Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
15
configs/attic/unclaimed/max/jogwheel.hal
Normal file
15
configs/attic/unclaimed/max/jogwheel.hal
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net jogA parport.0.pin-10-in => encoder.1.phase-A
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net jogB parport.0.pin-11-in => encoder.1.phase-B
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net jogX axisui.jog.x => joint.0.jog-enable
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net jogY axisui.jog.y => joint.1.jog-enable
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net jogZ axisui.jog.z => joint.2.jog-enable
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net jogcounts encoder.1.counts => joint.0.jog-counts joint.1.jog-counts joint.2.jog-counts
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sets jogscale .00002
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net jogscale joint.0.jog-scale
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net jogscale joint.1.jog-scale
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net jogscale joint.2.jog-scale
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224
configs/attic/unclaimed/max/max.hal
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224
configs/attic/unclaimed/max/max.hal
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# HAL config file for MAX NC test machine
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#######################################################
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# first load all the HAL modules we're going to need
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#######################################################
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# kinematics
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loadrt [KINS]KINEMATICS
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# main motion controller module
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# using steppers....
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loadrt stepgen step_type=0,0,0,0
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# I/O thru the parport
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loadrt hal_parport cfg="0x0378"
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# counting the spindle encoder in software
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loadrt encoder num_chan=2
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# simulate the encoder
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loadrt sim_encoder num_chan=1
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# misc blocks needed to do fun things
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loadrt ddt count=8
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#######################################################
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# add realtime functions to the threads
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# first the high speed thread
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#######################################################
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# first we read parport inputs
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addf parport.0.read base-thread
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addf sim-encoder.make-pulses base-thread
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# update encoder counter
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addf encoder.update-counters base-thread
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# generate step and dir signals
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addf stepgen.make-pulses base-thread
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# write to outputs
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addf parport.0.write base-thread
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# now the servo thread
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########################################################
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# capture axis and spindle positions
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addf stepgen.capture-position servo-thread
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addf encoder.capture-position servo-thread
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# process motion commands coming from user space
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addf motion-command-handler servo-thread
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# run main motion controller
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addf motion-controller servo-thread
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# differentiators to make vel and acc signals
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addf ddt.0 servo-thread
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addf ddt.1 servo-thread
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addf ddt.2 servo-thread
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addf ddt.3 servo-thread
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addf ddt.4 servo-thread
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addf ddt.5 servo-thread
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addf ddt.6 servo-thread
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addf ddt.7 servo-thread
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# update output info, axis and spindle
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addf stepgen.update-freq servo-thread
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addf sim-encoder.update-speed servo-thread
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#######################################################
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# interconnections
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#
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# first, the basic stepper machine connections
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#######################################################
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# connect position commands from motion module to step generator
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net Xpos-cmd <= joint.0.motor-pos-cmd
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net Xpos-cmd => stepgen.0.position-cmd
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net Ypos-cmd <= joint.1.motor-pos-cmd
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net Ypos-cmd => stepgen.1.position-cmd
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net Zpos-cmd <= joint.2.motor-pos-cmd
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net Zpos-cmd => stepgen.2.position-cmd
