Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
1
configs/by_machine/.gitignore
vendored
Normal file
1
configs/by_machine/.gitignore
vendored
Normal file
@@ -0,0 +1 @@
|
||||
core_stepper.hal
|
||||
3
configs/by_machine/README
Normal file
3
configs/by_machine/README
Normal file
@@ -0,0 +1,3 @@
|
||||
by_machine
|
||||
|
||||
Configs are examples for specific machines.
|
||||
27
configs/by_machine/boss/README
Normal file
27
configs/by_machine/boss/README
Normal file
@@ -0,0 +1,27 @@
|
||||
This configuration is for my (petev) Bridgeport BOSS6. It shows how I used the boss_plc component. It is intended for servo machines running the Vitalsystems (www.vsi99.com) Motenc-100 or Motenc-Lite card.
|
||||
|
||||
You can either have a standard pinout, or you could make a new one which would suit your own custom cabling. The changes are done in HAL (the Hardware Abstraction Layer), which is very flexible (read more about it at http://wiki.linuxcnc.org/)
|
||||
|
||||
The standard configuration assumes a card installed with the board id jumper set at 0. If you get errors, try to adjust the jumper.
|
||||
|
||||
Multiple cards are supported by reading the board id jumper settings and using them as the <boardId> in the exported HAL names. There are two jumpers on J3 of the motenc-100 board that are defined as the board id. Installing a jumper causes the corresponding bit to read as zero. Since there are two board id jumpers, up to four cards are supported. Using the board id allows the configuration to be independent of which PCI slot the card is plugged into.
|
||||
|
||||
Detailed description:
|
||||
|
||||
* nml files
|
||||
|
||||
-- it uses a default nml file (found in configs/common/linuxcnc.nml)
|
||||
|
||||
* hal files
|
||||
|
||||
-- boss.hal - this is the main hal file for the Motenc, it loads the motenc driver and sets up motion and IO 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
|
||||
|
||||
-- boss.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)
|
||||
|
||||
-- boss.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/
|
||||
|
||||
300
configs/by_machine/boss/boss.hal
Normal file
300
configs/by_machine/boss/boss.hal
Normal file
@@ -0,0 +1,300 @@
|
||||
# HAL config file for Bridgeport BOSS.
|
||||
#
|
||||
# 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 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
|
||||
# PID module, for four PID loops
|
||||
loadrt pid num_chan=4
|
||||
|
||||
# Install motenc driver.
|
||||
loadrt hal_motenc
|
||||
|
||||
# Install PLC.
|
||||
loadrt boss_plc
|
||||
|
||||
# Install debounce filters for operator console (cycle hold/start,
|
||||
# limit override, spindle increase/decrease/status).
|
||||
loadrt debounce cfg="7"
|
||||
|
||||
# Add functions to servo thread so they will be evaluated
|
||||
# every servo period.
|
||||
#
|
||||
# Inputs are read at the beginning of the thread
|
||||
addf debounce.0 servo-thread 1
|
||||
addf motenc.0.encoder-read servo-thread 1
|
||||
addf motenc.0.misc-update servo-thread 1
|
||||
#addf motenc.0.adc-read servo-thread 1
|
||||
addf motenc.0.digital-in-read servo-thread 1
|
||||
# Do processing.
|
||||
addf boss_plc.0.refresh servo-thread -1
|
||||
addf motion-command-handler servo-thread -1
|
||||
addf motion-controller servo-thread -1
|
||||
addf pid.0.do-pid-calcs servo-thread -1
|
||||
addf pid.1.do-pid-calcs servo-thread -1
|
||||
addf pid.2.do-pid-calcs servo-thread -1
|
||||
addf pid.3.do-pid-calcs servo-thread -1
|
||||
# Outputs are updated at the end of the thread
|
||||
addf motenc.0.dac-write servo-thread -1
|
||||
addf motenc.0.digital-out-write servo-thread -1
|
||||
|
||||
# PID loops.
|
||||
#
|
||||
# Get maximum (and minimum) output volts from ini file.
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.3.maxoutput [JOINT_3]MAX_OUTPUT
