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Wang Dequan
2026-08-20 06:17:39 +08:00
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1
configs/by_interface/pico/univstep/README Normal file
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A configuration for the Universal Stepper card from Pico systems. This configuration includes motion connections and an IO set for handling estop within HAL. The IO configuration in univstep_io.hal does not include signal connections for other bridgeportio like signal handling.

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configs/by_interface/pico/univstep/univstep.ini Normal file
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# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-UNIVSTEP
# 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 = 0.100
# Path to help file
HELP_FILE = tklinuxcnc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
# Enable popup balloon help
BALLOON_HELP = 1
# Task controller section -----------------------------------------------------
[FILTER]
#No Content
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = univstep.var
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nanoseconds
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 = univstep_load.hal
HALFILE = univstep_servo.hal
HALFILE = univstep_motion.hal
HALFILE = univstep_io.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.0167
MAX_LINEAR_VELOCITY = 1.20
DEFAULT_LINEAR_ACCELERATION = 15.0
MAX_LINEAR_ACCELERATION = 20.0
# Axes sections ---------------------------------------------------------------
# First axis
[EMCIO]
# tool table file
TOOL_TABLE = univstep.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 4
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0
PID_MAX_VEL = 1.25
BACKLASH = 0.000
SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.0100
MIN_FERROR = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.000126
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
# Second axis
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0
PID_MAX_VEL = 1.25
BACKLASH = 0.000
SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.000126
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
# Third axis
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0
PID_MAX_VEL = 1.25
BACKLASH = 0.000
SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.000126
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
# Fourth axis
[AXIS_A]
MIN_LIMIT = -3600.0
MAX_LIMIT = 3600.0
MAX_VELOCITY = 65
MAX_ACCELERATION = 20.0
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 65
MAX_ACCELERATION = 20.0
PID_MAX_VEL = 66
BACKLASH = 0.000
SCALE = 11.11111111
OUTPUT_SCALE = 1.000
MIN_LIMIT = -3600.0
MAX_LIMIT = 3600.0
FERROR = 0.1
MIN_FERROR = 0.2
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.046
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
# section for main IO controller parameters -----------------------------------

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configs/by_interface/pico/univstep/univstep.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

