Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
5
configs/attic/demo_mazak/README
Normal file
5
configs/attic/demo_mazak/README
Normal file
@@ -0,0 +1,5 @@
|
||||
Demo_mazak is a complex set of HAL drivers. These include the Motenc-Lite motion card, a PMDX parport card, and a general purpose ISA slot IO card. This setup is used for the Mazak V5 at Cardinal Engineering and is included here as an example of a way to spread HAL abilities across a number of devices.
|
||||
|
||||
This demo includes an example of using a parallel port to read a handwheel encoder. It brings in ClassicLadder to handle most of the machine logic for gear and tool change.
|
||||
|
||||
Don't expect to be able to run this as is unless you have a matching set of hardware. Without the exact set of devices you can still study the hal files to see how many of these things are accomplished.
|
||||
527
configs/attic/demo_mazak/demo_mazak.clp
Normal file
527
configs/attic/demo_mazak/demo_mazak.clp
Normal file
@@ -0,0 +1,527 @@
|
||||
_FILES_CLASSICLADDER
|
||||
_FILE-timers.csv
|
||||
; Timers :
|
||||
; Base(see classicladder.h),Preset
|
||||
2,20
|
||||
2,15
|
||||
2,2
|
||||
2,1
|
||||
2,5
|
||||
2,5
|
||||
2,2
|
||||
2,3
|
||||
2,3
|
||||
2,3
|
||||
2,20
|
||||
2,5
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
_/FILE-timers.csv
|
||||
_FILE-monostables.csv
|
||||
; Monostables :
|
||||
; Base(see classicladder.h),Preset
|
||||
1,5
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
_/FILE-monostables.csv
|
||||
_FILE-counters.csv
|
||||
; Counters :
|
||||
; Preset
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
_/FILE-counters.csv
|
||||
_FILE-arithmetic_expressions.csv
|
||||
; Arithmetic expressions :
|
||||
; Compare or Operate ones
|
||||
|
||||
|
||||
|
||||
|
||||
_/FILE-arithmetic_expressions.csv
|
||||
_FILE-rung_0.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=0
|
||||
#NEXTRUNG=1
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_0.csv
|
||||
_FILE-rung_1.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=Estop off
|
||||
#COMMENT=Axis/Hydraulic Power
|
||||
#PREVRUNG=8
|
||||
#NEXTRUNG=14
|
||||
1-0-60/22 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/0 , 9-0-0/0 , 50-0-60/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-60/1
|
||||
1-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/1 , 9-0-0/0 , 50-0-60/1
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
1-0-60/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/9
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_1.csv
|
||||
_FILE-rung_2.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=Estop off
|
||||
#COMMENT=Initialize Motion
|
||||
#PREVRUNG=14
|
||||
#NEXTRUNG=3
|
||||
1-0-60/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/3 , 9-0-0/0 , 50-0-60/5
|
||||
0-0-60/1 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
1-0-60/5 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 11-0-0/0 , 9-0-0/0 , 50-0-0/1
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 99-0-0/0
|
||||
1-0-0/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/10
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_2.csv
|
||||
_FILE-rung_3.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=Mach On
|
||||
#COMMENT=Amp Fault Mask
|
||||
#PREVRUNG=2
|
||||
#NEXTRUNG=9
|
||||
1-0-50/1 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/2 , 9-0-0/0 , 50-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
1-0-0/0 , 9-0-0/0 , 2-0-50/2 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2
|
||||
0-0-0/0 , 9-1-0/0 , 2-0-50/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/3
|
||||
0-0-0/0 , 9-1-0/0 , 2-0-50/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/4
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_3.csv
|
||||
_FILE-rung_4.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Magazine Forward
|
||||
#PREVRUNG=17
|
||||
#NEXTRUNG=7
|
||||
1-0-50/10 , 9-0-0/0 , 9-0-0/0 , 1-0-60/10 , 2-0-50/11 , 9-0-0/0 , 9-0-0/0 , 2-0-60/11 , 9-0-0/0 , 50-0-60/10
|
||||
0-0-0/0 , 1-1-50/26 , 1-0-50/27 , 9-0-50/0 , 1-0-50/16 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 9-1-0/0 , 1-0-50/18 , 9-0-0/0 , 1-0-50/14 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 2-1-50/26 , 9-0-0/0 , 1-0-50/12 , 1-0-50/16 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_4.csv
|
||||
_FILE-rung_5.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Tool Push Buttons
|
||||
#PREVRUNG=6
|
||||
#NEXTRUNG=-1
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
1-0-50/10 , 9-0-50/0 , 1-0-50/13 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/7
|
||||
0-0-0/0 , 1-1-0/7 , 9-0-0/0 , 2-0-50/14 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/13
|
||||
0-0-0/0 , 9-1-0/0 , 1-0-50/15 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/8
|
||||
0-0-0/0 , 1-1-0/8 , 9-0-0/0 , 2-0-50/16 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_5.csv
|
||||
_FILE-rung_6.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=22
|
||||
#NEXTRUNG=5
|
||||
9-0-0/0 , 1-0-50/31 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/15
|
||||
0-0-0/0 , 1-1-0/15 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_6.csv
|
||||
_FILE-rung_7.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=FIXME Prox
|
||||
#PREVRUNG=4
|
||||
#NEXTRUNG=23
|
||||
2-0-60/17 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/10 , 9-0-0/0 , 50-0-60/27
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_7.csv
|
||||
_FILE-rung_8.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Main Estop
|
||||
#PREVRUNG=-1
|
||||
#NEXTRUNG=1
|
||||
1-0-50/0 , 1-0-50/20 , 9-0-0/0 , 9-0-0/0 , 1-0-50/21 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/22
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 1-1-60/22 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_8.csv
|
||||
_FILE-rung_9.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=gear shift in progress
|
||||
#PREVRUNG=3
|
||||
#NEXTRUNG=10
|
||||
1-0-50/5 , 2-0-50/6 , 1-0-50/23 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/8
|
||||
2-0-50/5 , 2-0-50/7 , 1-1-60/28 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-60/8 , 0-0-50/9 , 0-0-50/25 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/7 , 0-0-0/0 , 0-0-60/24
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_9.csv
|
||||
_FILE-rung_10.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=ok to disengage
|
||||
#PREVRUNG=9
|
||||
#NEXTRUNG=11
|
||||
1-0-60/8 , 1-0-50/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/4 , 9-0-0/0 , 50-0-0/3
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_10.csv
|
||||
_FILE-rung_11.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=ok to engage
|
||||
#PREVRUNG=10
|
||||
#NEXTRUNG=12
|
||||
1-0-50/8 , 1-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/5 , 9-0-0/0 , 50-0-0/4
|
||||
1-0-0/4 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_11.csv
|
||||
_FILE-rung_12.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=engage low
|
||||
#PREVRUNG=11
|
||||
#NEXTRUNG=16
|
||||
1-0-60/6 , 2-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-60/7 , 9-0-0/0 , 50-0-60/6
|
||||
1-0-50/5 , 1-0-0/4 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_12.csv
|
||||
_FILE-rung_13.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Feed Hold
|
||||
#PREVRUNG=15
|
||||
#NEXTRUNG=24
|
||||
1-0-50/22 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/26
