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configs/by_interface/parport/stepper-xyza/README

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+This configuration step is intended for basic stepper machines with a rotary table.
+
+You can have standard pinout (LinuxCNC style), look at stepper/ for a 'xylotex standard' example.  Certainly you could make a new one which would suit your own custom cabling.
+
+Detailed description:
+
+* ini files
+
+-- inch.ini - inch setup for a stepper machine
+
+* nml files
+
+-- it uses a default nml file (found in configs/common/linuxcnc.nml)
+
+* hal files
+
+-- it uses a default stepper hal file (configs/common/core_stepper.hal)
+
+-- standard_pinout.hal - include this from the ini to get you a standard pinout

configs/by_interface/parport/stepper-xyza/inch.ini

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+# EMC controller parameters for generic controller. Make these what you need
+# for your system.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+# Settings with a + at the front of the comment are likely needed to get 
+# changed by the user.
+# Settings with a - at the front are highly unneeded to be changed
+###############################################################################
+# General section 
+###############################################################################
+
+[EMC]
+#- Version of this INI file
+VERSION = 1.1
+#+ Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-HAL-STEP-XYZA-IN
+#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+# DEBUG =               0x00000007
+# DEBUG =               0x7FFFFFFF
+###############################################################################
+# Sections for display options 
+###############################################################################
+
+[DISPLAY]
+#+ Name of display program, e.g., axis
+DISPLAY =              axis
+# DISPLAY = 		tklinuxcnc
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.200
+#- Path to help file
+HELP_FILE =             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 =     9.0
+#- Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+#- Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+# Editor to be used with Axis
+#EDITOR = geany
+GEOMETRY = AXYZ
+###############################################################################
+# Task controller section 
+###############################################################################
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+#- File containing interpreter variables
+PARAMETER_FILE =        stepper.var
+###############################################################################
+# Motion control section 
+###############################################################################
+
+[EMCMOT]
+#- Name of the motion controller to use (only one exists for nontrivkins)
+EMCMOT =              motmod
+#- Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+#+ Base task period, in nanosecs - this is the fastest thread in the machine
+BASE_PERIOD =                50000
+#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
+SERVO_PERIOD =               1000000
+###############################################################################
+# Hardware Abstraction Layer section
+###############################################################################
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+#- Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+###############################################################################
+# Part program interpreter section 
+###############################################################################
+
+[HAL]
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+# list of hal config files to run through halcmd
+#+ files are executed in the order in which they appear
+HALFILE =                    stepper_xyza.hal
+#HALFILE =                    xylotex_pinout.hal
+HALFILE =                    standard_pinout.hal
+#- list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+###############################################################################
+# Trajectory planner section
+###############################################################################
+
+[HALUI]
+#No Content
+
+[TRAJ]
+#+ machine specific settings
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z A
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = .2
+DEFAULT_ANGULAR_VELOCITY =      30
+MAX_LINEAR_VELOCITY = 1.2
+MAX_ANGULAR_VELOCITY =          90
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 400.0
+###############################################################################
+# Axes sections
+###############################################################################
+#+ First axis
+
+[EMCIO]
+#- tool table file
+TOOL_TABLE =            stepper.tbl
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 4
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+# NOTE:  the step generator module applies its own limits to
+# acceleration and velocity.  We have discovered that it needs
+# to have a little "headroom" over the accel by the trajectory
+# planner, otherwise it can fall slightly behind during accel
+# and later overshoot as it catches up.  In the long term we
+# hope to come up with a clean fix for this problem.  In the
+# meantime, please set STEPGEN_MAXACCEL below to a few percent
+# higher than the regular acceleration limit MAX_ACCELERATION
+MAX_ACCELERATION =              20.0
+STEPGEN_MAXACCEL =              20.2
+BACKLASH = 0.000
+SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+#+ Second axis
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+STEPGEN_MAXACCEL =              20.2
+BACKLASH = 0.000
+SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+#+ Third axis
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+STEPGEN_MAXACCEL =              20.2
+BACKLASH = 0.000
+SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+#+ Third axis
+
+[AXIS_A]
+MIN_LIMIT = -36000.0
+MAX_LIMIT = 36000.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 360.0
+
+[JOINT_3]
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              360.0
+STEPGEN_MAXACCEL =              396.0
+BACKLASH = 0.000
+SCALE =                   40
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -36000.0
+MAX_LIMIT =                     36000.0
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+###############################################################################
+# section for main IO controller parameters 
+###############################################################################

