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Wang Dequan
2026-08-20 06:17:39 +08:00
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configs/by_interface/.gitignore vendored Normal file
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core_servo.hal
axis_manualtoolchange.hal

3
configs/by_interface/README Normal file
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by_interface
Configs demonstrate use of specific hardware.

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configs/by_interface/general_mechatronics/GM6-PCI/3-axis-servo.hal Normal file
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#########################################################################
# Loading real-time modules #
#########################################################################
loadrt [KINS]KINEMATICS
loadrt hal_gm
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt pid num_chan=3
loadrt not
loadusr halmeter
#loadusr halscope -f
#########################################################################
# Adding functions #
#########################################################################
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf gm.0.read servo-thread -1
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf gm.0.write servo-thread -1
addf gm.0.RS485 servo-thread -1
addf not.0 servo-thread
#########################################################################
# Card mgt #
#########################################################################
setp gm.0.watchdog-enable 1
setp gm.0.watchdog-timeout-ns 3000000
net pwrEnable motion.motion-enabled => gm.0.power-enable
# create power fault loopback
net hw_fault gm.0.power-fault => not.0.in
net estop not.0.out => iocontrol.0.emc-enable-in
# connect enable signals for DAC and PID
net Xen joint.0.amp-enable-out => gm.0.dac.0.enable
net Xen => pid.0.enable
net Yen joint.1.amp-enable-out => gm.0.dac.1.enable
net Yen => pid.1.enable
net Zen joint.2.amp-enable-out => gm.0.dac.2.enable
net Zen => pid.2.enable
#########################################################################
# Encoder setup #
#########################################################################
# ################
# X [0] Axis
# ################
# encoder feedback
setp gm.0.encoder.0.counter-mode 0 #0:quad, 1:stepDir
setp gm.0.encoder.0.index-enable 0 #0:disable, 1:enable
setp gm.0.encoder.0.index-mode 1 #0:reset counter at index, 1:round position at index
setp gm.0.encoder.0.counts-per-rev 2000
setp gm.0.encoder.0.position-scale [JOINT_0]INPUT_SCALE
setp gm.0.encoder.0.min-speed-estimate 0.1
# ################
# Y [1] Axis
# ################
# encoder feedback
setp gm.0.encoder.1.counter-mode 0 #0:quad, 1:stepDir
setp gm.0.encoder.1.index-enable 0 #0:disable, 1:enable
setp gm.0.encoder.1.index-mode 1 #0:reset counter at index, 1:round position at index
setp gm.0.encoder.1.counts-per-rev 2000
setp gm.0.encoder.1.position-scale [JOINT_2]INPUT_SCALE
setp gm.0.encoder.1.min-speed-estimate 0.1
# ################
# Z [2] Axis
# ################
# encoder feedback
setp gm.0.encoder.2.counter-mode 0 #0:quad, 1:stepDir
setp gm.0.encoder.2.index-enable 0 #0:disable, 1:enable
setp gm.0.encoder.2.index-mode 1 #0:reset counter at index, 1:round position at index
setp gm.0.encoder.2.counts-per-rev 2000
setp gm.0.encoder.2.position-scale [JOINT_2]INPUT_SCALE
setp gm.0.encoder.2.min-speed-estimate 0.1
#########################################################################
# PID setup #
#########################################################################
# ################
# X [0] Axis
# ################
# set PID loop gains from inifile
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
# ################
# Y [1] Axis
# ################
# set PID loop gains from inifile
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
# ################
# Z [2] Axis
# ################
# set PID loop gains from inifile
setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
setp pid.2.deadband [JOINT_2]DEADBAND
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
#########################################################################
# position reference and feedback connection #
#########################################################################
# connect encoder feedback to PID
net Xpos-fb gm.0.encoder.0.position => pid.0.feedback
net Ypos-fb gm.0.encoder.1.position => pid.1.feedback
net Zpos-fb gm.0.encoder.2.position => pid.2.feedback
# connect position commands from motion module to PID
net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
# connect PID output to DAC
net Xdac-cmd pid.0.output => gm.0.dac.0.value
net Ydac-cmd pid.1.output => gm.0.dac.1.value
net Zdac-cmd pid.2.output => gm.0.dac.2.value
# connect position feedback
net Xpos-cmd => joint.0.motor-pos-fb
net Ypos-cmd => joint.1.motor-pos-fb
net Zpos-cmd => joint.2.motor-pos-fb
#########################################################################
# homing and limit switches #
#########################################################################
net lim-sw-x-pos gm.0.joint.0.pos-lim-sw-in-not => joint.0.pos-lim-sw-in
net lim-sw-x-neg gm.0.joint.0.neg-lim-sw-in-not => joint.0.neg-lim-sw-in
net lim-sw-x-home gm.0.joint.0.home-sw-in-not => joint.0.home-sw-in
net lim-sw-y-pos gm.0.joint.1.pos-lim-sw-in-not => joint.1.pos-lim-sw-in
net lim-sw-y-neg gm.0.joint.1.neg-lim-sw-in-not => joint.1.neg-lim-sw-in
net lim-sw-y-home gm.0.joint.1.home-sw-in-not => joint.1.home-sw-in
net lim-sw-z-pos gm.0.joint.2.pos-lim-sw-in-not => joint.2.pos-lim-sw-in
net lim-sw-z-neg gm.0.joint.2.neg-lim-sw-in-not => joint.2.neg-lim-sw-in
net lim-sw-z-home gm.0.joint.2.home-sw-in-not => joint.2.home-sw-in

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configs/by_interface/general_mechatronics/GM6-PCI/3-axis-servo.ini Normal file
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###############################################################################
# General section
###############################################################################
[EMC]
#- Version of this INI file
VERSION = 1.1
#+ Name of machine, for use with display, etc.
MACHINE = GM6-PCI-3-axis-servo
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., axis
DISPLAY = axis
# DISPLAY = tklinuxcnc
# DISPLAY = touchy
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- 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 = /home/gm/emc2/nc_files
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
###############################################################################
# Task controller section
###############################################################################
[FILTER]
#No Content
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = gm.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
###############################################################################
# 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
[HAL]
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE = 3-axis-servo.hal
###############################################################################
# Trajectory planner section
###############################################################################
[HALUI]
#No Content
[TRAJ]
#+ machine specific settings
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.424
MAX_LINEAR_VELOCITY = 30.48
DEFAULT_LINEAR_ACCELERATION = 300.0
MAX_LINEAR_ACCELERATION = 500.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -191.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
SCALE = 1000
INPUT_SCALE = 2000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -191.0
MAX_LIMIT = 0.0
MAX_OUTPUT = 10.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 15.0
HOME_LATCH_VEL = -2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.0000
P = 10.0
I = 0.000
D = -0.02
FF0 = 0.000
FF1 = 0.000
FF2 = 0.0
BIAS = 0.000
#+ Second axis
[AXIS_Y]
MIN_LIMIT = 0.0
MAX_LIMIT = 270.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
SCALE = 1000
INPUT_SCALE = 2000
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 270.0
MAX_OUTPUT = 10.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -15.0
HOME_LATCH_VEL = 3.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.0000
P = 10.0
I = 0.000
D = -0.02
FF0 = 0.000
FF1 = 0.000
FF2 = 0.0
BIAS = 0.000
#+ Third axis
[AXIS_Z]
MIN_LIMIT = -985.0
MAX_LIMIT = 0.00
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
SCALE = 100
INPUT_SCALE = 2000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -985.0
MAX_LIMIT = 0.00
MAX_OUTPUT = 10.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -15.0
HOME_LATCH_VEL = 3.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.0000
P = 10.0
I = 0.000
D = -0.02
FF0 = 0.000
FF1 = 0.000
FF2 = 0.0
BIAS = 0.000
###############################################################################
# section for main IO controller parameters
###############################################################################

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configs/by_interface/general_mechatronics/GM6-PCI/3-axis-stepper.hal Normal file
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#########################################################################
# Loading real-time modules setup #
#########################################################################
loadrt [KINS]KINEMATICS
loadrt hal_gm
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt not
loadusr halmeter
#loadusr halscope -f
#########################################################################
# Adding functions #
#########################################################################
addf gm.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf gm.0.write servo-thread
addf not.0 servo-thread
addf gm.0.RS485 servo-thread
#########################################################################
# card mgt #
#########################################################################
setp gm.0.watchdog-enable 1
setp gm.0.watchdog-timeout-ns 3000000
net pwrEnable motion.motion-enabled => gm.0.power-enable
# create power fault loopback
net hw_fault gm.0.power-fault => not.0.in
net estop not.0.out => iocontrol.0.emc-enable-in
# connect enable signals for step generators
net Xen joint.0.amp-enable-out => gm.0.stepgen.0.enable
net Yen joint.1.amp-enable-out => gm.0.stepgen.1.enable
net Zen joint.2.amp-enable-out => gm.0.stepgen.2.enable
#########################################################################
# stepgen setup #
#########################################################################
setp gm.0.stepgen.0.steplen 5000 #5000 ns = 5 us
setp gm.0.stepgen.0.stepspace 5000 #5000 ns = 5 us
setp gm.0.stepgen.0.dirdelay 10000 #10000 ns = 10 us
setp gm.0.stepgen.0.invert-step1 0
setp gm.0.stepgen.0.invert-step2 0
setp gm.0.stepgen.0.step-type 0 #0:StepDir, 1: UpDown, 2: Quad
setp gm.0.stepgen.0.control-type 0 #0:position control, 1:velocity control
setp gm.0.stepgen.0.maxvel 0 #do not use the maxvel parameter, let interpolator interpolate
setp gm.0.stepgen.0.position-scale [JOINT_0]SCALE
setp gm.0.stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp gm.0.stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
setp gm.0.stepgen.1.steplen 5000 #5000 ns = 5 us
setp gm.0.stepgen.1.stepspace 5000 #5000 ns = 5 us
setp gm.0.stepgen.1.dirdelay 10000 #10000 ns = 10 us
setp gm.0.stepgen.1.invert-step1 0
setp gm.0.stepgen.1.invert-step2 0
setp gm.0.stepgen.1.step-type 0 #0:StepDir, 1: UpDown, 2: Quad
setp gm.0.stepgen.1.control-type 0 #0:position control, 1:velocity control
setp gm.0.stepgen.1.maxvel 0 #do not use the maxvel parameter, let interpolator interpolate
setp gm.0.stepgen.1.position-scale [JOINT_1]SCALE
setp gm.0.stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp gm.0.stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
setp gm.0.stepgen.2.steplen 5000 #5000 ns = 5 us
setp gm.0.stepgen.2.stepspace 5000 #5000 ns = 5 us
setp gm.0.stepgen.2.dirdelay 10000 #10000 ns = 10 us
setp gm.0.stepgen.2.invert-step1 0
setp gm.0.stepgen.2.invert-step2 0
setp gm.0.stepgen.2.step-type 0 #0:StepDir, 1: UpDown, 2: Quad
setp gm.0.stepgen.2.control-type 0 #0:position control, 1:velocity control
setp gm.0.stepgen.2.maxvel 0 #do not use the maxvel parameter, let interpolator interpolate
setp gm.0.stepgen.2.position-scale [JOINT_2]SCALE
setp gm.0.stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp gm.0.stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
#########################################################################
# position reference and feedback #
#########################################################################
# connect position commands from motion module to step generator
net Xpos-cmd joint.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd
net Ypos-cmd joint.1.motor-pos-cmd => gm.0.stepgen.1.position-cmd
net Zpos-cmd joint.2.motor-pos-cmd => gm.0.stepgen.2.position-cmd
# connect position feedback
net Xpos-fb gm.0.stepgen.0.position-fb => joint.0.motor-pos-fb
net Ypos-fb gm.0.stepgen.1.position-fb => joint.1.motor-pos-fb
net Zpos-fb gm.0.stepgen.2.position-fb => joint.2.motor-pos-fb
#########################################################################
# homing and limit switches #
#########################################################################
net lim-sw-x-pos gm.0.joint.0.pos-lim-sw-in-not => joint.0.pos-lim-sw-in
net lim-sw-x-neg gm.0.joint.0.neg-lim-sw-in-not => joint.0.neg-lim-sw-in
net lim-sw-x-home gm.0.joint.0.home-sw-in-not => joint.0.home-sw-in
net lim-sw-y-pos gm.0.joint.1.pos-lim-sw-in-not => joint.1.pos-lim-sw-in
net lim-sw-y-neg gm.0.joint.1.neg-lim-sw-in-not => joint.1.neg-lim-sw-in
net lim-sw-y-home gm.0.joint.1.home-sw-in-not => joint.1.home-sw-in
net lim-sw-z-pos gm.0.joint.2.pos-lim-sw-in-not => joint.2.pos-lim-sw-in
net lim-sw-z-neg gm.0.joint.2.neg-lim-sw-in-not => joint.2.neg-lim-sw-in
net lim-sw-z-home gm.0.joint.2.home-sw-in-not => joint.2.home-sw-in

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configs/by_interface/general_mechatronics/GM6-PCI/3-axis-stepper.ini Normal file
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###############################################################################
# General section
###############################################################################
[EMC]
#- Version of this INI file
VERSION = 1.1
#+ Name of machine, for use with display, etc.
MACHINE = GM6-PCI-3-axis-stepper
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., axis
DISPLAY = axis
# DISPLAY = tklinuxcnc
# DISPLAY = touchy
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- 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 = /home/gm/emc2/nc_files
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
###############################################################################
# Task controller section
###############################################################################
[FILTER]
#No Content
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = gm.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
###############################################################################
# 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
[HAL]
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE = 3-axis-stepper.hal
###############################################################################
# Trajectory planner section
###############################################################################
[HALUI]
#No Content
[TRAJ]
#+ machine specific settings
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.424
MAX_LINEAR_VELOCITY = 30.48
DEFAULT_LINEAR_ACCELERATION = 300.0
MAX_LINEAR_ACCELERATION = 500.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -191.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
[JOINT_0]
TYPE = LINEAR
HOME = -50.000
MAX_VELOCITY = 30.48
STEPGEN_MAXVEL = 0.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.000
SCALE = 1000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -191.0
MAX_LIMIT = 0.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 15.0
HOME_LATCH_VEL = -2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#+ Second axis
[AXIS_Y]
MIN_LIMIT = -250.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
[JOINT_1]
TYPE = LINEAR
HOME = -40.000
MAX_VELOCITY = 30.48
STEPGEN_MAXVEL = 0.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.000
SCALE = -1000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -250.0
MAX_LIMIT = 0.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 15.0
HOME_LATCH_VEL = -3.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#+ Third axis
[AXIS_Z]
MIN_LIMIT = -985.0
MAX_LIMIT = 0.00
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 50.0
[JOINT_2]
TYPE = LINEAR
HOME = -30.0
MAX_VELOCITY = 30.48
STEPGEN_MAXVEL = 0.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.000
SCALE = 100
OUTPUT_SCALE = 1.000
MIN_LIMIT = -985.0
MAX_LIMIT = 0.00
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 15.0
HOME_LATCH_VEL = -3.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
###############################################################################
# section for main IO controller parameters
###############################################################################

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configs/by_interface/general_mechatronics/GM6-PCI/README Normal file
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This configuration uses the General Mechatronics GM6-PCI board, which can control machines up to 6 axis. It has a wide I/O expansion opportunity: isolated home- and end-switches for each axis, 4x8 digital I/O, isolated digital and analogue I/O modules for RS485 field bus.
Please read the GM6-PCI Driver section of the Integrator Manual or visit:
www.generalmechatronics.com
for more information.
Description of sample configurations:
3-axis-servo:
This configuration shows how to set up encoder and axis DAC, and how to connect them to PID hal module. All 3 axes use one home switch and two limit switches. Power fault input is connected to E-stop hal pin.
3-axis-stepper:
This configuration shows how to set up stepgen module. All 3 axes use one home switch and two limit switches. Power fault input is connected to E-stop hal pin.