|
||||
1-1-50/23 , 2-0-60/24 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_13.csv
|
||||
_FILE-rung_14.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Spindle Drive RUN
|
||||
#PREVRUNG=1
|
||||
#NEXTRUNG=2
|
||||
1-0-60/22 , 1-0-50/23 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/23
|
||||
103-1-60/28 , 1-1-60/28 , 103-1-0/0 , 103-0-0/0 , 103-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
103-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 103-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_14.csv
|
||||
_FILE-rung_15.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Spindle Status Out
|
||||
#PREVRUNG=16
|
||||
#NEXTRUNG=13
|
||||
1-0-50/9 , 2-0-60/28 , 2-0-60/8 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/8 , 9-0-0/0 , 50-0-60/24
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
1-0-50/9 , 1-0-50/24 , 1-0-60/28 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/9 , 9-0-0/0 , 50-0-60/25
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_15.csv
|
||||
_FILE-rung_16.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=engage high
|
||||
#PREVRUNG=12
|
||||
#NEXTRUNG=15
|
||||
1-0-60/7 , 2-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-60/6 , 9-0-0/0 , 50-0-60/7
|
||||
2-1-50/5 , 1-0-0/4 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_16.csv
|
||||
_FILE-rung_17.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Magazine Reverse
|
||||
#PREVRUNG=24
|
||||
#NEXTRUNG=4
|
||||
1-0-50/10 , 9-0-0/0 , 9-0-0/0 , 1-0-60/11 , 2-0-50/11 , 9-0-0/0 , 9-0-0/0 , 2-0-60/10 , 9-0-0/0 , 50-0-60/11
|
||||
0-0-0/0 , 1-1-50/26 , 1-0-50/28 , 9-0-50/0 , 1-0-50/16 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 9-1-0/0 , 1-0-50/19 , 9-0-0/0 , 1-0-50/14 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_17.csv
|
||||
_FILE-rung_18.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Load/Unload
|
||||
#PREVRUNG=25
|
||||
#NEXTRUNG=19
|
||||
1-0-50/10 , 1-0-0/16 , 1-0-50/30 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-60/12
|
||||
0-0-0/0 , 0-1-60/12 , 1-1-50/14 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/30 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/38 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 2-1-60/12 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/13
|
||||
_/FILE-rung_18.csv
|
||||
_FILE-rung_19.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=60 deg rotate
|
||||
#PREVRUNG=18
|
||||
#NEXTRUNG=20
|
||||
1-0-50/10 , 1-0-0/16 , 1-0-60/25 , 1-0-50/14 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-60/16
|
||||
0-0-0/0 , 0-1-0/0 , 1-1-60/16 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/36 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_19.csv
|
||||
_FILE-rung_20.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Unclamp
|
||||
#PREVRUNG=19
|
||||
#NEXTRUNG=21
|
||||
1-0-50/10 , 1-0-0/16 , 1-0-50/32 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-60/18
|
||||
0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/34 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 0-1-50/17 , 0-0-50/23 , 0-0-0/16 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 1-1-50/17 , 2-0-50/23 , 2-0-0/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_20.csv
|
||||
_FILE-rung_21.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Extend/Retract
|
||||
#PREVRUNG=20
|
||||
#NEXTRUNG=22
|
||||
1-0-50/10 , 1-0-0/16 , 1-0-50/37 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-60/14
|
||||
0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/31 , 9-0-0/0 , 2-0-60/25 , 1-0-60/14 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 2-1-60/14 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/15
|
||||
_/FILE-rung_21.csv
|
||||
_FILE-rung_22.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Rotate 180
|
||||
#PREVRUNG=21
|
||||
#NEXTRUNG=6
|
||||
1-0-50/10 , 1-0-0/16 , 1-0-50/33 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-60/17
|
||||
0-0-0/0 , 0-1-50/34 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 1-1-0/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_22.csv
|
||||
_FILE-rung_23.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=7
|
||||
#NEXTRUNG=26
|
||||
1-0-50/10 , 3-0-50/35 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-0/16
|
||||
0-0-0/0 , 1-1-0/16 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_23.csv
|
||||
_FILE-rung_24.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=13
|
||||
#NEXTRUNG=17
|
||||
1-0-50/10 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/11 , 9-0-0/0 , 50-0-0/17
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_24.csv
|
||||
_FILE-rung_25.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Spindle-do-orient
|
||||
#PREVRUNG=27
|
||||
#NEXTRUNG=18
|
||||
1-0-50/10 , 1-0-0/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-0/15 , 50-0-60/28
|
||||
0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0
|
||||
0-0-0/0 , 2-1-50/30 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-0/15 , 0-1-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_25.csv
|
||||
_FILE-rung_26.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Tool Changed
|
||||
#PREVRUNG=23
|
||||
#NEXTRUNG=27
|
||||
1-0-50/35 , 4-0-0/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/21
|
||||
0-0-0/0 , 1-1-60/21 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_26.csv
|
||||
_FILE-rung_27.csv
|
||||
; Rung :
|
||||
; all the blocks with the following format :
|
||||
; type (see classicladder.h) - ConnectedWithTop - VarType (see classicladder.h) / VarOffset
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=Tool Prepared
|
||||
#PREVRUNG=26
|
||||
#NEXTRUNG=25
|
||||
1-0-50/26 , 1-0-50/25 , 1-0-50/16 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/20
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_27.csv
|
||||
_FILE-sections.csv
|
||||
; Sections
|
||||
#VER=1.0
|
||||
#NAME000=Prog1
|
||||
000,0,-1,8,5,0
|
||||
_/FILE-sections.csv
|
||||
_FILE-sequential.csv
|
||||
; Sequential
|
||||
#VER=1.0
|
||||
_/FILE-sequential.csv
|
||||
_FILE-ioconf.csv
|
||||
; I/O Configuration
|
||||
_/FILE-ioconf.csv
|
||||
_FILE-symbols.csv
|
||||
; Symbols
|
||||
#VER=1.0
|
||||
_/FILE-symbols.csv
|
||||
_/FILES_CLASSICLADDER
|
||||
758
configs/attic/demo_mazak/demo_mazak.hal
Normal file
758
configs/attic/demo_mazak/demo_mazak.hal
Normal file
@@ -0,0 +1,758 @@
|
||||
# this file contains the HAL configuration for Roland's Mazak
|
||||
#
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
# first load the motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD
|
||||
|
||||
# next load I/O drivers. This retrofit uses three different I/O devices
|
||||
#
|
||||
# 1) MOTENC-Lite card, for analog outs to drives, encoder feedback, and
|
||||
# some digital I/O.
|
||||
#
|
||||
loadrt hal_motenc
|
||||
|
||||
# 2) AXIOM AX5214H card, for 48 digital I/O
|
||||
# we are using 32 inputs and 16 outputs, with the outputs on port
|
||||
# C, which can be converted to inputs 4 bits at a time.
|
||||
#
|
||||
loadrt hal_ax5214h cfg="0x220_iiooiioo"
|
||||
|
||||
# 3) Parallel Port, driving PMDX-122 card. This provides a charge pump
|
||||
# type watchdog, and also provides a small number of inputs that
|
||||
# can be sampled at a higher rate. The jogwheel comes in thru this
|
||||
# card and is counted in software.
|
||||
#
|
||||
loadrt hal_parport cfg="0x0378_in"
