EMC questions

Hi, I am trying to configure EMC in order to get maximimun speed in
rapids with my hardware.
So on, this is my configuration Soft and Hard.

Soft
EMC 2.1.1.16, rtlinux-3.0 and Red Hat 6.2 (kernel 2.2.18),
Kernel is patched and EMC is compiled without problems, It works well.
PC is pentium II 233 with 32 Mgas de RAM
Hard
Chopper drivers with L297 L298 combo, wiht current idle
reduction (SD1V1.2)
Parallel interface DB1V1.2
Hard was bougth from Deans Hobby CNC
(http://plaza.powersurfr.com/deanc/)

Below is the ini file that I am triying to make work.
; EMC controller parameters for switchless minimill.
; See genedit.ini for full descriptions and alternate values

; General section ----------------------------------------------------
---------
[EMC]
VERSION = $Revision: 1.4.1
MACHINE = Stepper Minimill
NML_FILE = emc.nml
DEBUG = 0x7FFFFFFF

; Sections for display options ---------------------------------------
---------
[DISPLAY]
PLAT = nonrealtime
DISPLAY = tkemc
CYCLE_TIME = 0.100
HELP_FILE = doc/help.txt
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
PROGRAM_PREFIX = programs/

; Task controller section --------------------------------------------
---------
[TASK]
PLAT = nonrealtime
TASK = minimilltask
CYCLE_TIME = 0.010

; Part program interpreter section -----------------------------------
---------
[RS274NGC]
PARAMETER_FILE = emc.var

; Motion control section ---------------------------------------------
---------
[EMCMOT]
PLAT = realtime
EMCMOT = steppermod.o
SHMEM_KEY = 100
SHMEM_BASE_ADDRESS = 0x3A00000
PARPORT_IO_ADDRESS = 0x378
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
;PERIOD = 0.00003

; Trajectory planner section -----------------------------------------
---------
[TRAJ]

AXES = 3
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = 1.000000
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.0
MAX_VELOCITY = 66.0
DEFAULT_ACCELERATION = 20.0
MAX_ACCELERATION = 20.0
PROBE_INDEX = 0
PROBE_POLARITY = 1

; Axes sections ------------------------------------------------------
---------

; First axis
[AXIS_0]

TYPE = LINEAR
UNITS = 1.000000
HOME = 0.000
MAX_VELOCITY = 22
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.0005
CYCLE_TIME = 0.001
INPUT_SCALE = 72.0 0
OUTPUT_SCALE = 72.000 -0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL = 0.1
HOME_OFFSET = 0.10
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1

; Second axis
[AXIS_1]

TYPE = LINEAR
UNITS = 1.000000
HOME = 0.000
MAX_VELOCITY = 20
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.0005
CYCLE_TIME = 0.001000
INPUT_SCALE = 72 0
OUTPUT_SCALE = 72.000 -0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MIN_OUTPUT = -1000
MAX_OUTPUT = 1000
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL = 0.1
HOME_OFFSET = 0.10
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1


; Third axis
[AXIS_2]

TYPE = LINEAR
UNITS = 1.000000
HOME = 0.000
MAX_VELOCITY = 1.2
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.0005
CYCLE_TIME = 0.001000
INPUT_SCALE = 120 0
OUTPUT_SCALE = 120.000 -0.000
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL = 0.1
HOME_OFFSET = 0.10
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1

; section for main IO controller parameters --------------------------
---------
[EMCIO]
PLAT = nonrealtime
EMCIO = minimillio
CYCLE_TIME = 0.100
TOOL_TABLE = emc.tbl


The problem is when I put the machine on in manual mode.
Click over axis 0 Click over home, axis X move to 0.0000 and numbers
change colour to green, the same process is made over axis Y and axis
Z.
Now I make a jog in clockwise over X, the movement is OK
The same over Y and Z the movement is OK.
----
Now I make a jog in anticlockwise the movement is wrong and machine
put in [estop reset], the same for Y axis but Z axis work OK.

The only different between axis is input and output scale.
X and Y axis are 72 ( 5mm per Turn 360 steps per turn in half mode)
360/5 =72
Z axis is ( 3mm per Turn 360 steps per turn in half mode)
360/3=120
Velocity is not a issue beacause I don´t switch on the amplifiers.
I want to have EMC oK and then try the whole system.

Is There any limitation in input and ouput scale or is an error in my
ini file ? Some help is welcome


The second question is, I have tried freqmod too. I have noticed a
distinct behaivour than steppermod about parallel port.
Freqmod is always switch on switch off the step signal, the amplifier
is looking the step signal if during 60s, EMC don´t send any step
reduce current to 30%, but freqmod looks like always is sending steps.
Have Somebody had trouble with this scenario or is a mistake mine ?


Sorry for long post.

Thanks in advance