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Wang Dequan
3
configs/by_interface/vigilant/README
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3
configs/by_interface/vigilant/README
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Vigilant Products
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www.vigproducts.com
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244
configs/by_interface/vigilant/vti.ini
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244
configs/by_interface/vigilant/vti.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-HAL-VTI
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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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CYCLE_TIME = 0.200
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#- Path to help file
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HELP_FILE = tklinuxcnc.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 = 1.2
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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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###############################################################################
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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 = vti.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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#- Servo task period, in nanosecs
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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 = core_servo.hal
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HALFILE = vti_motion.hal
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HALFILE = vti_io.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 = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 2.000
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MAX_LINEAR_VELOCITY = 30.48
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DEFAULT_LINEAR_ACCELERATION = 300.0
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MAX_LINEAR_ACCELERATION = 500.0
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###############################################################################
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# Axes sections
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###############################################################################
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#+ First axis
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# each setting is commented for axis_0
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[EMCIO]
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#- tool table file
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TOOL_TABLE = vti.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 = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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[JOINT_0]
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# type of axis, LINEAR vs. ROTARY
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TYPE = LINEAR
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# home position
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HOME = 0.000
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# maximum velocity
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MAX_VELOCITY = 30.48
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# maximum acceleration
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MAX_ACCELERATION = 500.0
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# mechanical backlash measured
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BACKLASH = 0.000
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# time to update the axis
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# number of encoder ticks / unit
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INPUT_SCALE = 800
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# dac gain for output
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OUTPUT_SCALE = 1.000
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# dac bias for output
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OUTPUT_OFFSET = 0.000
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# minimum travel limit (from position 0)
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MIN_LIMIT = -1000.0
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# maximum travel limit (from position 0)
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MAX_LIMIT = 1000.0
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# following error at max speed
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FERROR = 1.270
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# following error when halted
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MIN_FERROR = 0.254
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# read HAL_Introduction.pdf for an insight about Homing
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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 = YES
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# PID tuning params
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MAX_OUTPUT = 1.0
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DEADBAND = 0.000381
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P = 100.0
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I = 0.000
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D = 0.000
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FF0 = 0.000
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FF1 = 0.000
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FF2 = 0.0
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BIAS = 0.000
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#+ Second axis
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[AXIS_Y]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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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 = 30.48
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MAX_ACCELERATION = 500.0
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BACKLASH = 0.000
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INPUT_SCALE = 200
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OUTPUT_SCALE = 1.000
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OUTPUT_OFFSET = 0.000
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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FERROR = 1.270
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MIN_FERROR = 0.254
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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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# PID tuning params
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MAX_OUTPUT = 1.0
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DEADBAND = 0.000381
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P = 100.0
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I = 0.000
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D = 0.000
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FF0 = 0.000
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FF1 = 0.000
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FF2 = 0.0
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BIAS = 0.000
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#+ Third axis
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[AXIS_Z]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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BACKLASH = 0.000
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INPUT_SCALE = 200
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OUTPUT_SCALE = 1.000
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OUTPUT_OFFSET = 0.000
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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FERROR = 1.270
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MIN_FERROR = 0.254
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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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# PID tuning params
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MAX_OUTPUT = 1.0
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DEADBAND = 0.000381
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P = 100.0
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I = 0.000
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D = 0.000
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FF0 = 0.000
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FF1 = 0.000
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FF2 = 0.0
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BIAS = 0.000
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###############################################################################
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# section for main IO controller parameters
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###############################################################################
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4
configs/by_interface/vigilant/vti.tbl
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4
configs/by_interface/vigilant/vti.tbl
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T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
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T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
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T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
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T99999 P99999 Z+0.100000 ;big tool number
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30
configs/by_interface/vigilant/vti.txt
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30
configs/by_interface/vigilant/vti.txt
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This configuration step is intended for servo machines running the Vigilant Technologies PCI-ENCDAC 4 channel card.
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Check www.Vigilanttech.com for additional details.
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You can have either a standard pinout (LinuxCNC style) or you could make a new one which would suit your own custom cabling.
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Right now the ini file is for metric setup, but an inch specific one could be easily added.
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Detailed description:
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* nml files
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-- it uses a default nml file (found in configs/common/linuxcnc.nml), but copied over here during the first make
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* hal files
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-- it uses a default servo hal file (found in configs/common/core_servo.hal), but copied over here during the first make
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-- vti_motion.hal - this is the main hal file for the VTI, it loads the vti driver and sets up motion specific links, it is fairly well commented, so it should be easy to read / modify.
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-- vti_io.hal - this is the second hal file for the VTI, 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/
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* additional files
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-- vti.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)
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-- vti.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.
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Further specific information can be found in the LinuxCNC wiki:
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http://wiki.linuxcnc.org/
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125
configs/by_interface/vigilant/vti_io.hal
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125
configs/by_interface/vigilant/vti_io.hal
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# HAL config file for Vigilant Technologies Inc. VTI PCA board
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#
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# install driver (only needed if vti_motion.hal doesn't get run)
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#loadrt hal_vti
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# add I/O to servo thread so they will be evaluated
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# every servo period
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# read inputs first
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addf vti.di-read servo-thread 1
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# write outputs last
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addf vti.do-write servo-thread -1
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#uncomment following line if ADC's are needed (for example spindle-tach feedback)
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#addf vti.0.read-adcs servo-thread 1
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#
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# Connect motion controller I/Os
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#
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# connect limit/home switch outputs to motion controller
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#newsig Xminlim bit
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#newsig Xmaxlim bit
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#newsig Xhome bit
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#linksp Xminlim <= vti.in-02
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#linksp Xminlim => joint.0.neg-lim-sw-in
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#linksp Xmaxlim <= vti.in-01
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#linksp Xmaxlim => joint.0.pos-lim-sw-in
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#linksp Xhome <= vti.in-00
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#linksp Xhome => joint.0.home-sw-in
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#newsig Yminlim bit
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#newsig Ymaxlim bit
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#newsig Yhome bit
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#linksp Yminlim <= vti.in-06
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#linksp Yminlim => joint.1.neg-lim-sw-in
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#linksp Ymaxlim <= vti.in-05
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#linksp Ymaxlim => joint.1.pos-lim-sw-in
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#linksp Yhome <= vti.in-04
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#linksp Yhome => joint.1.home-sw-in
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#newsig Zminlim bit
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#newsig Zmaxlim bit
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#newsig Zhome bit
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#linksp Zminlim <= vti.in-10
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#linksp Zminlim => joint.2.neg-lim-sw-in
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#linksp Zmaxlim <= vti.in-09
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#linksp Zmaxlim => joint.2.pos-lim-sw-in
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#linksp Zhome <= vti.in-08
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#linksp Zhome => joint.2.home-sw-in
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#continue in the same manner for further axes (A,B,C)
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# connect amp faults to motion controller
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#newsig Xfault bit
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#newsig Yfault bit
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#newsig Zfault bit
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#linksp Xfault <= vti.in-03
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#linksp Xfault => joint.0.amp-fault-in
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#linksp Yfault <= vti.in-07
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#linksp Yfault => joint.1.amp-fault-in
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#linksp Zfault <= vti.in-11
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#linksp Zfault => joint.2.amp-fault-in
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# connect index pulses to motion controller
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# do these when index pulsing is figured out
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#newsig Xindex bit
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#newsig Yindex bit
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#newsig Zindex bit
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#linksp Xindex <= vti.0.enc-index
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#linksp Xindex => joint.0.index-enable
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#linksp Yindex <= vti.1.enc-index
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#linksp Yindex => joint.1.index-enable
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#linksp Zindex <= vti.2.enc-index
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#linksp Zindex => joint.2.index-enable
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# connect amp enables to motion controller
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#linksp Xenable => vti.out-00
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#linksp Yenable => vti.out-01
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#linksp Zenable => vti.out-02
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# connect watchdog reset to motion controller
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# needs watchdo
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#newsig WatchdogRst bit
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#linksp WatchdogRst <= vti.watchdog-reset
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#linksp WatchdogRst => motion.watchdog-reset-out
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#
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# Connect I/O controller I/Os
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#
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# connect e-stop write/sense to I/O controller
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# these connections assume an external ESTOP circuitry will be used
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# if it's not used, comment the next lines and uncomment the loopback
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#newsig EstopSense bit
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#newsig EstopWrite bit
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#linksp EstopSense <= vti.in-12
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#linksp EstopSense => iocontrol.0.emc-enable-in
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#linksp EstopWrite <= vti.out-07
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#linksp EstopWrite => iocontrol.0.user-enable-out
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# ESTOP loopback, only use this for a simple machine without external ESTOP
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# you really SHOULDN'T use a servo machine without proper ESTOP
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#net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# connect spindle fwd/rev to I/O controller
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#newsig SpindleFwd bit
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#newsig SpindleRev bit
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#linksp SpindleFwd <= vti.out-06
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#linksp SpindleFwd => spindle.0.forward
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#linksp SpindleRev <= vti.out-05
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#linksp SpindleRev => spindle.0.reverse
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# connect spindle brake to I/O controller
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#newsig SpindleBrakeOn bit
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#linksp SpindleBrakeOn <= vti.out-10
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#linksp SpindleBrakeOn => spindle.0.brake
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# connect mist/flood coolant to I/O controller
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#newsig MistOn bit
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#newsig FloodOn bit
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#linksp MistOn <= vti.out-11
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#linksp MistOn => iocontrol.0.coolant-mist
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#linksp FloodOn <= vti.out-12
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#linksp FloodOn => iocontrol.0.coolant-flood
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37
configs/by_interface/vigilant/vti_motion.hal
Normal file
37
configs/by_interface/vigilant/vti_motion.hal
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@@ -0,0 +1,37 @@
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# HAL config file for Vigilant Technologoes VTI PCI board
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#
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# install driver, this should autodetect the board
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# if that doesn't work, try using base=0xABC, where ABC matches your setup
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# loadrt hal_stg base=0x200
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loadrt hal_vti num_chan=4 dio="IOIO"
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# add functions to servo thread so they will be evaluated
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# every servo period
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# read inputs first
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addf vti.capture-position servo-thread 1
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# write outputs last
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addf vti.write-dacs servo-thread -1
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# connect position feedback signals to encoders
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net Xpos-fb <= vti.0.position
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net Ypos-fb <= vti.1.position
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net Zpos-fb <= vti.2.position
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# get feedback scaling from ini file
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setp vti.0.position-scale [JOINT_0]INPUT_SCALE
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setp vti.1.position-scale [JOINT_1]INPUT_SCALE
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setp vti.2.position-scale [JOINT_2]INPUT_SCALE
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# connect PID output signals to DACs
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net Xoutput => vti.0.dac-value
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net Youtput => vti.1.dac-value
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net Zoutput => vti.2.dac-value
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# set output scaling from ini file
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setp vti.0.dac-gain [JOINT_0]OUTPUT_SCALE
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setp vti.1.dac-gain [JOINT_1]OUTPUT_SCALE
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setp vti.2.dac-gain [JOINT_2]OUTPUT_SCALE
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# set output offset to zero
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setp vti.0.dac-offset [JOINT_0]OUTPUT_OFFSET
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setp vti.1.dac-offset [JOINT_1]OUTPUT_OFFSET
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setp vti.2.dac-offset [JOINT_2]OUTPUT_OFFSET
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Reference in New Issue
Block a user