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net Apos-cmd <= joint.3.motor-pos-cmd
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net Apos-cmd => stepgen.3.position-cmd
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# connect position feedback from step generators
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# to motion module
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net Xpos-fb <= stepgen.0.position-fb
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net Xpos-fb => joint.0.motor-pos-fb
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net Ypos-fb <= stepgen.1.position-fb
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net Ypos-fb => joint.1.motor-pos-fb
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net Zpos-fb <= stepgen.2.position-fb
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net Zpos-fb => joint.2.motor-pos-fb
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net Apos-fb <= stepgen.3.position-fb
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net Apos-fb => joint.3.motor-pos-fb
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# connect enable signals for step generators
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net Xen <= joint.0.amp-enable-out
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net Xen => stepgen.0.enable
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net Yen <= joint.1.amp-enable-out
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net Yen => stepgen.1.enable
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net Zen <= joint.2.amp-enable-out
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net Zen => stepgen.2.enable
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net Aen <= joint.3.amp-enable-out
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net Aen => stepgen.3.enable
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# connect signals to step pulse generator outputs
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net Xstep <= stepgen.0.step
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net Xdir <= stepgen.0.dir
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net Ystep <= stepgen.1.step
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net Ydir <= stepgen.1.dir
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net Zstep <= stepgen.2.step
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net Zdir <= stepgen.2.dir
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net Astep <= stepgen.3.step
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net Adir <= stepgen.3.dir
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# create a signal for the estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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# create a signal for "spindle on"
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net spindle_on <= motion.spindle-on
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# connect physical pins to the signals
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net Xstep => parport.0.pin-03-out
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net Xdir => parport.0.pin-02-out
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net Ystep => parport.0.pin-05-out
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net Ydir => parport.0.pin-04-out
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net Zstep => parport.0.pin-07-out
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net Zdir => parport.0.pin-06-out
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net Astep => parport.0.pin-09-out
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net Adir => parport.0.pin-08-out
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# amp enable (active lo)
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net Xen => parport.0.pin-01-out
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setp parport.0.pin-01-out-invert 1
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# spindle enable (active lo)
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net spindle_on => parport.0.pin-14-out
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setp parport.0.pin-14-out-invert 1
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#######################################################
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# set scaling and other parameters of the basic machine
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# set stepgen module scaling - get values from ini file
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setp stepgen.0.position-scale [AXIS_0]SCALE
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setp stepgen.1.position-scale [AXIS_1]SCALE
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setp stepgen.2.position-scale [AXIS_2]SCALE
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setp stepgen.3.position-scale [AXIS_3]SCALE
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# set stepgen module accel limits - get values from ini file
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# jmk said to set these to ini value + 5% to avoid stepgen bug
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setp stepgen.0.maxaccel [AXIS_0]HAL_MAXACCEL
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setp stepgen.1.maxaccel [AXIS_1]HAL_MAXACCEL
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setp stepgen.2.maxaccel [AXIS_2]HAL_MAXACCEL
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setp stepgen.3.maxaccel [AXIS_3]HAL_MAXACCEL
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# end of basic machine
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#######################################################
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# Beginning of threading related stuff
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#######################################################
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# spindle speed control
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net spindle-speed-cmd <= motion.spindle-speed-out
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net spindle-speed-cmd => sim-encoder.0.speed
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# spindle encoder
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# connect encoder signals to encoder counter
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net spindle-phase-A => encoder.0.phase-A
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net spindle-phase-B => encoder.0.phase-B
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net spindle-phase-Z => encoder.0.phase-Z
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net spindle-phase-A <= sim-encoder.0.phase-A
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net spindle-phase-B <= sim-encoder.0.phase-B
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net spindle-phase-Z <= sim-encoder.0.phase-Z