|
||||
|
||||
# 4) Weighted summer, driven by toolchanger slot position inputs
|
||||
# This adds together the 5 bits (with bit 4 being equal to 13)
|
||||
# and outputs the sum as an S32
|
||||
#
|
||||
loadrt weighted_sum wsum_sizes=5
|
||||
|
||||
# I/O Mapping - Physical I/O points to driver pins
|
||||
# --------------------------------------------------------
|
||||
# OPTO-22 board IO-1 input module 0 is ax5214h.0.in-24
|
||||
# OPTO-22 board IO-1 input module 1 is ax5214h.0.in-25
|
||||
# " " "
|
||||
# OPTO-22 board IO-1 input module 14 is ax5214h.0.in-38
|
||||
# OPTO-22 board IO-1 input module 15 is ax5214h.0.in-39
|
||||
# OPTO-22 board IO-1 output module 16 is ax5214h.0.out-40
|
||||
# OPTO-22 board IO-1 output module 17 is ax5214h.0.out-41
|
||||
# " " "
|
||||
# OPTO-22 board IO-1 output module 22 is ax5214h.0.out-46
|
||||
# OPTO-22 board IO-1 output module 23 is ax5214h.0.out-47
|
||||
# --------------------------------------------------------
|
||||
# OPTO-22 board IO-2 input module 0 is ax5214h.0.in-00
|
||||
# OPTO-22 board IO-2 input module 1 is ax5214h.0.in-01
|
||||
# " " "
|
||||
# OPTO-22 board IO-2 input module 14 is ax5214h.0.in-14
|
||||
# OPTO-22 board IO-2 input module 15 is ax5214h.0.in-15
|
||||
# OPTO-22 board IO-2 output module 16 is ax5214h.0.out-16
|
||||
# OPTO-22 board IO-2 output module 17 is ax5214h.0.out-17
|
||||
# " " "
|
||||
# OPTO-22 board IO-2 output module 22 is ax5214h.0.out-22
|
||||
# OPTO-22 board IO-2 output module 23 is ax5214h.0.out-23
|
||||
# --------------------------------------------------------
|
||||
# OPTO-22 board IO-3 output module 0 is motenc.3.out-15
|
||||
# OPTO-22 board IO-3 output module 1 is motenc.3.out-14
|
||||
# " " "
|
||||
# OPTO-22 board IO-3 output module 6 is motenc.3.out-01
|
||||
# OPTO-22 board IO-3 output module 7 is motenc.3.out-00
|
||||
# OPTO-22 board IO-3 input module 8 is motenc.3.in-16
|
||||
# OPTO-22 board IO-3 input module 9 is motenc.3.in-17
|
||||
# " " "
|
||||
# OPTO-22 board IO-3 input module 22 is motenc.3.in-30
|
||||
# OPTO-22 board IO-3 input module 23 is motenc.3.in-31
|
||||
# --------------------------------------------------------
|
||||
# Breakout board IO-4 output chan 0 is motenc.3.out-00
|
||||
# Breakout board IO-4 output chan 1 is motenc.3.out-01
|
||||
# " " "
|
||||
# Breakout board IO-4 output chan 6 is motenc.3.out-06
|
||||
# Breakout board IO-4 output chan 7 is motenc.3.out-07
|
||||
# Breakout board IO-4 input chan 0 is motenc.3.in-00
|
||||
# Breakout board IO-4 input chan 1 is motenc.3.in-01
|
||||
# " " "
|
||||
# Breakout board IO-4 input chan 14 is motenc.3.in-14
|
||||
# Breakout board IO-4 input chan 15 is motenc.3.in-15
|
||||
# --------------------------------------------------------
|
||||
|
||||
# Now we load some more HAL components:
|
||||
#
|
||||
# the rest of these components implement spindle speed
|
||||
# scaling (for high/low shifting) and spindle orient
|
||||
|
||||
loadrt mux2 count=2
|
||||
loadrt mux4 count=1
|
||||
loadrt wcomp count=2
|
||||
loadrt scale count=3
|
||||
loadrt modmath mod_dir=2
|
||||
loadrt charge_pump
|
||||
loadrt tristate_bit
|
||||
loadrt tristate_float count=3
|
||||
loadrt conv_s32_float
|
||||
|
||||
# Software encoder counter, for the jogwheel, and possibly a future
|
||||
# small manual encoder for a feedrate override knob.
|
||||
#
|
||||
loadrt encoder num_chan=1
|
||||
|
||||
# PID loops: 3 for axis control and one for spindle orient
|
||||
#
|
||||
loadrt pid num_chan=4
|
||||
|
||||
# classicladder for machine logic
|
||||
# (load the realtime portion)
|
||||
loadrt classicladder_rt numRungs=50 numBits=50 numWords=8 numTimers=20 numMonostables=10 numPhysInputs=50 numPhysOutputs=40 numArithmExpr=4 numSections=4
|
||||
|
||||
# invoke the user part of CL to silently load the program
|
||||
loadusr -w classicladder --nogui demo_mazak.clp
|
||||
|
||||
# load debounce to handle the pushbuttons on the operator panels
|
||||
loadrt debounce cfg="8"
|
||||
setp debounce.0.delay 3
|
||||
|
||||
# -----------------------------------------------
|
||||
|
||||
# connect I/O driver functions to thread(s)
|
||||
#
|
||||
addf motenc.3.encoder-read servo-thread
|
||||
addf motenc.3.digital-in-read servo-thread
|
||||
addf ax5214h.0.read servo-thread
|
||||
addf encoder.capture-position servo-thread
|
||||
addf motenc.3.adc-read servo-thread
|
||||
|
||||
# convert IO to internally useful representations
|
||||
addf scale.2 servo-thread
|
||||
# converter for tool magazine position
|
||||
addf process_wsums servo-thread
|
||||
addf mod-dir.0 servo-thread
|
||||
addf mod-dir.1 servo-thread
|
||||
|
||||
# ladder logic is executed once all the inputs are read
|
||||
#addf classicladder.0.refresh servo-thread
|
||||
|
||||
# adaptive feedrate mux
|
||||
addf mux2.1 servo-thread
|
||||
# now we run the motion controller
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
|
||||
# ladder logic is executed once all the inputs are read
|
||||
addf classicladder.0.refresh servo-thread
|
||||
# charge pump can run just about any time
|
||||
addf charge-pump servo-thread
|
||||
|
||||
# pid calculations are done after the motion module
|
||||
# has determined new position commands.
|
||||
addf pid.0.do-pid-calcs servo-thread
|
||||
addf pid.1.do-pid-calcs servo-thread
|
||||
addf pid.2.do-pid-calcs servo-thread
|
||||
|
||||
# spindle signal handling is done next
|
||||
addf pid.3.do-pid-calcs servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
