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docs/archive/UPDATING
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docs/archive/UPDATING
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NOTA DE TRADUCCION:
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ESTE DOCUMENTO SE REFIERE A VERSIONES ANTIGUAS
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NO PROCEDE TRADUCCION
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This file describes needed steps to update configurations from 2.2.x to 2.3
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1. Classicladder changes
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Default input and output pins change from 50 to 15 each.
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s32 now uses %IW0 for in and %QW0 for out.
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2. RS274NGC_STARTUP_CODE should be in the [RS274NGC] section.
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This file describes needed steps to update configurations to 2.2.x
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=============================================================================
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-----------------------------------------------------------------------------
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I. Upgrading configurations from 2.1.x to 2.2.x
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-----------------------------------------------------------------------------
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1. m5i20 encoder changes
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The m5i20 "encoder" pins now match the HAL canonical encoder interface.
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The -cnt-latch, -pos-latch, -idx-latch, and -latch-index pins have been
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removed. The standard encoder pin -index-enable has been added. The behavior
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of the -position and -count pins now match the HAL canonical interface.
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2. pluto_servo changes
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Most pins and parameters on pluto-servo were changed to use dots instead of
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dashes, in accordance with the HAL canonical naming conventions. For example,
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'pluto-servo.encoder-0-velocity' has been renamed to
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'pluto-servo.encoder.0.velocity' and 'pluto-servo.dout-00-invert' has been
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renamed to 'pluto-servo.dout.00-invert'.
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3. stepgen and freqgen changes
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The units for steplen, stepspace, dirsetup, and dirhold have been changed
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from BASE_PERIOD units to nanosecond units. Internally, the values given are
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rounded up to a multiple of BASE_PERIOD, and at runtime the parameters are
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changed to display the rounded up value.
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Freqgen has been deprecated and replaced by stepgen, which now has an
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additional command line argument 'ctrl_mode', which can be used to specify
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position mode (the default) or velocity mode. Position mode is the default,
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and works the same as before. Velocity mode accepts a velocity command, and
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works like freqgen.
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In step modes 0 and 1, setting stepspace to 0 will allow "step"
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(or "up/down") to be asserted on every invocation of make-pulses. Use a
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stepspace value of 1 to signify "the smallest nonzero stepspace".
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4. double-linking of pins is now treated as an error
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halcmd and hal_link() now refuse to link an already-linked pin. This
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immediately diagnoses configuration errors of the form
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net limit-switch parport.0.pin-26-in => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in
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net home-switch parport.0.pin-26-in => axis.0.home-sw-in
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which have the effect of leaving no pin driving the limit switch inputs. If
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the "re-link" behavior is truly desired, add "unlinkp" commands before the new
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link. It is still permitted for "unlinkp" to be used on an unconnected pin.
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5. The 'counter' component is deprecated
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The 'counter' component is deprecated. For a one-phase, unidirectional counter,
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use the 'encoder' component with encoder.X.counter-mode=TRUE. The version in
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'encoder' has superior velocity estimation.
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6. Homing changes
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The homing algorithm has been changed to be "level sensitive" instead of
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"edge sensitive". This eliminates some possible "miss the switch and go to
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the end of travel" errors on machines with flakey switches. However, it will
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cause homing to fail on some machines that might have worked before. This can
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happen if the following conditions are true:
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1. The home switch does not remain on from the point that it trips till
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the end of axis travel
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2. Homing speed is high and/or decel rate is low, so that the machine
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will overshoot the switch when it hits it during homing.
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If the machine ends up on the far side of the switch during homing, it
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will stop with an error message.
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Machines that can wind up "on the far side" of the home switch are
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considered to have defective switches. If you ever attempt to home
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while on the wrong side of the switch, it will run to the end of the
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axis. There is NO possible software solution to that scenario - the
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proper solution is a home switch that remains on all the way to the end
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of the axis. With such a switch, LinuxCNC's homing algorithm will always work.
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7. connect motion.spindle-speed-in for Feed Per Revolution (G95) mode
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The new pin motion.spindle-speed-in must be connected for Feed Per Revolution
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(G95) to work. The value connected must be a revolutions per second value.
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Depending on the machine, this can be a feedback velocity from the encoder or
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a commanded velocity loopback. If using a loopback, the output value which is
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in revolutions per minute must be multiplied by .0167 with a gain component to
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convert to RPS.
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8. setp requires 2 arguments, 3 given
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Additional error checking is now done in halcmd, so that giving too many
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arguments causes an error message to be printed. In 2.1 and earlier, these
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extra arguments were ignored.
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Note that this is the number of arguments that are present after the expansion
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of inifile references, such as
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setp example.scale [AXIS_0]INPUT_SCALE
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which might expand to to
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setp example.scale 32000 0
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in this case, the fix is to modify the inifile to remove the second number "0"
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from the INPUT_SCALE. This second value is no longer used anywhere in emc2.
