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Wang Dequan
5
configs/by_interface/parport/nist-lathe/README
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5
configs/by_interface/parport/nist-lathe/README
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This is the config for the stepper-driven Sherline lathe which is generously on loan from NIST.
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It has spindle speed control by analog input, which is driven by software-generated PWM on a parallel port pin. The motors are driven with step/dir and the spindle encoder (for synchronized motion/threading) is counted by software on the parallel port too.
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This all makes for a fully functional lathe using simple hardware. The power is all in HAL; the hardware is just a single parallel port interface and simple stepper drivers.
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212
configs/by_interface/parport/nist-lathe/inch.ini
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212
configs/by_interface/parport/nist-lathe/inch.ini
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# EMC controller parameters for generic controller. Make these what you need
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# for your system.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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# Settings with a + at the front of the comment are likely needed to get
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# changed by the user.
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# Settings with a - at the front are highly unneeded to be changed
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###############################################################################
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# General section
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###############################################################################
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[EMC]
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#- Version of this INI file
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VERSION = 1.1
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#+ Name of machine, for use with display, etc.
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MACHINE = LinuxCNC-NIST-LATHE-IN
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#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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DEBUG = 0
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# DEBUG = 0x00000007
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# DEBUG = 0x7FFFFFFF
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###############################################################################
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# Sections for display options
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###############################################################################
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[DISPLAY]
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#+ Name of display program, e.g., axis
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DISPLAY = axis
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# DISPLAY = tklinuxcnc
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# Cycle time, in seconds, that display will sleep between polls
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LATHE = 1
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CYCLE_TIME = 0.200
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#- Path to help file
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HELP_FILE = doc/help.txt
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#- Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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#- Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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#+ Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.4
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#- Prefix to be used
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PROGRAM_PREFIX = ../../nc_files/
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#- Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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# Editor to be used with Axis
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#EDITOR = geany
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###############################################################################
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# Task controller section
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###############################################################################
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[FILTER]
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#No Content
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[RS274NGC]
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#- File containing interpreter variables
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PARAMETER_FILE = nist-lathe.var
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###############################################################################
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# Motion control section
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###############################################################################
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[EMCMOT]
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#- Name of the motion controller to use (only one exists for nontrivkins)
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EMCMOT = motmod
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#- Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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#+ Base task period, in nanosecs - this is the fastest thread in the machine
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BASE_PERIOD = 20000
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#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
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SERVO_PERIOD = 1000000
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###############################################################################
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# Hardware Abstraction Layer section
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###############################################################################
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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#- Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.010
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###############################################################################
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# Part program interpreter section
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###############################################################################
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# list of hal config files to run through halcmd
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#+ files are executed in the order in which they appear
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HALFILE = nist-lathe.hal
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#- list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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###############################################################################
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# Trajectory planner section
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###############################################################################
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[HALUI]
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#No Content
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[TRAJ]
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#+ machine specific settings
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# COORDINATES = X Y Z R P W
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COORDINATES = X Y Z
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HOME = 0 0 0
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = .5
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MAX_LINEAR_VELOCITY = .5
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DEFAULT_LINEAR_ACCELERATION = 20.0
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MAX_LINEAR_ACCELERATION = 20.0
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###############################################################################
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# Axes sections
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###############################################################################
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#+ First axis
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[EMCIO]
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#- tool table file
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TOOL_TABLE = nist-lathe.tbl
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MIN_LIMIT = -0.54
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MAX_LIMIT = 1.11
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MAX_VELOCITY = 0.383333
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MAX_ACCELERATION = 5.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.5
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MAX_VELOCITY = 0.383333
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# NOTE: the step generator module applies its own limits to
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# acceleration and velocity. We have discovered that it needs
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# to have a little "headroom" over the accel by the trajectory
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# planner, otherwise it can fall slightly behind during accel
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# and later overshoot as it catches up. In the long term we
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# hope to come up with a clean fix for this problem. In the
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# meantime, please set STEPGEN_MAXACCEL below to a few percent
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# higher than the regular acceleration limit MAX_ACCELERATION
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MAX_ACCELERATION = 5.0
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STEPGEN_MAXACCEL = 7.7
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BACKLASH = 0.000
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SCALE = -8000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -0.54
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MAX_LIMIT = 1.11
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = .1111
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HOME_SEARCH_VEL = -0.5
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HOME_LATCH_VEL = -0.025
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE=1
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#+ Second axis
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[AXIS_Y]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 12.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 12.0
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STEPGEN_MAXACCEL = 13.0
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BACKLASH = 0.000
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SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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#+ Third axis
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[AXIS_Z]
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MIN_LIMIT = -0.001
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 0.433333
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MAX_ACCELERATION = 5.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 1.0
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MAX_VELOCITY = 0.433333
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MAX_ACCELERATION = 5.0
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STEPGEN_MAXACCEL = 5.7
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BACKLASH = 0.000
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SCALE = -8000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -0.001
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MAX_LIMIT = 4.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.5
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HOME_SEARCH_VEL = -0.5
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HOME_LATCH_VEL = -0.025
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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###############################################################################
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# section for main IO controller parameters
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###############################################################################
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245
configs/by_interface/parport/nist-lathe/nist-lathe.hal
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245
configs/by_interface/parport/nist-lathe/nist-lathe.hal
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@@ -0,0 +1,245 @@
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# HAL config file for MAX NC test machine
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#######################################################
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# first load all the HAL modules we're going to need
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#######################################################
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# kinematics
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loadrt [KINS]KINEMATICS
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# main motion controller module
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# using steppers....
