add delay

error_halrun.log

@@ -0,0 +1,126 @@
+bartool@debian:~/Public/linuxcnc-modbus$ halrun -I -f vfd_test.hal 
+Waiting for component 'threads' to become ready....Waited 3 seconds for master.  giving up.
+Note: Using POSIX realtime
+.
+While waiting for 'threads', component '__servo-thread' loaded.
+Did you specify the correct name via 'loadusr -Wn'?
+mb2hal parse_common_section DEBUG: [MB2HAL_INIT] [INIT_DEBUG] [3]
+mb2hal parse_common_section DEBUG: [MB2HAL_INIT] [VERSION] [1001]
+vfd parse_common_section DEBUG: [MB2HAL_INIT] [HAL_MODULE_NAME] [vfd]
+vfd parse_common_section DEBUG: [MB2HAL_INIT] [SLOWDOWN] [0.000]
+vfd parse_common_section DEBUG: [MB2HAL_INIT] [TOTAL_TRANSACTIONS] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [FIRST_ELEMENT] [512]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [NELEMENTS] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MAX_UPDATE_RATE] [10.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_TX_CODE] [fnct_06_write_single_register] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [HAL_TX_NAME] [control]
+vfd parse_ini_file OK: parse_transaction_section 0 OK
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [FIRST_ELEMENT] [513]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [NELEMENTS] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MAX_UPDATE_RATE] [10.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_TX_CODE] [fnct_06_write_single_register] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [HAL_TX_NAME] [speed]
+vfd parse_ini_file OK: parse_transaction_section 1 OK
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [FIRST_ELEMENT] [528]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [NELEMENTS] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MAX_UPDATE_RATE] [10.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_TX_CODE] [fnct_03_read_holding_registers] [2]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [HAL_TX_NAME] [status]
+vfd parse_ini_file OK: parse_transaction_section 2 OK
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [FIRST_ELEMENT] [544]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [PIN_NAMES] [freq_out,freq_set,current,rpm]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [NELEMENTS] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MAX_UPDATE_RATE] [5.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_TX_CODE] [fnct_03_read_holding_registers] [2]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [HAL_TX_NAME] [metrics]
+vfd parse_ini_file OK: parse_transaction_section 3 OK
+vfd main OK: parse_ini_file done OK
+vfd init_mb_links DEBUG: LINK 0 (RTU) link_type[0] device[/dev/ttyUSB0] baud[9600] data[8] parity[N] stop[1] fd[-1]
+vfd main OK: init_gbl.mb_link done OK
+vfd init_mb_tx DEBUG: MB_TX 0 lk_n[0] tx_n[0] cfg_dbg[1] lk_dbg[0] t_inc[0.100] nxt_t[0.000]
+vfd init_mb_tx DEBUG: MB_TX 1 lk_n[0] tx_n[1] cfg_dbg[1] lk_dbg[0] t_inc[0.100] nxt_t[0.000]
+vfd init_mb_tx DEBUG: MB_TX 2 lk_n[0] tx_n[2] cfg_dbg[1] lk_dbg[0] t_inc[0.100] nxt_t[0.000]
+vfd init_mb_tx DEBUG: MB_TX 3 lk_n[0] tx_n[3] cfg_dbg[1] lk_dbg[0] t_inc[0.200] nxt_t[0.000]
+vfd main OK: init_gbl.mb_tx done OK
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [0] pin_name [vfd.control.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [0] pin_name [vfd.control.00]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [1] pin_name [vfd.speed.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [1] pin_name [vfd.speed.00]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [2] pin_name [vfd.status.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [2] pin_name [vfd.status.00]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.freq_out]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.freq_set]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.current]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.rpm]
+vfd main OK: HAL components created OK
+vfd main OK: Link thread loop and logic 0 created OK
+vfd main OK: vfd is running
+Waiting for component 'mb2hal' to become ready.
+While waiting for 'mb2hal', component 'vfd' loaded.
+Did you specify the correct name via 'loadusr -Wn'?vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+........................vfd fnct_03_read_holding_registers ERR: mb_tx[3] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[3] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+.................vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+........vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[2]
+.....vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+.......vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+....................vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+.....vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+.........vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[2]
+........vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+..............vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]