|
||||
|
||||
# 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
|
||||
# deadband should be just over 1 count
|
||||
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
|
||||
# deadband should be just over 1 count
|
||||
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
|
||||
# deadband should be just over 1 count
|
||||
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
|
||||
# deadband should be just over 1 count
|
||||
setp pid.3.deadband [JOINT_3]DEADBAND
|
||||
|
||||
# Connect the enable signals to the PID blocks.
|
||||
net xEnable joint.0.amp-enable-out => pid.0.enable
|
||||
net yEnable joint.1.amp-enable-out => pid.1.enable
|
||||
net zEnable joint.2.amp-enable-out => pid.2.enable
|
||||
net aEnable joint.3.amp-enable-out => pid.3.enable
|
||||
|
||||
# Connect position commands to PID inputs.
|
||||
net xPosCmd joint.0.motor-pos-cmd => pid.0.command
|
||||
net yPosCmd joint.1.motor-pos-cmd => pid.1.command
|
||||
net zPosCmd joint.2.motor-pos-cmd => pid.2.command
|
||||
net aPosCmd joint.3.motor-pos-cmd => pid.3.command
|
||||
|
||||
# DACs
|
||||
#
|
||||
# Set DAC output scaling from ini file.
|
||||
setp motenc.0.dac-01-gain [JOINT_0]OUTPUT_SCALE
|
||||
setp motenc.0.dac-03-gain [JOINT_1]OUTPUT_SCALE
|
||||
setp motenc.0.dac-02-gain [JOINT_2]OUTPUT_SCALE
|
||||
setp motenc.0.dac-00-gain [JOINT_3]OUTPUT_SCALE
|
||||
|
||||
# Set DAC offset from ini file.
|
||||
setp motenc.0.dac-01-offset [JOINT_0]OUTPUT_OFFSET
|
||||
setp motenc.0.dac-03-offset [JOINT_1]OUTPUT_OFFSET
|
||||
setp motenc.0.dac-02-offset [JOINT_2]OUTPUT_OFFSET
|
||||
setp motenc.0.dac-00-offset [JOINT_3]OUTPUT_OFFSET
|
||||
|
||||
# Connect PID output signals to DACs.
|
||||
net xOutput pid.0.output => motenc.0.dac-01-value
|
||||
net yOutput pid.1.output => motenc.0.dac-03-value
|
||||
net zOutput pid.2.output => motenc.0.dac-02-value
|
||||
net aOutput pid.3.output => motenc.0.dac-00-value
|
||||
|
||||
# Encoders.
|
||||
#
|
||||
# Set feedback scaling from ini file.
|
||||
setp motenc.0.enc-01-scale [JOINT_0]INPUT_SCALE
|
||||
setp motenc.0.enc-03-scale [JOINT_1]INPUT_SCALE
|
||||
setp motenc.0.enc-02-scale [JOINT_2]INPUT_SCALE
|
||||
setp motenc.0.enc-00-scale [JOINT_3]INPUT_SCALE
|
||||
|
||||
# Connect position feedback to PID loop.
|
||||
net xPosFb motenc.0.enc-01-position => pid.0.feedback
|
||||
net yPosFb motenc.0.enc-03-position => pid.1.feedback
|
||||
net zPosFb motenc.0.enc-02-position => pid.2.feedback
|
||||
net aPosFb motenc.0.enc-00-position => pid.3.feedback
|
||||
|
||||
# Connect position feedback to motion module.
|
||||
net xPosFb => joint.0.motor-pos-fb
|
||||
net yPosFb => joint.1.motor-pos-fb
|
||||
net zPosFb => joint.2.motor-pos-fb
|
||||
net aPosFb => joint.3.motor-pos-fb
|
||||
|
||||
# Connect position feedback to PLC.
|
||||
net xPosFb => boss_plc.0.x-position-in
|
||||
net yPosFb => boss_plc.0.y-position-in
|
||||
|
||||
# Connect index pulses to motion controller.
|
||||
net xIndex motenc.0.enc-01-index-enable <=> joint.0.index-enable
|
||||
net yIndex motenc.0.enc-03-index-enable <=> joint.1.index-enable
|
||||
net zIndex motenc.0.enc-02-index-enable <=> joint.2.index-enable
|
||||
net aIndex motenc.0.enc-00-index-enable <=> joint.3.index-enable
|
||||
|
||||
# Limits.
|
||||
#
|
||||
# Connect limit/home switch inputs to PLC and motion controller.
|
||||
net xLimitSw motenc.0.in-09 => boss_plc.0.x-limit-in
|
||||
net xLimitSw => joint.0.home-sw-in
|
||||
net yLimitSw motenc.0.in-13 => boss_plc.0.y-limit-in
|
||||
net yLimitSw => joint.1.home-sw-in
|
||||
net zMinlimSw motenc.0.in-26 => boss_plc.0.z-limit-neg-in
|
||||
net zMaxlimSw motenc.0.in-25 => boss_plc.0.z-limit-pos-in
|
||||
net zHome motenc.0.in-27 => joint.2.home-sw-in
|
||||
|
||||
# Connect PLC limit switch outputs to motion controller.
|
||||
net xMinLim boss_plc.0.x-limit-neg-out => joint.0.neg-lim-sw-in
|
||||
net xMaxLim boss_plc.0.x-limit-pos-out => joint.0.pos-lim-sw-in
|
||||
net yMinLim boss_plc.0.y-limit-neg-out => joint.1.neg-lim-sw-in
|
||||
net yMaxLim boss_plc.0.y-limit-pos-out => joint.1.pos-lim-sw-in
|
||||
net zMinLim boss_plc.0.z-limit-neg-out => joint.2.neg-lim-sw-in
|
||||
net zMaxLim boss_plc.0.z-limit-pos-out => joint.2.pos-lim-sw-in
|
||||
|
||||
# Amp enables/faults.
|
||||
#
|
||||
# Connect amp ready to PLC.
|
||||
net xReady motenc.0.in-08 => boss_plc.0.x-amp-ready-in
|
||||
net yReady motenc.0.in-12 => boss_plc.0.y-amp-ready-in
|
||||
net zReady motenc.0.in-24 => boss_plc.0.z-amp-ready-in
|
||||
net aReady motenc.0.in-28 => boss_plc.0.a-amp-ready-in
|
||||
|
||||
# Connect amp enables to I/O.
|
||||
net xEnable => motenc.0.out-00
|
||||
net yEnable => motenc.0.out-01
|
||||
net zEnable => motenc.0.out-08
|
||||
net aEnable => motenc.0.out-09
|
||||
|
||||
# Connect amp enables to PLC.
|
||||
net xEnable => boss_plc.0.x-amp-enable-in
|
||||
net yEnable => boss_plc.0.y-amp-enable-in
|
||||
net zEnable => boss_plc.0.z-amp-enable-in
|
||||
net aEnable => boss_plc.0.a-amp-enable-in
|
||||
|
||||
# Connect amp faults to motion controller.
|
||||
net xFault boss_plc.0.x-amp-fault-out => joint.0.amp-fault-in
|
||||
net yFault boss_plc.0.y-amp-fault-out => joint.1.amp-fault-in
|
||||
net zFault boss_plc.0.z-amp-fault-out => joint.2.amp-fault-in
|
||||
net aFault boss_plc.0.a-amp-fault-out => joint.3.amp-fault-in
|
||||
|
||||
# Spindle.
|
||||
#
|
||||
# Connect spindle speed to PLC and spindle fwd/rev/stat to I/O.
|
||||
net spindleSpeed spindle.0.speed-out => boss_plc.0.spindle-speed-in
|
||||
net spindleFwd boss_plc.0.spindle-fwd-out => motenc.0.out-11
|
||||
net spindleRev boss_plc.0.spindle-rev-out => motenc.0.out-12
|
||||
net spindleIsOnSw motenc.0.in-29-not => debounce.0.5.in
|
||||
net spindleIsOnDly debounce.0.5.out => debounce.0.6.in
|
||||
net spindleIsOn debounce.0.6.out => boss_plc.0.spindle-is-on-in
|
||||
|
||||
# Connect spindle brake to PLC and PLC brake to I/O.
|
||||
setp boss_plc.0.brake-on-delay 500
|
||||
setp boss_plc.0.brake-off-delay 800
|
||||
net spindleBrakeOnMot spindle.0.brake => boss_plc.0.brake-en-in
|
||||
setp motenc.0.out-02-invert 1
|
||||
net spindleBrakeOn boss_plc.0.brake-en-out => motenc.0.out-02
|
||||
|
||||
# Tool change.
|
||||
#
|
||||
# Loop back tool prepare pins.
|
||||
net toolPrepare iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
# Connect tool change pins to PLC.
|
||||
net toolChange iocontrol.0.tool-change => boss_plc.0.tool-change-in
|
||||
net toolChanged boss_plc.0.tool-changed-out => iocontrol.0.tool-changed
|
||||
|
||||
# Coolant.
|
||||
#
|
||||
# Connect mist/flood coolant to PLC.
|
||||
net mistOnIo iocontrol.0.coolant-mist => boss_plc.0.mist-on-in
|
||||
net floodOnIo iocontrol.0.coolant-flood => boss_plc.0.flood-on-in
|
||||
|
||||
# Connect mist/flood coolant to I/O.
|
||||
net mistOn boss_plc.0.mist-on-out => motenc.0.out-14
|
||||
net floodOn boss_plc.0.flood-on-out => motenc.0.out-15
|
||||
|
||||
# Operator console.
|
||||
#
|
||||
# Set debounce time.
|
||||
setp debounce.0.delay 20
|
||||
|
||||
# Connect e-stop I/O.
|
||||
net eStopSense motenc.0.in-32 => iocontrol.0.emc-enable-in