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# assume 120 ppr = 480 counts/rev for the spindle
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setp sim-encoder.0.ppr 120
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# iocontrol output is in rpm, but sim-encoder speed is rps
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setp sim-encoder.0.scale 60
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# scale encoder output to read in revolutions
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# (that way thread pitches can be straightforward,
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# a 20 tpi thread would multiply the encoder output
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# by 1/20, etc)
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setp encoder.0.position-scale 480
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# encoder reset control
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net spindle-index-enable <= motion.spindle-index-enable
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net spindle-index-enable <=> encoder.0.index-enable
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# report our revolution count to the motion controller
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net spindle-pos <= encoder.0.position
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net spindle-pos => motion.spindle-revs
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#######################################################
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# make vel and accel sigs for testing
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#######################################################
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# send the position commands thru differentiators to
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# generate velocity and accel signals (for testing)
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# define the signals, and hook them up
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net Xpos-cmd => ddt.0.in
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net Xvel <= ddt.0.out
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net Xvel => ddt.1.in
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net Xacc <= ddt.1.out
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net Ypos-cmd => ddt.2.in
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net Yvel <= ddt.2.out
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net Yvel => ddt.3.in
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net Yacc <= ddt.3.out
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net Zpos-cmd => ddt.4.in
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net Zvel <= ddt.4.out
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net Zvel => ddt.5.in
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net Zacc <= ddt.5.out
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net Apos-cmd => ddt.6.in
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net Avel <= ddt.6.out
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net Avel => ddt.7.in
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net Aacc <= ddt.7.out
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# for spindle velocity estimate
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loadrt lowpass count=1
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net spindle-rpm-raw encoder.0.velocity
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net spindle-rpm-raw lowpass.0.in
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net spindle-rpm-filtered lowpass.0.out
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setp lowpass.0.gain .03
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addf lowpass.0 servo-thread
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190
configs/attic/unclaimed/plasma-thc/mp1000A.hal
Normal file
190
configs/attic/unclaimed/plasma-thc/mp1000A.hal
Normal file
@@ -0,0 +1,190 @@
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###################### Torch Height Control ##########################
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# Load realtime hal components for THC
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loadrt and2 count=9
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loadrt comp count=3
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loadrt updown
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loadrt flipflop count=3
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loadrt hypot
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loadrt logic personality=0x203
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loadrt minmax
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loadrt mult2 count=2
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loadrt mux2 count=7
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loadrt not count=3
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loadrt oneshot count=4
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loadrt or2 count=9
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loadrt scale
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loadrt sum2 count=5
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loadrt xor2 count=4
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loadrt conv_s32_float
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loadrt edge count=2
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# Attach realtime hal components to a realtime thread
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addf and2.0 servo-thread
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addf and2.1 servo-thread
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addf and2.2 servo-thread
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addf and2.3 servo-thread
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addf and2.4 servo-thread
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addf and2.5 servo-thread
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addf and2.6 servo-thread
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addf and2.7 servo-thread
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addf and2.8 servo-thread
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addf comp.0 servo-thread
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addf comp.1 servo-thread
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addf comp.2 servo-thread
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addf conv-s32-float.0 servo-thread
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addf edge.0 servo-thread
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addf edge.1 servo-thread
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addf flipflop.0 servo-thread