addf scale.0 servo-thread
|
||||
addf scale.1 servo-thread
|
||||
addf mux4.0 servo-thread
|
||||
addf wcomp.0 servo-thread
|
||||
addf wcomp.1 servo-thread
|
||||
addf tristate-bit.0 servo-thread
|
||||
|
||||
# misc stuff (jogwheel scale, tool number display)
|
||||
addf tristate-float.0 servo-thread
|
||||
addf tristate-float.1 servo-thread
|
||||
addf tristate-float.2 servo-thread
|
||||
addf conv-s32-float.0 servo-thread
|
||||
|
||||
# output drivers are loaded last
|
||||
addf motenc.3.dac-write servo-thread
|
||||
addf motenc.3.digital-out-write servo-thread
|
||||
addf ax5214h.0.write servo-thread
|
||||
addf parport.0.write servo-thread
|
||||
|
||||
# the base thread (fast thread) isn't needed for step pulse
|
||||
# generation since this is a servo machine. However we use
|
||||
# it to sample the jogwheel signals and count them in software
|
||||
|
||||
addf parport.0.read base-thread
|
||||
addf encoder.update-counters base-thread
|
||||
|
||||
# -------------------------------------------------
|
||||
|
||||
# Next, create signals with meaningful names, and attach them to the
|
||||
# physical pins. There are a lot of these, so they are broken up
|
||||
|
||||
# ---------------------------------------------------
|
||||
# ESTOP and related signals
|
||||
net external-estop-ok ax5214h.0.in-24
|
||||
net gui-estop-ok iocontrol.0.user-enable-out
|
||||
net main-estop-ok parport.0.pin-01-out
|
||||
net main-estop-ok iocontrol.0.emc-enable-in
|
||||
net main-estop-ok charge-pump.enable
|
||||
net estop-reset iocontrol.0.user-request-enable
|
||||
net charge-pump parport.0.pin-17-out
|
||||
net charge-pump charge-pump.out
|
||||
|
||||
|
||||
# servo power supply control
|
||||
net AP1 motenc.3.out-00
|
||||
net AP2 motenc.3.out-01
|
||||
|
||||
# motion enable - this signal prevents the motion controller
|
||||
# from starting unless everything is OK (comes from ladder)
|
||||
net motion-enable motion.enable
|
||||
|
||||
# servo amp enable (only one, driven by axis 0)
|
||||
net servo-enable motenc.3.out-02
|
||||
net servo-enable joint.0.amp-enable-out
|
||||
|
||||
# servo amp fault signals
|
||||
# the signals from the amps are actually "not running"
|
||||
# they are asserted when the amp is faulted, OR just
|
||||
# disabled. So we use the inverse and call them "running"
|
||||
net X-amp-running motenc.3.in-12-not
|
||||
net Y-amp-running motenc.3.in-13-not
|
||||
net Z-amp-running motenc.3.in-14-not
|
||||
# need to release the Z-axis brake when running
|
||||
net Z-amp-running motenc.3.out-15
|
||||
|
||||
# these are the real fault signals, and go to the motion
|
||||
# controller, they are derived from the ones above by
|
||||
# ladder logic
|
||||
net X-amp-fault joint.0.amp-fault-in
|
||||
net Y-amp-fault joint.1.amp-fault-in
|
||||
net Z-amp-fault joint.2.amp-fault-in
|
||||
|
||||
# Limit switches
|
||||
# (the switches are NC, and open when hit, so
|
||||
# we invert the signals by using the -not input
|
||||
# pin - the result is limit signals that are
|
||||
# TRUE when the machine is on the limit.)
|
||||
net X-lim-plus motenc.3.in-00-not => joint.0.pos-lim-sw-in
|
||||
net X-lim-minus motenc.3.in-01-not => joint.0.neg-lim-sw-in
|
||||
net Y-lim-plus motenc.3.in-02-not => joint.1.pos-lim-sw-in
|
||||
net Y-lim-minus motenc.3.in-03-not => joint.1.neg-lim-sw-in
|
||||
net Z-lim-plus motenc.3.in-04-not => joint.2.pos-lim-sw-in
|
||||
net Z-lim-minus motenc.3.in-05-not => joint.2.neg-lim-sw-in
|
||||
|
||||
# Home switches
|
||||
# (the switches are NC, see note above)
|
||||
net X-home motenc.3.in-08-not => joint.0.home-sw-in
|
||||
net Y-home motenc.3.in-09-not => joint.1.home-sw-in
|
||||
net Z-home motenc.3.in-10-not => joint.2.home-sw-in
|
||||
|
||||
# spindle related signals: "high level" signals
|
||||
# ready (from drive to PC)
|
||||
# run (from motion)
|
||||
# run (to drive)
|
||||
# at speed (from drive to PC)
|
||||
# orient command (to spindle control)
|
||||
# oriented status (from spindle control)
|
||||
# commanded speed (from EMC to control)
|
||||
# spindle current feedback (from drive to PC)
|
||||
|
||||
# spindle related signals: "internal" signal
|
||||
|
||||
# get spindle position from encoder
|
||||
net sp-enc-pos motenc.3.enc-03-position
|
||||
# scale spindle position to degrees
|
||||
# 1440 cnts/rev = 4 cnts/degree
|
||||
setp motenc.3.enc-03-scale -4.0
|
||||
|
||||
# get desired orient position from ini file
|
||||
sets sp-orient-pos-cmd [SPINDLE]ORIENT_POSITION
|
||||
|
||||
# connect commanded and feedback positions to PID loop
|
||||
net sp-orient-pos-cmd pid.3.command
|
||||
net sp-enc-pos pid.3.feedback
|
||||
|
||||
# enable PID loop when in orient mode
|
||||
net spindle-do-orient pid.3.enable
|
||||
|
||||
# tuning params for PID loop
|
||||
setp pid.3.Pgain 1.0
|
||||
setp pid.3.Igain 0.6
|
||||
setp pid.3.Dgain 0.2
|
||||
setp pid.3.deadband 0.4
|
||||
|
||||
# prevent integrator windup at the beginning of an orient
|
||||
# after running the spindle for a long time. The error is
|
||||
# very high before the first index happens.
|
||||
setp pid.3.maxerrorI 200.0
|
||||
|
||||
# limit outputs, we don't want to go fast during orient
|
||||
setp pid.3.maxoutput 100
|
||||
|
||||
# check position error with window comparator
|
||||
net sp-orient-pos-err pid.3.error
|
||||
net sp-orient-pos-err wcomp.0.in
|
||||
net sp-orient-pos-ok wcomp.0.out
|
||||
# set a +/- 1 degree window
|
||||
setp wcomp.0.min -1.0
|
||||
setp wcomp.0.max 1.0
|
||||
|
||||
# output of loop is velocity for orientation
|
||||
net sp-orient-rpm-cmd pid.3.output
|
||||
|
||||
# select between normal speed and orient speed
|
||||
# based on do-orient command
|
||||
net sp-orient-rpm-cmd mux2.0.in1
|
||||
net spindle-rpm-cmd mux2.0.in0
|
||||
net spindle-do-orient mux2.0.sel
|
||||
# output of mux is desired spindle RPM
|
||||
net sp-rpm-cmd mux2.0.out
|
||||
|
||||
# use scale blocks to calculate required motor RPM for
|
||||
# both gears based on desired spindle RPM
|
||||
net sp-rpm-cmd scale.0.in
|
||||
net sp-mtr-high-rpm-cmd scale.0.out
|
||||
setp scale.0.gain [SPINDLE]HIGH_GEAR_RATIO
|
||||
net sp-rpm-cmd scale.1.in
|
||||
net sp-mtr-low-rpm-cmd scale.1.out
|
||||
setp scale.1.gain [SPINDLE]LOW_GEAR_RATIO
|
||||
|
||||
# select either high or low speed based on current gear ratio,
|
||||
# unless shifting, then select a low speed for meshing the gears
|
||||
net sp-mtr-high-rpm-cmd mux4.0.in0
|
||||
net sp-mtr-low-rpm-cmd mux4.0.in1
|
||||
net sp-mtr-mesh-rpm-cmd mux4.0.in2
|
||||
net sp-mtr-mesh-rpm-cmd mux4.0.in3
|
||||
net sp-in-low-gear mux4.0.sel0
|
||||
net sp-shifting mux4.0.sel1
|
||||
# output of mux is desired motor RPM
|
||||
net sp-mtr-rpm-cmd mux4.0.out
|
||||
# set meshing speed
|
||||
sets sp-mtr-mesh-rpm-cmd 15
|
||||
|
||||
# link the final motor command to the DAC
|
||||
net sp-mtr-rpm-cmd motenc.3.dac-03-value
|
||||
# set scaling - 10V = 4500RPM at the motor
|
||||
setp motenc.3.dac-03-gain -0.002222
|
||||
# correct for offset, it causes drift and hunting
|
||||
setp motenc.3.dac-03-offset -8
|
||||
|
||||
# connect other signals to drive
|
||||
net spindle-ready motenc.3.in-15
|
||||
net spindle-drive-run motenc.3.out-03
|
||||
net sp-at-speed motenc.3.in-11
|
||||
net spindle-amps motenc.3.adc-03-value
|
||||
|
||||
# connect signals to gearbox controls
|
||||
# need to add a spindle run command
|
||||
# and a rotating speed I think
|
||||
net sp-engage-high-gear ax5214h.0.out-21
|
||||
net sp-engage-low-gear ax5214h.0.out-20
|
||||
net sp-in-high-gear ax5214h.0.in-34
|
||||
net sp-in-neutral ax5214h.0.in-35
|
||||
net sp-in-low-gear ax5214h.0.in-36
|
||||
|
||||
# use scale block to convert spindle position in degrees
|
||||
# to revolutions for rigid tapping
|
||||
net sp-enc-pos scale.2.in
|
||||
net sp-pos-revs scale.2.out
|
||||
setp scale.2.gain 0.002777777777777
|
||||
net sp-pos-revs spindle.0.revs
|
||||
|
||||
# rayh begins to screw it up with help from his friends
|
||||
# connect iocontrol signals for spindle run and speed
|
||||
# these work as long as a spindle command is being output.
|
||||
net spindle-run-request spindle.0.on
|
||||
net spindle-rpm-cmd spindle.0.speed-out
|
||||
|
||||
# end of spindle control
|
||||
|
||||
# ioControl exports some tool pins
|
||||
# iocontrol.0.tool-prepare
|
||||
# iocontrol.0.tool-prep-number
|
||||