|
||||
net eStopWrite iocontrol.0.user-enable-out => motenc.0.out-16
|
||||
|
||||
# Connect cycle hold/start.
|
||||
net cycleHoldSw motenc.0.in-33-not => debounce.0.0.in
|
||||
net cycleHold debounce.0.0.out => boss_plc.0.cycle-hold-in
|
||||
net cycleStartSw motenc.0.in-34 => debounce.0.1.in
|
||||
net cycleStart debounce.0.1.out => boss_plc.0.cycle-start-in
|
||||
net feedHold boss_plc.0.feed-hold-out => motion.feed-hold
|
||||
net waitUser boss_plc.0.wait-user-out => motenc.0.out-17
|
||||
|
||||
# Connect speed overrides.
|
||||
net spindleIncSw motenc.0.enc-04-index => debounce.0.2.in
|
||||
net spindleIncDb debounce.0.2.out => boss_plc.0.spindle-inc-in
|
||||
net spindleInc boss_plc.0.spindle-inc-out => motenc.0.out-03
|
||||
net spindleDecSw motenc.0.enc-06-index => debounce.0.3.in
|
||||
net spindleDecDb debounce.0.3.out => boss_plc.0.spindle-dec-in
|
||||
net spindleDec boss_plc.0.spindle-dec-out => motenc.0.out-04
|
||||
|
||||
# Connect limit override.
|
||||
net limitOverrideSw motenc.0.in-35-not => debounce.0.4.in
|
||||
net limitOverride debounce.0.4.out => boss_plc.0.limit-override-in
|
||||
net limitActive boss_plc.0.limit-active-out => motenc.0.out-18
|
||||
|
||||
# Connect rapid/feed overrides.
|
||||
net adaptiveFeed boss_plc.0.adaptive-feed-out => motion.adaptive-feed
|
||||
setp halui.feed-override.scale 0.01
|
||||
net feedOverride motenc.0.enc-04-count => halui.feed-override.counts
|
||||
#net rapidOverride motenc.0.enc-06-count => halui.rapid-override.counts
|
||||
|
||||
# Set the jog mode so motion stops as soon as the wheel stops.
|
||||
setp joint.0.jog-vel-mode TRUE
|
||||
setp joint.1.jog-vel-mode TRUE
|
||||
setp joint.2.jog-vel-mode TRUE
|
||||
setp joint.3.jog-vel-mode TRUE
|
||||
|
||||
# Connect jog axis select to motion controller and PLC.
|
||||
net xJog motenc.0.in-40 => joint.0.jog-enable
|
||||
net yJog motenc.0.in-41 => joint.1.jog-enable
|
||||
net zJog motenc.0.in-42 => joint.2.jog-enable
|
||||
net aJog motenc.0.in-43 => joint.3.jog-enable
|
||||
net xJog => boss_plc.0.x-jog-en-in
|
||||
net yJog => boss_plc.0.y-jog-en-in
|
||||
net zJog => boss_plc.0.z-jog-en-in
|
||||
|
||||
# Connect jog wheel encoder.
|
||||
net jogCounts motenc.0.enc-05-count => joint.0.jog-counts joint.1.jog-counts joint.2.jog-counts joint.3.jog-counts
|
||||
|
||||
# Connect jog scale selects to PLC.
|
||||
setp boss_plc.0.jog-scale-0 0.000001
|
||||
setp boss_plc.0.jog-scale-1 0.000010
|
||||
setp boss_plc.0.jog-scale-2 0.000100
|
||||
net jogScaleSel0 motenc.0.in-36 => boss_plc.0.jog-sel-in-0
|
||||
net jogScaleSel1 motenc.0.in-37 => boss_plc.0.jog-sel-in-1
|
||||
net jogScaleSel2 motenc.0.in-38 => boss_plc.0.jog-sel-in-2
|
||||
|
||||
# Connect PLC jog scale output.
|
||||
net jogScale boss_plc.0.jog-scale-out => joint.0.jog-scale joint.1.jog-scale joint.2.jog-scale joint.3.jog-scale
|
||||
257
configs/by_machine/boss/boss.ini
Normal file
257
configs/by_machine/boss/boss.ini
Normal file
@@ -0,0 +1,257 @@
|
||||
# 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-BP-BOSS6
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
DISPLAY = tklinuxcnc
|
||||
#DISPLAY = axis
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
# 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 = 1.5
|
||||
# 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 = boss.var
|
||||
# Enable adaptive feed input, we use it to limit rapid/feed when
|
||||
# limits are being overridden.
|
||||
RS274NGC_STARTUP_CODE = M52 P1
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 200000
|
||||
# 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]
|
||||
# HALUI to interact with NML.
|
||||
# Run before any other HALFILE.
|
||||
HALUI = halui
|
||||
# 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 = boss.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 A
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
# 2000 rpm, 2:1 reduction, 5 tpi = 200 ipm = 3.33333333333333 ips.
|
||||
MAX_LINEAR_VELOCITY = 2.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.1
|
||||
# 3000 lbs continuous force. Use 1% = 30 lbs for accel. With 600 lbs load
|
||||
# that's 0.05g * 9.8 mpss * 39.37 i/m = 19.29 ipss. Motor peak torque
|
||||
# is 3x continuous.
|
||||
MAX_LINEAR_ACCELERATION = 15.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 15.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = boss.tbl
|
||||
TOOL_CHANGE_POSITION = -18.0 -12.0 0.0
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 18.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = 100000
|
||||
OUTPUT_SCALE = 3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 18.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = 0.05
|
||||
HOME_SEARCH_VEL = -0.5
|
||||
HOME_LATCH_VEL = 0.01
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 60.0
|
||||
I = 1250.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
# Second axis
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 12.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = 100000
|
||||
OUTPUT_SCALE = 3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 12.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = -0.4
|
||||
HOME_LATCH_VEL = 0.01
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 60.0
|
||||
I = 1250.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
# Third axis
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -4.75
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = -100000
|
||||
OUTPUT_SCALE = -3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = -4.75
|
||||
MAX_LIMIT = 0.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = -0.225
|
||||
HOME_SEARCH_VEL = 0.1
|
||||
HOME_LATCH_VEL = -0.01
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 60.0
|
||||
I = 1250.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
# Fourth axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 10.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = 100000
|
||||
OUTPUT_SCALE = 3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 0.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = -0.01
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = -1
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 60.0
|
||||
I = 1250.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
4
configs/by_machine/boss/boss.tbl
Normal file
4
configs/by_machine/boss/boss.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
|
||||
381
configs/by_machine/boss/pid_test.hal
Normal file
381
configs/by_machine/boss/pid_test.hal
Normal file
@@ -0,0 +1,381 @@
|
||||
# HAL config file for Bridgeport BOSS.
|
||||
#
|
||||
# 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 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
|
||||
# PID module, for four PID loops
|
||||
loadrt pid num_chan=4
|
||||
|
||||
# Install motenc driver.
|
||||
loadrt hal_motenc
|
||||
|
||||
# Install PLC.
|
||||
loadrt boss_plc
|
||||
|
||||
# Install debounce filters for operator console (cycle hold/start,
|
||||
# limit override, spindle increase/decrease/status).
|
||||
loadrt debounce cfg="6"