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addf flipflop.1 servo-thread
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addf flipflop.2 servo-thread
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addf hypot.0 servo-thread
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addf logic.0 servo-thread
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addf minmax.0 servo-thread
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addf mult2.0 servo-thread
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addf mult2.1 servo-thread
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addf mux2.0 servo-thread
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addf mux2.1 servo-thread
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addf mux2.2 servo-thread
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addf mux2.3 servo-thread
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addf mux2.4 servo-thread
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addf mux2.5 servo-thread
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addf mux2.6 servo-thread
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addf not.0 servo-thread
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addf not.1 servo-thread
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addf not.2 servo-thread
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addf oneshot.0 servo-thread
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addf oneshot.1 servo-thread
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addf oneshot.2 servo-thread
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addf oneshot.3 servo-thread
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addf or2.0 servo-thread
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addf or2.1 servo-thread
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addf or2.2 servo-thread
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addf or2.3 servo-thread
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addf or2.4 servo-thread
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addf or2.5 servo-thread
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addf or2.6 servo-thread
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addf or2.7 servo-thread
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addf or2.8 servo-thread
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addf updown.0 servo-thread
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addf scale.0 servo-thread
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addf sum2.0 servo-thread
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addf sum2.1 servo-thread
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addf sum2.2 servo-thread
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addf sum2.3 servo-thread
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addf sum2.4 servo-thread
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addf xor2.0 servo-thread
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addf xor2.1 servo-thread
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addf xor2.2 servo-thread
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# Set static values and default values
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setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
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setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
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setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
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setp oneshot.3.falling 1
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setp oneshot.3.rising 0
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setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
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setp mux2.1.in0 -1
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setp mux2.1.in1 1
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setp mux2.3.in0 0
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# Set the lowest value the THC will try to move the torch
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setp sum2.4.in0 [AXIS_2]MIN_LIMIT
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# Set default gains for sum, positive for addition and negative for subtraction
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# Setting positive gains will become implicit and those can be removed safely in a later version
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setp sum2.0.gain0 1
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setp sum2.0.gain1 1
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setp sum2.1.gain0 1
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setp sum2.1.gain1 1
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setp sum2.2.gain0 1
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setp sum2.2.gain1 -1
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setp sum2.3.gain0 1
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setp sum2.3.gain1 -1
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setp sum2.4.gain0 1
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setp sum2.4.gain1 -1
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# Set Hysterisis for float comp
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setp comp.1.hyst 0.001
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# Set percentage multiplier for scale
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setp scale.0.gain 0.01
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# Set edge detectors to work on falling edges to detect Ignition Timeouts
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setp edge.0.in-edge 1
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setp edge.1.in-edge 1
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# Hook up parallel port pins
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net MoveDown parport.1.pin-11-in-not => or2.0.in0
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net MoveUp parport.1.pin-12-in-not => or2.0.in1 mux2.1.sel
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# Hook up component pins using the net command
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net FloatSwitch parport.1.pin-03-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
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net ArcOK parport.1.pin-15-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
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net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0
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net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0
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net LockHeight and2.0.out => xor2.2.in0
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net EnabledAdjustHeight and2.1.out => mux2.3.sel