# and expects iocontrol.0.tool-prepared (when the tool prep. is done)
|
||||
# iocontrol.0.tool-change (output)
|
||||
# and expects iocontrol.0.tool-changed (when tool changed)
|
||||
# it also exports iocontrol.0.tool-number, which is the current tool
|
||||
# in the spindle and is used when its time to return that tool to
|
||||
# the tool magazine
|
||||
net tool-prepare iocontrol.0.tool-prepare
|
||||
net tool-prepared iocontrol.0.tool-prepared
|
||||
net tool-change iocontrol.0.tool-change
|
||||
net tool-changed iocontrol.0.tool-changed
|
||||
net tool-requested-number iocontrol.0.tool-prep-number
|
||||
net tool-current-number iocontrol.0.tool-number
|
||||
|
||||
# misc control
|
||||
# tool change location push button operators
|
||||
net magazine-index-pbs ax5214h.0.in-07
|
||||
net worklight-pbs ax5214h.0.in-08
|
||||
net tool-load-pbs ax5214h.0.in-09
|
||||
net tool-unload-pbs ax5214h.0.in-10
|
||||
|
||||
# add front panel buttons here
|
||||
net tool-unclamp-pbs ax5214h.0.in-39
|
||||
net feed-hold-pbs ax5214h.0.in-14
|
||||
net cycle-start-pbs ax5214h.0.in-25
|
||||
|
||||
# hydraulic pump
|
||||
net hydraulic-pump-run motenc.3.out-14
|
||||
net hydraulic-pump-running ax5214h.0.in-05
|
||||
|
||||
# hydraulic actuator prox switches
|
||||
# tool load-unload arm
|
||||
net tool-unloaded ax5214h.0.in-38
|
||||
net tool-loaded ax5214h.0.in-15
|
||||
|
||||
# double or intermediate arm
|
||||
net arm-retracted ax5214h.0.in-29
|
||||
net arm-extended ax5214h.0.in-30
|
||||
# FIXME!! This sensor is broken, so we are using a delay
|
||||
# instead - 2 seconds after the cylinder is actuated, we
|
||||
# assume that we have reached the desired position and
|
||||
# set the signal true. The commented out line below is
|
||||
# the proper source for the signal. But for now, it is
|
||||
# driven by classicladder output number 27 (see ladder
|
||||
# section near end of file).
|
||||
#linksp arm-at-0/180 ax5214h.0.in-26
|
||||
net arm-at-0/60 ax5214h.0.in-27
|
||||
net arm-at-60 ax5214h.0.in-28
|
||||
net arm-at-180 ax5214h.0.in-31
|
||||
|
||||
# tool drawbar
|
||||
net tool-clamped ax5214h.0.in-33
|
||||
net tool-unclamped ax5214h.0.in-32
|
||||
|
||||
# tool magazine or carousel with 0-24 positions
|
||||
net magazine-in-position ax5214h.0.in-37
|
||||
net magazine-not-in-position ax5214h.0.in-37-not
|
||||
net magazine-not-in-position wsum.0.hold
|
||||
net magazine-position-0 ax5214h.0.in-00
|
||||
net magazine-position-0 wsum.0.bit.0.in
|
||||
net magazine-position-1 ax5214h.0.in-01
|
||||
net magazine-position-1 wsum.0.bit.1.in
|
||||
net magazine-position-2 ax5214h.0.in-02
|
||||
net magazine-position-2 wsum.0.bit.2.in
|
||||
net magazine-position-3 ax5214h.0.in-03
|
||||
net magazine-position-3 wsum.0.bit.3.in
|
||||
net magazine-position-4 ax5214h.0.in-04
|
||||
net magazine-position-4 wsum.0.bit.4.in
|
||||
# set the bit weight for bit 4 to 13 instead of the default 16
|
||||
setp wsum.0.bit.4.weight 13
|
||||
# add a signal for magazine position
|
||||
net magazine-position wsum.0.sum
|
||||
# add a temporary signal to rotate by one.
|
||||
|
||||
# hydraulic valves
|
||||
net arm-extend ax5214h.0.out-47
|
||||
net arm-retract ax5214h.0.out-46
|
||||
net arm-60cw ax5214h.0.out-45
|
||||
net arm-180ccw ax5214h.0.out-44
|
||||
net tool-load ax5214h.0.out-43
|
||||
net tool-unload ax5214h.0.out-42
|
||||
net magazine-forward ax5214h.0.out-41
|
||||
net magazine-reverse ax5214h.0.out-40
|
||||
net tool-unclamp ax5214h.0.out-23
|
||||
net head-unclamp ax5214h.0.out-22
|
||||
|
||||
# other solenoids and such
|
||||
net spindle-air-blast ax5214h.0.out-19
|
||||
net work-air-blast ax5214h.0.out-18
|
||||
net mist-coolant ax5214h.0.out-17
|
||||
|
||||
net coolant-flood iocontrol.0.coolant-flood ax5214h.0.out-16
|
||||
|
||||
# magazine indexing
|
||||
net magazine-position mod-dir.0.actual
|
||||
net tool-requested-number mod-dir.0.desired
|
||||
net tool-requested-match mod-dir.0.on-target
|
||||
|
||||
net magazine-position mod-dir.1.actual
|
||||
net tool-current-number mod-dir.1.desired
|
||||
net tool-current-match mod-dir.1.on-target
|
||||
|
||||
setp mod-dir.0.max-num [EMCIO]TOOL_TURRET_MAX
|
||||
setp mod-dir.0.wrap [EMCIO]TOOL_TURRET_WRAP
|
||||
setp mod-dir.1.max-num [EMCIO]TOOL_TURRET_MAX
|
||||
setp mod-dir.1.wrap [EMCIO]TOOL_TURRET_WRAP
|
||||
# direction to move to fetch new tool
|
||||
net magazine-fwd-req-fetch mod-dir.0.up
|
||||
net magazine-rev-req-fetch mod-dir.0.down
|
||||
# direction to move to store previous tool
|
||||
net magazine-fwd-req-store mod-dir.1.up
|
||||
net magazine-rev-req-store mod-dir.1.down
|
||||
|
||||
# set encoder latch enable TRUE so encoder count "wraps" during toolchanges
|
||||
# and resets under motion controller command for rigid tapping
|
||||
net sp-index-enable motenc.3.enc-03-index-enable
|
||||
net sp-index-enable tristate-bit.0.out
|
||||
setp tristate-bit.0.in 1
|
||||
net tool-change tristate-bit.0.enable
|
||||
net sp-index-enable spindle.0.index-enable
|
||||
|
||||
# jogwheel signals
|
||||
setp encoder.0.x4-mode 0
|
||||
net jogwheel-phA parport.0.pin-12-in
|
||||
net jogwheel-phB parport.0.pin-11-in
|
||||
# route signals to software encoder counter
|
||||
net jogwheel-phA encoder.0.phase-A
|
||||
|
||||
net jogwheel-phB encoder.0.phase-B
|
||||
# jogwheel output
|
||||
net jogwheel-counts encoder.0.counts
|
||||
# need to release the Z-axis brake when running
|
||||
net Z-amp-running motenc.3.out-15
|
||||
|
||||
# feedhold, uses G50 adaptive feed input
|
||||
sets zero 0.0
|
||||
sets one 1.0
|
||||
net adaptive-feed mux2.1.out
|
||||
net adaptive-feed motion.adaptive-feed
|
||||
net zero mux2.1.in1
|
||||
net one mux2.1.in0
|
||||
net feed-hold mux2.1.sel
|
||||
|
||||
|
||||
# -----------------------------------------------------
|
||||
# encoders - signals and scaling
|
||||
#
|
||||
# position in counts
|
||||
net X-enc-counts motenc.3.enc-00-count
|
||||
net Y-enc-counts motenc.3.enc-01-count
|
||||
net Z-enc-counts motenc.3.enc-02-count
|
||||
|
||||
# scaling to get inches (scale comes from ini file)
|
||||
setp motenc.3.enc-00-scale [JOINT_0]INPUT_SCALE
|
||||
setp motenc.3.enc-01-scale [JOINT_1]INPUT_SCALE
|
||||
setp motenc.3.enc-02-scale [JOINT_2]INPUT_SCALE
|
||||
|
||||
# position in inches
|
||||
net X-enc-pos motenc.3.enc-00-position
|
||||
net Y-enc-pos motenc.3.enc-01-position
|
||||
net Z-enc-pos motenc.3.enc-02-position
|
||||
|
||||
# index pulses
|
||||
net X-index-enable motenc.3.enc-00-index-enable joint.0.index-enable
|
||||
net Y-index-enable motenc.3.enc-01-index-enable joint.1.index-enable
|
||||
net Z-index-enable motenc.3.enc-02-index-enable joint.2.index-enable
|
||||
|
||||
# -----------------------------------------------------
|
||||
# DACs - output to servo amps
|
||||
#
|
||||
net X-volts motenc.3.dac-00-value
|
||||
net Y-volts motenc.3.dac-01-value
|
||||
net Z-volts motenc.3.dac-02-value
|
||||
# get scale and offset from the ini file
|
||||
setp motenc.3.dac-00-gain [JOINT_0]OUTPUT_SCALE
|
||||
setp motenc.3.dac-01-gain [JOINT_1]OUTPUT_SCALE
|
||||
setp motenc.3.dac-02-gain [JOINT_2]OUTPUT_SCALE
|
||||
setp motenc.3.dac-00-offset [JOINT_0]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-01-offset [JOINT_1]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-02-offset [JOINT_2]OUTPUT_OFFSET
|
||||
|
||||
# -----------------------------------------------------
|
||||
# ADCs - servo amp current feedback
|
||||
#
|
||||
net X-amps motenc.3.adc-00-value
|
||||
net Y-amps motenc.3.adc-01-value
|
||||
net Z-amps motenc.3.adc-02-value
|
||||
# set scale and offset (need to calibrate this)
|
||||
setp motenc.3.adc-00-gain 1.0
|
||||
setp motenc.3.adc-01-gain 1.0
|
||||
setp motenc.3.adc-02-gain 1.0
|
||||
setp motenc.3.adc-00-offset 0.0
|
||||
setp motenc.3.adc-01-offset 0.0
|
||||
setp motenc.3.adc-02-offset 0.0
|
||||
|
||||
# -----------------------------------------------------
|
||||
# PIDs - position control
|
||||
#
|
||||
|
||||
# signals for position command
|
||||
# hook the motion controller outputs to the position command
|
||||
net X-pos-cmd joint.0.motor-pos-cmd
|
||||
net Y-pos-cmd joint.1.motor-pos-cmd
|
||||
net Z-pos-cmd joint.2.motor-pos-cmd
|
||||
# and to the PID inputs
|
||||
net X-pos-cmd pid.0.command
|
||||
net Y-pos-cmd pid.1.command
|
||||
net Z-pos-cmd pid.2.command
|
||||
|
||||