|
||||
|
||||
# Load muxes for motion feedback and PID command.
|
||||
loadrt mux2 count=8
|
||||
|
||||
# Load differentiators for debug.
|
||||
loadrt ddt count=3
|
||||
|
||||
# Load the signal generator module for tuning.
|
||||
loadrt siggen
|
||||
|
||||
# Add functions to servo thread so they will be evaluated
|
||||
# every servo period.
|
||||
#
|
||||
# Inputs are read at the beginning of the thread
|
||||
addf mux2.0 servo-thread 1
|
||||
addf debounce.0 servo-thread 1
|
||||
addf motenc.0.encoder-read servo-thread 1
|
||||
addf motenc.0.misc-update servo-thread 1
|
||||
#addf motenc.0.adc-read servo-thread 1
|
||||
addf motenc.0.digital-in-read servo-thread 1
|
||||
addf siggen.0.update servo-thread 1
|
||||
# Do processing.
|
||||
addf boss_plc.0.refresh servo-thread -1
|
||||
addf motion-command-handler servo-thread -1
|
||||
addf motion-controller servo-thread -1
|
||||
addf pid.0.do-pid-calcs servo-thread -1
|
||||
addf pid.1.do-pid-calcs servo-thread -1
|
||||
addf pid.2.do-pid-calcs servo-thread -1
|
||||
addf pid.3.do-pid-calcs servo-thread -1
|
||||
# Outputs are updated at the end of the thread
|
||||
addf motenc.0.dac-write servo-thread -1
|
||||
addf motenc.0.digital-out-write servo-thread -1
|
||||
addf ddt.0 servo-thread -1
|
||||
addf ddt.1 servo-thread -1
|
||||
addf ddt.2 servo-thread -1
|
||||
|
||||
# PID loops.
|
||||
#
|
||||
# Get maximum (and minimum) output volts from ini file.
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.3.maxoutput [JOINT_3]MAX_OUTPUT
|
||||
|
||||
# Set PID loop output limits.
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
|
||||
setp pid.3.maxoutput [JOINT_3]MAX_VELOCITY
|
||||
|
||||
# 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.maxerrorI [JOINT_0]MAX_ERROR_I
|
||||
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
|
||||
# deadband should be just over 1 count
|
||||
setp pid.0.deadband [JOINT_0]DEADBAND
|
||||
setp pid.0.tune-effort [JOINT_0]TUNE_EFFORT
|
||||
setp pid.0.tune-cycles [JOINT_0]TUNE_CYCLES
|
||||
setp pid.0.tune-type [JOINT_0]TUNE_TYPE
|
||||
|
||||
setp pid.1.Pgain [JOINT_1]P
|
||||
setp pid.1.Igain [JOINT_1]I
|
||||
setp pid.1.maxerrorI [JOINT_1]MAX_ERROR_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