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net ReleaseFeedHold and2.2.out => xor2.0.in1
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net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
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net FloatSwitchEstop and2.4.out => logic.0.in-02
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net FloatAndTorchOn and2.5.out => or2.2.in1
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net TorchAndFloat and2.6.out => flipflop.0.set
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net PosAndFloat and2.7.out => or2.5.in1
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net IgnitionEstop comp.2.out => logic.0.in-01
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net StartTorchOn and2.8.out => and2.3.in0
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net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
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net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
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net CHLTriggered comp.0.out => and2.0.in0
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net AtPosition comp.1.equal => and2.7.in0
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net VelX ddt.0.out => hypot.0.in0
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net VelY ddt.1.out => hypot.0.in1
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net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
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net ModeIsAuto halui.mode.is-auto => mux2.5.sel
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net VelXY hypot.0.out => minmax.0.in comp.0.in0
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net TriggerEStop logic.0.or => estop-latch.0.fault-in
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net MaximumVelocity minmax.0.max => mult2.1.in0
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net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in
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net HeightAdjustment mult2.0.out => mux2.3.in1
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net VelocityThreshold mult2.1.out => comp.0.in1
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net HeightOffset mux2.0.out => sum2.1.in1
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net AdjustmentDirection mux2.1.out => mult2.0.in1
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net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
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net SelectedAdjustment mux2.3.out => mux2.0.in1
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net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
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net PosSelectB mux2.5.out => mux2.4.in0
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||||
net PosSelectC mux2.6.out => mux2.4.in1
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net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
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||||
net ReversedArcOK not.1.out => minmax.0.reset
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||||
net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
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||||
net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
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||||
net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
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||||
net TakeSnapshot or2.1.out => mux2.2.sel
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||||
net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
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||||
net ProbeOrArcOK or2.3.out => mux2.6.sel
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||||
net PAFOrArcOK or2.5.out => and2.3.in1
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||||
net EstopOrArcOK or2.6.out => flipflop.0.reset
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||||
net ExtEStop parport.0.pin-10-in => logic.0.in-00
|
||||
net ExtEStop => logic.0.in-00
|
||||
net LimitZ parport.0.pin-13-in => or2.2.in0
|
||||
net ThresholdPercentage scale.0.out => mult2.1.in1
|
||||
net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
|
||||
net PierceOffset sum2.0.out => mux2.0.in0
|
||||
net DestinationHeight sum2.1.out => mux2.6.in1
|
||||
net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
|
||||
net StepCordsTH sum2.3.out => mux2.5.in1
|
||||
net StepCordsML sum2.4.out => mux2.6.in0
|
||||
net FeedHold xor2.0.out => motion.feed-hold
|
||||
net CHLSwitched xor2.2.out => and2.1.in1
|
||||
net ArcOKTimer oneshot.2.out => xor2.1.in0
|
||||
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
|
||||
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
|
||||
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
|
||||
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
|
||||
net TorchOff not.2.out => flipflop.1.reset
|
||||
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
|
||||
net IgnitionTimeout edge.0.out => or2.7.in1
|
||||
net ExtinguishTimer oneshot.3.out edge.1.in
|
||||
net ExtinguishLatch flipflop.2.out or2.8.in1
|
||||
net ExtinguishTimeout edge.1.out flipflop.2.reset
|
||||
net Timers or2.8.out => or2.4.in0
|
||||
32
configs/attic/unclaimed/plasma-thc/mp1000A_parport.hal
Normal file
32
configs/attic/unclaimed/plasma-thc/mp1000A_parport.hal
Normal file
@@ -0,0 +1,32 @@
|
||||
############################# Parallel Ports ##############################################
|
||||
|
||||
# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
|
||||
loadrt hal_parport cfg="0xa400 0xac00 in"
|
||||
|
||||
# Connect both Paralell Ports to Threads for Read / Write
|
||||
addf parport.0.read base-thread 1
|
||||
addf parport.0.write base-thread -1
|
||||
addf parport.1.read base-thread 1
|
||||
addf parport.1.write base-thread -1
|
||||
|
||||
# Invert pins to make motors move in right direction
|
||||
setp parport.0.pin-03-out-invert 1
|
||||
setp parport.0.pin-05-out-invert 1
|
||||
|
||||
# Hook up the step and dir signals to the parport pins
|
||||
# Axis A and Y are the same axis but different motors
|
||||
net StepX stepgen.0.step => parport.0.pin-02-out
|
||||
net DirX stepgen.0.dir => parport.0.pin-03-out
|
||||
net StepY stepgen.1.step => parport.0.pin-04-out
|
||||
net DirY stepgen.1.dir => parport.0.pin-05-out
|
||||
net StepZ stepgen.2.step => parport.0.pin-06-out
|
||||
net DirZ stepgen.2.dir => parport.0.pin-07-out
|
||||
net StepA stepgen.3.step => parport.0.pin-08-out
|
||||
net DirA stepgen.3.dir => parport.0.pin-09-out
|
||||
|
||||
# Hook up limit and home switches, each axis shares a common pin for homing, limit min and limit max
|
||||
net LimitX parport.1.pin-06-in-not => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
|
||||