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loadrt stepgen step_type=0,0,0
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# I/O thru the parport
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loadrt hal_parport cfg="0x0378"
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# counting the spindle counter in software
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loadrt counter num_chan=1
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# misc blocks needed to do fun things
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loadrt ddt count=6
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# spindle speed pwm
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loadrt pwmgen output_type=0
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# spindle speed feedback
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loadrt lowpass count=1
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loadrt mult2 count=1
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loadrt scale count=1
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#######################################################
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# add realtime functions to the threads
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# first the high speed thread
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#######################################################
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# first we read parport inputs
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addf parport.0.read base-thread
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# update counter
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addf counter.update-counters base-thread
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# generate step and dir signals
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addf stepgen.make-pulses base-thread
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# generate spindle pwm
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addf pwmgen.make-pulses base-thread
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# write to outputs
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addf parport.0.write base-thread
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# now the servo thread
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########################################################
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# capture axis and spindle positions
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addf stepgen.capture-position servo-thread
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addf counter.capture-position servo-thread
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# process motion commands coming from user space
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addf motion-command-handler servo-thread
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# run main motion controller
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addf motion-controller servo-thread
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# differentiators to make vel and acc signals
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addf ddt.0 servo-thread
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addf ddt.1 servo-thread
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addf ddt.2 servo-thread
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addf ddt.3 servo-thread
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addf ddt.4 servo-thread
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addf ddt.5 servo-thread
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# other misc blocks
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addf scale.0 servo-thread
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addf pwmgen.update servo-thread
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# update output info, axis and spindle
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addf stepgen.update-freq servo-thread
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addf lowpass.0 servo-thread
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addf mult2.0 servo-thread
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#######################################################
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# interconnections
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#
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# first, the basic stepper machine connections
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#######################################################
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# connect position commands from motion module to step generator
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net Xpos-cmd <= joint.0.motor-pos-cmd
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net Xpos-cmd => stepgen.0.position-cmd
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net Ypos-cmd <= joint.1.motor-pos-cmd
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net Ypos-cmd => stepgen.1.position-cmd
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net Zpos-cmd <= joint.2.motor-pos-cmd
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net Zpos-cmd => stepgen.2.position-cmd
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# connect position feedback from step generators
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# to motion module
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net Xpos-fb <= stepgen.0.position-fb
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net Xpos-fb => joint.0.motor-pos-fb
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net Ypos-fb <= stepgen.1.position-fb
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net Ypos-fb => joint.1.motor-pos-fb
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net Zpos-fb <= stepgen.2.position-fb
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net Zpos-fb => joint.2.motor-pos-fb
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# connect enable signals for step generators
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net Xen <= joint.0.amp-enable-out
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net Xen => stepgen.0.enable
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net Yen <= joint.1.amp-enable-out
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net Yen => stepgen.1.enable
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net Zen <= joint.2.amp-enable-out
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net Zen => stepgen.2.enable
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# connect signals to step pulse generator outputs