error_halrun2.log

@@ -0,0 +1,138 @@
+bartool@debian:~/Public/linuxcnc-modbus$ halrun -I -f vfd_test.hal 
+Note: Using POSIX realtime
+mb2hal parse_common_section DEBUG: [MB2HAL_INIT] [INIT_DEBUG] [3]
+mb2hal parse_common_section DEBUG: [MB2HAL_INIT] [VERSION] [1001]
+vfd parse_common_section DEBUG: [MB2HAL_INIT] [HAL_MODULE_NAME] [vfd]
+vfd parse_common_section DEBUG: [MB2HAL_INIT] [SLOWDOWN] [0.000]
+vfd parse_common_section DEBUG: [MB2HAL_INIT] [TOTAL_TRANSACTIONS] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_00] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [FIRST_ELEMENT] [512]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [NELEMENTS] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MAX_UPDATE_RATE] [10.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [MB_TX_CODE] [fnct_06_write_single_register] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_00] [HAL_TX_NAME] [control]
+vfd parse_ini_file OK: parse_transaction_section 0 OK
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_01] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [FIRST_ELEMENT] [513]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [NELEMENTS] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MAX_UPDATE_RATE] [10.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [MB_TX_CODE] [fnct_06_write_single_register] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_01] [HAL_TX_NAME] [speed]
+vfd parse_ini_file OK: parse_transaction_section 1 OK
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_02] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [FIRST_ELEMENT] [528]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [NELEMENTS] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MAX_UPDATE_RATE] [10.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [MB_TX_CODE] [fnct_03_read_holding_registers] [2]
+vfd parse_transaction_section DEBUG: [TRANSACTION_02] [HAL_TX_NAME] [status]
+vfd parse_ini_file OK: parse_transaction_section 2 OK
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [LINK_TYPE] [serial] [0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_PORT] [/dev/ttyUSB0]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_BAUD] [9600]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_BITS] [8]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_PARITY] [none]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_STOP] [1]
+vfd parse_serial_subsection DEBUG: [TRANSACTION_03] [SERIAL_DELAY_MS] [50]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_SLAVE_ID] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [FIRST_ELEMENT] [544]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [PIN_NAMES] [freq_out,freq_set,current,rpm]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [NELEMENTS] [4]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MAX_UPDATE_RATE] [5.000]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_RESPONSE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_BYTE_TIMEOUT_MS] [500]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [DEBUG] [1]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [MB_TX_CODE] [fnct_03_read_holding_registers] [2]
+vfd parse_transaction_section DEBUG: [TRANSACTION_03] [HAL_TX_NAME] [metrics]
+vfd parse_ini_file OK: parse_transaction_section 3 OK
+vfd main OK: parse_ini_file done OK
+vfd init_mb_links DEBUG: LINK 0 (RTU) link_type[0] device[/dev/ttyUSB0] baud[9600] data[8] parity[N] stop[1] fd[-1]
+vfd main OK: init_gbl.mb_link done OK
+vfd init_mb_tx DEBUG: MB_TX 0 lk_n[0] tx_n[0] cfg_dbg[1] lk_dbg[0] t_inc[0.100] nxt_t[0.000]
+vfd init_mb_tx DEBUG: MB_TX 1 lk_n[0] tx_n[1] cfg_dbg[1] lk_dbg[0] t_inc[0.100] nxt_t[0.000]
+vfd init_mb_tx DEBUG: MB_TX 2 lk_n[0] tx_n[2] cfg_dbg[1] lk_dbg[0] t_inc[0.100] nxt_t[0.000]
+vfd init_mb_tx DEBUG: MB_TX 3 lk_n[0] tx_n[3] cfg_dbg[1] lk_dbg[0] t_inc[0.200] nxt_t[0.000]
+vfd main OK: init_gbl.mb_tx done OK
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [0] pin_name [vfd.control.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [0] pin_name [vfd.control.00]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [1] pin_name [vfd.speed.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [1] pin_name [vfd.speed.00]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [2] pin_name [vfd.status.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [2] pin_name [vfd.status.00]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.num_errors]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.freq_out]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.freq_set]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.current]
+vfd create_each_mb_tx_hal_pins DEBUG: mb_tx_num [3] pin_name [vfd.metrics.rpm]
+vfd main OK: HAL components created OK
+vfd main OK: Link thread loop and logic 0 created OK
+vfd main OK: vfd is running
+halcmd: vfd fnct_03_read_holding_registers ERR: mb_tx[3] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[3] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[3] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[3] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[3] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[3] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[3] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[3] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[2]
+vfd fnct_06_write_single_register ERR: mb_tx[1] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[1] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[3] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[3] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_03_read_holding_registers ERR: mb_tx[2] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[2] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]
+vfd fnct_06_write_single_register ERR: mb_tx[0] mb_links[0] slave[1] = ret[-1] fd[4]
+vfd link_loop_and_logic ERR: mb_tx_num[0] mb_links[0] thread[0] fd[4] transaction failure, num_errors[1]