net LimitY parport.1.pin-07-in-not => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
|
||||
# Z axis Limit switch handled by THC, see thc.hal
|
||||
#net LimitZ parport.1.pin-13-in => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net LimitA parport.1.pin-09-in-not => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in
|
||||
190
configs/attic/unclaimed/plasma-thc/mp1000B.hal
Normal file
190
configs/attic/unclaimed/plasma-thc/mp1000B.hal
Normal file
@@ -0,0 +1,190 @@
|
||||
###################### Torch Height Control ##########################
|
||||
|
||||
# Load realtime hal components for THC
|
||||
loadrt and2 count=9
|
||||
loadrt comp count=3
|
||||
loadrt updown
|
||||
loadrt flipflop count=3
|
||||
loadrt hypot
|
||||
loadrt logic personality=0x203
|
||||
loadrt minmax
|
||||
loadrt mult2 count=2
|
||||
loadrt mux2 count=7
|
||||
loadrt not count=3
|
||||
loadrt oneshot count=4
|
||||
loadrt or2 count=9
|
||||
loadrt scale
|
||||
loadrt sum2 count=5
|
||||
loadrt xor2 count=4
|
||||
loadrt conv_s32_float
|
||||
loadrt edge count=2
|
||||
|
||||
# Attach realtime hal components to a realtime thread
|
||||
addf and2.0 servo-thread
|
||||
addf and2.1 servo-thread
|
||||
addf and2.2 servo-thread
|
||||
addf and2.3 servo-thread
|
||||
addf and2.4 servo-thread
|
||||
addf and2.5 servo-thread
|
||||
addf and2.6 servo-thread
|
||||
addf and2.7 servo-thread
|
||||
addf and2.8 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf comp.2 servo-thread
|
||||
addf conv-s32-float.0 servo-thread
|
||||
addf edge.0 servo-thread
|
||||
addf edge.1 servo-thread
|
||||
addf flipflop.0 servo-thread
|
||||
addf flipflop.1 servo-thread
|
||||
addf flipflop.2 servo-thread
|
||||
addf hypot.0 servo-thread
|
||||
addf logic.0 servo-thread
|
||||
addf minmax.0 servo-thread
|
||||
addf mult2.0 servo-thread
|
||||
addf mult2.1 servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
addf mux2.1 servo-thread
|
||||
addf mux2.2 servo-thread
|
||||
addf mux2.3 servo-thread
|
||||
addf mux2.4 servo-thread
|
||||
addf mux2.5 servo-thread
|
||||
addf mux2.6 servo-thread
|
||||
addf not.0 servo-thread
|
||||
addf not.1 servo-thread
|
||||
addf not.2 servo-thread
|
||||
addf oneshot.0 servo-thread
|
||||
addf oneshot.1 servo-thread
|
||||
addf oneshot.2 servo-thread
|
||||
addf oneshot.3 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
addf or2.1 servo-thread
|
||||
addf or2.2 servo-thread
|
||||
addf or2.3 servo-thread
|
||||
addf or2.4 servo-thread
|
||||
addf or2.5 servo-thread
|
||||
addf or2.6 servo-thread
|
||||
addf or2.7 servo-thread
|
||||
addf or2.8 servo-thread
|
||||
addf updown.0 servo-thread
|
||||
addf scale.0 servo-thread
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf sum2.3 servo-thread
|
||||
addf sum2.4 servo-thread
|
||||
addf xor2.0 servo-thread
|
||||
addf xor2.1 servo-thread
|
||||
addf xor2.2 servo-thread
|
||||
|
||||
# Set static values and default values
|
||||
setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
|
||||
setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
|
||||
setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
|
||||
setp oneshot.3.falling 1
|
||||
setp oneshot.3.rising 0
|
||||
setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
|
||||
setp mux2.1.in0 -1
|
||||
setp mux2.1.in1 1
|
||||
setp mux2.3.in0 0
|
||||
|
||||
# Set the lowest value the THC will try to move the torch
|
||||
setp sum2.4.in0 [AXIS_2]MIN_LIMIT
|
||||
|
||||
# Set default gains for sum, positive for addition and negative for subtraction
|
||||
# Setting positive gains will become implicit and those can be removed safely in a later version
|
||||
setp sum2.0.gain0 1
|
||||
setp sum2.0.gain1 1
|
||||
setp sum2.1.gain0 1
|
||||
setp sum2.1.gain1 1
|
||||
setp sum2.2.gain0 1
|
||||
setp sum2.2.gain1 -1
|
||||
setp sum2.3.gain0 1
|
||||
setp sum2.3.gain1 -1
|
||||
setp sum2.4.gain0 1
|
||||
setp sum2.4.gain1 -1
|
||||
|
||||
# Set Hysterisis for float comp
|
||||
setp comp.1.hyst 0.001
|
||||
|
||||
# Set percentage multiplier for scale
|
||||
setp scale.0.gain 0.01
|
||||
|
||||
# Set edge detectors to work on falling edges to detect Ignition Timeouts
|
||||
setp edge.0.in-edge 1
|
||||
setp edge.1.in-edge 1
|
||||
|
||||
# Hook up parallel port pins
|
||||
net MoveDown parport.1.pin-06-in-not => or2.0.in0
|
||||
net MoveUp parport.1.pin-07-in-not => or2.0.in1 mux2.1.sel
|
||||
|
||||
# Hook up component pins using the net command
|
||||
net FloatSwitch parport.1.pin-03-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
|
||||
net ArcOK parport.1.pin-08-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
|
||||
net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0
|
||||
net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0
|
||||
net LockHeight and2.0.out => xor2.2.in0
|
||||
net EnabledAdjustHeight and2.1.out => mux2.3.sel
|
||||
net ReleaseFeedHold and2.2.out => xor2.0.in1
|
||||
net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
|
||||
net FloatSwitchEstop and2.4.out => logic.0.in-02
|
||||
net FloatAndTorchOn and2.5.out => or2.2.in1
|
||||
net TorchAndFloat and2.6.out => flipflop.0.set
|
||||
net PosAndFloat and2.7.out => or2.5.in1
|
||||
net IgnitionEstop comp.2.out => logic.0.in-01
|
||||
net StartTorchOn and2.8.out => and2.3.in0
|
||||
net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
|
||||
net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
|
||||
net CHLTriggered comp.0.out => and2.0.in0
|
||||
net AtPosition comp.1.equal => and2.7.in0
|
||||
net VelX ddt.0.out => hypot.0.in0
|
||||
net VelY ddt.1.out => hypot.0.in1
|
||||
net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
|
||||
net ModeIsAuto halui.mode.is-auto => mux2.5.sel
|
||||
net VelXY hypot.0.out => minmax.0.in comp.0.in0
|
||||
net TriggerEStop logic.0.or => estop-latch.0.fault-in
|
||||
net MaximumVelocity minmax.0.max => mult2.1.in0
|
||||
net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in
|
||||
net HeightAdjustment mult2.0.out => mux2.3.in1
|
||||
net VelocityThreshold mult2.1.out => comp.0.in1
|
||||
net HeightOffset mux2.0.out => sum2.1.in1
|
||||
net AdjustmentDirection mux2.1.out => mult2.0.in1
|
||||
net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
|
||||
net SelectedAdjustment mux2.3.out => mux2.0.in1
|
||||
net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
|
||||
net PosSelectB mux2.5.out => mux2.4.in0
|
||||
net PosSelectC mux2.6.out => mux2.4.in1
|
||||
net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
|
||||
net ReversedArcOK not.1.out => minmax.0.reset
|
||||
net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
|
||||
net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
|
||||
net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
|
||||
net TakeSnapshot or2.1.out => mux2.2.sel
|
||||
net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net ProbeOrArcOK or2.3.out => mux2.6.sel