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configs/by_interface/general_mechatronics/GM6-PCI/touchy.hal Normal file
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General Mechatronics
www.generalmechatronics.com

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configs/by_interface/mesa/README Normal file
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Mesa Electronics
www.mesanet.com

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configs/by_interface/mesa/hm2-modbus/.gitignore vendored Normal file
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*.mbccb

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configs/by_interface/mesa/hm2-modbus/7i96s-modbus-bldc.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper+Modbus+BLDC
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper-eth-modbus.hal
HALFILE = brushless-dc-motor-driver.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=10.10.10.10
BOARD=7i96s
CONFIG=""
[MODBUS]
PORTS="hm2_7i96s.0.pktuart.0"
MBCCBS="brushless-dc-motor-driver.mbccb"

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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper+Modbus
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper-eth-modbus.hal
HALFILE = brushless-dc-motor-driver.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=10.10.10.10
BOARD=7i96s
CONFIG=""
[MODBUS]
PORTS="hm2_7i96s.0.pktuart.0"
MBCCBS="bldc_and_wavebox.mbccb"

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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper+Modbus+Wavebox
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper-eth-modbus.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=10.10.10.10
BOARD=7i96s
CONFIG=""
[MODBUS]
PORTS="hm2_7i96s.0.pktuart.0"
MBCCBS="waveshare-modbus-rtu-relay-d.mbccb"

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Hostmot2 Modbus using Mesa cards and PktUART
These examples are based on the hm2-stepper 3-axis config. Please configure the IP address in the ini file.
Getting started
---------------
You first need to flash your Mesa card with a bit-file that supports one or more PktUART interfaces. The PktUART version should be version 3 or later. Version 2 is supported, but there are known bugs in version 2 and several features are missing.
You should be able to see the PktUART interfaces listed when you have flashed the PktUART bitfile.
Wiring
------
Most Modbus systems are RS-485 2-wire configuration. On your Mesa card connector, you must to connect RX- to TX- (Modbus wire 'A') and RX+ to TX+ (Modbus wire 'B'). Depending your configuration, you may need to add a termination resistor (120 Ohm) if your Mesa card does not supply that option.
Practical examples
------------------
There are several examples in here to get you going with the hm2_modbus driver. The examples are based on the 7i96s Ethernet board, but should be easily ported to other boards.
Running the examples requires you to compile the MBCCS (Modbus Command Control Source) files into binary MBCCB (Modbus Command Control Binary) files using the mesambccc utility. See the manual page mesambccc(1) for details.
Example compile:
$ mesambccc -o out.mbccb in.mbccs
Add the -v flag for verbose information about settings and pins.
Writing MBCCS files
-------------------
The file format is described in the mesambccc utility's manual page mesambccc(1).

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<?xml version="1.0" encoding="UTF-8"?>
<!--
See setup comments in:
- brushless-dc-motor-driver.mbccs
- waveshare-modbus-rtu-relay-d.mbccs
-->
<mesamodbus baudrate="57600" parity="E" stopbits="1" interval="50000" suspend="true">
<devices> <!-- Devices on the same bus -->
<device address="0x01" name="bldc"><description>BLDC Control board AQMD2403BLS-M</description></device>
<device address="0x02" name="wavebox"><description>A Waveshare "Modbus RTU Relay (D)" box</description></device>
<device address="0x55" name="dummy" />
</devices>
<initlist> <!-- Initialization sequences -->
<!-- Default baudrate for bldc board at boot -->
<command baudrate="9600" />
<!-- Flush the bus so that the receiver is in a known state. -->
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
<!-- Set the board to the stored higher baudrate. -->
<command device="bldc" function="W_REGISTER" address="0x009d" timesout="true"><data value="1" /></command>
<!-- Restore our real baudrate -->
<command baudrate="57600" />
<!-- Again flush the bus so that the receiver is in a known state at the new baudrate. -->
<!-- This will also bring the wavebox in a known state -->
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
</initlist>
<commands> <!-- Command function sequences and HAL pin assignments -->
<command device="bldc" function="R_REGISTERS" address="0x0020" modbustype="U_AB" haltype="S32" scale="1">
<pin name="rtpwm"/>
<pin name="rtcurrent"/>
<pin name="comfreq" modbustype="S_AB"/>
<pin skip="1" />
<pin name="rtpos" modbustype="S_ABCD" scale="0"/>
</command>
<!-- Gives us the following pins:
- hm2_modbus.0.bldc.rtpwm (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtpwm.offset (in, u64)
- hm2_modbus.0.bldc.rtpwm.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.rtpwm.scaled (out, float)
- hm2_modbus.0.bldc.rtcurrent (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtcurrent.offset (in, u64)
- hm2_modbus.0.bldc.rtcurrent.scale (in, float) (must be set to 0.01)
- hm2_modbus.0.bldc.rtcurrent.scaled (out, float)
- hm2_modbus.0.bldc.comfreq (out, s32) (range [-32768..+32767])
- hm2_modbus.0.bldc.comfreq.offset (in, s64)
- hm2_modbus.0.bldc.comfreq.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.comfreq.scaled (out, float)
- hm2_modbus.0.bldc.rtpos (out, s32) (range [-2147483648..+2147483647])
The start will be suspended (see top). The .scale pins will be set in
the hal-file. Offset pins are automatically initialized to zero.
Afterwards, the hal-file will enable communication.
-->
<command device="wavebox" function="R_INPUTS" address="0x0000" count="8" name="switch" />
<!-- Gives us the following pins:
- Eight switch inputs on the box are HAL output pins
* hm2_modbus.0.wavebox.switch-00 (out, HAL_BIT)
* ...
* hm2_modbus.0.wavebox.switch-07 (out, HAL_BIT)
-->
<!--
Note: We write at the /end/ of the list because writing only occurs if a
pin changes. Doing it last in the list makes the previous commands more
timing stable because they are "seen" first every time when the timer
runs.
Assuming that the interval is longer than the time it takes for the
commands to be handled.
-->
<command device="wavebox" function="W_COILS" address="0x0000" count="8" name="relay" />
<!-- Gives us the following pins:
- Eight relay outputs on the box are HAL input pins
* hm2_modbus.0.wavebox.relay-00 (in, HAL_BIT)
* ...
* hm2_modbus.0.wavebox.relay-07 (in, HAL_BIT)
-->
</commands>
</mesamodbus>

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#
# HAL file for brushless-dc-motor-driver.mbccs
#
# ######################################################
# Modbus pin scaling setup
# ######################################################
setp hm2_modbus.0.bldc.rtpwm.scale 0.1
setp hm2_modbus.0.bldc.rtcurrent.scale 0.01
setp hm2_modbus.0.bldc.comfreq.scale 0.1
# And come out of suspend with the right scaling factors in place
setp hm2_modbus.0.suspend false

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configs/by_interface/mesa/hm2-modbus/brushless-dc-motor-driver.mbccs Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--
Control board: AQMD2403BLS-M
The Brushless DC motor controller as been configured to run at
8E1@57600. The snag is that this board will not start at that speed on
power up. It starts at 8E1@9600 with a risk of the first packet to be
discarded.
The board has manually been set to 57600 baud by writing the two
registers with values:
- 0x0000 to register 0x0090
- 0xe100 to register 0x0091
using the W_REGISTERS(16) function. This data is stored in non-volatile
memory of the board, but it is first loaded when writing 0x0001 to
register 0x009d, and that must be done at every boot.
The initialization will downgrade to 9600 baud (board's default) and
then send the config change. That will immediately change baudrate and
the communication is flushed using a dummy transaction.
-->
<mesamodbus baudrate="57600" parity="E" stopbits="1" interval="50000" suspend="true">
<devices> <!-- Devices on the same bus -->
<device address="0x01" name="bldc" />
<device address="0x55" name="dummy" />
</devices>
<initlist> <!-- Initialization sequences -->
<!-- Default baudrate for bldc board at boot -->
<command baudrate="9600" />
<!-- Flush the bus so that the receiver is in a known state. -->
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
<!-- Set the board to the stored higher baudrate. -->
<command device="bldc" function="W_REGISTER" address="0x009d" timesout="true"><data value="1" /></command>
<!-- Restore our real baudrate -->
<command baudrate="57600" />
<!-- Again flush the bus so that the receiver is in a known state at the new baudrate. -->
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
</initlist>
<commands> <!-- Command function sequences and HAL pin assignments -->
<command device="bldc" function="R_REGISTERS" address="0x0020" modbustype="U_AB" haltype="S32" scale="1">
<pin name="rtpwm"/>
<pin name="rtcurrent"/>
<pin name="comfreq" modbustype="S_AB"/>
<pin skip="1" />
<pin name="rtpos" modbustype="S_ABCD" scale="0"/>
</command>
<!-- Gives us the following pins:
- hm2_modbus.0.bldc.rtpwm (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtpwm.offset (in, u64)
- hm2_modbus.0.bldc.rtpwm.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.rtpwm.scaled (out, float)
- hm2_modbus.0.bldc.rtcurrent (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtcurrent.offset (in, u64)
- hm2_modbus.0.bldc.rtcurrent.scale (in, float) (must be set to 0.01)
- hm2_modbus.0.bldc.rtcurrent.scaled (out, float)
- hm2_modbus.0.bldc.comfreq (out, s32) (range [-32768..+32767])
- hm2_modbus.0.bldc.comfreq.offset (in, s64)
- hm2_modbus.0.bldc.comfreq.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.comfreq.scaled (out, float)
- hm2_modbus.0.bldc.rtpos (out, s32) (range [-2147483648..+2147483647])
The start will be suspended (see top). The .scale pins will be set in
the hal-file. Offset pins are automatically initialized to zero.
Afterwards, the hal-file will enable communication.
-->
</commands>
</mesamodbus>

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configs/by_interface/mesa/hm2-modbus/hm2-stepper-eth-modbus.hal Normal file
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# #######################################
#
# HAL file for HostMot2+Modbus with 3 steppers
#
# Based on the other examples in this directory.
#
# ########################################
#
# See also:
# hostmot2(9)
# hm2_modbus(9)
# mesambccc(1)
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# hostmot2 driver
loadrt hostmot2
# debug_modules=5
# load low-level driver
loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](BOARD_IP) config=[HOSTMOT2](CONFIG)
# load the Modbus driver
loadrt hm2_modbus ports=[MODBUS](PORTS) mbccbs=[MODBUS](MBCCBS)
# load estop latch component
loadrt estop_latch
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf hm2_modbus.0.process servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# revel in the free time here from not having to run PID
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf estop-latch.0 servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= joint.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable <= joint.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
# position command and feedback
net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
net motor.02.pos-fb => joint.2.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# A basic estop loop that only includes the hostmot watchdog.
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

16
configs/by_interface/mesa/hm2-modbus/rs485io.mbccs Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<mesamodbus baudrate="38400" parity="E" interval="100000">
<devices>
<device name="rs485io" address="0x11" />
</devices>
<initlist>
</initlist>
<commands>
<command device="rs485io" address="0x1000" function="R_REGISTERS" modbustype="U_ABCD" haltype="HAL_U32" name="potu" count="2" />
<command device="rs485io" address="0x2000" function="R_REGISTERS" modbustype="S_ABCD" haltype="HAL_S32" name="pots" count="2" />
<command device="rs485io" address="0x3000" function="R_REGISTERS" modbustype="F_ABCD" haltype="HAL_FLOAT" name="potf" count="2" />
<command device="rs485io" address="0x4000" function="R_REGISTERS" modbustype="F_HGFEDCBA" haltype="HAL_FLOAT" name="potd" count="1" />
<command device="rs485io" address="0x0000" function="R_INPUTS" name="button" count="4" />
<command device="rs485io" address="0x0000" function="W_COILS" name="led" count="6" />
</commands>
</mesamodbus>