hal_configuration.md

@@ -38,7 +38,7 @@ Add the following lines to your main `.hal` file (e.g. `custom.hal` or `postgui.
 # =====================================================================
 
 # Load the mb2hal component
-loadusr -W mb2hal config=vfd_d100.ini
+loadusr -Wn vfd mb2hal config=vfd_d100.ini
 
 # Load helper components
 loadrt scale names=spindle_speed_scale,spindle_feedback_scale

tutorial.md

@@ -0,0 +1,47 @@
+ Stworzyłem dedykowany plik testowy vfd_test.hal.
+
+  Możesz go uruchomić bezpośrednio w terminalu (będąc w głównym katalogu projektu) za pomocą polecenia:
+
+    halrun -I -f vfd_test.hal
+
+  Flaga  -I  uruchamia interaktywną powłokę HAL, a  -f vfd_test.hal  ładuje nasz plik testowy.
+
+  Gdy powłoka się uruchomi, zobaczysz znak zachęty  halcmd: . Możesz wtedy przeprowadzić następujące testy przy użyciu komend  sets  (ustawienie
+  sygnału) oraz  show  (pokazanie stanu):
+
+  ### Scenariusz testowy w powłoce  halcmd:
+
+  1. Zadanie obrotów (np. 12000 RPM):
+  Ustaw obroty na 12000 RPM (co powinno dać wartość częstotliwości w Modbus równą  2000  czyli 200.0 Hz):
+    sets test-speed-rpm 12000
+  Sprawdź, czy wartość została poprawnie przeliczona i przekazana do mb2hal:
+    show pin vfd.speed.00.float
+
+  2. Uruchomienie wrzeciona w prawo (Forward):
+  Włącz wrzeciono:
+    sets test-spindle-on TRUE
+    sets test-spindle-rev FALSE
+  Sprawdź pin sterujący mb2hal (powinien mieć teraz wartość  2.0 ):
+    show pin vfd.control.00.float
+
+  3. Zmiana kierunku w lewo (Reverse):
+  Przełącz kierunek na obroty lewe:
+    sets test-spindle-rev TRUE
+  Sprawdź pin sterujący (powinien zmienić wartość na  4.0 ):
+    show pin vfd.control.00.float
+
+  4. Zatrzymanie wrzeciona (Stop):
+  Wyłącz wrzeciono:
+    sets test-spindle-on FALSE
+  Sprawdź pin sterujący (powinien mieć wartość  8.0  dla zatrzymania):
+    show pin vfd.control.00.float
+
+  5. Odczyt parametrów pracy (Feedback):
+  Jeśli falownik jest podłączony fizycznie i silnik się kręci, możesz podejrzeć piny odczytu:
+    show pin vfd.metrics.*
+  Możesz też sprawdzić, czy działa przelicznik RPM → RPS:
+    show sig test-rps-feedback
+
+  6. Wyjście z testu:
+  Aby zakończyć działanie i zwolnić sterowniki czasu rzeczywistego, wpisz:
+    exit

vfd_d100.ini

@@ -7,7 +7,7 @@
 [MB2HAL_INIT]
 