|
||||
net PAFOrArcOK or2.5.out => and2.3.in1
|
||||
net EstopOrArcOK or2.6.out => flipflop.0.reset
|
||||
net ExtEStop parport.0.pin-10-in => logic.0.in-00
|
||||
net ExtEStop => logic.0.in-00
|
||||
net LimitZ parport.0.pin-13-in => or2.2.in0
|
||||
net ThresholdPercentage scale.0.out => mult2.1.in1
|
||||
net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
|
||||
net PierceOffset sum2.0.out => mux2.0.in0
|
||||
net DestinationHeight sum2.1.out => mux2.6.in1
|
||||
net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
|
||||
net StepCordsTH sum2.3.out => mux2.5.in1
|
||||
net StepCordsML sum2.4.out => mux2.6.in0
|
||||
net FeedHold xor2.0.out => motion.feed-hold
|
||||
net CHLSwitched xor2.2.out => and2.1.in1
|
||||
net ArcOKTimer oneshot.2.out => xor2.1.in0
|
||||
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
|
||||
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
|
||||
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
|
||||
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
|
||||
net TorchOff not.2.out => flipflop.1.reset
|
||||
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
|
||||
net IgnitionTimeout edge.0.out => or2.7.in1
|
||||
net ExtinguishTimer oneshot.3.out edge.1.in
|
||||
net ExtinguishLatch flipflop.2.out or2.8.in1
|
||||
net ExtinguishTimeout edge.1.out flipflop.2.reset
|
||||
net Timers or2.8.out => or2.4.in0
|
||||
32
configs/attic/unclaimed/plasma-thc/mp1000B_parport.hal
Normal file
32
configs/attic/unclaimed/plasma-thc/mp1000B_parport.hal
Normal file
@@ -0,0 +1,32 @@
|
||||
############################# Parallel Ports ##############################################
|
||||
|
||||
# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
|
||||
loadrt hal_parport cfg="0xa400 0xac00 in"
|
||||
|
||||
# Connect both Paralell Ports to Threads for Read / Write
|
||||
addf parport.0.read base-thread 1
|
||||
addf parport.0.write base-thread -1
|
||||
addf parport.1.read base-thread 1
|
||||
addf parport.1.write base-thread -1
|
||||
|
||||
# Invert pins to make motors move in right direction
|
||||
setp parport.0.pin-03-out-invert 1
|
||||
setp parport.0.pin-05-out-invert 1
|
||||
|
||||
# Hook up the step and dir signals to the parport pins
|
||||
# Axis A and Y are the same axis but different motors
|
||||
net StepX stepgen.0.step => parport.0.pin-02-out
|
||||
net DirX stepgen.0.dir => parport.0.pin-03-out
|
||||
net StepY stepgen.1.step => parport.0.pin-04-out
|
||||
net DirY stepgen.1.dir => parport.0.pin-05-out
|
||||
net StepZ stepgen.2.step => parport.0.pin-06-out
|
||||
net DirZ stepgen.2.dir => parport.0.pin-07-out
|
||||
net StepA stepgen.3.step => parport.0.pin-08-out
|
||||
net DirA stepgen.3.dir => parport.0.pin-09-out
|
||||
|
||||
# Hook up limit and home switches, each axis shares a common pin for homing, limit min and limit max
|
||||
net LimitX parport.0.pin-11-in => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
|
||||
net LimitY parport.0.pin-12-in => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
|
||||
# Z axis Limit switch handled by THC, see thc.hal
|
||||
#net LimitZ parport.1.pin-13-in => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net LimitA parport.0.pin-15-in => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in
|
||||
54
configs/attic/unclaimed/plasma-thc/stepper.hal
Normal file
54
configs/attic/unclaimed/plasma-thc/stepper.hal
Normal file
@@ -0,0 +1,54 @@
|
||||
############################ Step Generators #########################################
|
||||
|
||||
# Stepper module, four step generators, all using step/dir
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
|
||||
# Load realtime ddt for velocity calculations used for CHL
|
||||
loadrt ddt count=2
|
||||
|
||||
# Hook functions to base thread (high speed thread for step generation)
|
||||
addf stepgen.make-pulses base-thread
|
||||
|
||||
# Hook functions to servo thread
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
addf ddt.0 servo-thread
|
||||
addf ddt.1 servo-thread
|
||||
|
||||
# Configure signals for Z axis to be twice the size of the signals for other axis because
|
||||
# Z axis has a slo-syn driver which can't handle smaller step sizes
|
||||
setp stepgen.2.steplen 35200
|
||||
setp stepgen.2.stepspace 35200
|
||||
setp stepgen.2.dirsetup 35200
|
||||
setp stepgen.2.dirhold 35200
|
||||
|
||||
# Set stepgen module scaling - get values from ini file
|
||||
setp stepgen.0.position-scale [AXIS_0]SCALE
|
||||
setp stepgen.1.position-scale [AXIS_1]SCALE
|
||||
setp stepgen.2.position-scale [AXIS_2]SCALE
|
||||
setp stepgen.3.position-scale [AXIS_3]SCALE
|
||||
|
||||
# Set stepgen module accel limits - get values from ini file
|
||||
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
|
||||
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
|
||||
|
||||
# Hook up stepgen to motion modules
|
||||
net PosX-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
|
||||
net PosX-fb stepgen.0.position-fb => joint.0.motor-pos-fb ddt.0.in
|
||||
net PosY-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
|
||||
net PosY-fb stepgen.1.position-fb => joint.1.motor-pos-fb ddt.1.in
|
||||
# Z Axis Position and feedback signals handled by THC, see thc.hal
|
||||
#net PosZ-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
|
||||
#net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb
|
||||
net PosA-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
|
||||
net PosA-fb stepgen.3.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# Hook up enable signals for step generators
|
||||
net EnableX joint.0.amp-enable-out => stepgen.0.enable
|
||||
net EnableY joint.1.amp-enable-out => stepgen.1.enable
|
||||
net EnableZ joint.2.amp-enable-out => stepgen.2.enable
|
||||
net EnableA joint.3.amp-enable-out => stepgen.3.enable
|
||||
190
configs/attic/unclaimed/plasma-thc/thc300.hal
Normal file
190
configs/attic/unclaimed/plasma-thc/thc300.hal
Normal file
@@ -0,0 +1,190 @@
|
||||
###################### Torch Height Control ##########################
|
||||
|
||||
# Load realtime hal components for THC
|
||||
loadrt and2 count=9
|
||||
loadrt comp count=3
|
||||
loadrt updown
|
||||
loadrt flipflop count=3
|
||||
loadrt hypot
|
||||
loadrt logic personality=0x203
|
||||
loadrt minmax
|
||||
loadrt mult2 count=2
|
||||
loadrt mux2 count=7
|
||||
loadrt not count=3
|
||||
loadrt oneshot count=4
|
||||
loadrt or2 count=9
|
||||
loadrt scale
|
||||
loadrt sum2 count=5
|
||||
loadrt xor2 count=4
|
||||
loadrt conv_s32_float
|
||||
loadrt edge count=2
|
||||
|
||||
# Attach realtime hal components to a realtime thread
|
||||
addf and2.0 servo-thread
|
||||
addf and2.1 servo-thread
|
||||
addf and2.2 servo-thread
|
||||
addf and2.3 servo-thread
|
||||
addf and2.4 servo-thread
|
||||
addf and2.5 servo-thread
|
||||
addf and2.6 servo-thread
|
||||
addf and2.7 servo-thread
|
||||