|
||||
# deadband should be just over 1 count
|
||||
setp pid.1.deadband [JOINT_1]DEADBAND
|
||||
setp pid.1.tune-effort [JOINT_1]TUNE_EFFORT
|
||||
setp pid.1.tune-cycles [JOINT_1]TUNE_CYCLES
|
||||
setp pid.1.tune-type [JOINT_1]TUNE_TYPE
|
||||
|
||||
setp pid.2.Pgain [JOINT_2]P
|
||||
setp pid.2.Igain [JOINT_2]I
|
||||
setp pid.2.Dgain [JOINT_2]D
|
||||
setp pid.2.maxerrorI [JOINT_2]MAX_ERROR_I
|
||||
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
|
||||
# deadband should be just over 1 count
|
||||
setp pid.2.deadband [JOINT_2]DEADBAND
|
||||
setp pid.2.tune-effort [JOINT_2]TUNE_EFFORT
|
||||
setp pid.2.tune-cycles [JOINT_2]TUNE_CYCLES
|
||||
setp pid.2.tune-type [JOINT_2]TUNE_TYPE
|
||||
|
||||
setp pid.3.Pgain [JOINT_3]P
|
||||
setp pid.3.Igain [JOINT_3]I
|
||||
setp pid.3.Dgain [JOINT_3]D
|
||||
setp pid.3.maxerrorI [JOINT_3]MAX_ERROR_I
|
||||
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
|
||||
# deadband should be just over 1 count
|
||||
setp pid.3.deadband [JOINT_3]DEADBAND
|
||||
setp pid.3.tune-effort [JOINT_3]TUNE_EFFORT
|
||||
setp pid.3.tune-cycles [JOINT_3]TUNE_CYCLES
|
||||
setp pid.3.tune-type [JOINT_3]TUNE_TYPE
|
||||
|
||||
# Connect the enable signals to the PID blocks.
|
||||
net xEnable joint.0.amp-enable-out => pid.0.enable
|
||||
net yEnable joint.1.amp-enable-out => pid.1.enable
|
||||
net zEnable joint.2.amp-enable-out => pid.2.enable
|
||||
net aEnable joint.3.amp-enable-out => pid.3.enable
|
||||
|
||||
# Set siggen parameters.
|
||||
setp siggen.0.frequency 0.5
|
||||
setp siggen.0.offset 0
|
||||
setp siggen.0.amplitude 0.01
|
||||
|
||||
# Connect position commands to PID inputs.
|
||||
net xPosCmd joint.0.motor-pos-cmd => mux2.4.in0
|
||||
net yPosCmd joint.1.motor-pos-cmd => mux2.5.in0
|
||||
net zPosCmd joint.2.motor-pos-cmd => mux2.6.in0
|
||||
net aPosCmd joint.3.motor-pos-cmd => mux2.7.in0
|
||||
|
||||
net squareWave siggen.0.square => mux2.4.in1
|
||||
net squareWave => mux2.5.in1
|
||||
net squareWave => mux2.6.in1
|
||||
net squareWave => mux2.7.in1
|
||||
|
||||
net xPidPosCmd mux2.4.out => pid.0.command
|
||||
net yPidPosCmd mux2.5.out => pid.1.command
|
||||
net zPidPosCmd mux2.6.out => pid.2.command
|
||||
net aPidPosCmd mux2.7.out => pid.3.command
|
||||
|
||||
net xTestMode => mux2.4.sel
|
||||
net yTestMode => mux2.5.sel
|
||||
net zTestMode => mux2.6.sel
|
||||
net aTestMode => mux2.7.sel
|
||||
|
||||
# Connect signals to auto-tune pins.
|
||||
net xStartTune pid.0.tune-start
|
||||
net xTuneMode pid.0.tune-mode
|
||||
net yStartTune pid.1.tune-start
|
||||
net yTuneMode pid.1.tune-mode
|
||||
net zStartTune pid.2.tune-start
|
||||
net zTuneMode pid.2.tune-mode
|
||||
net aStartTune pid.3.tune-start
|
||||
net aTuneMode pid.3.tune-mode
|
||||
|
||||
# DACs
|
||||
#
|
||||
# Set DAC output scaling from ini file.
|
||||
setp motenc.0.dac-01-gain [JOINT_0]OUTPUT_SCALE
|
||||
setp motenc.0.dac-03-gain [JOINT_1]OUTPUT_SCALE
|
||||
setp motenc.0.dac-02-gain [JOINT_2]OUTPUT_SCALE
|
||||
setp motenc.0.dac-00-gain [JOINT_3]OUTPUT_SCALE
|
||||
|
||||
# Set DAC offset from ini file.
|
||||
setp motenc.0.dac-01-offset [JOINT_0]OUTPUT_OFFSET
|
||||
setp motenc.0.dac-03-offset [JOINT_1]OUTPUT_OFFSET
|
||||
setp motenc.0.dac-02-offset [JOINT_2]OUTPUT_OFFSET
|
||||
setp motenc.0.dac-00-offset [JOINT_3]OUTPUT_OFFSET
|
||||
|
||||
# Connect PID output signals to DACs.
|
||||
net xOutput pid.0.output => motenc.0.dac-01-value
|
||||
net yOutput pid.1.output => motenc.0.dac-03-value
|
||||
net zOutput pid.2.output => motenc.0.dac-02-value
|
||||
net aOutput pid.3.output => motenc.0.dac-00-value
|
||||
|
||||
net zPosCmd ddt.0.in
|
||||
net zVelCmd ddt.0.out => ddt.1.in
|
||||
net zAccCmd ddt.1.out
|
||||
net zOutput ddt.2.in
|
||||
net zPidAccCmd ddt.2.out
|
||||
|
||||
# Encoders.
|
||||
#
|
||||
# Set feedback scaling from ini file.
|
||||
setp motenc.0.enc-01-scale [JOINT_0]INPUT_SCALE
|
||||
setp motenc.0.enc-03-scale [JOINT_1]INPUT_SCALE
|
||||
setp motenc.0.enc-02-scale [JOINT_2]INPUT_SCALE
|
||||
setp motenc.0.enc-00-scale [JOINT_3]INPUT_SCALE
|
||||
|
||||
# Connect position feedback to PID loop.
|
||||
net xMotorPosFb motenc.0.enc-01-position => pid.0.feedback
|
||||
net yMotorPosFb motenc.0.enc-03-position => pid.1.feedback
|
||||
net zMotorPosFb motenc.0.enc-02-position => pid.2.feedback
|
||||
net aMotorPosFb motenc.0.enc-00-position => pid.3.feedback
|
||||
|
||||
# Connect position feedback to motion module.
|
||||
net xMotorPosFb => mux2.0.in0
|
||||
net yMotorPosFb => mux2.1.in0
|
||||
net zMotorPosFb => mux2.2.in0
|
||||
net aMotorPosFb => mux2.3.in0
|
||||
|
||||
net xPosCmd => mux2.0.in1
|
||||
net yPosCmd => mux2.1.in1
|
||||
net zPosCmd => mux2.2.in1
|
||||
net aPosCmd => mux2.3.in1
|
||||
|
||||
net xPosFb mux2.0.out => joint.0.motor-pos-fb
|
||||
net yPosFb mux2.1.out => joint.1.motor-pos-fb
|
||||
net zPosFb mux2.2.out => joint.2.motor-pos-fb
|
||||
net aPosFb mux2.3.out => joint.3.motor-pos-fb
|
||||
|
||||
net xTuneMode => mux2.0.sel
|
||||
net yTuneMode => mux2.1.sel
|
||||
net zTuneMode => mux2.2.sel
|
||||
net aTuneMode => mux2.3.sel
|
||||
|
||||
# Connect position feedback to PLC.
|
||||
net xMotorPosFb => boss_plc.0.x-position-in
|
||||
net yMotorPosFb => boss_plc.0.y-position-in
|
||||
|
||||
# Connect index pulses to motion controller.
|
||||
net xIndex motenc.0.enc-01-index-enable <=> joint.0.index-enable
|
||||
net yIndex motenc.0.enc-03-index-enable <=> joint.1.index-enable
|
||||
net zIndex motenc.0.enc-02-index-enable <=> joint.2.index-enable
|
||||
net aIndex motenc.0.enc-00-index-enable <=> joint.3.index-enable
|
||||
|
||||
# Limits.
|
||||
#
|
||||
# Connect limit/home switch inputs to PLC and motion controller.
|
||||
net xLimitSw motenc.0.in-09 => boss_plc.0.x-limit-in
|
||||
net xLimitSw => joint.0.home-sw-in
|
||||
net yLimitSw motenc.0.in-13 => boss_plc.0.y-limit-in
|
||||
net yLimitSw => joint.1.home-sw-in
|
||||
net zMinlimSw motenc.0.in-26 => boss_plc.0.z-limit-neg-in
|
||||
net zMaxlimSw motenc.0.in-25 => boss_plc.0.z-limit-pos-in
|
||||
net zHome motenc.0.in-27 => joint.2.home-sw-in
|
||||
|
||||
# Connect PLC limit switch outputs to motion controller.
|
||||
net xMinLim boss_plc.0.x-limit-neg-out => joint.0.neg-lim-sw-in
|
||||
