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Wang Dequan
1
configs/by_interface/pluto/lathe-pluto/README
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1
configs/by_interface/pluto/lathe-pluto/README
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This configuration is for a hobby sized (Sherline) servo-operated lathe based on the Pluto servo driver. The hardware is a Pluto FPGA board ($60) which counts the encoders and generates up/down PWM at high frequency in order to drive H bridges for the lathe's servos. On this prototype machine both servos are driven with one L298 dual H bridge (which is usually used to drive one stepper.) This is an example of (very) inexpensive servo use on a hobby machine and it gives very good performance.
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9
configs/by_interface/pluto/lathe-pluto/emc.tbl
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9
configs/by_interface/pluto/lathe-pluto/emc.tbl
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T1 P1 D0.100000 Z+0.100000 I+95.000000 J+155.000000 Q1 ;
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T2 P2 D0.100000 I+85.000000 J+25.000000 Q2 ;
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T3 P3 D0.100000 I+275.000000 J+335.000000 Q3 ;
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T4 P4 D0.100000 I+265.000000 J+205.000000 Q4 ;
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T5 P5 D0.100000 I+210.000000 J+150.000000 Q5 ;
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T6 P6 D0.100000 X+0.500000 Z+0.500000 I+120.000000 J+60.000000 Q6 ;
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T7 P7 D0.100000 I-30.000000 J+30.000000 Q7 ;
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T8 P8 D0.100000 I+240.000000 J+300.000000 Q8 ;
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T9 P9 D0.100000 Q9 ;
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107
configs/by_interface/pluto/lathe-pluto/lathe-pluto.hal
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107
configs/by_interface/pluto/lathe-pluto/lathe-pluto.hal
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# load realtime modules
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loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadrt pid num_chan=2 debug=1
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loadrt ddt count=4
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loadrt pluto_servo
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loadrt scale
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loadrt mux2
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loadrt debounce cfg=1
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loadrt limit1 count=1
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# define the order of execution for RT code
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addf pluto-servo.read servo-thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf pid.0.do-pid-calcs servo-thread
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addf pid.1.do-pid-calcs servo-thread
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addf pluto-servo.write servo-thread
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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 scale.0 servo-thread
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addf mux2.0 servo-thread
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addf debounce.0 servo-thread
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addf limit1.0 servo-thread
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setp pluto-servo.encoder.0.scale [JOINT_0]INPUT_SCALE
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setp pluto-servo.encoder.1.scale [JOINT_2]INPUT_SCALE
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setp pluto-servo.encoder.2.scale -4096
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setp pluto-servo.pwm.0.scale 26 # volts supply
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setp pluto-servo.pwm.1.scale 26
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setp pid.0.maxoutput 26 # volts at motor
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setp pid.1.maxoutput 26
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# the values below come from the ini
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setp pid.0.Pgain [JOINT_0]P
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setp pid.0.Igain [JOINT_0]I
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setp pid.0.Dgain [JOINT_0]D
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setp pid.0.bias [JOINT_0]BIAS
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setp pid.0.FF0 [JOINT_0]FF0
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setp pid.0.FF1 [JOINT_0]FF1
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setp pid.0.FF2 [JOINT_0]FF2
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setp pid.0.deadband [JOINT_0]DEADBAND
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setp pid.1.Pgain [JOINT_2]P
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setp pid.1.Igain [JOINT_2]I
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setp pid.1.Dgain [JOINT_2]D
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setp pid.1.bias [JOINT_2]BIAS
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setp pid.1.FF0 [JOINT_2]FF0
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setp pid.1.FF1 [JOINT_2]FF1
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setp pid.1.FF2 [JOINT_2]FF2
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setp pid.1.deadband [JOINT_2]DEADBAND
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net Xpos-fb pluto-servo.encoder.0.position => pid.0.feedback joint.0.motor-pos-fb
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net Zpos-fb pluto-servo.encoder.1.position => pid.1.feedback joint.2.motor-pos-fb
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net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command ddt.0.in
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net Zpos-cmd joint.2.motor-pos-cmd => pid.1.command ddt.2.in
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net Xvel-cmd pid.0.output => pluto-servo.pwm.0.value
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net Zvel-cmd pid.1.output => pluto-servo.pwm.1.value
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net Xvel ddt.0.out => ddt.1.in
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net Xacc ddt.1.out
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net Zvel ddt.2.out => ddt.3.in
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net Zacc ddt.3.out
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# machine ON
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net Xenable joint.0.amp-enable-out => pid.0.enable pluto-servo.pwm.0.enable pluto-servo.dout.09
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net Zenable joint.2.amp-enable-out => pid.1.enable pluto-servo.pwm.1.enable
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# spindle SSR
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# net spindle-fwd spindle.0.forward pluto-servo.dout.00
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setp debounce.0.delay 3
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net Xswitch pluto-servo.din.00-not => debounce.0.0.in
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net Xswitch-debounced debounce.0.0.out => joint.0.home-sw-in joint.0.pos-lim-sw-in
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# tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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# spindle speed control
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setp pluto-servo.pwm.3.enable 1
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# this needs scale/offset to give the right speeds, but 0 should be 0
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net spindle-speed-cmd spindle.0.speed-out => limit1.0.in
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net spindle-speed-cmd-limited limit1.0.out => scale.0.in
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setp scale.0.gain 0.00026315789 # 1/3800
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setp scale.0.offset 0.105
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setp mux2.0.in0 0
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setp limit1.0.max 1300
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net spindle-speed-scaled scale.0.out => mux2.0.in1
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net spindle-fwd spindle.0.forward => mux2.0.sel pluto-servo.dout.00
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net spindle-pwm mux2.0.out => pluto-servo.pwm.3.value
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# spindle position, for threading