# hook encoders to PID feedback
|
||||
net X-enc-pos pid.0.feedback
|
||||
net Y-enc-pos pid.1.feedback
|
||||
net Z-enc-pos pid.2.feedback
|
||||
# and to motion controller
|
||||
net X-enc-pos joint.0.motor-pos-fb
|
||||
net Y-enc-pos joint.1.motor-pos-fb
|
||||
net Z-enc-pos joint.2.motor-pos-fb
|
||||
|
||||
# hook PID outputs to DACs
|
||||
net X-volts pid.0.output
|
||||
net Y-volts pid.1.output
|
||||
net Z-volts pid.2.output
|
||||
|
||||
# use 'servo-enable' to enable PID blocks
|
||||
# need to release the Z-axis brake when running
|
||||
net Z-amp-running motenc.3.out-15
|
||||
|
||||
net servo-enable pid.0.enable
|
||||
net servo-enable pid.1.enable
|
||||
net servo-enable pid.2.enable
|
||||
|
||||
# get tuning params from ini file
|
||||
setp pid.0.deadband [JOINT_0]DEADBAND
|
||||
setp pid.0.Pgain [JOINT_0]PGAIN
|
||||
setp pid.0.Igain [JOINT_0]IGAIN
|
||||
setp pid.0.Dgain [JOINT_0]DGAIN
|
||||
setp pid.0.FF0 [JOINT_0]FF0
|
||||
setp pid.0.FF1 [JOINT_0]FF1
|
||||
setp pid.0.FF2 [JOINT_0]FF2
|
||||
setp pid.0.bias [JOINT_0]BIAS
|
||||
setp pid.1.deadband [JOINT_1]DEADBAND
|
||||
setp pid.1.Pgain [JOINT_1]PGAIN
|
||||
setp pid.1.Igain [JOINT_1]IGAIN
|
||||
setp pid.1.Dgain [JOINT_1]DGAIN
|
||||
setp pid.1.FF0 [JOINT_1]FF0
|
||||
setp pid.1.FF1 [JOINT_1]FF1
|
||||
setp pid.1.FF2 [JOINT_1]FF2
|
||||
setp pid.1.bias [JOINT_1]BIAS
|
||||
setp pid.2.deadband [JOINT_2]DEADBAND
|
||||
setp pid.2.Pgain [JOINT_2]PGAIN
|
||||
setp pid.2.Igain [JOINT_2]IGAIN
|
||||
setp pid.2.Dgain [JOINT_2]DGAIN
|
||||
setp pid.2.FF0 [JOINT_2]FF0
|
||||
setp pid.2.FF1 [JOINT_2]FF1
|
||||
setp pid.2.FF2 [JOINT_2]FF2
|
||||
setp pid.2.bias [JOINT_2]BIAS
|
||||
# get maximum (and minimum) output volts from ini file
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
|
||||
# LADDER LOGIC!!!
|
||||
#
|
||||
# Classic ladder doesn't let you use meaningful names, so this
|
||||
# will be the magic decoder ring
|
||||
|
||||
# INPUTS to CL
|
||||
# I0 = the GUI estop "button" isn't pressed
|
||||
net gui-estop-ok classicladder.0.in-00
|
||||
# I1 = servo-enable, used to mask amp faults when not enabled
|
||||
net servo-enable classicladder.0.in-01
|
||||
# I2 thru I4, amp running signal (FALSE when faulted OR disabled)
|
||||
net X-amp-running classicladder.0.in-02
|
||||
net Y-amp-running classicladder.0.in-03
|
||||
net Z-amp-running classicladder.0.in-04
|
||||
net spindle-use-low-gear classicladder.0.in-05
|
||||
net sp-in-low-gear classicladder.0.in-06
|
||||
net sp-in-high-gear classicladder.0.in-07
|
||||
net sp-in-neutral classicladder.0.in-08
|
||||
net sp-at-speed classicladder.0.in-09
|
||||
net hydraulic-pump-running classicladder.0.in-10
|
||||
net magazine-in-position classicladder.0.in-11
|
||||
net magazine-index-pbs classicladder.0.in-12
|
||||
net tool-load-pbs classicladder.0.in-13
|
||||
net tool-loaded classicladder.0.in-14
|
||||
net tool-unload-pbs classicladder.0.in-15
|
||||
net tool-unloaded classicladder.0.in-16
|
||||
net tool-unclamp-pbs classicladder.0.in-17
|
||||
# based on difference between current position and
|
||||
# the slot for the tool currently in the spindle
|
||||
net magazine-fwd-req-store classicladder.0.in-18
|
||||
net magazine-rev-req-store classicladder.0.in-19
|
||||
# I20 = means the external estop chain is OK
|
||||
net external-estop-ok classicladder.0.in-20
|
||||
# I21 = estop-reset, pulsed to reset the estop relay
|
||||
net estop-reset classicladder.0.in-21
|
||||
net feed-hold-pbs classicladder.0.in-22
|
||||
net spindle-run-request classicladder.0.in-23
|
||||
net sp-orient-pos-ok classicladder.0.in-24
|
||||
net tool-requested-match classicladder.0.in-25
|
||||
net tool-prepare classicladder.0.in-26
|
||||
# based on difference between current position and EMC
|
||||
# requested position (from a T block)
|
||||
net magazine-fwd-req-fetch classicladder.0.in-27
|
||||
net magazine-rev-req-fetch classicladder.0.in-28
|
||||
# tool changer proxes
|
||||
net arm-at-0/180 classicladder.0.in-29
|
||||
net arm-at-0/60 classicladder.0.in-30
|
||||
net arm-at-180 classicladder.0.in-31
|
||||
net arm-at-60 classicladder.0.in-32
|
||||
net arm-extended classicladder.0.in-33
|
||||
net arm-retracted classicladder.0.in-34
|
||||
net tool-change classicladder.0.in-35
|
||||
net tool-clamped classicladder.0.in-36
|
||||
net tool-unclamped classicladder.0.in-37
|
||||
net tool-current-match classicladder.0.in-38
|
||||
|
||||
|
||||
|
||||
# OUTPUTS from CL
|
||||
# Q0 = AP1, first stage power up (applies power thru resistors)
|
||||
net AP1 classicladder.0.out-00
|
||||
# Q1 = AP2, second stage (bypasses resistors)
|
||||
net AP2 classicladder.0.out-01
|
||||
# Q2 thru Q4, amp faulted signal (ENABLED and NOT RUNNING)
|
||||
net X-amp-fault classicladder.0.out-02
|
||||
net Y-amp-fault classicladder.0.out-03
|
||||
net Z-amp-fault classicladder.0.out-04
|
||||
# Q5 is motion enable (after chain)
|
||||
net motion-enable classicladder.0.out-05
|
||||
# Q6 and 7 are the gear shift outputs
|
||||
net sp-engage-low-gear classicladder.0.out-06
|
||||
net sp-engage-high-gear classicladder.0.out-07
|
||||
# Q8 indicates that a shift is in progress
|
||||
net sp-shifting classicladder.0.out-08
|
||||
net hydraulic-pump-run classicladder.0.out-09
|
||||
net magazine-forward classicladder.0.out-10
|
||||
net magazine-reverse classicladder.0.out-11
|
||||
net tool-load classicladder.0.out-12
|
||||
net tool-unload classicladder.0.out-13
|
||||
net arm-extend classicladder.0.out-14
|
||||
net arm-retract classicladder.0.out-15
|
||||
net arm-60cw classicladder.0.out-16
|
||||
net arm-180ccw classicladder.0.out-17
|
||||
net tool-unclamp classicladder.0.out-18
|
||||
net head-unclamp classicladder.0.out-19
|
||||
net tool-prepared classicladder.0.out-20
|
||||
net tool-changed classicladder.0.out-21
|
||||
# Q22 indicates that the estop ladder rung (latch) is ok
|
||||
net main-estop-ok classicladder.0.out-22
|
||||
net spindle-drive-run classicladder.0.out-23
|
||||
net spindle-at-speed classicladder.0.out-24
|
||||
net spindle-oriented classicladder.0.out-25
|
||||
net feed-hold classicladder.0.out-26
|
||||
# FIXME! this is a temporary replacement for a bad sensor
|
||||
net arm-at-0/180 classicladder.0.out-27
|
||||
net spindle-do-orient classicladder.0.out-28
|
||||
|
||||
# CL internals (not HAL data, just here for documentation
|
||||
#
|
||||
# T0 = delay from estop OK to AP1
|
||||
# T1 = delay from AP1 to AP2
|
||||
# T2 = delay to allow servo amps to respond to enable
|
||||
# T3 = delay between AP2 close and motion enable
|
||||
# T4 = delay before shifting out of gear
|
||||
# T5 = delay before shifting into gear
|
||||
# T6 = oneshot for tool magazine advance
|
||||
# T7 = hydraulic pump delay
|
||||
# T8 = at-speed delay
|
||||
# T9 = oriented delay
|
||||
# T10 = bad prox delay
|
||||
|
||||
|
||||
# B0 = delayed servo-enable, for fault masking
|
||||
# B1 = five second initialization signal
|
||||
# B2 = gear shifting in progress
|
||||
# B3 = ok to shift into neutral
|
||||
# B4 = ok to shift into gear
|
||||
# B5 = magazine-index delay
|
||||
# B6 = magazine stop delay
|
||||
# B7 = tool load virtual
|
||||
# B8 = tool unload virtual
|
||||
# B9 = arm extend virtual
|
||||
# B10 = arm retract virtual
|
||||
# B11 = arm arm-60cw virtual
|
||||
# B12 = arm arm 180ccw virtual
|
||||
# B13 = arm tool unclamp virtual
|
||||
# B14 = tool change preconditions ready
|
||||
# B15 = cycle midpoint
|
||||
# B16 = tool cycle start
|
||||
|
||||
248
configs/attic/demo_mazak/demo_mazak.ini
Normal file
248
configs/attic/demo_mazak/demo_mazak.ini
Normal file
@@ -0,0 +1,248 @@
|
||||
# mazak_rf.ini EMC controller parameters for Roland Friestad's Mazak mill.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
# General section -------------------------------------------------------------
|
||||
|
||||
[EMC]
|
||||
# Version of this INI file
|
||||
VERSION = 1.1
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = LinuxCNC-MAZAK-RF
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
# enable adaptive feed input, we use it for feedhold button and to
|
||||
# prevent motion during spindle accel, gear changes, etc
|
||||
RS274NGC_STARTUP_CODE = M52 P1
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., xlinuxcnc
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# DISPLAY = mini
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.100