net xMaxLim boss_plc.0.x-limit-pos-out => joint.0.pos-lim-sw-in
|
||||
net yMinLim boss_plc.0.y-limit-neg-out => joint.1.neg-lim-sw-in
|
||||
net yMaxLim boss_plc.0.y-limit-pos-out => joint.1.pos-lim-sw-in
|
||||
net zMinLim boss_plc.0.z-limit-neg-out => joint.2.neg-lim-sw-in
|
||||
net zMaxLim boss_plc.0.z-limit-pos-out => joint.2.pos-lim-sw-in
|
||||
|
||||
# Amp enables/faults.
|
||||
#
|
||||
# Connect amp ready to PLC.
|
||||
net xReady motenc.0.in-08 => boss_plc.0.x-amp-ready-in
|
||||
net yReady motenc.0.in-12 => boss_plc.0.y-amp-ready-in
|
||||
net zReady motenc.0.in-24 => boss_plc.0.z-amp-ready-in
|
||||
net aReady motenc.0.in-28 => boss_plc.0.a-amp-ready-in
|
||||
|
||||
# Connect amp enables to I/O.
|
||||
net xEnable => motenc.0.out-00
|
||||
net yEnable => motenc.0.out-01
|
||||
net zEnable => motenc.0.out-08
|
||||
net aEnable => motenc.0.out-09
|
||||
|
||||
# Connect amp enables to PLC.
|
||||
net xEnable => boss_plc.0.x-amp-enable-in
|
||||
net yEnable => boss_plc.0.y-amp-enable-in
|
||||
net zEnable => boss_plc.0.z-amp-enable-in
|
||||
net aEnable => boss_plc.0.a-amp-enable-in
|
||||
|
||||
# Connect amp faults to motion controller.
|
||||
net xFault boss_plc.0.x-amp-fault-out => joint.0.amp-fault-in
|
||||
net yFault boss_plc.0.y-amp-fault-out => joint.1.amp-fault-in
|
||||
net zFault boss_plc.0.z-amp-fault-out => joint.2.amp-fault-in
|
||||
net aFault boss_plc.0.a-amp-fault-out => joint.3.amp-fault-in
|
||||
|
||||
# Spindle.
|
||||
#
|
||||
# Connect spindle speed to PLC and spindle fwd/rev/stat to I/O.
|
||||
net spindleSpeed spindle.0.speed-out => boss_plc.0.spindle-speed-in
|
||||
net spindleFwd boss_plc.0.spindle-fwd-out => motenc.0.out-11
|
||||
net spindleRev boss_plc.0.spindle-rev-out => motenc.0.out-12
|
||||
net spindleIsOnSw motenc.0.in-29-not => debounce.0.5.in
|
||||
net spindleIsOn debounce.0.5.out => boss_plc.0.spindle-is-on-in
|
||||
|
||||
# Connect spindle brake to PLC and PLC brake to I/O.
|
||||
setp boss_plc.0.brake-on-delay 500
|
||||
setp boss_plc.0.brake-off-delay 800
|
||||
net spindleBrakeOnMot spindle.0.brake => boss_plc.0.brake-en-in
|
||||
net spindleBrakeOn boss_plc.0.brake-en-out => motenc.0.out-02
|
||||
|
||||
# Tool change.
|
||||
#
|
||||
# Loop back tool prepare pins.
|
||||
net toolPrepare iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
# Connect tool change pins to PLC.
|
||||
net toolChange iocontrol.0.tool-change => boss_plc.0.tool-change-in
|
||||
net toolChanged boss_plc.0.tool-changed-out => iocontrol.0.tool-changed
|
||||
|
||||
# Coolant.
|
||||
#
|
||||
# Connect mist/flood coolant to I/O.
|
||||
net mistOn iocontrol.0.coolant-mist => motenc.0.out-14
|
||||
net floodOn iocontrol.0.coolant-flood => motenc.0.out-15
|
||||
|
||||
# Operator console.
|
||||
#
|
||||
# Set debounce time.
|
||||
setp debounce.0.delay 20
|
||||
|
||||
# Connect e-stop I/O.
|
||||
net eStopSense motenc.0.in-32 => iocontrol.0.emc-enable-in
|
||||
net eStopWrite iocontrol.0.user-enable-out => motenc.0.out-16
|
||||
|
||||
# Connect cycle hold/start.
|
||||
net cycleHoldSw motenc.0.in-33-not => debounce.0.0.in
|
||||
net cycleHold debounce.0.0.out => boss_plc.0.cycle-hold-in
|
||||
net cycleStartSw motenc.0.in-34 => debounce.0.1.in
|
||||
net cycleStart debounce.0.1.out => boss_plc.0.cycle-start-in
|
||||
net feedHold boss_plc.0.feed-hold-out => motion.feed-hold
|
||||
net waitUser boss_plc.0.wait-user-out => motenc.0.out-17
|
||||
|
||||
# Connect speed overrides.
|
||||
net spindleIncSw motenc.0.enc-04-index => debounce.0.2.in
|
||||
net spindleIncDb debounce.0.2.out => boss_plc.0.spindle-inc-in
|
||||
net spindleInc boss_plc.0.spindle-inc-out => motenc.0.out-03
|
||||
net spindleDecSw motenc.0.enc-06-index => debounce.0.3.in
|
||||
net spindleDecDb debounce.0.3.out => boss_plc.0.spindle-dec-in
|
||||
net spindleDec boss_plc.0.spindle-dec-out => motenc.0.out-04
|
||||
|
||||
# Connect limit override.
|
||||
net limitOverrideSw motenc.0.in-35-not => debounce.0.4.in
|
||||
net limitOverride debounce.0.4.out => boss_plc.0.limit-override-in
|
||||
net limitActive boss_plc.0.limit-active-out => motenc.0.out-18
|
||||
|
||||
# Connect rapid/feed overrides.
|
||||
net adaptiveFeed boss_plc.0.adaptive-feed-out => motion.adaptive-feed
|
||||
setp halui.feed-override.scale 0.01
|
||||
net feedOverride motenc.0.enc-04-count => halui.feed-override.counts
|
||||
#net rapidOverride motenc.0.enc-06-count => halui.rapid-override.counts
|
||||
|
||||
# Set the jog mode so motion stops as soon as the wheel stops.
|
||||
setp joint.0.jog-vel-mode TRUE
|
||||
setp joint.1.jog-vel-mode TRUE
|
||||
setp joint.2.jog-vel-mode TRUE
|
||||
setp joint.3.jog-vel-mode TRUE
|
||||
|
||||
# Connect jog axis select to motion controller and PLC.
|
||||
net xJog motenc.0.in-40 => joint.0.jog-enable
|
||||
net yJog motenc.0.in-41 => joint.1.jog-enable
|
||||
net zJog motenc.0.in-42 => joint.2.jog-enable
|
||||
net aJog motenc.0.in-43 => joint.3.jog-enable
|
||||
net xJog => boss_plc.0.x-jog-en-in
|
||||
net yJog => boss_plc.0.y-jog-en-in
|
||||
net zJog => boss_plc.0.z-jog-en-in
|
||||
|
||||
# Connect jog wheel encoder.
|
||||
net jogCounts motenc.0.enc-05-count => joint.0.jog-counts joint.1.jog-counts joint.2.jog-counts joint.3.jog-counts
|
||||
|
||||
# Connect jog scale selects to PLC.
|
||||
setp boss_plc.0.jog-scale-0 0.000001
|
||||
setp boss_plc.0.jog-scale-1 0.000010
|
||||
setp boss_plc.0.jog-scale-2 0.000100
|
||||
net jogScaleSel0 motenc.0.in-36 => boss_plc.0.jog-sel-in-0
|
||||
net jogScaleSel1 motenc.0.in-37 => boss_plc.0.jog-sel-in-1
|
||||
net jogScaleSel2 motenc.0.in-38 => boss_plc.0.jog-sel-in-2
|
||||
|
||||
# Connect PLC jog scale output.
|
||||
net jogScale boss_plc.0.jog-scale-out => joint.0.jog-scale joint.1.jog-scale joint.2.jog-scale joint.3.jog-scale
|
||||
269
configs/by_machine/boss/pid_test.ini
Normal file
269
configs/by_machine/boss/pid_test.ini
Normal file
@@ -0,0 +1,269 @@
|
||||
# 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-BP-BOSS6
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
DISPLAY = tklinuxcnc
|
||||
#DISPLAY = axis
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
# 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 = 1.5
|
||||
# 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 = boss.var
|
||||