configs/by_interface/parport/stepper-xyza/standard_pinout.hal

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+# standard pinout config file for 3-axis steppers
+# using a parport for I/O
+#
+# first load the parport driver
+loadrt hal_parport cfg="0x0378"
+#
+# next connect the parport functions to threads
+# read inputs first
+addf parport.0.read base-thread 1
+# write outputs last
+addf parport.0.write base-thread -1
+#
+# finally 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
+net Astep parport.0.pin-09-out
+net Adir parport.0.pin-08-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"
+
+# commented out till we resolve this issue
+# connect it to the iocontroller
+net spindle_on spindle.0.on
+# connect it to a physical pin
+net spindle_on parport.0.pin-01-out
+
+

configs/by_interface/parport/stepper-xyza/stepper.tbl

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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

configs/by_interface/parport/stepper-xyza/stepper_xyza.hal

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+# core HAL config file for steppers
+
+# first load the core RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# stepper module
+loadrt stepgen step_type=0,0,0,0
+
+# hook its functions to realtime threads
+addf stepgen.make-pulses 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
+
+# connect position commands from motion module to step generator
+net Xpos-cmd <= joint.0.motor-pos-cmd
+net Xpos-cmd => stepgen.0.position-cmd
+net Ypos-cmd <= joint.1.motor-pos-cmd
+net Ypos-cmd => stepgen.1.position-cmd
+net Zpos-cmd <= joint.2.motor-pos-cmd
+net Zpos-cmd => stepgen.2.position-cmd
+net Apos-cmd <= joint.3.motor-pos-cmd
+net Apos-cmd => stepgen.3.position-cmd
+
+# connect position feedback from step generators
+# to motion module
+net Xpos-fb <= stepgen.0.position-fb
+net Xpos-fb => joint.0.motor-pos-fb
+net Ypos-fb <= stepgen.1.position-fb
+net Ypos-fb => joint.1.motor-pos-fb
+net Zpos-fb <= stepgen.2.position-fb
+net Zpos-fb => joint.2.motor-pos-fb
+net Apos-fb <= stepgen.3.position-fb
+net Apos-fb => joint.3.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+# first 8 differentiators
+loadrt ddt count=8
+# link the differentiator functions into the code
+addf ddt.0 servo-thread
+addf ddt.1 servo-thread
+addf ddt.2 servo-thread
+addf ddt.3 servo-thread
+addf ddt.4 servo-thread
+addf ddt.5 servo-thread
+addf ddt.6 servo-thread
+addf ddt.7 servo-thread
+# 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
+net Apos-cmd => ddt.6.in
+net Avel <= ddt.6.out
+net Avel => ddt.7.in
+net Aacc <= ddt.7.out
+
+# connect enable signals for step generators
+net Xen <= joint.0.amp-enable-out
+net Xen => stepgen.0.enable
+net Yen <= joint.1.amp-enable-out
+net Yen => stepgen.1.enable
+net Zen <= joint.2.amp-enable-out
+net Zen => stepgen.2.enable
+net Aen <= joint.3.amp-enable-out
+net Aen => stepgen.3.enable
+
+# connect signals to step pulse generator outputs
+net Xstep stepgen.0.step
+net Xdir stepgen.0.dir
+net Ystep stepgen.1.step
+net Ydir stepgen.1.dir
+net Zstep stepgen.2.step
+net Zdir stepgen.2.dir
+net Astep stepgen.3.step
+net Adir stepgen.3.dir
+
+# 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
+setp stepgen.3.position-scale [JOINT_3]SCALE
+
+# set stepgen module accel limits - get values from ini file
+setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
+setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
+setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
+setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL