Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
1
configs/by_interface/servotogo/README
Normal file
1
configs/by_interface/servotogo/README
Normal file
@@ -0,0 +1 @@
|
||||
ServoToGo
|
||||
244
configs/by_interface/servotogo/stg.ini
Normal file
244
configs/by_interface/servotogo/stg.ini
Normal file
@@ -0,0 +1,244 @@
|
||||
# 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-STG
|
||||
#+ 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 = 1.2
|
||||
#- Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#- Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
###############################################################################
|
||||
# Task controller section
|
||||
###############################################################################
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
|
||||
[RS274NGC]
|
||||
#- File containing interpreter variables
|
||||
PARAMETER_FILE = stg.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
|
||||
#- 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 = core_servo.hal
|
||||
HALFILE = stg_motion.hal
|
||||
HALFILE = stg_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]
|
||||
#+ machine specific settings
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.424
|
||||
MAX_LINEAR_VELOCITY = 30.48
|
||||
DEFAULT_LINEAR_ACCELERATION = 300.0
|
||||
MAX_LINEAR_ACCELERATION = 500.0
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
#+ First axis
|
||||
# each setting is commented for axis_0
|
||||
|
||||
[EMCIO]
|
||||
#- tool table file
|
||||
TOOL_TABLE = stg.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -1000.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
[JOINT_0]
|
||||
# type of axis, LINEAR vs. ROTARY
|
||||
TYPE = LINEAR
|
||||
# home position
|
||||
HOME = 0.000
|
||||
# maximum velocity
|
||||
MAX_VELOCITY = 30.48
|
||||
# maximum acceleration
|
||||
MAX_ACCELERATION = 500.0
|
||||
# mechanical backlash measured
|
||||
BACKLASH = 0.000
|
||||
# time to update the axis
|
||||
# number of encoder ticks / unit
|
||||
INPUT_SCALE = 200
|
||||
# dac gain for output
|
||||
OUTPUT_SCALE = 1.000
|
||||
# dac bias for output
|
||||
OUTPUT_OFFSET = 0.000
|
||||
# minimum travel limit (from position 0)
|
||||
MIN_LIMIT = -1000.0
|
||||
# maximum travel limit (from position 0)
|
||||
MAX_LIMIT = 1000.0
|
||||
# following error at max speed
|
||||
FERROR = 1.270
|
||||
# following error when halted
|
||||
MIN_FERROR = 0.254
|
||||
# read HAL_Introduction.pdf for an insight about Homing
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 1.0
|
||||
DEADBAND = 0.000381
|
||||
P = 100.0
|
||||
I = 0.000
|
||||
D = 0.000
|
||||
FF0 = 0.000
|
||||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
#+ Second axis
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -1000.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 200
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.000
|
||||
MIN_LIMIT = -1000.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 1.270
|
||||
MIN_FERROR = 0.254
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 1.0
|
||||
DEADBAND = 0.000381
|
||||
P = 100.0
|
||||
I = 0.000
|
||||
D = 0.000
|
||||
FF0 = 0.000
|
||||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
#+ Third axis
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -1000.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 200
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.000
|
||||
MIN_LIMIT = -1000.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 1.270
|
||||
MIN_FERROR = 0.254
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 1.0
|
||||
DEADBAND = 0.000381
|
||||
P = 100.0
|
||||
I = 0.000
|
||||
D = 0.000
|
||||
FF0 = 0.000
|
||||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
###############################################################################
|
||||
# section for main IO controller parameters
|
||||
###############################################################################
|
||||
4
configs/by_interface/servotogo/stg.tbl
Normal file
4
configs/by_interface/servotogo/stg.tbl
Normal file
@@ -0,0 +1,4 @@
|
||||
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
|
||||
32
configs/by_interface/servotogo/stg.txt
Normal file
32
configs/by_interface/servotogo/stg.txt
Normal file
@@ -0,0 +1,32 @@
|
||||
This configuration step is intended for servo machines running the ServoToGo card.
|
||||
|
||||
Both the STG1 and STG2 are supported.
|
||||
|
||||
You can have either a standard pinout (LinuxCNC style) or you could make a new one which would suit your own custom cabling.
|
||||
|
||||
Right now the ini file is for metric setup, but an inch specific one could be easily added.
|
||||
|
||||
Detailed description:
|
||||
|
||||
* nml files
|
||||
|
||||
-- it uses a default nml file (found in configs/common/linuxcnc.nml)
|
||||
|
||||
* hal files
|
||||
|
||||
-- it uses a default servo hal file (configs/common/core_servo.hal)
|
||||
|
||||
-- stg_motion.hal - this is the main hal file for the STG, it loads the stg driver and sets up motion specific links, it is fairly well commented, so it should be easy to read / modify.
|
||||
|
||||
-- stg_io.hal - this is the second hal file for the STG, it configures IO specific links (like the pin number where the X limit switch is, or where the spindle start pin is connected), it is fairly well commented, so it should be easy to read / modify. This servo setup is mostly for serious machines, so the ESTOP should really be planned / implemented properly (that means use an external ESTOP chain, and let LinuxCNC know about it, and let LinuxCNC interrupt the external chain too).
|
||||
|
||||
Read more about this in the wiki at http://wiki.linuxcnc.org/
|
||||
|
||||
* additional files
|
||||
|
||||
-- stg.tbl - this is the tool table file, and it holds definitions for the tools used, along with tool sizes for compensation (tool length & tool diameter)
|
||||
|
||||
-- stg.var - the variables file. This file is used by the interpreter to save internal variables when LinuxCNC shuts down, and rereads them on the next startup.
|
||||
|
||||
Further specific information can be found in the LinuxCNC wiki:
|
||||
http://wiki.linuxcnc.org/
|
||||
111
configs/by_interface/servotogo/stg_io.hal
Normal file
111
configs/by_interface/servotogo/stg_io.hal
Normal file
@@ -0,0 +1,111 @@
|
||||
# HAL config file for ServoToGo STG ISA board
|
||||
#
|
||||
# install driver (only needed if stg_motion.hal doesn't get run)
|
||||
#loadrt hal_stg
|
||||
|
||||
# add I/O to servo thread so they will be evaluated
|
||||
# every servo period
|
||||
# read inputs first
|
||||
addf stg.di-read servo-thread 1
|
||||
# write outputs last
|
||||
addf stg.do-write servo-thread 1
|
||||
|
||||
#uncomment following line if ADC's are needed (for example spindle-tach feedback)
|
||||
#addf stg.0.read-adcs servo-thread 1
|
||||
|
||||
#
|
||||
# Connect motion controller I/Os
|
||||
#
|
||||
|
||||
# connect limit/home switch outputs to motion controller
|
||||
net Xminlim <= stg.in-02
|
||||
net Xminlim => joint.0.neg-lim-sw-in
|
||||
net Xmaxlim <= stg.in-01
|
||||
net Xmaxlim => joint.0.pos-lim-sw-in
|
||||
net Xhome <= stg.in-00
|
||||
net Xhome => joint.0.home-sw-in
|
||||
|
||||
net Yminlim <= stg.in-06
|
||||
net Yminlim => joint.1.neg-lim-sw-in
|
||||
net Ymaxlim <= stg.in-05
|
||||
net Ymaxlim => joint.1.pos-lim-sw-in
|
||||
net Yhome <= stg.in-04
|
||||
net Yhome => joint.1.home-sw-in
|
||||
|
||||
net Zminlim <= stg.in-10
|
||||
net Zminlim => joint.2.neg-lim-sw-in
|
||||
net Zmaxlim <= stg.in-09
|
||||
net Zmaxlim => joint.2.pos-lim-sw-in
|
||||
net Zhome <= stg.in-08
|
||||
net Zhome => joint.2.home-sw-in
|
||||
|
||||
#continue in the same manner for further axes (A,B,C)
|
||||
|
||||
# connect amp faults to motion controller
|
||||
net Xfault <= stg.in-03
|
||||
net Xfault => joint.0.amp-fault-in
|
||||
net Yfault <= stg.in-07
|
||||
net Yfault => joint.1.amp-fault-in
|
||||
net Zfault <= stg.in-11
|
||||
net Zfault => joint.2.amp-fault-in
|
||||
|
||||
# connect index pulses to motion controller
|
||||
# do these when index pulsing is figured out
|
||||
#newsig Xindex bit
|
||||
#newsig Yindex bit
|
||||
#newsig Zindex bit
|
||||
#linksp Xindex <= stg.0.enc-index
|
||||
#linksp Xindex => joint.0.index-enable
|
||||
#linksp Yindex <= stg.1.enc-index
|
||||
#linksp Yindex => joint.1.index-enable
|
||||
#linksp Zindex <= stg.2.enc-index
|
||||
#linksp Zindex => joint.2.index-enable
|
||||
|
||||
# connect amp enables to motion controller
|
||||
net Xenable => stg.out-00
|
||||
net Yenable => stg.out-01
|
||||
net Zenable => stg.out-02
|
||||
|
||||
# connect watchdog reset to motion controller
|
||||
# needs watchdo
|
||||
#newsig WatchdogRst bit
|
||||
#linksp WatchdogRst <= stg.watchdog-reset
|
||||
#linksp WatchdogRst => motion.watchdog-reset-out
|
||||
|
||||
|
||||
#
|
||||
# Connect I/O controller I/Os
|
||||
#
|
||||
|
||||
# connect e-stop write/sense to I/O controller
|
||||
# these connections assume an external ESTOP circuitry will be used
|
||||
# if it's not used, comment the next lines and uncomment the loopback
|
||||
net EstopSense <= stg.in-12
|
||||
net EstopSense => iocontrol.0.emc-enable-in
|
||||
net EstopWrite <= stg.out-07
|
||||
net EstopWrite => iocontrol.0.user-enable-out
|
||||
|
||||
# ESTOP loopback, only use this for a simple machine without external ESTOP
|
||||
# you really SHOULDN'T use a servo machine without proper ESTOP
|
||||
#net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
|
||||
|
||||
# connect spindle fwd/rev to I/O controller
|
||||
net SpindleFwd <= stg.out-06
|
||||
net SpindleFwd => spindle.0.forward
|
||||
net SpindleRev <= stg.out-05
|
||||
net SpindleRev => spindle.0.reverse
|
||||
|
||||
# connect spindle brake to I/O controller
|
||||
net SpindleBrakeOn <= stg.out-10
|
||||
net SpindleBrakeOn => spindle.0.brake
|
||||
|
||||
# connect mist/flood coolant to I/O controller
|
||||
net MistOn <= stg.out-11
|
||||
net MistOn => iocontrol.0.coolant-mist
|
||||
net FloodOn <= stg.out-12
|
||||
net FloodOn => iocontrol.0.coolant-flood
|
||||
|
||||
# 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
|
||||
|
||||
37
configs/by_interface/servotogo/stg_motion.hal
Normal file
37
configs/by_interface/servotogo/stg_motion.hal
Normal file
@@ -0,0 +1,37 @@
|
||||
# HAL config file for ServoToGo STG ISA board
|
||||
#
|
||||
# install driver, this should autodetect the board
|
||||
# if that doesn't work, try using base=0xABC, where ABC matches your setup
|
||||
# loadrt hal_stg base=0x200
|
||||
loadrt hal_stg
|
||||
|
||||
# add functions to servo thread so they will be evaluated
|
||||
# every servo period
|
||||
# read inputs first
|
||||
addf stg.capture-position servo-thread 1
|
||||
# write outputs last
|
||||
addf stg.write-dacs servo-thread -1
|
||||
|
||||
# connect position feedback signals to encoders
|
||||
net Xpos-fb <= stg.0.position
|
||||
net Ypos-fb <= stg.1.position
|
||||
net Zpos-fb <= stg.2.position
|
||||
|
||||
# get feedback scaling from ini file
|
||||
setp stg.0.position-scale [JOINT_0]INPUT_SCALE
|
||||
setp stg.1.position-scale [JOINT_1]INPUT_SCALE
|
||||
setp stg.2.position-scale [JOINT_2]INPUT_SCALE
|
||||
|
||||
# connect PID output signals to DACs
|
||||
net Xoutput => stg.0.dac-value
|
||||
net Youtput => stg.1.dac-value
|
||||
net Zoutput => stg.2.dac-value
|
||||
|
||||
# set output scaling from ini file
|
||||
setp stg.0.dac-gain [JOINT_0]OUTPUT_SCALE
|
||||
setp stg.1.dac-gain [JOINT_1]OUTPUT_SCALE
|
||||
setp stg.2.dac-gain [JOINT_2]OUTPUT_SCALE
|
||||
# set output offset to zero
|
||||
setp stg.0.dac-offset [JOINT_0]OUTPUT_OFFSET
|
||||
setp stg.1.dac-offset [JOINT_1]OUTPUT_OFFSET
|
||||
setp stg.2.dac-offset [JOINT_2]OUTPUT_OFFSET
|
||||
Reference in New Issue
Block a user