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configs/by_interface/pico/univstep/univstep_io.hal Normal file
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# HAL config file for Pico Systems USC board
#
# Connect motion controller I/Os
#
# connect limit/home switch outputs to motion controller
net Xminlim <= ppmc.0.din.01.in
net Xminlim => joint.0.neg-lim-sw-in
net Xmaxlim <= ppmc.0.din.02.in
net Xmaxlim => joint.0.pos-lim-sw-in
net Xhome <= ppmc.0.din.00.in
net Xhome => joint.0.home-sw-in
net Yminlim <= ppmc.0.din.05.in
net Yminlim => joint.1.neg-lim-sw-in
net Ymaxlim <= ppmc.0.din.06.in
net Ymaxlim => joint.1.pos-lim-sw-in
net Yhome <= ppmc.0.din.04.in
net Yhome => joint.1.home-sw-in
net Zminlim <= ppmc.0.din.09.in
net Zminlim => joint.2.neg-lim-sw-in
net Zmaxlim <= ppmc.0.din.10.in
net Zmaxlim => joint.2.pos-lim-sw-in
net Zhome <= ppmc.0.din.08.in
net Zhome => joint.2.home-sw-in
net Aminlim <= ppmc.0.din.12.in
net Aminlim => joint.3.neg-lim-sw-in
net Amaxlim <= ppmc.0.din.13.in
net Amaxlim => joint.3.pos-lim-sw-in
net Ahome <= ppmc.0.din.11.in
net Ahome => joint.3.home-sw-in
# connect index pulses to motion controller
# uncomment these lines only if you have a Rev 2 USC board
#newsig Xindex bit
#newsig Yindex bit
#newsig Zindex bit
#linksp Xindex <= ppmc.0.encoder.00.index-enable
#linksp Xindex => joint.0.index-enable
#linksp Yindex <= ppmc.0.encoder.01.index-enable
#linksp Yindex => joint.1.index-enable
#linksp Zindex <= ppmc.0.encoder.02.index-enable
#linksp Zindex => joint.2.index-enable
#
# Connect I/O controller I/Os
#
# connect e-stop write/sense to I/O controller
# and univstep's fault with estop's output, so estop FF is reset, but
# prevent continued estop signal from univstep from holding FF cleared
net ppmcEstop ppmc.0.din.15.in-not
net ppmcEstop and2.0.in0
net EstopOkIn estop-latch.0.fault-in
net EstopOkIn and2.0.out
net EstopOkOut <= ppmc.0.dout.07.out
net EstopOkOut iocontrol.0.emc-enable-in
net EstopOkOut estop-latch.0.ok-out
net EstopOkOut and2.0.in1
net emc-estop-out iocontrol.0.user-enable-out
net emc-estop-out estop-latch.0.ok-in
net emc-estop-reset iocontrol.0.user-request-enable
net emc-estop-reset estop-latch.0.reset
# connect spindle fwd/rev to I/O controller
net SpindleFwd <= ppmc.0.dout.00.out
net SpindleFwd => spindle.0.forward
net SpindleRev <= ppmc.0.dout.01.out
net SpindleRev => spindle.0.reverse
# connect spindle brake to I/O controller
net SpindleBrakeOn <= ppmc.0.dout.02.out
net SpindleBrakeOn => spindle.0.brake
# connect mist/flood coolant to I/O controller
net MistOn <= ppmc.0.dout.03.out
net MistOn => iocontrol.0.coolant-mist
net FloodOn <= ppmc.0.dout.04.out
net FloodOn => iocontrol.0.coolant-flood

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configs/by_interface/pico/univstep/univstep_load.hal Normal file
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# sample file pulls all load commands into a single file
# when emc2 starts it loads iocontrol
# 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
# next load the PID module, for four PID loops
loadrt pid num_chan=4
# install driver
#if the stepper controller is not connected to the standard parallel port
# at address 0x378, add port_addr="0x1234" to the following line after a space
# on LinuxCNC versions 2.7.9 and above, a parameter allows you to change the
# way the EPP port is controlled. For PCIe cards using the NetMos 990x
# chips, append epp_dir=1 to the end of the following line
loadrt hal_ppmc
# make some signals for the scope for tuning.
loadrt ddt count=4
# add components for E-stop logic
loadrt estop_latch count=1
loadrt and2 count=1
# set up the realtime thread
# read inputs first
addf ppmc.0.read servo-thread
# then run the motion controller
addf motion-command-handler servo-thread
addf and2.0 servo-thread
addf estop-latch.0 servo-thread
addf motion-controller servo-thread
# then the PID loops
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
# write outputs last
addf ppmc.0.write servo-thread