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net spindle-index spindle.0.index-enable <=> pluto-servo.encoder.2.index-enable
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net spindle-pos pluto-servo.encoder.2.position => spindle.0.revs
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net spindle-speed-fb pluto-servo.encoder.2.velocity => spindle.0.speed-in
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127
configs/by_interface/pluto/lathe-pluto/lathe-pluto.ini
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127
configs/by_interface/pluto/lathe-pluto/lathe-pluto.ini
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[EMC]
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VERSION = 1.1
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MACHINE = LATHE-PLUTO
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DEBUG = 0
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[DISPLAY]
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PYVCP = vcp.xml
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DISPLAY = axis
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LATHE = 1
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CYCLE_TIME = 0.200
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 1.5
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PROGRAM_PREFIX = ../../nc_files/
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# Editor to be used with Axis
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#EDITOR = geany
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[FILTER]
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PROGRAM_EXTENSION = .py Python Script
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PROGRAM_EXTENSION = .NGC rs274ngc files
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py = python3
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[RS274NGC]
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PARAMETER_FILE = emc.var
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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SERVO_PERIOD = 500000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[HAL]
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HALFILE = lathe-pluto.hal
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HALFILE = axis_manualtoolchange.hal
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POSTGUI_HALFILE = postgui.hal
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[HALUI]
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#No Content
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[TRAJ]
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COORDINATES = X Z
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HOME = 0 0 0
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LINEAR_UNITS = mm
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ANGULAR_UNITS = deg
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DEFAULT_LINEAR_VELOCITY = 10
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MAX_LINEAR_VELOCITY = 32.5
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DEFAULT_LINEAR_ACCELERATION = 400
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MAX_LINEAR_ACCELERATION = 707
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[EMCIO]
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TOOL_TABLE = emc.tbl
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TOOL_CHANGE_POSITION = 40 0 20
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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 = -10.0
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MAX_LIMIT = 40.50001
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MAX_VELOCITY = 23
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MAX_ACCELERATION = 500
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[JOINT_0]
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TYPE = LINEAR
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UNITS = 1.0
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HOME = 40.5
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MAX_VELOCITY = 23
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MAX_ACCELERATION = 500
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BACKLASH = 0.06
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CYCLE_TIME = 0.001000
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INPUT_SCALE = 6000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 40.50001
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FERROR = .1
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MIN_FERROR = .03
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HOME_OFFSET = 41.14
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HOME_SEARCH_VEL = 12
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HOME_LATCH_VEL = -0.2
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = YES
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P = 1000
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I = 30000
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D = 7
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BIAS = 0
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FF0 = 0
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FF1 = 1
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FF2 = 0.025
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DEADBAND=.00009
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[AXIS_Z]
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MIN_LIMIT = -1.0
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MAX_LIMIT = 90.0
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MAX_VELOCITY = 23
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MAX_ACCELERATION = 500
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[JOINT_2]
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TYPE = LINEAR
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UNITS = 1.0
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HOME = 0.000
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MAX_VELOCITY = 23
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MAX_ACCELERATION = 500
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BACKLASH = 0.00
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CYCLE_TIME = 0.001000
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INPUT_SCALE = -6000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -1.0
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MAX_LIMIT = 90.0
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FERROR = 0.35
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MIN_FERROR = 0.20
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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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P = 1000
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I = 30000
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D = 7
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BIAS = 0
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FF0 = 0
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FF1 = 1
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FF2 = 0.025
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DEADBAND=.00009
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4
configs/by_interface/pluto/lathe-pluto/postgui.hal
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4
configs/by_interface/pluto/lathe-pluto/postgui.hal
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net Xvel-cmd pyvcp.xpid-bar
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net Zvel-cmd pyvcp.zpid-bar
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net spindle-speed-cmd pyvcp.spindle-bar
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13
configs/by_interface/pluto/lathe-pluto/vcp.xml
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13
configs/by_interface/pluto/lathe-pluto/vcp.xml
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<?xml version='1.0' encoding='UTF-8'?>
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<pyvcp>
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<label><text>"X PID"</text></label>
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<bar><halpin>"xpid-bar"</halpin><min_>-26</min_><max_>26</max_></bar>
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<label><text>"Z PID"</text></label>
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<bar><halpin>"zpid-bar"</halpin><min_>-26</min_><max_>26</max_></bar>
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<label><text>"Spindle"</text></label>
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<bar><halpin>"spindle-bar"</halpin><min_>0</min_><max_>1500</max_></bar>
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</pyvcp>
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