64
configs/by_interface/mesa/hm2-modbus/waveshare-modbus-rtu-relay-d.mbccs Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--
The Waveshare "Modbus RTU Relay (D)" has been pre-configured manually to
answer to Modbus Device ID 0x02.
You must write 0x0002 to register address 0x4000 with the W_REGISTER(6)
function for setting Modbus device ID 0x02.
Factory default seems to be input/relay linkage mode. To separate the
inputs and outputs you need to write the value 0x0000 to addresses
0x1000, 0x1001, 0x1002...0x1007 by using the W_REGISTERS(16) function or
individually using the W_REGISTER(6) function.
Note on setting baudrate on this device:
Setting 57600 works. However, faster does not seem to work stably,
especially when parity is enabled. Also take note that the parity even
has the value 0x01. The documentation specifies two tables with
contradicting information.
The 8E1@57600 setting was achieved by writing value 0x0104 to register
address 0x2000 using the W_REGISTER(6) function.
See also: https://www.waveshare.com/wiki/Modbus_RTU_Relay_(D)
-->
<mesamodbus baudrate="57600" parity="E" stopbits="1" interval="50000">
<devices> <!-- Devices on the same bus -->
<device address="0x02" name="wavebox"><description>A Waveshare "Modbus RTU Relay (D)" box</description></device>
<device address="0x55" name="dummy"><description>Dummy device, not actual on the bus</description></device>
</devices>
<initlist> <!-- Initialization sequences -->
<!--
The Waveshare "Modbus RTU Relay (D)" (wavebox) has the nasty habit of
not answering the very first packet it receives after power-up. It is
probably something in the firmware that causes the very first character
to be received with an error after boot.
We simply send a packet to a dummy device and mark it that no answer
will be received. The wavebox will automatically ignore it and will
enter a known responsive state.
-->
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
</initlist>
<commands> <!-- Command function sequences and HAL pin assignments -->
<command device="wavebox" function="R_INPUTS" address="0x0000" count="8" name="switch" />
<!-- Gives us the following pins:
- Eight switch inputs on the box are HAL output pins
* hm2_modbus.0.wavebox.switch-00 (out, HAL_BIT)
* ...
* hm2_modbus.0.wavebox.switch-07 (out, HAL_BIT)
-->
<!--
Note: We write at the /end/ of the list because writing only occurs if a
pin changes. Doing it last in the list makes the previous command more
timing stable because it is "seen" first every time when the timer runs.
Assuming that the interval is longer than the time it takes for the
commands to be handled.
-->
<command device="wavebox" function="W_COILS" address="0x0000" count="8" name="relay" />
<!-- Gives us the following pins:
- Eight relay outputs on the box are HAL input pins
* hm2_modbus.0.wavebox.relay-00 (in, HAL_BIT)
* ...
* hm2_modbus.0.wavebox.relay-07 (in, HAL_BIT)
-->
</commands>
</mesamodbus>

201
configs/by_interface/mesa/hm2-servo/3x20-small.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=3x20
CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/4i65.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=4i65
CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/4i68.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=4i68
CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/5i20.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/5i22-big.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i22
CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/5i22-small.ini Normal file
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@@ -0,0 +1,201 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i22
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/5i23.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i23
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/7i43-big.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_7i43
BOARD=7i43
CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/7i43-small.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_7i43
BOARD=7i43
CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

201
configs/by_interface/mesa/hm2-servo/7i90.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_7i90
BOARD=7i90
CONFIG=""

202
configs/by_interface/mesa/hm2-servo/7i93.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo-eth.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=192.168.1.121
BOARD=7i93
CONFIG="num_encoders=3 num_pwmgens=3 num_stepgens=0"

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configs/by_interface/mesa/hm2-servo/7i96s.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-servo-eth.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Y]
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = -81920
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 10.0
HOME = 0.000
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
FERROR = 0.010
MIN_FERROR = 0.002
INPUT_SCALE = 81920
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3.0
MAX_LIMIT = 3.0
HOME = 0.0
HOME_OFFSET = -2.9
HOME_SEARCH_VEL = -0.50
HOME_LATCH_VEL = 0.10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 100.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 1.000
FF2 = 0.0
BIAS = 0.000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=192.168.1.121
BOARD=7i96s
CONFIG="num_encoders=3 num_pwmgens=3 num_stepgens=0"

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This configuration drives a 3-axis servo machine using a Mesa AnythingIO board with the HostMot2 firmware. The config will only run if you have the card installed and have installed the firmware.
See LinuxCNC_Documentation.pdf - 11.4 Mesa HostMot2 Driver section for more information.
All 3 axes use a home switch. All home switches are connected to a single shared input pin. X and Z home without encoder index, Y homes with encoder index.
No limit switches are used.
These configs have 3 Encoders, 3 PWMs, and 0 StepGens
5i22-big For the 1.5M gate version
5i22-small For the 1.0M gate version
7i43-big For the 400k gate version
7i43-small For the 200k gate version
3x20-small For the 1.0M gate version

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configs/by_interface/mesa/hm2-servo/hm2-servo-eth.hal Normal file
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# #######################################
#
# HAL file for HostMot2 with 3 servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# standard components
loadrt pid num_chan=3
# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](BOARD_IP) config=[HOSTMOT2](CONFIG)
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
net emcmot.00.enable <= joint.0.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [JOINT_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
net emcmot.01.enable <= joint.1.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [JOINT_1]INPUT_SCALE
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
net emcmot.02.enable <= joint.2.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [JOINT_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
setp pid.2.deadband [JOINT_2]DEADBAND
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
#
# homing
#
#
# In this example, each of the three axes have their own home switch. All
# home switches are connected to GPIO 25, though hostmot2 boards generally
# have enough GPIO pins to put each axis' home switch on its own pin.
#
# Each switch is normally open, momentarily closed. When the switch is open,
# GPIO 25 floats high (because that is the hostmot2 way). When the switch is
# closed, it shorts GPIO 25 to ground.
#
# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
# True when the switch is closed and False when the switch is open.
# We get this behavior by linking the GPIO .in_not pin instead of the .in
# pin.
#
net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
net home-switch => joint.0.home-sw-in
net home-switch => joint.1.home-sw-in
net home-switch => joint.2.home-sw-in
# only the Y servo has an index, X and Z home without using the index
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable

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# #######################################
#
# HAL file for HostMot2 with 3 servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# standard components
loadrt pid num_chan=3
# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
net emcmot.00.enable <= joint.0.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [JOINT_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
net emcmot.01.enable <= joint.1.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [JOINT_1]INPUT_SCALE
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
net emcmot.02.enable <= joint.2.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [JOINT_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
setp pid.2.deadband [JOINT_2]DEADBAND
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
#
# homing
#
#
# In this example, each of the three axes have their own home switch. All
# home switches are connected to GPIO 25, though hostmot2 boards generally
# have enough GPIO pins to put each axis' home switch on its own pin.
#
# Each switch is normally open, momentarily closed. When the switch is open,
# GPIO 25 floats high (because that is the hostmot2 way). When the switch is
# closed, it shorts GPIO 25 to ground.
#
# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
# True when the switch is closed and False when the switch is open.
# We get this behavior by linking the GPIO .in_not pin instead of the .in
# pin.
#
net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
net home-switch => joint.0.home-sw-in
net home-switch => joint.1.home-sw-in
net home-switch => joint.2.home-sw-in
# only the Y servo has an index, X and Z home without using the index
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable

4
configs/by_interface/mesa/hm2-servo/tool.tbl Normal file
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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

195
configs/by_interface/mesa/hm2-stepper/3x20-small.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=3x20
CONFIG="firmware=hm2/3x20-1/SVST16_24.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

194
configs/by_interface/mesa/hm2-stepper/4i65.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=4i65
CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/4i68.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=4i68
CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/5i20.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/5i22-big.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i22
CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/5i22-small.ini Normal file
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@@ -0,0 +1,195 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i22
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/5i23.ini Normal file
View File

@@ -0,0 +1,195 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i23
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/7i43-big.ini Normal file
View File

@@ -0,0 +1,195 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_7i43
BOARD=7i43
CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

195
configs/by_interface/mesa/hm2-stepper/7i43-small.ini Normal file
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@@ -0,0 +1,195 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_7i43
BOARD=7i43
CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

196
configs/by_interface/mesa/hm2-stepper/7i90-rpi-spi.ini Normal file
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@@ -0,0 +1,196 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper-rpspi.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_rpspi
BOARD=7i90
CONFIG=""
SPICLK_RATE=12500

195
configs/by_interface/mesa/hm2-stepper/7i90.ini Normal file
View File

@@ -0,0 +1,195 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_7i90
BOARD=7i90
CONFIG=""

196
configs/by_interface/mesa/hm2-stepper/7i93.ini Normal file
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@@ -0,0 +1,196 @@
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper-eth.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=192.168.1.121
BOARD=7i93
CONFIG="num_encoders=0 num_pwmgens=0 num_stepgens=3"

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configs/by_interface/mesa/hm2-stepper/7i96s.ini Normal file
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[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY = tklinuxcnc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = hm2-stepper-eth.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 100
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 12
STEPGEN_MAX_ACC = 24
BACKLASH = 0.000
SCALE = 1000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.005
#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000
[HOSTMOT2]
DRIVER=hm2_eth
BOARD_IP=192.168.1.121
BOARD=7i96s
CONFIG="num_encoders=0 num_pwmgens=0 num_stepgens=3"

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configs/by_interface/mesa/hm2-stepper/README Normal file
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This configuration drives a 3-axis stepper machine using a Mesa Anything IO board with the HostMot2 firmware. No limit switches are used, so this should work with very basic hardware. The config will only run if you have the card installed and have installed the firmware.
See LinuxCNC_Documentation.pdf - 11.4 Mesa HostMot2 Driver section for more information.
These configs have 0 Encoders, 0 PWMs, and 3 StepGens
5i22-big For the 1.5M gate version
5i22-small For the 1.0M gate version
7i43-big For the 400k gate version
7i43-small For the 200k gate version
3x20-small For the 1.0M gate version

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configs/by_interface/mesa/hm2-stepper/hm2-stepper-eth.hal Normal file
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# #######################################
#
# HAL file for HostMot2 with 3 steppers
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# hostmot2 driver
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](BOARD_IP) config=[HOSTMOT2](CONFIG)
# load estop latch component
loadrt estop_latch
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# revel in the free time here from not having to run PID
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf estop-latch.0 servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= joint.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable <= joint.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
# position command and feedback
net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
net motor.02.pos-fb => joint.2.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
#
# The Mesa AnyIO output pins can be in open-drain mode (drive low, float
# high) or push/pull mode (drive low, drive high).
#
# When a logical output is 1 in open-drain mode, the FPGA lets the pin
# float and it gets pulled high to +5V via a 10K resistor.
#
# When a logical output is 1 in push/pull mode, the FPGA pushes the pin
# high but only to +3.3V. This is problematic on some kinds of inputs.
#
#setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# A basic estop loop that only includes the hostmot watchdog.
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

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configs/by_interface/mesa/hm2-stepper/hm2-stepper-rpspi.hal Normal file
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# #######################################
#
# HAL file for HostMot2 with 3 steppers
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# hostmot2 driver
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) spiclk_rate=[HOSTMOT2](SPICLK_RATE)
# load estop latch component
loadrt estop_latch
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# revel in the free time here from not having to run PID
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf estop-latch.0 servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= joint.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable <= joint.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
# position command and feedback
net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
net motor.02.pos-fb => joint.2.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
#
# The Mesa AnyIO output pins can be in open-drain mode (drive low, float
# high) or push/pull mode (drive low, drive high).
#
# When a logical output is 1 in open-drain mode, the FPGA lets the pin
# float and it gets pulled high to +5V via a 10K resistor.
#
# When a logical output is 1 in push/pull mode, the FPGA pushes the pin
# high but only to +3.3V. This is problematic on some kinds of inputs.
#
#setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# A basic estop loop that only includes the hostmot watchdog.
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

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# #######################################
#
# HAL file for HostMot2 with 3 steppers
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# hostmot2 driver
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
# load estop latch component
loadrt estop_latch
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# revel in the free time here from not having to run PID
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf estop-latch.0 servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= joint.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable <= joint.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
# position command and feedback
net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
net motor.02.pos-fb => joint.2.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
#
# The Mesa AnyIO output pins can be in open-drain mode (drive low, float
# high) or push/pull mode (drive low, drive high).
#
# When a logical output is 1 in open-drain mode, the FPGA lets the pin
# float and it gets pulled high to +5V via a 10K resistor.
#
# When a logical output is 1 in push/pull mode, the FPGA pushes the pin
# high but only to +3.3V. This is problematic on some kinds of inputs.
#
#setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
# A basic estop loop that only includes the hostmot watchdog.
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

4
configs/by_interface/mesa/hm2-stepper/tool.tbl Normal file
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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

5
configs/by_interface/mesa/plasma-5i20/README Normal file
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This configuration is to show how to connect the Mesa THCAD card with LinuxCNC on a Plasma Cutter.
There are two configurations, the plasma-5i20 that requires you to have a Mesa 5i20 installed and the plasma-demo using parallel port. The plasma-demo version is just to show how this config looks and is not a good candidate for the THCAD card due to the slow update speed when using a software encoder with the parallel port.
The subroutine touchoff.ngc is used with a floating head and the probe input to set the torch to the initial height of the cut. The example files x-trim.ngc and touchtest.ngc demonstrate the use of touchoff.ngc. The usage of touchoff.ngc requires you to have the probe input and Arc Ok input. It uses M66 to wait for the Arc Ok input after lighting off the torch. Three parameters are passed to touchoff pierce height, pierce delay, and cut height. In actual use you will need to adjust the height to raise the torch after touch off to Z0 to match your actual setup.