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9. .var file changes
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The .var file has been extended to require coordinate system offsets for
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U, V and W axes. Copy a fresh .var file. An incorrect var file leads to emc
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printing 'emc/task/emctask.cc 312: interp_error: Coordinate system index
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parameter 5220 out of range' at startup.
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-----------------------------------------------------------------------------
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II. Upgrading configurations from 2.0.x to 2.1.x
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-----------------------------------------------------------------------------
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Please review the following list if you plan to update a configuration from
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emc2.0.x to 2.1.x. It is not needed if you start with a new
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configuration based on the sample configs supplied with this version of emc2.
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1. emc.nml
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The emc.nml file has been heavily revised. Unless you made your own changes to
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emc.nml, simply make a fresh copy. If you made your own changes, then you'll
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have to apply them to emc.nml manually.
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2. kinematics
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Now a separate kinematics module must be loaded before MOTMOD, as shown below:
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core_sim.hal:
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+ loadrt trivkins
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3. spindle control
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The HAL pins for spindle control have been renamed to reflect the fact that
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they are controlled by the realtime 'motion' component, and not by the
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userspace 'iocontrol' component.
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change 'iocontrol.0.spindle-speed-out' with 'motion.spindle-speed-out'
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4. halcmd "loadusr -W" replaces wait-for-pin and sleep
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In 2.0 there was no way to wait for a userspace component to create its pins.
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The "wait-for-pin" program (which took a pin name as an argument) was added
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and then removed during the 2.1 development cycle.
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Now, the correct way to wait for a userspace component is
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"loadusr -W ...".
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This requires that the component call hal_ready() after it has created all its
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pins and is ready for use. If the executable name and the component name
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differ, use "halcmd loadusr -W -n component-name".
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5. inifile units
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Instead of specifying [AXIS_*]UNITS as a decimal number,
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specify [TRAJ]LINEAR_UNITS and [TRAJ]ANGULAR_UNITS as unit names,
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including "inch", "mm", "degree", and "radian".
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The old [AXIS_*]UNITS syntax is still supported, however.
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6. "HAL: WARNING: blocks is deprecated, please use the subcomponents generated
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by 'comp' instead"
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In emc 2.1, a new tool called "comp" makes it easy to create HAL components.
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All the items that are in the 'blocks' module have been broken into separate
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modules such as 'ddt', 'wcomp', and so on.
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No corrective action is needed at this time, because 'blocks' will still be
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present in the 2.1 series. However, it may be removed in the 2.2 series,
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and changes to HAL files will be required at that time.
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If you wish to silence this warning, then change a line like
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loadrt blocks ddt=6 wcomp=6
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to
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loadrt ddt count=6
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loadrt wcomp count=6
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7. elimination of "period" from most HAL components
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In version 2.0.x, many HAL components would accept a command line argument
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"period" (or "periodfp", or other variations on that theme). When "period" was
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specified, the component would create a realtime thread running at the
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specified period. This capability was _not_ used in normal EMC configurations;
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it was mostly used for testing.
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(In a normal EMC configuration, the servo and base periods are passed to motmod
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and it creates the threads.)
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In version 2.1, the period argument has been removed from all HAL components.
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'motmod' still creates the threads for EMC, and none of the sample
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configurations should need to be changed. For other applications such as
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testing, etc., there is now a component called "threads" which can create up
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to three threads.
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To create a thread, use
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loadrt threads name1=<name-of-thread> period1=<period-in-ns>
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To create more than one, use name2, period2, and name3, period3. By default,
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"threads" creates floating point capable threads. If you don't need floating
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point, you can specify "fp1=0" (or fp2=0 or fp3=0) to turn off floating point
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support for one or more threads. Disabling floating point support might save a
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microsecond or so, and is commonly done for the "fast" thread for software
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encoder counting and step pulse or PWM generation.
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8. elimination of s8, u8, s16, u16 HAL types
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The number of HAL types has been reduced. "newsig" commands which formerly used
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one of those types should be converted to the corresponding 32-bit type, s32 or
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u32.
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9. hal_ppmc uses ns units for setup-time, pulse-width, and pulse-space; pins
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renamed
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Instead of being specified in units of 100ns, these values (now named
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setup-time-ns, etc) are in units of 1ns.
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10. the pin axis.N.index-pulse-in has been renamed to axis.N.index-enable
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The name of the pin used for indexing (homing to index pulse) has been changed
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to be more descriptive and to match the canonical encoder interface.
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11. the meaning of the 'comp.N.hyst' parameter has changed
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In emc 2.0.x, the output of the comparator would not change until the difference
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between the inputs exceeded the hysteresis parameter, giving an effective
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hysteresis of double the parameter. Now, the output will change when the
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difference exceeds hyst/2. This more closely matches the [usual definition of
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hysteresis]. Existing users of the 'comp' block must change (double) the value
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of the 'comp.N.hyst' parameter.
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12. the connection to the lathe's spindle encoder has changed
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In the preliminary lathe threading support in 2.0 versions, a "not" block was
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needed to connect the motion controller to the spindle encoder's index-enable
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pin. This is no longer necessary (and will not work).
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