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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
9429 changed files with 10556013 additions and 0 deletions
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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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# 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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# 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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<?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
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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