199
configs/by_interface/mesa/plasma-5i20/plasma-5i20.hal Normal file
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# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ******************
# Core EMC/HAL Loads
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg=0x378
# hostmot2 driver
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
# Torch Height Control
loadrt thc
addf thc servo-thread
# THREADS
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf parport.0.read servo-thread
addf parport.0.write servo-thread
# #############################################
# Axis-of-motion Specific Configs (not the GUI)
# **********
# X [0] Axis
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= joint.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
net both-home-x <= parport.0.pin-10-in-not
net both-home-x => joint.0.home-sw-in
net both-home-x => joint.0.neg-lim-sw-in
net both-home-x => joint.0.pos-lim-sw-in
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
net both-home-y <= parport.0.pin-11-in-not
net both-home-y => joint.1.home-sw-in
net both-home-y => joint.1.neg-lim-sw-in
net both-home-y => joint.1.pos-lim-sw-in
# ################
# Z [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable <= joint.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
# position command and feedback
# hijack position command and feed through thc
net emcmot.02.pos-cmd thc.z-pos-in <= joint.2.motor-pos-cmd
net thc-pos-cmd thc.z-pos-out => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
net motor.02.pos-fb joint.2.motor-pos-fb <= thc.z-fb-out
net both-home-z => joint.2.home-sw-in
net both-home-z => joint.2.neg-lim-sw-in
net both-home-z => joint.2.pos-lim-sw-in
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
net both-home-z <= parport.0.pin-12-in-not
net both-home-z => joint.2.home-sw-in
net both-home-z => joint.2.neg-lim-sw-in
net both-home-z => joint.2.pos-lim-sw-in
#######################
# Standard I/O Block - EStop, Etc
# ###############################
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
# Touch Off
net torch-probe motion.probe-input <= parport.0.pin-13-in-not
# Set up the Encoder for the THC
setp hm2_5i20.0.encoder.00.counter-mode 1
net thc-vel-in hm2_5i20.0.encoder.00.velocity => thc.encoder-vel
setp thc.scale-offset 119000
setp thc.vel-scale 0.00037866834
# this might need to be increased
setp thc.correction-vel 0.0001
# spindle on starts the arc
net spindle-on spindle.0.on => parport.0.pin-16-out
net spindle-on thc.torch-on
# starts the motion when the plasma arc has transferred to the work
net start-motion-input thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in
# ******
# For Joypad, the rest are in postgui.hal
loadusr hal_input -W -KRAL Dual

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configs/by_interface/mesa/plasma-5i20/plasma-5i20.ini Normal file
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; This configuration is based on the hostmot2 stepper configuration
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Plasma-THC
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
[DISPLAY]
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
MAX_LINEAR_VELOCITY = 4
DEFAULT_LINEAR_VELOCITY = 1.6
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 3
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
#EDITOR = geany
PYVCP = plasma.xml
[FILTER]
#No Content
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = plasma.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[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
[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 = plasma-5i20.hal
POSTGUI_HALFILE = postgui.hal
HALUI = halui
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[HALUI]
# Rapid to Machine Home
MDI_COMMAND = G53 G0 X0 Y0 Z0
[TRAJ]
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
NO_FORCE_HOMING = 1
[EMCIO]
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 51.0
MAX_VELOCITY = 7
MAX_ACCELERATION = 125
[JOINT_0]
# X Axis
TYPE = LINEAR
MAX_VELOCITY = 7
MAX_ACCELERATION = 125
STEPGEN_MAXACCEL = 150
BACKLASH = 0.000
SCALE = 3180
MIN_LIMIT = -50.0
MAX_LIMIT = 51.0
FERROR = 0.050
MIN_FERROR = 0.005
HOME = 0.000
HOME_OFFSET = -0.250
HOME_SEARCH_VEL = -1
HOME_LATCH_VEL = -0.025
HOME_FINAL_VEL = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
[AXIS_Y]
MIN_LIMIT = -36
MAX_LIMIT = 36
MAX_VELOCITY = 6.75
MAX_ACCELERATION = 125
[JOINT_1]
# Y Axis
TYPE = LINEAR
MAX_VELOCITY = 6.75
MAX_ACCELERATION = 125
STEPGEN_MAXACCEL = 150
BACKLASH = 0.000
SCALE = 2985
MIN_LIMIT = -36
MAX_LIMIT = 36
FERROR = 0.050
MIN_FERROR = 0.005
HOME = 0.000
HOME_OFFSET = 0.25
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 0.025
HOME_FINAL_VEL = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
[AXIS_Z]
MIN_LIMIT = -4.0
MAX_LIMIT = 4
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 50
[JOINT_2]
# Z Axis
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 50
STEPGEN_MAXACCEL = 55
BACKLASH = 0.000
SCALE = 20000
MIN_LIMIT = -4.0
MAX_LIMIT = 4
FERROR = 0.050
MIN_FERROR = 0.005
HOME = 0.000
HOME_OFFSET = 0.50
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = 0.025
HOME_FINAL_VEL = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=1 num_pwmgens=0 num_stepgens=3"

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configs/by_interface/mesa/plasma-5i20/plasma-demo.hal Normal file
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# Generated by stepconf at Sat Apr 16 07:47:05 2011
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 1000
loadrt stepgen step_type=0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
# Torch Height Control
loadrt encoder
addf encoder.capture-position servo-thread
addf encoder.update-counters servo-thread
loadrt thc
addf thc servo-thread
net spindle-cmd <= spindle.0.speed-out
net spindle-on <= spindle.0.on
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net spindle-on => parport.0.pin-08-out
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 15200
setp stepgen.1.dirsetup 15200
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
#loadusr -W hal_manualtoolchange
#net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Touch Off
net torch-probe motion.probe-input <= parport.0.pin-13-in-not
# Set up the Encoder for the THC
setp encoder.0.counter-mode 1
net thc-vel-in encoder.0.velocity => thc.encoder-vel
setp thc.scale-offset 119000
setp thc.vel-scale 0.00037866834
# this might need to be increased
setp thc.correction-vel 0.0001
# spindle on starts the arc
net spindle-on spindle.0.on => parport.0.pin-16-out
net spindle-on thc.torch-on
# starts the motion when the plasma arc has transferred to the work
net start-motion-input thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in

127
configs/by_interface/mesa/plasma-5i20/plasma-demo.ini Normal file
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; This configuration is based on the Step Config Wizard generated configuration.
; It is included to show what the Axis GUI looks like until you get a 5i20
; The thc comp will work rather poorly on a parallel port input unless you have
; an extremely good latency and can have a fast base thread.
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = plasma
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ../../nc_files/
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
PYVCP = plasma.xml
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = plasma-demo.hal
POSTGUI_HALFILE = postgui.hal
[HALUI]
# add halui MDI commands here (max 64)
# Rapid to Machine Home
MDI_COMMAND = G53 G0 X0 Y0 Z0
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
[EMCIO]
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_0]
# X Axis
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
[AXIS_Y]
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_1]
# Y Axis
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
[AXIS_Z]
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_2]
# Z Axis
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0

99
configs/by_interface/mesa/plasma-5i20/plasma.txt Normal file
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[175654.344093] I-pipe: Domain RTAI registered.
[175654.344104] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04.
[175654.344107] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3).
[175654.344115] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[175654.344118] PIPELINE layers:
[175654.344121] e0af4000 9ac15d93 RTAI 200
[175654.344123] c0383180 0 Linux 100
[175654.361183] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[175654.361575] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[175654.361582] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists.
[175654.361586] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2400241000 hz.
[175654.361589] RTAI[sched]: timer setup = 2010 ns, resched latency = 2689 ns.
[175654.472379] RTAI[math]: loaded.
[175654.509879] RTAPI: Init
[175654.509934] RTAPI: Init complete
[175654.523048] HAL_LIB: loading kernel lib
[175654.523055] RTAPI: initing module HAL_LIB
[175654.523059] RTAPI: module 'HAL_LIB' loaded, ID: 1
[175654.523407] RTAPI: shmem 01 created by module 01, key: 1212238898, size: 262000
[175654.523416] HAL_LIB: kernel lib installed successfully
[175654.615892] config string '0x378'
[175654.629887] hm2: loading Mesa HostMot2 driver version 0.15
[175654.635022] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.6
[175654.637533] hm2_pci: discovered 5i20 at 0000:02:03.0
[175654.769217] hm2/hm2_5i20.0: 72 I/O Pins used:
[175654.769224] hm2/hm2_5i20.0: IO Pin 000 (P2-01): IOPort
[175654.769227] hm2/hm2_5i20.0: IO Pin 001 (P2-03): IOPort
[175654.769231] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Encoder #0, pin B (Input)
[175654.769235] hm2/hm2_5i20.0: IO Pin 003 (P2-07): Encoder #0, pin A (Input)
[175654.769239] hm2/hm2_5i20.0: IO Pin 004 (P2-09): IOPort
[175654.769242] hm2/hm2_5i20.0: IO Pin 005 (P2-11): Encoder #0, pin Index (Input)
[175654.769246] hm2/hm2_5i20.0: IO Pin 006 (P2-13): IOPort
[175654.769249] hm2/hm2_5i20.0: IO Pin 007 (P2-15): IOPort
[175654.769252] hm2/hm2_5i20.0: IO Pin 008 (P2-17): IOPort
[175654.769255] hm2/hm2_5i20.0: IO Pin 009 (P2-19): IOPort
[175654.769258] hm2/hm2_5i20.0: IO Pin 010 (P2-21): IOPort
[175654.769262] hm2/hm2_5i20.0: IO Pin 011 (P2-23): IOPort
[175654.769265] hm2/hm2_5i20.0: IO Pin 012 (P2-25): IOPort
[175654.769268] hm2/hm2_5i20.0: IO Pin 013 (P2-27): IOPort
[175654.769271] hm2/hm2_5i20.0: IO Pin 014 (P2-29): IOPort
[175654.769274] hm2/hm2_5i20.0: IO Pin 015 (P2-31): IOPort
[175654.769277] hm2/hm2_5i20.0: IO Pin 016 (P2-33): IOPort
[175654.769280] hm2/hm2_5i20.0: IO Pin 017 (P2-35): IOPort
[175654.769283] hm2/hm2_5i20.0: IO Pin 018 (P2-37): IOPort
[175654.769287] hm2/hm2_5i20.0: IO Pin 019 (P2-39): IOPort
[175654.769290] hm2/hm2_5i20.0: IO Pin 020 (P2-41): IOPort
[175654.769293] hm2/hm2_5i20.0: IO Pin 021 (P2-43): IOPort
[175654.769296] hm2/hm2_5i20.0: IO Pin 022 (P2-45): IOPort
[175654.769299] hm2/hm2_5i20.0: IO Pin 023 (P2-47): IOPort
[175654.769302] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort
[175654.769305] hm2/hm2_5i20.0: IO Pin 025 (P3-03): IOPort
[175654.769308] hm2/hm2_5i20.0: IO Pin 026 (P3-05): IOPort
[175654.769311] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort
[175654.769315] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort
[175654.769318] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort
[175654.769321] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort
[175654.769324] hm2/hm2_5i20.0: IO Pin 031 (P3-15): IOPort
[175654.769327] hm2/hm2_5i20.0: IO Pin 032 (P3-17): IOPort
[175654.769330] hm2/hm2_5i20.0: IO Pin 033 (P3-19): IOPort
[175654.769333] hm2/hm2_5i20.0: IO Pin 034 (P3-21): IOPort
[175654.769336] hm2/hm2_5i20.0: IO Pin 035 (P3-23): IOPort
[175654.769339] hm2/hm2_5i20.0: IO Pin 036 (P3-25): IOPort
[175654.769342] hm2/hm2_5i20.0: IO Pin 037 (P3-27): IOPort
[175654.769346] hm2/hm2_5i20.0: IO Pin 038 (P3-29): IOPort
[175654.769349] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort
[175654.769352] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort
[175654.769355] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort
[175654.769358] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort
[175654.769361] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort
[175654.769364] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort
[175654.769367] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort
[175654.769370] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort
[175654.769373] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort
[175654.769377] hm2/hm2_5i20.0: IO Pin 048 (P4-01): StepGen #0, pin Step (Output)
[175654.769381] hm2/hm2_5i20.0: IO Pin 049 (P4-03): StepGen #0, pin Direction (Output)
[175654.769385] hm2/hm2_5i20.0: IO Pin 050 (P4-05): IOPort
[175654.769388] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort
[175654.769391] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort
[175654.769394] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort
[175654.769398] hm2/hm2_5i20.0: IO Pin 054 (P4-13): StepGen #1, pin Step (Output)
[175654.769402] hm2/hm2_5i20.0: IO Pin 055 (P4-15): StepGen #1, pin Direction (Output)
[175654.769406] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort
[175654.769409] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort
[175654.769412] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort
[175654.769415] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort
[175654.769419] hm2/hm2_5i20.0: IO Pin 060 (P4-25): StepGen #2, pin Step (Output)
[175654.769423] hm2/hm2_5i20.0: IO Pin 061 (P4-27): StepGen #2, pin Direction (Output)
[175654.769427] hm2/hm2_5i20.0: IO Pin 062 (P4-29): IOPort
[175654.769430] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort
[175654.769433] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort
[175654.769436] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort
[175654.769439] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort
[175654.769442] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort
[175654.769445] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort
[175654.769448] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort
[175654.769451] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort
[175654.769455] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort
[175654.769637] hm2/hm2_5i20.0: registered
[175654.769640] hm2_5i20.0: initialized AnyIO board at 0000:02:03.0