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# side panel with some extra controls
|
||||
PYVCP=panel.xml
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 1
|
||||
#EDITOR = geany
|
||||
INCREMENTS = 0.010 0.001 0.0001
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = demo_mazak.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in nanoseconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 100000
|
||||
# Servo task period, in nanoseconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 500000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
# Part program interpreter section --------------------------------------------
|
||||
|
||||
[HAL]
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
HALFILE = demo_mazak.hal
|
||||
HALFILE = tester.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Single file that is executed after the GUI has started.
|
||||
# used for "control panel" stuff, since the panel widgets
|
||||
# don't exist until the GUI starts
|
||||
POSTGUI_HALFILE = panel.hal
|
||||
# Spindle Controller Section --------------------------------------------------
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
# COORDINATES = X Y Z A B C
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.0
|
||||
MAX_LINEAR_VELOCITY = 5.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# change tools in the upper left corner of the table
|
||||
# to avoid hitting the vice or workpiece with the tool
|
||||
TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
|
||||
# tool table file
|
||||
TOOL_TABLE = demo_mazak.tbl
|
||||
# tool turret info
|
||||
TOOL_TURRET_MAX = 24
|
||||
TOOL_TURRET_WRAP = 1
|
||||
# wait times in seconds for spindle brake, release
|
||||
SPINDLE_OFF_WAIT = 1.0
|
||||
SPINDLE_ON_WAIT = 1.5
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -14.0
|
||||
MAX_LIMIT = 14.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
# Yes really, this .0024 backlash is right, workshop 2007
|
||||
BACKLASH = 0.0024
|
||||
# 2000 cycles/rev * 4 counts/cycle * 1.6 gear ratio *
|
||||
# 1.0 cm pitch * 2.54 cm/in = 32512 (tweaked later)
|
||||
INPUT_SCALE = 33865
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = -0.032
|
||||
MAX_OUTPUT = 10.0
|
||||
MIN_LIMIT = -14.0
|
||||
MAX_LIMIT = 14.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 14.3
|
||||
HOME_SEARCH_VEL = 2.5
|
||||
HOME_LATCH_VEL = -0.25
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000035
|
||||
PGAIN = 4000.0
|
||||
IGAIN = 6400.0
|
||||
DGAIN = 15.0
|
||||
FF0 = 0.000
|
||||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
# Second axis
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -7.7
|
||||
MAX_LIMIT = 7.7
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
BACKLASH = 0.000
|
||||
# 2000 cycles/rev * 4 counts/cycle * 1.6 gear ratio *
|
||||
# 1.0 cm pitch * 2.54 cm/in = 32512 (tweaked later)
|
||||
INPUT_SCALE = 33865
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.006
|
||||
MAX_OUTPUT = 10.0
|
||||
MIN_LIMIT = -7.7
|
||||
MAX_LIMIT = 7.7
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 7.37
|
||||
HOME_SEARCH_VEL = 2.5
|
||||
HOME_LATCH_VEL = -0.25
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000035
|
||||
PGAIN = 4000.0
|
||||
IGAIN = 6400.0
|
||||
DGAIN = 15.0
|
||||
FF0 = 0.000
|
||||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
# Third axis
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -7.75
|
||||
MAX_LIMIT = 0.025
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
BACKLASH = 0.000
|
||||
# 2000 cycles/rev * 4 counts/cycle * 2.0 gear ratio *
|
||||
# 1.0 cm pitch * 2.54 cm/in = 40640
|
||||
# 2007 workshop: we found that the scale was 20% low
|
||||
# and has apparently been that way for a couple years
|
||||
# dunno whether the gear ratio is actually 2.5, or the
|
||||
# screw is actually 8mm instead of 10mm, or something
|
||||
# else, but the number below gives correct results
|
||||
INPUT_SCALE = 50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = -0.014
|
||||
MAX_OUTPUT = 10.0
|
||||
MIN_LIMIT = -7.75
|
||||
MAX_LIMIT = 0.025
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = -0.2
|
||||
HOME_SEARCH_VEL = 1.0
|
||||
HOME_LATCH_VEL = -0.25
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
# PID tuning params
|
||||
DEADBAND = 0.00003
|
||||
PGAIN = 4000.0
|
||||
IGAIN = 6400.0
|
||||
DGAIN = 15.0
|
||||
FF0 = 0.000
|
||||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
|
||||
[SPINDLE]
|
||||
ORIENT_POSITION = -75.0
|
||||
LOW_GEAR_RATIO = 4.133
|
||||
HIGH_GEAR_RATIO = 1.100
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
4
configs/attic/demo_mazak/demo_mazak.tbl
Normal file
4
configs/attic/demo_mazak/demo_mazak.tbl
Normal file
@@ -0,0 +1,4 @@
|
||||
T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
|
||||
T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
|
||||
T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
|
||||
T99999 P99999 Z+0.100000 ;big tool number
|
||||
119
configs/attic/demo_mazak/tester.hal
Normal file
119
configs/attic/demo_mazak/tester.hal
Normal file
@@ -0,0 +1,119 @@
|
||||
# this file contains a Virtual Control Panel for testing on Roland's Mazak
|
||||
#
|
||||
|
||||
loadusr -W halvcp tester.vcp
|
||||
|
||||
net external-estop-ok led.ext-estop
|
||||
net gui-estop-ok led.gui-estop
|
||||
net main-estop-ok led.main-estop
|
||||
net AP1 led.charging
|
||||
net AP2 led.powered
|
||||
net motion-enable led.motion-enable
|
||||
|
||||
net spindle-ready led.sp-ready
|
||||
net spindle-drive-run led.sp-run
|
||||
net spindle-at-speed led.sp-at-speed
|
||||
net spindle-use-low-gear led.sp-low-gear
|
||||
net spindle-use-low-gear button.sp-low-gear
|
||||
net spindle-do-orient led.sp-do-orient
|
||||
net spindle-oriented led.sp-oriented
|
||||
|
||||
net X-amp-running led.x-amp-on
|
||||
net X-amp-fault led.x-amp-flt
|
||||
net X-lim-plus led.x-pos-lim
|
||||
net X-lim-minus led.x-neg-lim
|
||||
net X-lim-plus led.x-home
|
||||
|
||||
net Y-amp-running led.y-amp-on
|
||||
net Y-amp-fault led.y-amp-flt
|
||||
net Y-lim-plus led.y-pos-lim
|
||||
net Y-lim-minus led.y-neg-lim
|
||||
net Y-lim-plus led.y-home
|
||||
|
||||
net Z-amp-running led.z-amp-on
|
||||
net Z-amp-fault led.z-amp-flt
|
||||
net Z-lim-plus led.z-pos-lim
|
||||
net Z-lim-minus led.z-neg-lim
|
||||
net Z-lim-plus led.z-home
|
||||
|
||||
net tool-prepare led.tool-prep
|
||||
net tool-prepared led.tool-prepped
|
||||
net tool-change led.tool-change
|
||||
net tool-changed led.tool-changed
|
||||
|
||||
net magazine-index-pbs led.tool-index-pb
|
||||
net tool-load-pbs led.tool-load-pb
|
||||
net tool-unload-pbs led.tool-unload-pb
|
||||
|
||||
net magazine-in-position led.mag-in-pos
|
||||
net magazine-position-0 led.mag-pos-0
|
||||
net magazine-position-1 led.mag-pos-1
|
||||
net magazine-position-2 led.mag-pos-2
|
||||
net magazine-position-3 led.mag-pos-3
|
||||
net magazine-position-4 led.mag-pos-4
|
||||
|
||||
net tool-loaded led.arm1-loaded
|
||||
net tool-unloaded led.arm1-unloaded
|
||||
|
||||
net arm-retracted led.arm2-retracted
|
||||
net arm-extended led.arm2-extended
|
||||
net arm-at-0/180 led.arm2-0/180
|
||||
net arm-at-0/60 led.arm2-0/60
|
||||
net arm-at-60 led.arm2-60
|
||||
net arm-at-180 led.arm2-180
|
||||
|
||||
net tool-clamped led.tool-clamped
|
||||
net tool-unclamped led.tool-unclamped
|
||||
|
||||
|
||||
|
||||
|
||||
#loadusr halmeter -s sig magazine-position
|
||||
|
||||
quit
|
||||
# the following are signals that we might later want to hook
|
||||
# LEDs and/or switches to, included here for reference only
|
||||
|
||||
# spindle related signals: "internal" signal
|
||||
#newsig sp-index-enable bit
|
||||
#newsig sp-orient-pos-ok bit
|
||||
#newsig sp-engage-high-gear bit
|
||||
#newsig sp-engage-low-gear bit
|
||||
#newsig sp-in-high-gear bit
|
||||
#newsig sp-in-low-gear bit
|
||||
#newsig sp-in-neutral bit
|
||||
#newsig sp-shifting bit
|
||||
#newsig sp-at-speed bit
|
||||
|
||||
# misc control
|
||||
# tool change location push button operators
|
||||
#newsig worklight-pbs bit
|
||||
|
||||
# add front panel buttons here
|
||||
|
||||
|
||||
# hydraulic pump
|
||||
#newsig hydraulic-pump-run bit
|
||||
#newsig hydraulic-pump-running bit
|
||||
|
||||
# add a temporary signal to rotate by one.
|
||||
#newsig forward-one bit
|
||||
|
||||
# hydraulic valves
|
