wangdequan/linuxcncAllWasm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Import LinuxCNC source tree

Browse Source
This commit is contained in:
Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
9429 changed files with 10556013 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

195
configs/by_interface/mesa/hm2-stepper/3x20-small.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=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
View File

@@ -0,0 +1,194 @@
[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
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=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
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=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
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=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
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=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
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=hm2/7i43-2/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
View File

@@ -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
View File

@@ -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"

196
configs/by_interface/mesa/hm2-stepper/7i96s.ini Normal file
View File

@@ -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=7i96s
CONFIG="num_encoders=0 num_pwmgens=0 num_stepgens=3"

15
configs/by_interface/mesa/hm2-stepper/README Normal file
View File

@@ -0,0 +1,15 @@
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

202
configs/by_interface/mesa/hm2-stepper/hm2-stepper-eth.hal Normal file
View File

@@ -0,0 +1,202 @@
# #######################################
#
# 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

202
configs/by_interface/mesa/hm2-stepper/hm2-stepper-rpspi.hal Normal file
View File

@@ -0,0 +1,202 @@
# #######################################
#
# 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

202
configs/by_interface/mesa/hm2-stepper/hm2-stepper.hal Normal file
View File

@@ -0,0 +1,202 @@
# #######################################
#
# 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
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