164
configs/by_interface/mesa/plasma-5i20/plasma.xml Normal file
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<pyvcp>
<hbox>
<checkbutton>
<text>"THC Enable"</text>
<halpin>"thc-enable"</halpin>
</checkbutton>
</hbox>
<labelframe text="THC Settings">
<hbox>
<vbox>
<label>
<text>"Vel Tolerance "</text>
<font>("Helvetica",10)</font>
</label>
<label>
<text>"Volts Setting "</text>
<font>("Helvetica",10)</font>
</label>
<label>
<text>"Volts Tolerance"</text>
<font>("Helvetica",10)</font>
</label>
</vbox>
<vbox>
<spinbox>
<width>"5"</width>
<halpin>"vel-tol"</halpin>
<min_>.01</min_>
<max_>1</max_>
<resolution>0.01</resolution>
<initval>0.2</initval>
<format>"1.2f"</format>
<font>("Arial",10)</font>
</spinbox>
<spinbox>
<width>"5"</width>
<halpin>"volts-requested"</halpin>
<min_>0</min_>
<max_>200</max_>
<resolution>1</resolution>
<font>("Helvetica",10)</font>
<format>"1.0f"</format>
<font>("Arial",10)</font>
<initval>1</initval>
</spinbox>
<spinbox>
<width>"5"</width>
<font>("Helvetica",10)</font>
<halpin>"volts-tolerance"</halpin>
<resolution>0.1</resolution>
<initval>1</initval>
<min_>0</min_>
<max_>10</max_>
</spinbox>
</vbox>
</hbox>
</labelframe>
<labelframe text="Arc Volts Status">
<hbox>
<vbox>
<label>
<text>"Under"</text>
<font>("Helvetica",10)</font>
</label>
<rectled>
<halpin>"volts-under"</halpin>
<height>"20"</height>
<width>"40"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
<vbox>
<label>
<text>"OK"</text>
<font>("Helvetica",10)</font>
</label>
<rectled>
<halpin>"volts-ok"</halpin>
<height>"20"</height>
<width>"40"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
<vbox>
<label>
<text>"Over"</text>
<font>("Helvetica",10)</font>
</label>
<rectled>
<halpin>"volts-high"</halpin>
<height>"20"</height>
<width>"40"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
</hbox>
</labelframe>
<labelframe text="Status">
<hbox>
<vbox>
<label>
<text>"Velocity"</text>
<font>("Helvetica",10)</font>
</label>
<rectled>
<halpin>"vel-status"</halpin>
<height>"20"</height>
<width>"40"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
<vbox>
<label>
<text>"Arc"</text>
<font>("Helvetica",10)</font>
</label>
<rectled>
<halpin>"arc-ok"</halpin>
<height>"20"</height>
<width>"40"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
<vbox>
<label>
<text>"Offset"</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"offset"</halpin>
<font>("Helvetica",10)</font>
<format>"+4.4f"</format>
</number>
</vbox>
</hbox>
</labelframe>
<label text="Actual Volts"/>
<meter>
<halpin>"actual-volts"</halpin>
<text>"Torch"</text>
<subtext>"Volts"</subtext>
<size>150</size>
<min_>0</min_>
<max_>200</max_>
<majorscale>25</majorscale>
<minorscale>5</minorscale>
</meter>
<labelframe text="MDI Commands">
<button>
<halpin>"rapid-to-home"</halpin>
<text>"Rapid to Home"</text>
<font>('Helvetica',10)</font>
</button>
</labelframe>
</pyvcp>

16
configs/by_interface/mesa/plasma-5i20/postgui.hal Normal file
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# THC connections
net thc-enable pyvcp.thc-enable thc.enable
net thc-voltmeter pyvcp.actual-volts thc.volts
net thc-voltset pyvcp.volts-requested thc.volts-requested
net thc-req-vel thc.requested-vel <= motion.requested-vel
net thc-cur-vel thc.current-vel <= motion.current-vel
net thc-vel-status pyvcp.vel-status thc.vel-status
net thc-vel-tol pyvcp.vel-tol thc.vel-tol
#net thc-volts-tol pyvcp.volts-tolerance-i thc.volts-tol
# MDI commands
# rapid to home button
net remote-rapid-home halui.mdi-command-00 <= pyvcp.rapid-to-home

4
configs/by_interface/mesa/plasma-5i20/tool.tbl Normal file
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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

1
configs/by_interface/nc_files Symbolic link
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../../nc_files

1
configs/by_interface/parport/.gitignore vendored Normal file
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core_stepper.hal

3
configs/by_interface/parport/README Normal file
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PC parallel port (printer port)
Standard printer port on motherboard or add-on pci card

84
configs/by_interface/parport/classicladder/cl-estop/cl-estop.hal Normal file
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# Generated by stepconf at Sat Sep 20 16:05:23 2008
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg=0x378
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net both-home-x <= parport.0.pin-10-in
net both-home-y <= parport.0.pin-11-in
net both-home-z <= parport.0.pin-12-in
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 16000
setp stepgen.0.dirsetup 16000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net both-home-x => joint.0.home-sw-in
net both-home-x => joint.0.neg-lim-sw-in
net both-home-x => joint.0.pos-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 16000
setp stepgen.1.dirsetup 16000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net both-home-y => joint.1.home-sw-in
net both-home-y => joint.1.neg-lim-sw-in
net both-home-y => joint.1.pos-lim-sw-in
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 16000
setp stepgen.2.dirsetup 16000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net both-home-z => joint.2.home-sw-in
net both-home-z => joint.2.neg-lim-sw-in
net both-home-z => joint.2.pos-lim-sw-in
# net estop-out <= iocontrol.0.user-enable-out
# net estop-out => iocontrol.0.emc-enable-in
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

129
configs/by_interface/parport/classicladder/cl-estop/cl-estop.ini Normal file
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# Generated by stepconf at Sat Sep 20 16:05:23 2008
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Stepper-CL-EStop
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#PROGRAM_PREFIX = /home/jet/emc2/nc_files
PROGRAM_PREFIX = ../../nc_files/
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
PYVCP = panel.xml
[FILTER]
#No Content
[RS274NGC]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALFILE = cl-estop.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
[EMCIO]
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -0.01
MAX_LIMIT = 12.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 12.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = 0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
[AXIS_Y]
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = 0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
[AXIS_Z]
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = 0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

12
configs/by_interface/parport/classicladder/cl-estop/custom.hal Normal file
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@@ -0,0 +1,12 @@
# Include your customized HAL commands here
# This file will not be overwritten when you run stepconf again
# Load ClassicLadder
loadrt classicladder_rt
# Add the ClassicLadder refresh function to the servo thread
addf classicladder.0.refresh servo-thread
# Load the ladder
loadusr classicladder --nogui estop.clp

27
configs/by_interface/parport/classicladder/cl-estop/custom_postgui.hal Normal file
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@@ -0,0 +1,27 @@
# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel)
# starts
# This file will not be overwritten when you run stepconf again
# External E-Stop pyVCP button for external use a normally closed contact
loadrt not count=1
addf not.0 servo-thread
# The not changes the normally open pyVCP button to normally closed
net nc-gui-estop not.0.in <= pyvcp.py-estop
net ext-estop classicladder.0.in-00 <= not.0.out
# Request E-Stop Enable from EMC
net estop-all-ok iocontrol.0.emc-enable-in <= classicladder.0.out-00
# Request E-Stop Enable from pyVCP or external source
net ext-estop-reset classicladder.0.in-03 <= pyvcp.py-reset
# This line resets the E-Stop from EMC
net emc-reset-estop iocontrol.0.user-request-enable => classicladder.0.in-02
# This line enables EMC to unlatch the E-Stop in classicladder
net emc-estop iocontrol.0.user-enable-out => classicladder.0.in-01
# This line turns on the green indicator when out of E-Stop
net estop-all-ok => pyvcp.py-es-status

198
configs/by_interface/parport/classicladder/cl-estop/estop.clp Normal file
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_FILES_CLASSICLADDER
_FILE-general.txt
PERIODIC_REFRESH=1
SIZE_NBR_RUNGS=100
SIZE_NBR_BITS=500
SIZE_NBR_WORDS=100
SIZE_NBR_TIMERS=10
SIZE_NBR_MONOSTABLES=10
SIZE_NBR_COUNTERS=10
SIZE_NBR_TIMERS_IEC=10
SIZE_NBR_PHYS_INPUTS=15
SIZE_NBR_PHYS_OUTPUTS=15
SIZE_NBR_ARITHM_EXPR=100
SIZE_NBR_SECTIONS=10
SIZE_NBR_SYMBOLS=100
_/FILE-general.txt
_FILE-timers.csv
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-timers.csv
_FILE-monostables.csv
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-monostables.csv
_FILE-counters.csv
0
0
0
0
0
0
0
0
0
0
_/FILE-counters.csv
_FILE-timers_iec.csv
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
_/FILE-timers_iec.csv
_FILE-arithmetic_expressions.csv
#VER=2.0
_/FILE-arithmetic_expressions.csv
_FILE-rung_0.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=-1
#NEXTRUNG=0
1-0-50/0 , 9-0-0/0 , 1-0-50/1 , 9-0-0/0 , 1-0-50/2 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/0
0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 1-1-60/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 50-1-60/1
0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 1-1-60/0 , 0-1-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 1-1-50/3 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 , 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 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 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-sections.csv
#VER=1.0
#NAME000=Prog1
000,0,-1,0,0,0
_/FILE-sections.csv
_FILE-sequential.csv
#VER=1.0
_/FILE-sequential.csv
_FILE-ioconf.csv
#VER=1.0
_/FILE-ioconf.csv
_FILE-modbusioconf.csv
#VER=1.0
_/FILE-modbusioconf.csv
_FILE-symbols.csv
#VER=1.0
%I0,EStop,External E-Stop
%I1,EMCReset,Auto named bit-in pin
%I2,USRReset,Auto named bit-in pin
%I3,CLinB3,Auto named bit-in pin
%I4,CLinB4,Auto named bit-in pin
%I5,CLinB5,Auto named bit-in pin
%I6,CLinB6,Auto named bit-in pin
%I7,CLinB7,Auto named bit-in pin
%I8,CLinB8,Auto named bit-in pin
%I9,CLinB9,Auto named bit-in pin
%I10,CLinB10,Auto named bit-in pin
%I11,CLinB11,Auto named bit-in pin
%I12,CLinB12,Auto named bit-in pin
%I13,CLinB13,Auto named bit-in pin
%I14,CLinB14,Auto named bit-in pin
%I15,CLinB15,Auto named bit-in pin
%I16,CLinB16,Auto named bit-in pin
%I17,CLinB17,Auto named bit-in pin
%I18,CLinB18,Auto named bit-in pin
%I19,CLinB19,Auto named bit-in pin
%I20,CLinB20,Auto named bit-in pin
%I21,CLinB21,Auto named bit-in pin
%I22,CLinB22,Auto named bit-in pin
%I23,CLinB23,Auto named bit-in pin
%I24,CLinB24,Auto named bit-in pin
%I25,CLinB25,Auto named bit-in pin
%I26,CLinB26,Auto named bit-in pin
%I27,CLinB27,Auto named bit-in pin
%I28,CLinB28,Auto named bit-in pin
%I29,CLinB29,Auto named bit-in pin
%I30,CLinB30,Auto named bit-in pin
%I31,CLinB31,Auto named bit-in pin
%I32,CLinB32,Auto named bit-in pin
%I33,CLinB33,Auto named bit-in pin
%I34,CLinB34,Auto named bit-in pin
%I35,CLinB35,Auto named bit-in pin
%I36,CLinB36,Auto named bit-in pin
%I37,CLinB37,Auto named bit-in pin
%I38,CLinB38,Auto named bit-in pin
%I39,CLinB39,Auto named bit-in pin
%I40,CLinB40,Auto named bit-in pin
%I41,CLinB41,Auto named bit-in pin
%I42,CLinB42,Auto named bit-in pin
%I43,CLinB43,Auto named bit-in pin
%I44,CLinB44,Auto named bit-in pin
%I45,CLinB45,Auto named bit-in pin
%I46,CLinB46,Auto named bit-in pin
%I47,CLinB47,Auto named bit-in pin
%I48,CLinB48,Auto named bit-in pin
%I49,CLinB49,Auto named bit-in pin
%Q0,All OK,Enable EMC E-Stop
%Q1,EnDrive,Auto named bit-out pin
%Q2,CLoutB2,Auto named bit-out pin
%Q3,CLoutB3,Auto named bit-out pin
%Q4,CLoutB4,Auto named bit-out pin
%Q5,CLoutB5,Auto named bit-out pin
%Q6,CLoutB6,Auto named bit-out pin
%Q7,CLoutB7,Auto named bit-out pin
%Q8,CLoutB8,Auto named bit-out pin
%Q9,CLoutB9,Auto named bit-out pin
%Q10,CLoutB10,Auto named bit-out pin
%Q11,CLoutB11,Auto named bit-out pin
%Q12,CLoutB12,Auto named bit-out pin
%Q13,CLoutB13,Auto named bit-out pin
%Q14,CLoutB14,Auto named bit-out pin
%Q15,CLoutB15,Auto named bit-out pin
%Q16,CLoutB16,Auto named bit-out pin
%Q17,CLoutB17,Auto named bit-out pin
%Q18,CLoutB18,Auto named bit-out pin
%Q19,CLoutB19,Auto named bit-out pin
%Q20,CLoutB20,Auto named bit-out pin
%Q21,CLoutB21,Auto named bit-out pin
%Q22,CLoutB22,Auto named bit-out pin
%Q23,CLoutB23,Auto named bit-out pin
%Q24,CLoutB24,Auto named bit-out pin
%Q25,CLoutB25,Auto named bit-out pin
%Q26,CLoutB26,Auto named bit-out pin
%Q27,CLoutB27,Auto named bit-out pin
%Q28,CLoutB28,Auto named bit-out pin
%Q29,CLoutB29,Auto named bit-out pin
%Q30,CLoutB30,Auto named bit-out pin
%Q31,CLoutB31,Auto named bit-out pin
%Q32,CLoutB32,Auto named bit-out pin
%Q33,CLoutB33,Auto named bit-out pin
%Q34,CLoutB34,Auto named bit-out pin
%Q35,CLoutB35,Auto named bit-out pin
%Q36,CLoutB36,Auto named bit-out pin
%Q37,CLoutB37,Auto named bit-out pin
%Q38,CLoutB38,Auto named bit-out pin
%Q39,CLoutB39,Auto named bit-out pin
%Q40,CLoutB40,Auto named bit-out pin
%Q41,CLoutB41,Auto named bit-out pin
%Q42,CLoutB42,Auto named bit-out pin
%Q43,CLoutB43,Auto named bit-out pin
%Q44,CLoutB44,Auto named bit-out pin
%Q45,CLoutB45,Auto named bit-out pin
%Q46,CLoutB46,Auto named bit-out pin
%Q47,CLoutB47,Auto named bit-out pin
%Q48,CLoutB48,Auto named bit-out pin
%Q49,CLoutB49,Auto named bit-out pin
_/FILE-symbols.csv
_/FILES_CLASSICLADDER

28
configs/by_interface/parport/classicladder/cl-estop/panel.xml Normal file
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@@ -0,0 +1,28 @@
<?xml version='1.0' encoding='UTF-8'?>
<!--
Include your PyVCP panel here.
The contents of this file will not be overwritten when you run stepconf again.
-->
<pyvcp>
<vbox>
<label><text>"E-Stop Demo"</text></label>
<led>
<halpin>"py-es-status"</halpin>
<size>50</size>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</led>
<button>
<halpin>"py-estop"</halpin>
<text>"E-Stop"</text>
</button>
</vbox>
<button>
<halpin>"py-reset"</halpin>
<text>"Reset"</text>
</button>
</pyvcp>

4
configs/by_interface/parport/classicladder/cl-estop/tool.tbl Normal file
View 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

5
configs/by_interface/parport/classicladder/demo_step_cl/README Normal file
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@@ -0,0 +1,5 @@
This config is "stepper" with the addition of ClassicLadder connections to some of the LinuxCNC IO.
The initial ladder program includes several possible estop arrangements and a timed lube coil. The lube ladder includes a sense run that watches lube level or lube pressure and warns of a lube condition failure.
This ladder integration with the HAL will allow you to expand the IO interface to a minimill with spindle and tool changer controls.

