setting up EMC

First off a big thank you for any and all help.
Terry Twombly
ttwombly@...

Ok forget about setting up my mill with EMC now, I just want to have
EMC make some steppers move. What I did this weekend is copied the
simulation .ini into the EMC .ini changed a few things like, (realtime
which is what I want) ( freqmode.0, I believe I need this so I can
hook up my linear Encoders) and I believe to only other thing, I had
to change the, ENABLE_POLARITY = 0,
MIN_LIMIT_SWITCH_POLARITY =0.
MAX_LIMIT_SWITCH_POLARITY = 0, HOME_SWITCH_POLARITY = 0. I have the
computer hooked up to a step, direction controller that I made with
three stepper motors, I have nothing else hooked up. I am trying to
get EMC to talk to the steppers and make them move, then I will come
back and reset the EMC.ini for the mill.

My system is a cheapo tower and board with a 266 AMD and 30M ram
memory,with BDI working.

I entered into the console (konsole). I can not go anywhere clicking
on the icon on the desk top and I do hope that we can fix that to. So
I used the konsole and hear is what is happening.

FROM ROOT and it only works from root It will not work from a konsole
from the desk top.

[root@localhost /root]# cd /usr/local/emc
[root@localhost emc]# ./emc.run
Current platform is linux_2_2_18
Current real-time platform is rtlinux_3_0
inivar = plat/linux_2_2_18/bin/inivar
INIFILE = emc.ini
starting emc...
starting EMC MOTION PROGRAM ? freqmode.0?done
VERSION: 1.2
MACHAINE: TERRYS CONTROLLER
Starting EMC SEVER PROGRAME ? emcsvr?done
Running EMC DISPLAY PRORGAMR ? tkemc
Issuing EMC_TASK_SET_TERM_COND ? (+222,16, +0, +2, )
Issuing EMC_TRAJ_SET_origin -- ( +224,+60,
+0,0.000079,0.000000,0.000000,0.000000,0.000000,0.000000)
Issuing EMC_TASK_MODE ? (+504, _16, +2,g21,)
EmcTaskPlanExecute(g21) returned 0
Issuing EMC_TASK_PLAN_EXECUTE -- (+504, +16, +3, +1,)
EmcTaskPlanClose() called
Outgoing motion id is ?2
Issuing EMC_TASK_PLAN_SYNCH -- (+516, _12, +0,)
EmcTaskPlanSynch () returned 0
Issuing EMC_TRAJ_SET_SCALE --- (+209,+20, +4,1.000000,)

With this I get a nice control panel with Big YELLOW NUMBERS then I
try to use the control to make motion by, going to estop reset,estop
off then click it again and machine on then spindle forward then break
off then I hit the + button and I get Error: Axis following error.

In the (Terminal box) below Issuing EMC_TRAJ_SET_SCALE --- (+209,+20,
+4,1.000000,) are new lines of code as seen below.

Command (EMC_AXIS_INCR_JOG) cannot be executed until the machine is
out of estop and turned on
Issuing EMC_TASK_SET_SATE ? (+505,+16, +7, +2,)
Issuing EMC_TASK_SET_SATE ? (+505,+16, +8, +4,)
Issuing EMC_TASK_SET_SATE ? (+125,+32, +9, +0,1.000000,1.000000,)
Axis 0 following error
Minimilltaskinf.cc 962: Error on axis 0.
EmcTaskPlanClose() called

My EMC.ini looks like
Version = revision:1.2 $

Machine = Terrys controller

NML_file = emc.nml

Debug = 0x7FFFFFFF
RS274NGC_STARTUP_CODE = G-20

REALTIME

DISPLAY tkemc

CYCLE_TIME 0.200

POSITION_OFFSET = ACTUAL

MAX_FEED = 1.2

[TASK]

PLAT= REALTIME

TASK = minmilltask

CYDLE_TIME 0.100

[ EMCMOT ]

PLAT = REALTIME

EMCMOT = freqmode.0 ( I want to set this up with encoders and was
told that it had to be in freqmode.0 to do this, at the time of trials
I do not have the encoder card in this computer.)

Shmen = 100

SHEM_BASE-ADDRESS = 0X300

PARPORT_IO_ADDRESS = 0X378

COM_TIMEOUT + 0.100

; PERIOD = 0.0005 ( I HAVE NRVER SEEN ANYTHING TO SAY I SHHOULD
DO ANYTHING WITH THIS)

AXIS =3
COOORDINATES = XYZ
HOME = 000
LINEAR_UNITS = 0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.060
DEFAULT_VELOCITY = 1.2
DEFAULT_ACCELERATION = 20.0
MAX_ACCELERATION = 20.0
PROBE_INDEX = 0
PROBE_POLARITY = 1


; First axis
[AXIS_0]

TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = 1.2
P = 1000.000
I = 0.000
D = 0.0300
FF0 = 0.000
FF1 = 0.077
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.000
CYCLE_TIME = 0.03000
INPUT_SCALE = 1000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 1.000
HOMING_VEL = 0.1
HOME_OFFSET = 0.0
ENABLE_POLARITY = 0
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 0
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096

THIS IS WHAT I HAVE FOR ALL THREE AXISES