# Enable adaptive feed input, we use it to limit rapid/feed when
|
||||
# limits are being overridden.
|
||||
RS274NGC_STARTUP_CODE = M52 P1
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 200000
|
||||
# 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]
|
||||
# HALUI to interact with NML.
|
||||
# Run before any other HALFILE.
|
||||
HALUI = halui
|
||||
# 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 = pid_test.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 A
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
# 2000 rpm, 2:1 reduction, 5 tpi = 200 ipm = 3.33333333333333 ips.
|
||||
MAX_LINEAR_VELOCITY = 2.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.1
|
||||
# 3000 lbs continuous force. Use 1% = 30 lbs for accel. With 600 lbs load
|
||||
# that's 0.05g * 9.8 mpss * 39.37 i/m = 19.29 ipss. Motor peak torque
|
||||
# is 3x continuous.
|
||||
MAX_LINEAR_ACCELERATION = 3.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 3.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = boss.tbl
|
||||
TOOL_CHANGE_POSITION = -18.0 -12.0 0.0
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 18.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = 100000
|
||||
OUTPUT_SCALE = 3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 18.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = 0.05
|
||||
HOME_SEARCH_VEL = -0.5
|
||||
HOME_LATCH_VEL = 0.01
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 0.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
TUNE_EFFORT = 0.5
|
||||
TUNE_CYCLES = 50
|
||||
TUNE_TYPE = 1
|
||||
# Second axis
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 12.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = 100000
|
||||
OUTPUT_SCALE = 3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 12.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = -0.4
|
||||
HOME_LATCH_VEL = 0.01
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 0.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
TUNE_EFFORT = 0.5
|
||||
TUNE_CYCLES = 50
|
||||
TUNE_TYPE = 1
|
||||
# Third axis
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -4.75
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = -100000
|
||||
OUTPUT_SCALE = -3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = -4.75
|
||||
MAX_LIMIT = 0.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = -0.225
|
||||
HOME_SEARCH_VEL = 0.1
|
||||
HOME_LATCH_VEL = -0.01
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 0.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
TUNE_EFFORT = 0.5
|
||||
TUNE_CYCLES = 50
|
||||
TUNE_TYPE = 1
|
||||
# Fourth axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 2.0
|
||||
BACKLASH = 0.0
|
||||
INPUT_SCALE = 100000
|
||||
OUTPUT_SCALE = 3.0
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 0.0
|
||||
FERROR = 0.005
|
||||
MIN_FERROR = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = -0.01
|
||||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = -1
|
||||
# PID tuning params
|
||||
MAX_OUTPUT = 3.333333
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
MAX_ERROR_I = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 0.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
TUNE_EFFORT = 0.5
|
||||
TUNE_CYCLES = 50
|
||||
TUNE_TYPE = 1
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
183
configs/by_machine/cooltool/Basic540_3axes.ini
Normal file
183
configs/by_machine/cooltool/Basic540_3axes.ini
Normal file
@@ -0,0 +1,183 @@
|
||||
# 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 = COOLTOOL-BASIC540
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper.hal
|
||||
HALFILE = standard_pinout.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 15
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -540.0
|
||||
MAX_LIMIT = 540.0
|
||||
MAX_VELOCITY = 20
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 20
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 22
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 133.33333
|
||||
MIN_LIMIT = -540.0
|
||||
MAX_LIMIT = 540.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -310.0
|
||||
MAX_LIMIT = 310.0
|
||||
MAX_VELOCITY = 20
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 20
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 22
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -133.33333
|
||||
MIN_LIMIT = -310.0
|
||||
MAX_LIMIT = 310.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -70.0
|
||||
MAX_LIMIT = 70.0
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 16
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -133.33333
|
||||
MIN_LIMIT = -70.0
|
||||
MAX_LIMIT = 70.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 -----------------------------------
|
||||
209
configs/by_machine/cooltool/Basic540_4axes.ini
Normal file
209
configs/by_machine/cooltool/Basic540_4axes.ini
Normal file
@@ -0,0 +1,209 @@
|
||||
# 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 = COOLTOOL-BASIC540-4axes
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper4.hal
|
||||
HALFILE = S4_pinout.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 15
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -540.0
|
||||
MAX_LIMIT = 540.0
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 22
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 133.33333
|
||||
MIN_LIMIT = -540.0
|
||||
MAX_LIMIT = 540.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -310.0
|
||||
MAX_LIMIT = 310.0
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 22
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -133.33333
|
||||
MIN_LIMIT = -310.0
|
||||
MAX_LIMIT = 310.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -70.0
|
||||
MAX_LIMIT = 70.0
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 15
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 16
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -133.33333
|
||||
MIN_LIMIT = -70.0
|
||||
MAX_LIMIT = 70.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 80
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 -----------------------------------
|
||||
3
configs/by_machine/cooltool/README
Normal file
3
configs/by_machine/cooltool/README
Normal file
@@ -0,0 +1,3 @@
|
||||
Configuration files for machines supplied by The Cool Tool company.
