard help understanding the difference ...
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TOPIC: help understanding the difference ...
help understanding the difference ... 26 Jul 2011 02:41 #11858
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Hello all,
With a goal of making a config with zero extraneous lines of config and/or redundant hal connections I'm trying to understand my pncconf file output and I thought by comparing to a one of the demo configs I might learn something but as it turns out there are differences that are making it confusing... - The demo config is called 5i22big and is under the Mesa servo tab - My config was 5 axes XYZA and a servo spindle and what I hoped would be nothing else (to keep things simple) ... but coolant, limits, estop and toolchanger stuff has turned up as has other bits I dont understand yet Many questions but I'll be methodical and chip away at them one by one - I'll paste one axis of info from each config where I have put the similar stuff I understand at the top of each and the stuff I dont get at the bottom Firstly from pncconf (you can tell from the alias function replacing the '0' with 'x'): #*******************
# 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 hm2_5i22.0.pwmgen.01.output-type 1
setp hm2_5i22.0.pwmgen.01.scale [AXIS_0]OUTPUT_SCALE
setp hm2_5i22.0.encoder.01.counter-mode 0
setp hm2_5i22.0.encoder.01.filter 1
setp hm2_5i22.0.encoder.01.index-invert 0
setp hm2_5i22.0.encoder.01.index-mask 0
setp hm2_5i22.0.encoder.01.index-mask-invert 0
setp hm2_5i22.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
net x-index-enable <=> pid.x.index-enable
net xenable => pid.x.enable
net xoutput pid.x.output => hm2_5i22.0.pwmgen.01.value
net xpos-cmd axis.0.motor-pos-cmd => pid.x.command
net xenable axis.0.amp-enable-out => hm2_5i22.0.pwmgen.01.enable
net xpos-fb <= hm2_5i22.0.encoder.01.position
net xpos-fb => pid.x.feedback
net xpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i22.0.encoder.01.index-enable
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-inThen from the demo config: # ################
# X [0] Axis
# ################
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
net emcmot.00.enable <= axis.0.amp-enable-out
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.valueLots of it is the same - but from the encoder scale down the code unique - Is it doing the same thing ? something different ?? Also one refers to encoder.00 and the other encoder.01 - egad (?) The links to the .ini files are working - and attached is the .ini from the pncconf file in case its helpful ... Trying to nail this down ... Any help appreciated This attachment is hidden for guests. Please log in or register to see it.
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Re:help understanding the difference ... 26 Jul 2011 05:30 #11870
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Re:help understanding the difference ... 26 Jul 2011 07:23 #11871
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Re:help understanding the difference ... 26 Jul 2011 11:15 #11879
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Re:help understanding the difference ... 26 Jul 2011 11:24 #11880
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1:1 wrote:
Also I dont recall seeing "<=>" in the hal tutorial - it means they mirror each other ? That one is in the manual  and to get the basic idea how to read a HAL file read this short section.www.linuxcnc.org/docview/html/hal_basic_hal.html John |
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Re:help understanding the difference ... 26 Jul 2011 12:57 #11882
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Which manual/tutorial/webpage ?
"<=>" doesn't get any hits on a string search on the manuals I have That basic HAL page is new to me also - so many different places to get all the info... so for example: net x-index-enable <=> pid.x.index-enable
net x-index-enable axis.0.index-enable <=> hm2_5i22.0.encoder.01.index-enablea signal called x-index-enable has been made - but the inequalities on both sides mean ?? that signal is then wha ???  |
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Moderators: cmorley