addf and2.8 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf comp.2 servo-thread
|
||||
addf conv-s32-float.0 servo-thread
|
||||
addf edge.0 servo-thread
|
||||
addf edge.1 servo-thread
|
||||
addf flipflop.0 servo-thread
|
||||
addf flipflop.1 servo-thread
|
||||
addf flipflop.2 servo-thread
|
||||
addf hypot.0 servo-thread
|
||||
addf logic.0 servo-thread
|
||||
addf minmax.0 servo-thread
|
||||
addf mult2.0 servo-thread
|
||||
addf mult2.1 servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
addf mux2.1 servo-thread
|
||||
addf mux2.2 servo-thread
|
||||
addf mux2.3 servo-thread
|
||||
addf mux2.4 servo-thread
|
||||
addf mux2.5 servo-thread
|
||||
addf mux2.6 servo-thread
|
||||
addf not.0 servo-thread
|
||||
addf not.1 servo-thread
|
||||
addf not.2 servo-thread
|
||||
addf oneshot.0 servo-thread
|
||||
addf oneshot.1 servo-thread
|
||||
addf oneshot.2 servo-thread
|
||||
addf oneshot.3 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
addf or2.1 servo-thread
|
||||
addf or2.2 servo-thread
|
||||
addf or2.3 servo-thread
|
||||
addf or2.4 servo-thread
|
||||
addf or2.5 servo-thread
|
||||
addf or2.6 servo-thread
|
||||
addf or2.7 servo-thread
|
||||
addf or2.8 servo-thread
|
||||
addf updown.0 servo-thread
|
||||
addf scale.0 servo-thread
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf sum2.3 servo-thread
|
||||
addf sum2.4 servo-thread
|
||||
addf xor2.0 servo-thread
|
||||
addf xor2.1 servo-thread
|
||||
addf xor2.2 servo-thread
|
||||
|
||||
# Set static values and default values
|
||||
setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
|
||||
setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
|
||||
setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
|
||||
setp oneshot.3.falling 1
|
||||
setp oneshot.3.rising 0
|
||||
setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
|
||||
setp mux2.1.in0 -1
|
||||
setp mux2.1.in1 1
|
||||
setp mux2.3.in0 0
|
||||
|
||||
# Set the lowest value the THC will try to move the torch
|
||||
setp sum2.4.in0 [AXIS_2]MIN_LIMIT
|
||||
|
||||
# Set default gains for sum, positive for addition and negative for subtraction
|
||||
# Setting positive gains will become implicit and those can be removed safely in a later version
|
||||
setp sum2.0.gain0 1
|
||||
setp sum2.0.gain1 1
|
||||
setp sum2.1.gain0 1
|
||||
setp sum2.1.gain1 1
|
||||
setp sum2.2.gain0 1
|
||||
setp sum2.2.gain1 -1
|
||||
setp sum2.3.gain0 1
|
||||
setp sum2.3.gain1 -1
|
||||
setp sum2.4.gain0 1
|
||||
setp sum2.4.gain1 -1
|
||||
|
||||
# Set Hysterisis for float comp
|
||||
setp comp.1.hyst 0.001
|
||||
|
||||
# Set percentage multiplier for scale
|
||||
setp scale.0.gain 0.01
|
||||
|
||||
# Set edge detectors to work on falling edges to detect Ignition Timeouts
|
||||
setp edge.0.in-edge 1
|
||||
setp edge.1.in-edge 1
|
||||
|
||||
# Hook up parallel port pins
|
||||
net MoveDown parport.1.pin-06-in-not => or2.0.in0
|
||||
net MoveUp parport.1.pin-07-in-not => or2.0.in1 mux2.1.sel
|
||||
|
||||
# Hook up component pins using the net command
|
||||
net FloatSwitch parport.1.pin-13-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
|
||||
net ArcOK parport.1.pin-08-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
|
||||
net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0
|
||||
net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0
|
||||
net LockHeight and2.0.out => xor2.2.in0
|
||||
net EnabledAdjustHeight and2.1.out => mux2.3.sel
|
||||
net ReleaseFeedHold and2.2.out => xor2.0.in1
|
||||
net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
|
||||
net FloatSwitchEstop and2.4.out => logic.0.in-02
|
||||
net FloatAndTorchOn and2.5.out => or2.2.in1
|
||||
net TorchAndFloat and2.6.out => flipflop.0.set
|
||||
net PosAndFloat and2.7.out => or2.5.in1
|
||||
net IgnitionEstop comp.2.out => logic.0.in-01
|
||||
net StartTorchOn and2.8.out => and2.3.in0
|
||||
net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
|
||||
net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
|
||||
net CHLTriggered comp.0.out => and2.0.in0
|
||||
net AtPosition comp.1.equal => and2.7.in0
|
||||
net VelX ddt.0.out => hypot.0.in0
|
||||
net VelY ddt.1.out => hypot.0.in1
|
||||
net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
|
||||
net ModeIsAuto halui.mode.is-auto => mux2.5.sel
|
||||
net VelXY hypot.0.out => minmax.0.in comp.0.in0
|
||||
net TriggerEStop logic.0.or => estop-latch.0.fault-in
|
||||
net MaximumVelocity minmax.0.max => mult2.1.in0
|
||||
net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in
|
||||
net HeightAdjustment mult2.0.out => mux2.3.in1
|
||||
net VelocityThreshold mult2.1.out => comp.0.in1
|
||||
net HeightOffset mux2.0.out => sum2.1.in1
|
||||
net AdjustmentDirection mux2.1.out => mult2.0.in1
|
||||
net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
|
||||
net SelectedAdjustment mux2.3.out => mux2.0.in1
|
||||
net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
|
||||
net PosSelectB mux2.5.out => mux2.4.in0
|
||||
net PosSelectC mux2.6.out => mux2.4.in1
|
||||
net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
|
||||
net ReversedArcOK not.1.out => minmax.0.reset
|
||||
net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
|
||||
net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
|
||||
net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
|
||||
net TakeSnapshot or2.1.out => mux2.2.sel
|
||||
net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net ProbeOrArcOK or2.3.out => mux2.6.sel
|
||||
net PAFOrArcOK or2.5.out => and2.3.in1
|
||||
net EstopOrArcOK or2.6.out => flipflop.0.reset
|
||||
net ExtEStop parport.0.pin-10-in => logic.0.in-00
|
||||
net ExtEStop => logic.0.in-00
|
||||
net LimitZ parport.0.pin-13-in => or2.2.in0
|
||||
net ThresholdPercentage scale.0.out => mult2.1.in1
|
||||
net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
|
||||
net PierceOffset sum2.0.out => mux2.0.in0
|
||||
net DestinationHeight sum2.1.out => mux2.6.in1
|
||||
net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
|
||||
net StepCordsTH sum2.3.out => mux2.5.in1
|
||||
net StepCordsML sum2.4.out => mux2.6.in0
|
||||
net FeedHold xor2.0.out => motion.feed-hold
|
||||
net CHLSwitched xor2.2.out => and2.1.in1
|
||||
net ArcOKTimer oneshot.2.out => xor2.1.in0
|
||||
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
|
||||
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
|
||||
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
|
||||
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
|
||||
net TorchOff not.2.out => flipflop.1.reset
|
||||
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
|
||||
net IgnitionTimeout edge.0.out => or2.7.in1
|
||||
net ExtinguishTimer oneshot.3.out edge.1.in
|
||||
net ExtinguishLatch flipflop.2.out or2.8.in1
|
||||
net ExtinguishTimeout edge.1.out flipflop.2.reset
|
||||
net Timers or2.8.out => or2.4.in0
|
||||
Reference in New Issue
Block a user