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configs/by_interface/pico/univstep/univstep_motion.hal Normal file
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# HAL config file for Pico Systems USC board
# set sane pulse timing - these are basically Gecko numbers
# both pulse width and space are set to 3.5 uS, to prevent
# problems if the outputs are inverted externally
setp ppmc.0.stepgen.00-03.pulse-width-ns 3500
setp ppmc.0.stepgen.00-03.pulse-space-min-ns 3500
# setup time is set to 1 uS
setp ppmc.0.stepgen.00-03.setup-time-ns 1000
# connect position feedback signals to encoders
net Xpos-fb <= ppmc.0.encoder.00.position
net Ypos-fb <= ppmc.0.encoder.01.position
net Zpos-fb <= ppmc.0.encoder.02.position
net Apos-fb <= ppmc.0.encoder.03.position
# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [JOINT_0]SCALE
setp ppmc.0.encoder.01.scale [JOINT_1]SCALE
setp ppmc.0.encoder.02.scale [JOINT_2]SCALE
setp ppmc.0.encoder.03.scale [JOINT_3]SCALE
# connect PID output signals to step generators
net Xoutput => ppmc.0.stepgen.00.velocity
net Youtput => ppmc.0.stepgen.01.velocity
net Zoutput => ppmc.0.stepgen.02.velocity
net Aoutput => ppmc.0.stepgen.03.velocity
# connect axis enables to step generators
net Xenable => ppmc.0.stepgen.00.enable
net Yenable => ppmc.0.stepgen.01.enable
net Zenable => ppmc.0.stepgen.02.enable
net Aenable => ppmc.0.stepgen.03.enable
# set output scaling from ini file
# input and output scales should (normally) be the same for a USC
setp ppmc.0.stepgen.00.scale [JOINT_0]SCALE
setp ppmc.0.stepgen.01.scale [JOINT_1]SCALE
setp ppmc.0.stepgen.02.scale [JOINT_2]SCALE
setp ppmc.0.stepgen.03.scale [JOINT_3]SCALE
# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
net Xoutput ddt.0.in
net Xpos-fb ddt.1.in

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configs/by_interface/pico/univstep/univstep_servo.hal Normal file
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# HAL config file for servos -- expanded from core_servo.hal
# for a full four axis setup
# create four position feedback signals
# connect position feedback to PID loop
net Xpos-fb => pid.0.feedback
net Ypos-fb => pid.1.feedback
net Zpos-fb => pid.2.feedback
net Apos-fb => pid.3.feedback
# connect position feedback to motion module
net Xpos-fb => joint.0.motor-pos-fb
net Ypos-fb => joint.1.motor-pos-fb
net Zpos-fb => joint.2.motor-pos-fb
net Apos-fb => joint.3.motor-pos-fb
# create PID to DAC output signals
# connect output signals to output of PID loops
net Xoutput <= pid.0.output
net Youtput <= pid.1.output
net Zoutput <= pid.2.output
net Aoutput <= pid.3.output
# set PID loop output limits to +/-1.00
setp pid.0.maxoutput [JOINT_0]PID_MAX_VEL
setp pid.1.maxoutput [JOINT_1]PID_MAX_VEL
setp pid.2.maxoutput [JOINT_2]PID_MAX_VEL
setp pid.3.maxoutput [JOINT_3]PID_MAX_VEL
# set PID loop gains
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
setp pid.2.deadband [JOINT_2]DEADBAND
setp pid.3.Pgain [JOINT_3]P
setp pid.3.Igain [JOINT_3]I
setp pid.3.Dgain [JOINT_3]D
setp pid.3.bias [JOINT_3]BIAS
setp pid.3.FF0 [JOINT_3]FF0
setp pid.3.FF1 [JOINT_3]FF1
setp pid.3.FF2 [JOINT_3]FF2
setp pid.3.deadband [JOINT_3]DEADBAND
# create four position command signals
# connect position commands to motion controller
net Xpos-cmd <= joint.0.motor-pos-cmd
net Ypos-cmd <= joint.1.motor-pos-cmd
net Zpos-cmd <= joint.2.motor-pos-cmd
net Apos-cmd <= joint.3.motor-pos-cmd
# connect position commands to PID input
net Xpos-cmd => pid.0.command
net Ypos-cmd => pid.1.command
net Zpos-cmd => pid.2.command
net Apos-cmd => pid.3.command
# create bit signals to enable/disable the PID loops
# connect the signals to the motion controller
net Xenable <= joint.0.amp-enable-out
net Yenable <= joint.1.amp-enable-out
net Zenable <= joint.2.amp-enable-out
net Aenable <= joint.3.amp-enable-out
# connect the signals to the PID blocks
net Xenable => pid.0.enable
net Yenable => pid.1.enable
net Zenable => pid.2.enable
net Aenable => pid.3.enable