20
configs/by_interface/parport/classicladder/demo_step_cl/classicladder.hal Normal file
View File

@@ -0,0 +1,20 @@
# first load realtime portion of classicladder, and create a 1mS thread
loadrt classicladder_rt period=1000000
# hook functions to realtime thread
addf classicladder.0.refresh classicladder.thread 1
# create some I/O signals
# connect I/O signals to classicladder
net I0 => classicladder.0.in-00
net I1 => classicladder.0.in-01
net I2 => classicladder.0.in-02
net Q0 <= classicladder.0.out-00
net Q1 <= classicladder.0.out-01
net Q2 <= classicladder.0.out-02
# set the input signals
sets I0 0
sets I1 0
sets I2 0

167
configs/by_interface/parport/classicladder/demo_step_cl/demo_step_cl.clp Normal file
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@@ -0,0 +1,167 @@
_FILES_CLASSICLADDER
_FILE-rung_1.csv
#VER=2.0
#LABEL=Rung 1
#COMMENT=Stepper Estop Chain
#PREVRUNG=0
#NEXTRUNG=2
0-0-50/0 , 1-0-50/0 , 9-0-50/0 , 9-0-50/1 , 9-0-0/0 , 9-0-0/0 , 9-0-60/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/0
0-0-0/0 , 2-0-50/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-50/2 , 9-0-0/0 , 9-0-0/0 , 0-1-60/1
0-0-50/0 , 1-0-50/0 , 2-0-50/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/1 , 9-0-0/0 , 0-1-60/1
9-0-0/0 , 1-0-50/0 , 2-0-50/1 , 1-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0
0-0-60/1 , 0-0-0/0 , 0-0-0/0 , 1-1-50/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/6
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 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-symbols.csv
#VER=1.0
%I0,GUI-E,
%I1,EXT-E,
%I2,E-RESET,
%I3,Lube_on,
%I4,sensor,
%I5,I5,
%I6,I6,
%I7,I7,
%I8,I8,
%I9, ,
%Q0,EMC-E,
%Q1,toggle,
%Q2,Lube_low,
%Q3,Q3,
%Q4,Q4,
%Q5,Q5,
%Q6,Q6,
%Q7,Q7,
%Q8,Q8,
%Q9,Q9,
%T0,Time-on,Time lube pump is on
%T1,Time-off,Time lube pump is off
%T2,Time-warn,Time before low lube warning
%B0,reset,reset off timer
_/FILE-symbols.csv
_FILE-rung_2.csv
#VER=2.0
#LABEL=
#COMMENT=Intermittent Lube
#PREVRUNG=1
#NEXTRUNG=-1
9-0-0/0 , 1-0-50/3 , 2-0-0/0 , 99-0-0/0 , 10-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 53-0-60/1
0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 99-1-0/0 , 99-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 52-0-60/1
0-0-0/0 , 0-0-0/0 , 2-1-60/1 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 10-0-0/1 , 0-0-60/0 , 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 , 99-1-0/0 , 99-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/0
0-0-0/0 , 0-0-0/0 , 1-1-50/4 , 99-0-0/0 , 10-0-0/2 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/9
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 99-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2
_/FILE-rung_2.csv
_FILE-modbusioconf.csv
#VER=1.0
_/FILE-modbusioconf.csv
_FILE-com_params.txt
MODBUS_MASTER_SERIAL_PORT=
MODBUS_MASTER_SERIAL_SPEED=9600
MODBUS_MASTER_SERIAL_DATABITS=8
MODBUS_MASTER_SERIAL_STOPBITS=1
MODBUS_MASTER_SERIAL_PARITY=0
MODBUS_ELEMENT_OFFSET=0
MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
MODBUS_MASTER_TIME_INTER_FRAME=100
MODBUS_MASTER_TIME_OUT_RECEIPT=500
MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
MODBUS_DEBUG_LEVEL=0
MODBUS_MAP_COIL_READ=0
MODBUS_MAP_COIL_WRITE=0
MODBUS_MAP_INPUT=0
MODBUS_MAP_HOLDING=0
MODBUS_MAP_REGISTER_READ=0
MODBUS_MAP_REGISTER_WRITE=0
_/FILE-com_params.txt
_FILE-timers_iec.csv
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
_/FILE-timers_iec.csv
_FILE-timers.csv
1,10
1,20
0,20
2,1
2,5
1,0
1,0
1,0
1,0
1,0
_/FILE-timers.csv
_FILE-counters.csv
0
0
0
0
0
0
0
0
0
0
_/FILE-counters.csv
_FILE-sections.csv
#VER=1.0
#NAME000=Prog1
000,0,-1,1,2,0
_/FILE-sections.csv
_FILE-arithmetic_expressions.csv
#VER=2.0
_/FILE-arithmetic_expressions.csv
_FILE-rung_0.csv
#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-ioconf.csv
#VER=1.0
_/FILE-ioconf.csv
_FILE-monostables.csv
1,10
1,20
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-monostables.csv
_FILE-sequential.csv
#VER=1.0
_/FILE-sequential.csv
_FILE-general.txt
PERIODIC_REFRESH=100
SIZE_NBR_RUNGS=100
SIZE_NBR_BITS=500
SIZE_NBR_WORDS=100
SIZE_NBR_TIMERS=10
SIZE_NBR_MONOSTABLES=10
SIZE_NBR_COUNTERS=10
SIZE_NBR_TIMERS_IEC=10
SIZE_NBR_PHYS_INPUTS=15
SIZE_NBR_PHYS_OUTPUTS=25
SIZE_NBR_ARITHM_EXPR=100
SIZE_NBR_SECTIONS=10
SIZE_NBR_SYMBOLS=100
_/FILE-general.txt
_/FILES_CLASSICLADDER

99
configs/by_interface/parport/classicladder/demo_step_cl/demo_step_cl.hal Normal file
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# HAL config file for using classic ladder
# Loads the core_stepper.hal file first to set up motion and stepgen
# This adds limits and home from limit to the motion module
# adds the possibility of an external momentary or sustained NC estop button
# includes intermittent lube pump and pressure or level sensing.
# includes coolant and spindle forward, reverse
# from standard pinout config file for 3-axis steppers
# using a parport for I/O
# load the parport driver
loadrt hal_parport cfg="0x378"
# next connect the parport functions to threads
addf parport.0.read base-thread 1
addf parport.0.write base-thread -1
# This configuration uses classicladder for machine logic
# (load the realtime portion)
# these classicladder parameters need to be optimized after ladder completion
loadrt classicladder_rt numRungs=12 numBits=20 numWords=4 numTimers=5 numMonostables=2 numPhysInputs=10 numPhysOutputs=10 numArithmExpr=4 numSections=4
# We kick ladder into a thread at the slower servo rate rather than base rate
addf classicladder.0.refresh servo-thread 1
# invoke the user part of CL to silently load the program
# later we will need to add the clp file mentioned below
# to the ini file so that we do not need to hardcode it here.
loadusr -w classicladder --nogui demo_step_cl.clp
# load the GUI as well
loadusr classicladder
# begin to connect physical pins to signals
# this is EMC's standard motion pinouts
net Xstep parport.0.pin-03-out
net Xdir parport.0.pin-02-out
net Ystep parport.0.pin-05-out
net Ydir parport.0.pin-04-out
net Zstep parport.0.pin-07-out
net Zdir parport.0.pin-06-out
# three axis motion allows 6 other outputs on pins 8,9,1,14,16,17
# five additional input pins are available 10,11,12,13,15
# these are setup by the work they perform below
# estop signals
# signal is the internal or gui estop command from EMC
net user-enable-out iocontrol.0.user-enable-out classicladder.0.in-00
# one-shot on timer when signal above goes high.
net user-request-enable iocontrol.0.user-request-enable classicladder.0.in-02
# this bit is an external estop button connected to parport pin 11 and ground
net ext-estop parport.0.pin-10-in
net ext-estop classicladder.0.in-01
# This bit signal is command to estop from CL to EMC
net emc-enable-in iocontrol.0.emc-enable-in classicladder.0.out-00
# lube signals
# lube run command from emc to CL
# for ease of reading we will make a new signal lube-run
net lube-run classicladder.0.out-01
net lube-run parport.0.pin-01-out
# The lube sense stuff runs from an external pin, through CL to iocontrol in
# lube-up is the signal between the parport and cl
net lube-up parport.0.pin-12-in
net lube-up classicladder.0.in-04
# coolant signals
# note that these do NOT represent proper IO signals from iocontrol
# should separate command and status for production versions
# and run these through CL to test conditions
net flood iocontrol.0.coolant-flood parport.0.pin-08-out
net mist iocontrol.0.coolant-mist parport.0.pin-09-out
# spindle signals
# spindle status has not been resolved
# a simple loop through is set here
net spindle-forward spindle.0.forward parport.0.pin-16-out
net spindle-reverse spindle.0.reverse parport.0.pin-17-out
# we will let loopbacks handle tool prepare and change commands
# though we could index an external changer
# create connections for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
# create a limit switch signal
# read limit conditions from external normally open switches in parallel
# this configuration allows the control to run but still test limit
# for real use a normally closed series loop and reverse parport pin polarity
# add all limits to a single parport pin
# connect this signal to pin 10 on the parport
net limit-reached parport.0.pin-10-in-not
# connect this signal to all limit signals of relevant axes
net limit-reached joint.0.neg-lim-sw-in
net limit-reached joint.0.pos-lim-sw-in
net limit-reached joint.1.neg-lim-sw-in
net limit-reached joint.1.pos-lim-sw-in
net limit-reached joint.2.neg-lim-sw-in
#linksp limit-reached joint.2.pos-lim-sw-in

181
configs/by_interface/parport/classicladder/demo_step_cl/demo_step_cl.ini Normal file
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# EMC controller parameters for generic controller. Make these what you need
# for your system.
# 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-DEMO-STEP-CL
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x00000001
# DEBUG = 0x00000007
DEBUG = 0
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xlinuxcnc
# DISPLAY = axis
DISPLAY = tklinuxcnc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
# 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/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
# Task controller section -----------------------------------------------------
[FILTER]
#No Content
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = demo_step_cl.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 = 50000
# Servo task period, in nanoseconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# 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 = core_stepper.hal
HALFILE = demo_step_cl.hal
#HALFILE = xylotex_pinout.hal
# HALFILE = standard_pinout.hal
# HALFILE = simulated_limits.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner 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 = 0.0167
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_ACCELERATION = 15.0
MAX_LINEAR_ACCELERATION = 20.0
# Axes sections ---------------------------------------------------------------
# First axis
[EMCIO]
# tool table file
TOOL_TABLE = demo_step_cl.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# Second axis
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# Third axis
[AXIS_Z]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# section for main IO controller parameters -----------------------------------

4
configs/by_interface/parport/classicladder/demo_step_cl/demo_step_cl.tbl Normal file
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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

6
configs/by_interface/parport/etch-servo/README Normal file
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Etch-servo drives two servo motors using a simple parallel-port-attached circuit. 'pwmgen' produces an enable waveform to turn the servo motors at a variable speed, and 'encoder' reads TTL-level quadrature inputs to close the loop.
The circuit uses an L298 dual full-bridge driver to control two servo motors.
More information on the circuit is available:
http://emergent.unpy.net/projects/01142347802

116
configs/by_interface/parport/etch-servo/etch.hal Normal file
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# load realtime modules
# kinematics
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0x378"
loadrt encoder num_chan=2
loadrt pid num_chan=2
loadrt pwmgen output_type=1,1
loadrt ddt count=4
# define the order of execution for RT code
addf parport.0.read base-thread
addf encoder.update-counters base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pwmgen.update servo-thread
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
# hook stuff together
setp encoder.0.position-scale [JOINT_0]INPUT_SCALE
setp encoder.1.position-scale [JOINT_1]INPUT_SCALE
net enc0A encoder.0.phase-A <= parport.0.pin-10-in
net enc0B encoder.0.phase-B <= parport.0.pin-11-in
net enc1A encoder.1.phase-A <= parport.0.pin-12-in
net enc1B encoder.1.phase-B <= parport.0.pin-13-in
net Xpos-fb <= encoder.0.position
net Ypos-fb <= encoder.1.position
net Xpos-fb => pid.0.feedback
net Ypos-fb => pid.1.feedback
net Xpos-fb => joint.0.motor-pos-fb
net Ypos-fb => joint.1.motor-pos-fb
net Xvel-cmd <= pid.0.output
net Yvel-cmd <= pid.1.output
net Xvel-cmd => pwmgen.0.value
net Yvel-cmd => pwmgen.1.value
net Xpwm pwmgen.0.pwm
net Ypwm pwmgen.1.pwm
net Xdir <= pwmgen.0.dir
net Ydir <= pwmgen.1.dir
net Xdir => parport.0.pin-02-out
net Xdir => parport.0.pin-04-out
setp parport.0.pin-04-out-invert TRUE
net Xpwm => parport.0.pin-03-out
net Ydir => parport.0.pin-05-out
net Ydir => parport.0.pin-07-out
setp parport.0.pin-07-out-invert TRUE
net Ypwm => parport.0.pin-06-out
setp pid.0.maxoutput 1.0
setp pid.1.maxoutput 1.0
# the values below come from the ini
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
# deadband should be just over 1 count
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
# deadband should be just over 1 count
setp pid.1.deadband [JOINT_1]DEADBAND
net Xpos-cmd <= joint.0.motor-pos-cmd
net Ypos-cmd <= joint.1.motor-pos-cmd
net Xpos-cmd => pid.0.command
net Ypos-cmd => pid.1.command
net Xenable <= joint.0.amp-enable-out
net Yenable <= joint.1.amp-enable-out
net Xenable => pid.0.enable
net Xenable => pwmgen.0.enable
net Yenable => pid.1.enable
net Yenable => pwmgen.1.enable
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
net Xpos-cmd => ddt.0.in
net Xvel <= ddt.0.out
net Xvel => ddt.1.in
net Xacc <= ddt.1.out
net Ypos-cmd => ddt.2.in
net Yvel <= ddt.2.out
net Yvel => ddt.3.in
net Yacc <= ddt.3.out
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

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configs/by_interface/parport/etch-servo/etch.ini Normal file
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# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section
###############################################################################
[EMC]
#- Version of this INI file
VERSION = 1.1
#+ Name of machine, for use with display, etc.
MACHINE = LinuxCNC-ETCH-SERVO
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., axis
DISPLAY = axis
# DISPLAY = tklinuxcnc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- Path to help file
HELP_FILE = doc/help.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 = 10
#- Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# Editor to be used with Axis
#EDITOR = geany
# Turn off splash screen as it won't load without a Z axis
OPEN_FILE = ""
###############################################################################
# Task controller section
###############################################################################
[FILTER]
#No Content
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = etch.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
#+ Base task period, in nanosecs - this is the fastest thread in the machine
BASE_PERIOD = 20000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
###############################################################################
# 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 = etch.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
# Trajectory planner section
###############################################################################
[HALUI]
#No Content
[TRAJ]
#+ machine specific settings
# COORDINATES = X Y Z A B C
COORDINATES = X Y
HOME = 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1
MAX_LINEAR_VELOCITY = 30
DEFAULT_LINEAR_ACCELERATION = 15.0
MAX_LINEAR_ACCELERATION = 20.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[EMCIO]
#- tool table file
TOOL_TABLE = etch.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 2
[AXIS_X]
MIN_LIMIT = 0.0
MAX_LIMIT = 6.5
MAX_VELOCITY = 4
MAX_ACCELERATION = 50
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 50
BACKLASH = 0.000
INPUT_SCALE = 1700
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 6.5
FERROR = 0.2
MIN_FERROR = 0.10
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
DEADBAND=.002
#+ Second axis
[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 4.5
MAX_VELOCITY = 3
MAX_ACCELERATION = 50
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 3
MAX_ACCELERATION = 50
BACKLASH = 0.000
INPUT_SCALE = 1700
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0
MAX_LIMIT = 4.5
FERROR = 0.200
MIN_FERROR = 0.100
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
DEADBAND=.002
###############################################################################
# section for main IO controller parameters
###############################################################################

4
configs/by_interface/parport/etch-servo/etch.tbl Normal file
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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

10
configs/by_interface/parport/gantry/README Normal file
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Stepper Gantry basic configurations.
It is very important for gantry machines to set initial home switch positions before first homing so they reach home switches at a very similar time. To remove any skewing on the gantry adjust the home offset of one joint. After homing the configuration will switch from joint mode to world mode.
gantry_joints.ini uses the same .hal file but uses kinstype=BOTH which requires independently homing each joint axis.
gantry.ini implements a dual Y motor gantry. This is the configuration to use after you verify the directions and speeds of the individual joints using gantry_joints.ini.
These configs use switches for min-home on the X,Y,Y2 axis and max-home for Z. Pay attention to the parallel input pin assignment for the switches.

107
configs/by_interface/parport/gantry/gantry.hal Normal file
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# Generated by stepconf 1.1 at Mon Feb 28 16:28:49 2022
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net y2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net y2dir => parport.0.pin-09-out
#
# Very likely that you will have wired your limit/home switches differently.
#
net min-home-y2 <= parport.0.pin-10-in
net max-home-z <= parport.0.pin-11-in
net min-home-y <= parport.0.pin-12-in
net min-home-x <= parport.0.pin-13-in
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 40000
setp stepgen.0.dirsetup 40000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 40000
setp stepgen.1.dirsetup 40000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 40000
setp stepgen.2.dirsetup 40000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net max-home-z => joint.2.home-sw-in
net max-home-z => joint.2.pos-lim-sw-in
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 40000
setp stepgen.3.dirsetup 40000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net y2pos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net y2pos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net y2step <= stepgen.3.step
net y2dir <= stepgen.3.dir
net y2enable joint.3.amp-enable-out => stepgen.3.enable
net min-home-y2 => joint.3.home-sw-in
net min-home-y2 => joint.3.neg-lim-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

161
configs/by_interface/parport/gantry/gantry.ini Normal file
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# This configuration was created using Stepconf wizarda as a XYZA configuration.
# Modified to a XYZY gantry.
[EMC]
MACHINE = gantry
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.5
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 15.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 30.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ../../nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZY
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 30000
SERVO_PERIOD = 1000000
[HAL]
HALUI = halui
HALFILE = gantry.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = postgui_call_list.hal
[HALUI]
# add halui MDI commands here (max 64)
[TRAJ]
COORDINATES = X Y Z Y
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 15.00
MAX_LINEAR_VELOCITY = 30.00
[EMCIO]
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.001
MAX_LIMIT = 700.0
[AXIS_Y]
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -1.0
MAX_LIMIT = 1000.0
[AXIS_Z]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = -0.0
MAX_LIMIT = 160.0
[JOINT_0]
TYPE = LINEAR
MIN_LIMIT = -3
MAX_LIMIT = 700.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -400.0
FERROR = 1
MIN_FERROR = .25
HOME = 0.0
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -15.0
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 15.0
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
[JOINT_1]
TYPE = LINEAR
MIN_LIMIT = -1.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -787.4015
FERROR = 1
MIN_FERROR = .25
HOME = 0.0
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -10.00000
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 8.0
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 400.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.0
MAX_LIMIT = 160.0
HOME = 155.0
HOME_OFFSET = 160.0
HOME_SEARCH_VEL = 15.0
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 15.0
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = LINEAR
MIN_LIMIT = -1.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -787.4015
FERROR = 1
MIN_FERROR = .25
HOME = 0.0
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -10.00000
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 8.0
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2

159
configs/by_interface/parport/gantry/gantry_joints.ini Normal file
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# This configuration was created using Stepconf wizarda as a XYZA configuration.
# Modified to a XYZY gantry.
[EMC]
MACHINE = gantry_joints
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.5
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 15.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 30.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cncbox/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZY kinstype=BOTH
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 30000
SERVO_PERIOD = 1000000
[HAL]
HALUI = halui
HALFILE = gantry.hal
[HALUI]
# add halui MDI commands here (max 64)
[TRAJ]
COORDINATES = X Y Z Y
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 15.00
MAX_LINEAR_VELOCITY = 30.00
[EMCIO]
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.001
MAX_LIMIT = 700.0
[AXIS_Y]
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -1.0
MAX_LIMIT = 1000.0
[AXIS_Z]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = -0.0
MAX_LIMIT = 160.0
[JOINT_0]
TYPE = LINEAR
MIN_LIMIT = -3
MAX_LIMIT = 700.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -400.0
FERROR = 1
MIN_FERROR = .25
HOME = 0.0
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -15.0
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 15.0
HOME_IGNORE_LIMITS = YES
#HOME_SEQUENCE = 1
[JOINT_1]
TYPE = LINEAR
MIN_LIMIT = -1.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -787.4015
FERROR = 1
MIN_FERROR = .25
HOME = 0.0
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -10.00000
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 8.0
HOME_IGNORE_LIMITS = YES
#HOME_SEQUENCE = -2
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 400.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.0
MAX_LIMIT = 160.0
HOME = 155.0
HOME_OFFSET = 160.0
HOME_SEARCH_VEL = 15.0
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 15.0
HOME_IGNORE_LIMITS = YES
#HOME_SEQUENCE = 0
[JOINT_3]
TYPE = LINEAR
MIN_LIMIT = -1.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -787.4015
FERROR = 1
MIN_FERROR = .25
HOME = 0.0
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -10.00000
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 8.0
HOME_IGNORE_LIMITS = YES
#HOME_SEQUENCE = -2

3
configs/by_interface/parport/gantry/postgui.hal Normal file
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# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts

82
configs/by_interface/parport/gecko/Gecko_540B3/Gecko_540B3.hal Normal file
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# Generated by stepconf at Wed Sep 26 07:50:40 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 1000
loadrt stepgen step_type=0,0,0
loadrt charge_pump
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net charge-pump <= charge-pump.out
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= spindle.0.speed-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net charge-pump => parport.0.pin-16-out
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 15200
setp stepgen.1.dirsetup 15200
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

120
configs/by_interface/parport/gecko/Gecko_540B3/Gecko_540B3.ini Normal file
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# Generated by stepconf at Wed Sep 26 07:50:40 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Gecko_540B3
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ../../nc_files/
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 23000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALFILE = Gecko_540B3.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
[EMCIO]
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
STEPGEN_MAXACCEL = 2.5
SCALE = 200000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0
[AXIS_Y]
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 1.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 1.0
STEPGEN_MAXACCEL = 1.25
SCALE = 200000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0
[AXIS_Z]
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
STEPGEN_MAXACCEL = 2.5
SCALE = 200000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0

140
configs/by_interface/parport/gecko/Gecko_540B3/Gecko_540B3.stepconf Normal file
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<?xml version="1.0" ?>
<stepconf>
<property name="ahomepos" type="int" value="0"/>
<property name="ahomesw" type="int" value="0"/>
<property name="ahomevel" type="float" value="0.0"/>
<property name="alatchdir" type="int" value="0"/>
<property name="aleadscrew" type="int" value="100"/>
<property name="amaxacc" type="int" value="2"/>
<property name="amaxlim" type="int" value="100"/>
<property name="amaxvel" type="int" value="0"/>
<property name="amicrostep" type="int" value="1"/>
<property name="aminlim" type="int" value="-100"/>
<property name="apulleyden" type="int" value="1"/>
<property name="apulleynum" type="int" value="1"/>
<property name="ascale" type="int" value="0"/>
<property name="asteprev" type="int" value="200"/>
<property name="axes" type="int" value="0"/>
<property name="classicladder" type="bool" value="False"/>
<property name="createshortcut" type="bool" value="False"/>
<property name="createsymlink" type="bool" value="False"/>
<property name="customhal" type="int" value="1"/>
<property name="digitsin" type="float" value="15.0"/>
<property name="digitsout" type="float" value="15.0"/>
<property name="dirhold" type="float" value="200.0"/>
<property name="dirsetup" type="float" value="200.0"/>
<property name="drivertype" type="string" value="gecko540"/>
<property name="floatsin" type="float" value="10.0"/>
<property name="floatsout" type="float" value="10.0"/>
<property name="halui" type="bool" value="False"/>
<property name="ioaddr" type="string" value="0x378"/>
<property name="ioaddr2" type="string" value="Enter Address"/>
<property name="ioaddr3" type="string" value="Enter Address"/>
<property name="ladderconnect" type="bool" value="True"/>
<property name="ladderhaltype" type="int" value="0"/>
<property name="laddername" type="string" value="custom.clp"/>
<property name="latency" type="float" value="15000.0"/>
<property name="machinename" type="string" value="Gecko_540B3"/>
<property name="manualtoolchange" type="bool" value="True"/>
<property name="md5sums" type="eval" value="[('/home/john/linuxcnc/configs/Gecko_540B3/README', '41d8b103383504a95edf5bba747eab2f'), ('/home/john/linuxcnc/configs/Gecko_540B3/Gecko_540B3.ini', 'ea0cbc019a82cd2b5822d1d06d8df34f'), ('/home/john/linuxcnc/configs/Gecko_540B3/Gecko_540B3.hal', 'f8e0198425bda5dad47783f56cedb946')]"/>
<property name="modbus" type="bool" value="False"/>
<property name="number_pports" type="int" value="1"/>
<property name="period" type="int" value="25000"/>
<property name="pin1" type="string" value="unused-output"/>
<property name="pin10" type="string" value="unused-input"/>
<property name="pin10inv" type="bool" value="False"/>
<property name="pin11" type="string" value="unused-input"/>
<property name="pin11inv" type="bool" value="False"/>
<property name="pin12" type="string" value="unused-input"/>
<property name="pin12inv" type="bool" value="False"/>
<property name="pin13" type="string" value="unused-input"/>
<property name="pin13inv" type="bool" value="False"/>
<property name="pin14" type="string" value="unused-output"/>
<property name="pin14inv" type="bool" value="False"/>
<property name="pin15" type="string" value="unused-input"/>
<property name="pin15inv" type="bool" value="False"/>
<property name="pin16" type="string" value="charge-pump"/>
<property name="pin16inv" type="bool" value="False"/>
<property name="pin17" type="string" value="unused-output"/>
<property name="pin17inv" type="bool" value="False"/>
<property name="pin1inv" type="bool" value="False"/>
<property name="pin2" type="string" value="xstep"/>
<property name="pin2inv" type="bool" value="False"/>
<property name="pin3" type="string" value="xdir"/>
<property name="pin3inv" type="bool" value="False"/>
<property name="pin4" type="string" value="ystep"/>
<property name="pin4inv" type="bool" value="False"/>
<property name="pin5" type="string" value="ydir"/>
<property name="pin5inv" type="bool" value="False"/>
<property name="pin6" type="string" value="zstep"/>
<property name="pin6inv" type="bool" value="False"/>
<property name="pin7" type="string" value="zdir"/>
<property name="pin7inv" type="bool" value="False"/>
<property name="pin8" type="string" value="unused-output"/>
<property name="pin8inv" type="bool" value="False"/>
<property name="pin9" type="string" value="unused-output"/>
<property name="pin9inv" type="bool" value="False"/>
<property name="pp2_direction" type="int" value="0"/>
<property name="pp3_direction" type="int" value="0"/>
<property name="pyvcp" type="bool" value="False"/>
<property name="pyvcpconnect" type="bool" value="False"/>
<property name="pyvcphaltype" type="int" value="0"/>
<property name="pyvcpname" type="string" value="blank.xml"/>
<property name="s32in" type="float" value="10.0"/>
<property name="s32out" type="float" value="10.0"/>
<property name="spindlecarrier" type="float" value="100.0"/>
<property name="spindlecpr" type="float" value="100.0"/>
<property name="spindlefiltergain" type="float" value="0.01"/>
<property name="spindlenearscale" type="float" value="1.5"/>
<property name="spindlepwm1" type="float" value="0.2"/>
<property name="spindlepwm2" type="float" value="0.8"/>
<property name="spindlespeed1" type="float" value="100.0"/>
<property name="spindlespeed2" type="float" value="800.0"/>
<property name="stepspace" type="float" value="2000.0"/>
<property name="steptime" type="float" value="1000.0"/>
<property name="tempexists" type="int" value="0"/>
<property name="units" type="int" value="0"/>
<property name="usespindleatspeed" type="bool" value="False"/>
<property name="xhomepos" type="float" value="0.0"/>
<property name="xhomesw" type="float" value="0.0"/>
<property name="xhomevel" type="float" value="0.05"/>
<property name="xlatchdir" type="int" value="0"/>
<property name="xleadscrew" type="float" value="100.0"/>
<property name="xmaxacc" type="float" value="2.0"/>
<property name="xmaxlim" type="float" value="100.0"/>
<property name="xmaxvel" type="float" value="1.0"/>
<property name="xmicrostep" type="float" value="10.0"/>
<property name="xminlim" type="float" value="-100.0"/>
<property name="xpulleyden" type="float" value="1.0"/>
<property name="xpulleynum" type="float" value="1.0"/>
<property name="xscale" type="float" value="200000.0"/>
<property name="xsteprev" type="float" value="200.0"/>
<property name="yhomepos" type="float" value="0.0"/>
<property name="yhomesw" type="float" value="0.0"/>
<property name="yhomevel" type="float" value="0.05"/>
<property name="ylatchdir" type="int" value="0"/>
<property name="yleadscrew" type="float" value="100.0"/>
<property name="ymaxacc" type="float" value="1.0"/>
<property name="ymaxlim" type="float" value="100.0"/>
<property name="ymaxvel" type="float" value="1.0"/>
<property name="ymicrostep" type="float" value="10.0"/>
<property name="yminlim" type="float" value="-100.0"/>
<property name="ypulleyden" type="float" value="1.0"/>
<property name="ypulleynum" type="float" value="1.0"/>
<property name="yscale" type="float" value="200000.0"/>
<property name="ysteprev" type="float" value="200.0"/>
<property name="zhomepos" type="float" value="0.0"/>
<property name="zhomesw" type="float" value="0.0"/>
<property name="zhomevel" type="float" value="0.05"/>
<property name="zlatchdir" type="int" value="0"/>
<property name="zleadscrew" type="float" value="100.0"/>
<property name="zmaxacc" type="float" value="2.0"/>
<property name="zmaxlim" type="float" value="100.0"/>
<property name="zmaxvel" type="float" value="1.0"/>
<property name="zmicrostep" type="float" value="10.0"/>
<property name="zminlim" type="float" value="-100.0"/>
<property name="zpulleyden" type="float" value="1.0"/>
<property name="zpulleynum" type="float" value="1.0"/>
<property name="zscale" type="float" value="200000.0"/>
<property name="zsteprev" type="float" value="200.0"/>
</stepconf>

12
configs/by_interface/parport/gecko/Gecko_540B3/README Normal file
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Gecko_540B3 configuration for a 3 axis machine with X Y Z axes.
To use the charge pump on a G540 your base period must be set to 50,000 or lower. Otherwise disable the charge pump feature.
The Stepconf Wizard XML file is included so you can open it up and customize the configuration to suit your machine. After installing this configuration move the Gecko_540B3.stepconf file to the configs directory, then run the Stepconf Wizard and select Modify a configuration already created with this program.
Run the latency test to determine your max jitter and enter that in the Stepconf Wizard.
Set the axis limits, gearing for each axis.
Customize as needed to suit your machine.

2
configs/by_interface/parport/gecko/Gecko_540B3/custom.hal Normal file
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# Include your customized HAL commands here
# This file will not be overwritten when you run stepconf again

3
configs/by_interface/parport/gecko/Gecko_540B3/custom_postgui.hal Normal file
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# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts

4
configs/by_interface/parport/gecko/Gecko_540B3/tool.tbl Normal file
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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

85
configs/by_interface/parport/gecko/Gecko_540B4/Gecko_540B4.hal Normal file
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# Generated by stepconf at Wed Sep 26 07:51:20 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 1000
loadrt stepgen step_type=0,0,0
loadrt charge_pump
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net charge-pump <= charge-pump.out
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= spindle.0.speed-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net astep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net adir => parport.0.pin-09-out
net charge-pump => parport.0.pin-16-out
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 15200
setp stepgen.1.dirsetup 15200
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

120
configs/by_interface/parport/gecko/Gecko_540B4/Gecko_540B4.ini Normal file
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# Generated by stepconf at Wed Sep 26 07:51:20 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Gecko_540B4
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ../../nc_files/
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 23000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALFILE = Gecko_540B4.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
[EMCIO]
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
STEPGEN_MAXACCEL = 2.5
SCALE = 200000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0
[AXIS_Y]
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 1.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 1.0
STEPGEN_MAXACCEL = 1.25
SCALE = 200000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0
[AXIS_Z]
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.20652173913
MAX_ACCELERATION = 2.0
STEPGEN_MAXACCEL = 2.5
SCALE = 200000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0

140
configs/by_interface/parport/gecko/Gecko_540B4/Gecko_540B4.stepconf Normal file
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<?xml version="1.0" ?>
<stepconf>
<property name="ahomepos" type="int" value="0"/>
<property name="ahomesw" type="int" value="0"/>
<property name="ahomevel" type="float" value="0.0"/>
<property name="alatchdir" type="int" value="0"/>
<property name="aleadscrew" type="int" value="100"/>
<property name="amaxacc" type="int" value="2"/>
<property name="amaxlim" type="int" value="100"/>
<property name="amaxvel" type="int" value="0"/>
<property name="amicrostep" type="int" value="1"/>
<property name="aminlim" type="int" value="-100"/>
<property name="apulleyden" type="int" value="1"/>
<property name="apulleynum" type="int" value="1"/>
<property name="ascale" type="int" value="0"/>
<property name="asteprev" type="int" value="200"/>
<property name="axes" type="int" value="0"/>
<property name="classicladder" type="bool" value="False"/>
<property name="createshortcut" type="bool" value="False"/>
<property name="createsymlink" type="bool" value="False"/>
<property name="customhal" type="int" value="1"/>
<property name="digitsin" type="float" value="15.0"/>
<property name="digitsout" type="float" value="15.0"/>
<property name="dirhold" type="float" value="200.0"/>
<property name="dirsetup" type="float" value="200.0"/>
<property name="drivertype" type="string" value="gecko540"/>
<property name="floatsin" type="float" value="10.0"/>
<property name="floatsout" type="float" value="10.0"/>
<property name="halui" type="bool" value="False"/>
<property name="ioaddr" type="string" value="0x378"/>
<property name="ioaddr2" type="string" value="Enter Address"/>
<property name="ioaddr3" type="string" value="Enter Address"/>
<property name="ladderconnect" type="bool" value="True"/>
<property name="ladderhaltype" type="int" value="0"/>
<property name="laddername" type="string" value="custom.clp"/>
<property name="latency" type="float" value="15000.0"/>
<property name="machinename" type="string" value="Gecko_540B4"/>
<property name="manualtoolchange" type="bool" value="True"/>
<property name="md5sums" type="eval" value="[('/home/john/linuxcnc/configs/Gecko_540B4/README', 'd6795c1e5c02e4d01df374bed0ecb468'), ('/home/john/linuxcnc/configs/Gecko_540B4/Gecko_540B4.ini', 'afbe6ca64d782a9c579a7e28220e24b2'), ('/home/john/linuxcnc/configs/Gecko_540B4/Gecko_540B4.hal', '0b77650d27113f38df9ab36c05e6f2f5')]"/>
<property name="modbus" type="bool" value="False"/>
<property name="number_pports" type="int" value="1"/>
<property name="period" type="int" value="25000"/>
<property name="pin1" type="string" value="unused-output"/>
<property name="pin10" type="string" value="unused-input"/>
<property name="pin10inv" type="bool" value="False"/>
<property name="pin11" type="string" value="unused-input"/>
<property name="pin11inv" type="bool" value="False"/>
<property name="pin12" type="string" value="unused-input"/>
<property name="pin12inv" type="bool" value="False"/>
<property name="pin13" type="string" value="unused-input"/>
<property name="pin13inv" type="bool" value="False"/>
<property name="pin14" type="string" value="unused-output"/>
<property name="pin14inv" type="bool" value="False"/>
<property name="pin15" type="string" value="unused-input"/>
<property name="pin15inv" type="bool" value="False"/>
<property name="pin16" type="string" value="charge-pump"/>
<property name="pin16inv" type="bool" value="False"/>
<property name="pin17" type="string" value="unused-output"/>
<property name="pin17inv" type="bool" value="False"/>
<property name="pin1inv" type="bool" value="False"/>
<property name="pin2" type="string" value="xstep"/>
<property name="pin2inv" type="bool" value="False"/>
<property name="pin3" type="string" value="xdir"/>
<property name="pin3inv" type="bool" value="False"/>
<property name="pin4" type="string" value="ystep"/>
<property name="pin4inv" type="bool" value="False"/>
<property name="pin5" type="string" value="ydir"/>
<property name="pin5inv" type="bool" value="False"/>
<property name="pin6" type="string" value="zstep"/>
<property name="pin6inv" type="bool" value="False"/>
<property name="pin7" type="string" value="zdir"/>
<property name="pin7inv" type="bool" value="False"/>
<property name="pin8" type="string" value="astep"/>
<property name="pin8inv" type="bool" value="False"/>
<property name="pin9" type="string" value="adir"/>
<property name="pin9inv" type="bool" value="False"/>
<property name="pp2_direction" type="int" value="0"/>
<property name="pp3_direction" type="int" value="0"/>
<property name="pyvcp" type="bool" value="False"/>
<property name="pyvcpconnect" type="bool" value="False"/>
<property name="pyvcphaltype" type="int" value="0"/>
<property name="pyvcpname" type="string" value="blank.xml"/>
<property name="s32in" type="float" value="10.0"/>
<property name="s32out" type="float" value="10.0"/>
<property name="spindlecarrier" type="float" value="100.0"/>
<property name="spindlecpr" type="float" value="100.0"/>
<property name="spindlefiltergain" type="float" value="0.01"/>
<property name="spindlenearscale" type="float" value="1.5"/>
<property name="spindlepwm1" type="float" value="0.2"/>
<property name="spindlepwm2" type="float" value="0.8"/>
<property name="spindlespeed1" type="float" value="100.0"/>
<property name="spindlespeed2" type="float" value="800.0"/>
<property name="stepspace" type="float" value="2000.0"/>
<property name="steptime" type="float" value="1000.0"/>
<property name="tempexists" type="int" value="0"/>
<property name="units" type="int" value="0"/>
<property name="usespindleatspeed" type="bool" value="False"/>
<property name="xhomepos" type="float" value="0.0"/>
<property name="xhomesw" type="float" value="0.0"/>
<property name="xhomevel" type="float" value="0.05"/>
<property name="xlatchdir" type="int" value="0"/>
<property name="xleadscrew" type="float" value="100.0"/>
<property name="xmaxacc" type="float" value="2.0"/>
<property name="xmaxlim" type="float" value="100.0"/>
<property name="xmaxvel" type="float" value="1.0"/>
<property name="xmicrostep" type="float" value="10.0"/>
<property name="xminlim" type="float" value="-100.0"/>
<property name="xpulleyden" type="float" value="1.0"/>
<property name="xpulleynum" type="float" value="1.0"/>
<property name="xscale" type="float" value="200000.0"/>
<property name="xsteprev" type="float" value="200.0"/>
<property name="yhomepos" type="float" value="0.0"/>
<property name="yhomesw" type="float" value="0.0"/>
<property name="yhomevel" type="float" value="0.05"/>
<property name="ylatchdir" type="int" value="0"/>
<property name="yleadscrew" type="float" value="100.0"/>
<property name="ymaxacc" type="float" value="1.0"/>
<property name="ymaxlim" type="float" value="100.0"/>
<property name="ymaxvel" type="float" value="1.0"/>
<property name="ymicrostep" type="float" value="10.0"/>
<property name="yminlim" type="float" value="-100.0"/>
<property name="ypulleyden" type="float" value="1.0"/>
<property name="ypulleynum" type="float" value="1.0"/>
<property name="yscale" type="float" value="200000.0"/>
<property name="ysteprev" type="float" value="200.0"/>
<property name="zhomepos" type="float" value="0.0"/>
<property name="zhomesw" type="float" value="0.0"/>
<property name="zhomevel" type="float" value="0.05"/>
<property name="zlatchdir" type="int" value="0"/>
<property name="zleadscrew" type="float" value="100.0"/>
<property name="zmaxacc" type="float" value="2.0"/>
<property name="zmaxlim" type="float" value="100.0"/>
<property name="zmaxvel" type="float" value="1.0"/>
<property name="zmicrostep" type="float" value="10.0"/>
<property name="zminlim" type="float" value="-100.0"/>
<property name="zpulleyden" type="float" value="1.0"/>
<property name="zpulleynum" type="float" value="1.0"/>
<property name="zscale" type="float" value="200000.0"/>
<property name="zsteprev" type="float" value="200.0"/>
</stepconf>

13
configs/by_interface/parport/gecko/Gecko_540B4/README Normal file
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Gecko_540B4 configuration for a 4 axis machine with X Y Z A axes.
To use the charge pump on a G540 your base period must be set to 50,000 or lower. Otherwise disable the charge pump feature.
The Stepconf Wizard XML file is included so you can open it up and customize the configuration to suit your machine. After installing this configuration move the Gecko_540B4.stepconf file to the configs directory, then run the Stepconf Wizard and select Modify a configuration already created with this program.
Run the latency test to determine your max jitter and enter that in the Stepconf Wizard.
Set the axis limits, gearing for each axis.
Customize as needed to suit your machine.

Some files were not shown because too many files have changed in this diff Show More