 # Debug level: 0 = silent, 1 = errors, 2 = OK messages, 3 = debugging, 4 = max debug
-INIT_DEBUG=3
+INIT_DEBUG=1
 
 # Set to 1.1 to enable float/int pin options and specific features
 VERSION=1.1
@@ -15,8 +15,8 @@ VERSION=1.1
 # HAL module (component) name. Pins will be prefixed with this name.
 HAL_MODULE_NAME=vfd
 
-# Delay between transactions in seconds (use 0.0 for normal speed)
+# Delay between transactions in seconds (helps slower VFDs process requests)
-SLOWDOWN=0.0
+SLOWDOWN=0.1
 
 # Number of transactions defined below
 TOTAL_TRANSACTIONS=4
@@ -40,9 +40,9 @@ MB_TX_CODE=fnct_06_write_single_register
 FIRST_ELEMENT=512
 NELEMENTS=1
 HAL_TX_NAME=control
-MAX_UPDATE_RATE=10.0
+MAX_UPDATE_RATE=2.0
-MB_RESPONSE_TIMEOUT_MS=500
+MB_RESPONSE_TIMEOUT_MS=1000
-MB_BYTE_TIMEOUT_MS=500
+MB_BYTE_TIMEOUT_MS=1000
 DEBUG=1
 
 
@@ -50,12 +50,14 @@ DEBUG=1
 # TRANSACTION 01: Write Given Frequency (0201H / 513 dec)
 # =====================================================================
 [TRANSACTION_01]
-# Link settings (PORT, BAUD, etc.) are inherited from TRANSACTION_00
+MB_SLAVE_ID=1
 MB_TX_CODE=fnct_06_write_single_register
 FIRST_ELEMENT=513
 NELEMENTS=1
 HAL_TX_NAME=speed
-MAX_UPDATE_RATE=10.0
+MAX_UPDATE_RATE=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
 DEBUG=1
 
 
@@ -63,11 +65,14 @@ DEBUG=1
 # TRANSACTION 02: Read Main Control Status (0210H / 528 dec)
 # =====================================================================
 [TRANSACTION_02]
+MB_SLAVE_ID=1
 MB_TX_CODE=fnct_03_read_holding_registers
 FIRST_ELEMENT=528
 NELEMENTS=1
 HAL_TX_NAME=status
-MAX_UPDATE_RATE=10.0
+MAX_UPDATE_RATE=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
 DEBUG=1
 
 
@@ -75,6 +80,7 @@ DEBUG=1
 # TRANSACTION 03: Read Operating Parameters (0220H - 0223H / 544 - 547 dec)
 # =====================================================================
 [TRANSACTION_03]
+MB_SLAVE_ID=1
 MB_TX_CODE=fnct_03_read_holding_registers
 FIRST_ELEMENT=544
 # Receptors:
@@ -84,5 +90,7 @@ FIRST_ELEMENT=544
 # 547 (0223H) = Output Speed (RPM)
 PIN_NAMES=freq_out,freq_set,current,rpm
 HAL_TX_NAME=metrics
-MAX_UPDATE_RATE=5.0
+MAX_UPDATE_RATE=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
 DEBUG=1

vfd_test.hal

@@ -6,7 +6,7 @@
 loadrt threads name1=servo-thread period1=1000000
 
 # 2. Ladujemy mb2hal z nasza konfiguracja
-loadusr -W mb2hal config=vfd_d100.ini
+loadusr -Wn vfd mb2hal config=vfd_d100.ini
 
 # 3. Ladujemy komponenty pomocnicze
 loadrt scale names=spindle_speed_scale,spindle_feedback_scale