||||
#newsig arm-extend bit
|
||||
#newsig arm-retract bit
|
||||
#newsig arm-60cw bit
|
||||
#newsig arm-180ccw bit
|
||||
#newsig tool-load bit
|
||||
#newsig tool-unload bit
|
||||
#newsig magazine-forward bit
|
||||
#newsig magazine-reverse bit
|
||||
#newsig tool-unclamp bit
|
||||
#newsig head-unclamp bit
|
||||
|
||||
# other solenoids and such
|
||||
#newsig spindle-air-blast bit
|
||||
#newsig work-air-blast bit
|
||||
#newsig mist-coolant bit
|
||||
#newsig flood-coolant bit
|
||||
|
||||
488
configs/attic/demo_mazak/tester.vcp
Normal file
488
configs/attic/demo_mazak/tester.vcp
Normal file
@@ -0,0 +1,488 @@
|
||||
vcp {
|
||||
main-window {
|
||||
title = "Mazak Test"
|
||||
# width = 300
|
||||
# height = 300
|
||||
# top level box
|
||||
box {
|
||||
# this box holds generic stuff
|
||||
layout = horizontal
|
||||
box {
|
||||
layout = vertical
|
||||
box {
|
||||
layout = vertical
|
||||
title = "ESTOP Chain"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.ext-estop
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " External" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.gui-estop
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " GUI" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.main-estop
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Master" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.charging
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Charging" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.powered
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Amp Power" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.motion-enable
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Enabled" }
|
||||
}
|
||||
}
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Spindle"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.sp-ready
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Ready" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.sp-run
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Run" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.sp-low-gear
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Use Low Gear" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.sp-at-speed
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " At Speed" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.sp-do-orient
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Do Orient" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.sp-oriented
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Oriented" }
|
||||
}
|
||||
button {
|
||||
halpin = button.sp-low-gear
|
||||
label { text = "LowGear" }
|
||||
}
|
||||
}
|
||||
}
|
||||
# this box holds stuff for the axes
|
||||
box {
|
||||
layout = vertical
|
||||
#title = "Axis Amps"
|
||||
box {
|
||||
layout = vertical
|
||||
title = "X"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.x-amp-on
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Running" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.x-amp-flt }
|
||||
label { text = " Faulted" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.x-pos-lim }
|
||||
label { text = " Max Limit" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.x-neg-lim }
|
||||
label { text = " Min Limit" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.x-home
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Home" }
|
||||
}
|
||||
}
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Y"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.y-amp-on
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Running" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.y-amp-flt }
|
||||
label { text = " Faulted" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.y-pos-lim }
|
||||
label { text = " Max Limit" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.y-neg-lim }
|
||||
label { text = " Min Limit" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.y-home
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " HomeSw" }
|
||||
}
|
||||
}
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Z"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.z-amp-on
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Running" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.z-amp-flt }
|
||||
label { text = " Faulted" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.z-pos-lim }
|
||||
label { text = " Max Limit" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED { halpin = led.z-neg-lim }
|
||||
label { text = " Min Limit" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.z-home
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Home" }
|
||||
}
|
||||
}
|
||||
}
|
||||
# this box holds stuff for the toolchanger
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Tools"
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Control"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-prep
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Prepare" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-prepped
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Prepared" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-change
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Change" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-changed
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Changed" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-index-pb
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " PB Index" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-load-pb
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " PB Load" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-unload-pb
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " PB Unload" }
|
||||
}
|
||||
}
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Magazine"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.mag-in-pos
|
||||
on-color = green
|
||||
off-color = red
|
||||
}
|
||||
label { text = " In Pos" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.mag-pos-0
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Bit0" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.mag-pos-1
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Bit1" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.mag-pos-2
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Bit2" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.mag-pos-3
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Bit3" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.mag-pos-4
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Bit4" }
|
||||
}
|
||||
}
|
||||
}
|
||||
# this box holds the prox switches
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Proxen"
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Mag Arm"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm1-loaded
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Load" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm1-unloaded
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Unload" }
|
||||
}
|
||||
}
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Double Arm"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm2-retracted
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Retracted" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm2-extended
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " Extended" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm2-0/180
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " 0/180" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm2-0/60
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " 0/60" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm2-180
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " 180" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.arm2-60
|
||||
on-color = yellow
|
||||
off-color = yellow4
|
||||
}
|
||||
label { text = " 60" }
|
||||
}
|
||||
}
|
||||
box {
|
||||
layout = vertical
|
||||
title = "Drawbar"
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-clamped
|
||||
on-color = green
|
||||
off-color = "#060"
|
||||
}
|
||||
label { text = " Clamped" }
|
||||
}
|
||||
box {
|
||||
layout = horizontal
|
||||
LED {
|
||||
halpin = led.tool-unclamped
|
||||
on-color = red
|
||||
off-color = red4
|
||||
}
|
||||
label { text = " Unclamped" }
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} # main-window
|
||||
}
|
||||
Reference in New Issue
Block a user