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net Xstep <= stepgen.0.step
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net Xdir <= stepgen.0.dir
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||||
net Ystep <= stepgen.1.step
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net Ydir <= stepgen.1.dir
|
||||
net Zstep <= stepgen.2.step
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net Zdir <= stepgen.2.dir
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#############################################################################
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# Spindle Speed
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# The spindle goes forward only
|
||||
net spindle-forward <= spindle.0.forward
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||||
net spindle-forward => pwmgen.0.enable
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||||
# PID is not used to give closed-loop spindle speed control, because at the
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||||
# highest speeds the software-based counter cannot keep up (note: with 'counter',
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||||
# it can)
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||||
# Instead, this offset and scale have been determined empirically
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||||
# -- if these numbers are accurate, then top speed at this gearing is about
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||||
# 1200 rpm
|
||||
#
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||||
# gain = 1/1128 ~ .00089
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||||
# offset = .07
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||||
# PWM Measured RPM
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||||
# 25% 200
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||||
# 50% 482
|
||||
# 60% 595
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||||
setp scale.0.gain .00089
|
||||
setp scale.0.offset .07
|
||||
|
||||
net spindle-speed-cmd <= spindle.0.speed-out
|
||||
net spindle-speed-cmd => scale.0.in
|
||||
net spindle-speed-pwm <= scale.0.out
|
||||
net spindle-speed-pwm => pwmgen.0.value
|
||||
|
||||
# Spindle speed feedback -- spindle-speed-fb-rpm can be metered or scoped
|
||||
# but beware that at the highest speeds the software-based counter cannot
|
||||
# keep up, and the speed is estimated incorrectly
|
||||
|
||||
# The gain of the lowpass filter is a trade-off: Higher numbers track spindle
|
||||
# speed better when the speed changes. Lower numbers give a more steady
|
||||
# estimate of average spindle speed when the speed is nominally constant
|
||||
setp lowpass.0.gain 0.01
|
||||
net spindle-speed-fb-raw <= counter.0.velocity
|
||||
net spindle-speed-fb-raw => lowpass.0.in
|
||||
net spindle-speed-fb-filtered <= lowpass.0.out
|
||||
|
||||
setp mult2.0.in0 60
|
||||
net spindle-speed-fb-filtered mult2.0.in1
|
||||
net spindle-speed-fb-rpm mult2.0.out
|
||||
#############################################################################
|
||||
|
||||
# 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
|
||||
|
||||
# create a signal for "spindle on"
|
||||
net spindle_on <= spindle.0.on
|
||||
|
||||
# connect physical pins to the signals
|
||||
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
|
||||
# amp enable (active lo)
|
||||
#linksp Xen => parport.0.pin-01-out
|
||||
#setp parport.0.pin-01-out-invert 1
|
||||
|
||||
# spindle enable
|
||||
net spindle_on => parport.0.pin-01-out
|
||||
setp parport.0.pin-01-out-invert 1
|
||||
|
||||
net pwm pwmgen.0.pwm => parport.0.pin-14-out
|
||||
|
||||
#######################################################
|
||||
# set scaling and other parameters of the basic machine
|
||||
|
||||
# set stepgen module scaling - get values from ini file
|
||||
setp stepgen.0.position-scale [JOINT_0]SCALE
|
||||
setp stepgen.1.position-scale [JOINT_1]SCALE
|
||||
setp stepgen.2.position-scale [JOINT_2]SCALE
|
||||
|
||||
# set stepgen module accel limits - get values from ini file
|
||||
# jmk said to set these to ini value + 5% to avoid stepgen bug
|
||||
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
|
||||
# end of basic machine
|
||||
|
||||
net homeswitches <= parport.0.pin-10-in
|
||||
net homeswitches => joint.0.home-sw-in
|
||||
net homeswitches => joint.2.home-sw-in
|
||||
|
||||
#######################################################
|
||||
# Beginning of threading-related stuff
|
||||
#######################################################
|
||||
|
||||
# spindle counter
|
||||
# connect encoder signals to counter counter
|
||||
# B is not used because it is the counter module, not encoder
|
||||
net spindle-phase-A => counter.0.phase-A
|
||||
net spindle-phase-Z => counter.0.phase-Z
|
||||
|
||||
net spindle-phase-A <= parport.0.pin-11-in
|
||||
net spindle-phase-B <= parport.0.pin-12-in
|
||||
net spindle-phase-Z <= parport.0.pin-13-in
|
||||
|
||||
# (that way thread pitches can be straightforward,
|
||||
# a 20 tpi thread would multiply the counter output
|
||||
# by 1/20, etc)
|
||||
setp counter.0.position-scale 1024
|
||||
|
||||
# hook up motion controller's spindle indexing pin
|
||||
net spindle-index-enable <= spindle.0.index-enable
|
||||
net spindle-index-enable <=> counter.0.index-enable
|
||||
|
||||
# report our revolution count to the motion controller
|
||||
net spindle-pos <= counter.0.position
|
||||
net spindle-pos => spindle.0.revs
|
||||
|
||||
|
||||
#######################################################
|
||||
# make vel and accel sigs for testing
|
||||
#######################################################
|
||||
|
||||
# send the position commands thru differentiators to
|
||||
# generate velocity and accel signals (for testing)
|
||||
|
||||
# define the signals, and hook them up
|
||||
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 Zpos-cmd => ddt.4.in
|
||||
net Zvel <= ddt.4.out
|
||||
net Zvel => ddt.5.in
|
||||
net Zacc <= ddt.5.out
|
||||
9
configs/by_interface/parport/nist-lathe/nist-lathe.tbl
Normal file
9
configs/by_interface/parport/nist-lathe/nist-lathe.tbl
Normal file
@@ -0,0 +1,9 @@
|
||||
T1 P1 D0.100000 Z+0.100000 I+95.000000 J+155.000000 Q1 ;
|
||||
T2 P2 D0.100000 I+85.000000 J+25.000000 Q2 ;
|
||||
T3 P3 D0.100000 I+275.000000 J+335.000000 Q3 ;
|
||||
T4 P4 D0.100000 I+265.000000 J+205.000000 Q4 ;
|
||||
T5 P5 D0.100000 I+210.000000 J+150.000000 Q5 ;
|
||||
T6 P6 D0.100000 X+0.500000 Z+0.500000 I+120.000000 J+60.000000 Q6 ;
|
||||
T7 P7 D0.100000 I-30.000000 J+30.000000 Q7 ;
|
||||
T8 P8 D0.100000 I+240.000000 J+300.000000 Q8 ;
|
||||
T9 P9 D0.100000 Q9 ;
|
||||
Reference in New Issue
Block a user