|
||||
|
||||
www.thecooltool.com
|
||||
36
configs/by_machine/cooltool/S4_pinout.hal
Normal file
36
configs/by_machine/cooltool/S4_pinout.hal
Normal file
@@ -0,0 +1,36 @@
|
||||
|
||||
# Step Four Dos Box pinout config file for 4-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
|
||||
addf parport.0.read base-thread 1
|
||||
addf parport.0.write base-thread -1
|
||||
#
|
||||
# finally connect physical pins to the signals
|
||||
net Xstep parport.0.pin-02-out
|
||||
net Xdir parport.0.pin-03-out
|
||||
net Ystep parport.0.pin-04-out
|
||||
net Ydir parport.0.pin-05-out
|
||||
net Zstep parport.0.pin-08-out
|
||||
net Zdir parport.0.pin-09-out
|
||||
net Astep parport.0.pin-06-out
|
||||
net Adir parport.0.pin-07-out
|
||||
|
||||
# create a signal for the estop loopback
|
||||
net n0 iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
|
||||
|
||||
# create signals for tool loading loopback
|
||||
net n1 iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
net n2 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-16-out
|
||||
|
||||
210
configs/by_machine/cooltool/Uni-cnc-set.ini
Normal file
210
configs/by_machine/cooltool/Uni-cnc-set.ini
Normal file
@@ -0,0 +1,210 @@
|
||||
# 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 = UNI-CNC-SET
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 10.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper4.hal
|
||||
HALFILE = standard_pinout4.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z A
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 800
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -8.8888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 1.000
|
||||
MIN_FERROR = 0.500
|
||||
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 -----------------------------------
|
||||
262
configs/by_machine/cooltool/Uni-dreh-g.ini
Normal file
262
configs/by_machine/cooltool/Uni-dreh-g.ini
Normal file
@@ -0,0 +1,262 @@
|
||||
# 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 = UNI-DREH-G
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
LATHE = 1
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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 = uni-dreh-g_stepper.hal
|
||||
HALFILE = uni-dreh-g_pinout.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z C
|
||||
HOME = 0 0 0 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 6
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -32.0
|
||||
MAX_LIMIT = 32.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -800
|
||||
MIN_LIMIT = -32.0
|
||||
MAX_LIMIT = 32.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -800
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
FERROR = 0.500
|
||||
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
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -8.88888888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Five axis
|
||||
|
||||
[AXIS_B]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_4]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -8.88888888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Six axis
|
||||
|
||||
[AXIS_C]
|
||||
MIN_LIMIT = -1000000
|
||||
MAX_LIMIT = 1000000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_5]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -8.88888888888
|
||||
MIN_LIMIT = -1000000
|
||||
MAX_LIMIT = 1000000
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 -----------------------------------
|
||||
184
configs/by_machine/cooltool/Uni-dreh.ini
Normal file
184
configs/by_machine/cooltool/Uni-dreh.ini
Normal file
@@ -0,0 +1,184 @@
|
||||
# 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 = UNI-DREH
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
LATHE = 1
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper.hal
|
||||
HALFILE = standard_pinout.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -32.0
|
||||
MAX_LIMIT = 32.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -32.0
|
||||
MAX_LIMIT = 32.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
FERROR = 0.500
|
||||
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
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
210
configs/by_machine/cooltool/Uni-fraes-4.ini
Normal file
210
configs/by_machine/cooltool/Uni-fraes-4.ini
Normal file
@@ -0,0 +1,210 @@
|
||||
# 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 = UNI-FRAES-4
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 10.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
TASK = milltask
|
||||
# TASK = minimilltask
|
||||
# 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_stepper4.hal
|
||||
HALFILE = standard_pinout4.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 800
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -8.8888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 -----------------------------------
|
||||
210
configs/by_machine/cooltool/Uni-fraes-h3.ini
Normal file
210
configs/by_machine/cooltool/Uni-fraes-h3.ini
Normal file
@@ -0,0 +1,210 @@
|
||||
# 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 = UNI-FRAES-H3
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper.hal
|
||||
HALFILE = standard_pinout.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 800
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -8.888888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 50.000
|
||||
MIN_FERROR = 10.000
|
||||
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 -----------------------------------
|
||||
209
configs/by_machine/cooltool/Uni-fraes-v3.ini
Normal file
209
configs/by_machine/cooltool/Uni-fraes-v3.ini
Normal file
@@ -0,0 +1,209 @@
|
||||
# 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 = UNI-FRAES-V3
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper4.hal
|
||||
HALFILE = standard_pinout4.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = 800
|
||||
MIN_LIMIT = -145.0
|
||||
MAX_LIMIT = 145.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 50.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -8.8888888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 50.000
|
||||
MIN_FERROR = 10.000
|
||||
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 -----------------------------------
|
||||
209
configs/by_machine/cooltool/Uni-mill-cnc.ini
Normal file
209
configs/by_machine/cooltool/Uni-mill-cnc.ini
Normal file
@@ -0,0 +1,209 @@
|
||||
# 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 = UniMillCNC
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#EDITOR = geany
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.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 = 2.0
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
# Task controller section -----------------------------------------------------
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
py = python3
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = stepper.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Base task period, in seconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 50000
|
||||
# Servo task period, in seconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
# Trajectory Planner task period, in seconds - will be rounded to an
|
||||
# integer multiple of SERVO_PERIOD
|
||||
TRAJ_PERIOD = 10000000
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., bridgeporttask
|
||||
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_stepper.hal
|
||||
HALFILE = standard_pinout.hal
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
# Section Filter
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 2
|
||||
MAX_LINEAR_VELOCITY = 50
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
# First axis
|
||||
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -230.0
|
||||
MAX_LIMIT = 230.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.20
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -230.0
|
||||
MAX_LIMIT = 230.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -127.0
|
||||
MAX_LIMIT = 127.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.350
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -127.0
|
||||
MAX_LIMIT = 127.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
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 = -159.0
|
||||
MAX_LIMIT = 159.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 6
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.20
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -159.0
|
||||
MAX_LIMIT = 159.0
|
||||
FERROR = 0.500
|
||||
MIN_FERROR = 0.500
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
# Four axis
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 50
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 52
|
||||
STEPGEN_MAXACCEL = 22
|
||||
BACKLASH = 0.000
|
||||
SCALE = -8.8888888888
|
||||
MIN_LIMIT = -10000
|
||||
MAX_LIMIT = 10000
|
||||
FERROR = 50.000
|
||||
MIN_FERROR = 10.000
|
||||
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 -----------------------------------
|
||||
80
configs/by_machine/cooltool/core_stepper4.hal
Normal file
80
configs/by_machine/cooltool/core_stepper4.hal
Normal file
@@ -0,0 +1,80 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# core HAL config file for steppers
|
||||
|
||||
# first load the stepper module
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD
|
||||
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
|
||||
# hook its functions to realtime threads
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
|
||||
#add motion controller to the threads
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller 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
|
||||
|
||||
# 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 velocity limits - get values from ini file
|
||||
setp stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp stepgen.3.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# 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
|
||||
|
||||
# load realtime portion of scope, just to have it handy
|
||||
loadrt scope_rt
|
||||
32
configs/by_machine/cooltool/standard_pinout.hal
Normal file
32
configs/by_machine/cooltool/standard_pinout.hal
Normal file
@@ -0,0 +1,32 @@
|
||||
# standard pinout config file for 4-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
|
||||
addf parport.0.read base-thread 1
|
||||
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
|
||||
|
||||
# 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-prepare-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
|
||||
33
configs/by_machine/cooltool/standard_pinout4.hal
Normal file
33
configs/by_machine/cooltool/standard_pinout4.hal
Normal file
@@ -0,0 +1,33 @@
|
||||
# standard pinout config file for 4-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
|
||||
addf parport.0.read base-thread 1
|
||||
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-prepare-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
|
||||
# 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
|
||||
|
||||
|
||||
4
configs/by_machine/cooltool/stepper.tbl
Normal file
4
configs/by_machine/cooltool/stepper.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
|
||||
40
configs/by_machine/cooltool/uni-dreh-g_pinout.hal
Normal file
40
configs/by_machine/cooltool/uni-dreh-g_pinout.hal
Normal file
@@ -0,0 +1,40 @@
|
||||
# standard pinout config file for 6-axis steppers
|
||||
# using a parport for I/O
|
||||
#
|
||||
# first load the parport driver
|
||||
loadrt hal_parport cfg="0x0378 0x1420"
|
||||
#
|
||||
# next connect the parport functions to threads
|
||||
addf parport.0.read base-thread 1
|
||||
addf parport.0.write base-thread -1
|
||||
addf parport.1.read base-thread 1
|
||||
addf parport.1.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-16-out
|
||||
net Adir parport.0.pin-17-out
|
||||
net Bstep parport.1.pin-05-out
|
||||
net Bdir parport.1.pin-04-out
|
||||
net Cstep parport.0.pin-09-out
|
||||
net Cdir 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
|
||||
104
configs/by_machine/cooltool/uni-dreh-g_stepper.hal
Normal file
104
configs/by_machine/cooltool/uni-dreh-g_stepper.hal
Normal file
@@ -0,0 +1,104 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# core HAL config file for steppers
|
||||
|
||||
# first load the stepper module
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD
|
||||
|
||||
loadrt stepgen step_type=0,0,0,0,0,0
|
||||
|
||||
# hook its functions to realtime threads
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
|
||||
#add motion controller to the threads
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller 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
|
||||
net Bpos-cmd <= joint.4.motor-pos-cmd
|
||||
net Bpos-cmd => stepgen.4.position-cmd
|
||||
net Cpos-cmd <= joint.5.motor-pos-cmd
|
||||
net Cpos-cmd => stepgen.5.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
|
||||
net Bpos-fb <= stepgen.4.position-fb
|
||||
net Bpos-fb => joint.4.motor-pos-fb
|
||||
net Cpos-fb <= stepgen.5.position-fb
|
||||
net Cpos-fb => joint.5.motor-pos-fb
|
||||
|
||||
# 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
|
||||
net Ben <= joint.4.amp-enable-out
|
||||
net Ben => stepgen.4.enable
|
||||
net Cen <= joint.5.amp-enable-out
|
||||
net Cen => stepgen.5.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
|
||||
net Bstep stepgen.4.step
|
||||
net Bdir stepgen.4.dir
|
||||
net Cstep stepgen.5.step
|
||||
net Cdir stepgen.5.dir
|
||||
|
||||
# set stepgen module scaling - get values from ini file
|
||||
setp stepgen.0.position-scale [JOINT_0]INPUT_SCALE
|
||||
setp stepgen.1.position-scale [JOINT_1]INPUT_SCALE
|
||||
setp stepgen.2.position-scale [JOINT_2]INPUT_SCALE
|
||||
setp stepgen.3.position-scale [JOINT_3]INPUT_SCALE
|
||||
setp stepgen.4.position-scale [JOINT_4]INPUT_SCALE
|
||||
setp stepgen.5.position-scale [JOINT_5]INPUT_SCALE
|
||||
|
||||
# set stepgen module velocity limits - get values from ini file
|
||||
setp stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp stepgen.3.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
setp stepgen.4.maxvel [JOINT_4]STEPGEN_MAXVEL
|
||||
setp stepgen.5.maxvel [JOINT_5]STEPGEN_MAXVEL
|
||||
|
||||
# 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
|
||||
setp stepgen.4.maxaccel [JOINT_4]STEPGEN_MAXACCEL
|
||||
setp stepgen.5.maxaccel [JOINT_5]STEPGEN_MAXACCEL
|
||||
|
||||
# load realtime portion of scope, just to have it handy
|
||||
loadrt scope_rt
|
||||
|
||||
1
configs/by_machine/nc_files
Symbolic link
1
configs/by_machine/nc_files
Symbolic link
@@ -0,0 +1 @@
|
||||
../../nc_files
|
||||
17
configs/by_machine/scorbot-er-3/gripper.xml
Normal file
17
configs/by_machine/scorbot-er-3/gripper.xml
Normal file
@@ -0,0 +1,17 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<pyvcp>
|
||||
|
||||
<labelframe text="Gripper">
|
||||
<vbox>
|
||||
<scale>
|
||||
<halpin>"gripper"</halpin>
|
||||
<resolution>1</resolution>
|
||||
<orient>HORIZONTAL</orient>
|
||||
<initval>0</initval>
|
||||
<min_>-200</min_>
|
||||
<max_>200</max_>
|
||||
</scale>
|
||||
</vbox>
|
||||
</labelframe>
|
||||
|
||||
</pyvcp>
|
||||
3
configs/by_machine/scorbot-er-3/pyvcp.hal
Normal file
3
configs/by_machine/scorbot-er-3/pyvcp.hal
Normal file
@@ -0,0 +1,3 @@
|
||||
net gripper <= pyvcp.gripper-f
|
||||
net gripper => scorbot-er-3.joint7.motor-pos-cmd
|
||||
|
||||
71
configs/by_machine/scorbot-er-3/pyvcp.xml
Normal file
71
configs/by_machine/scorbot-er-3/pyvcp.xml
Normal file
@@ -0,0 +1,71 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<pyvcp>
|
||||
<vbox>
|
||||
|
||||
<label><text>"These widgets indicate a HAL_BIT"</text></label>
|
||||
<hbox>
|
||||
<label><text>"LED:"</text></label>
|
||||
<led>
|
||||
<halpin>"led-sample"</halpin>
|
||||
<size>20</size>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<label><text>"These widgets control a HAL_BIT"</text></label>
|
||||
<vbox>
|
||||
<hbox>
|
||||
<label><text>"Button"</text></label>
|
||||
<button>
|
||||
<text>"Button:"</text>
|
||||
<halpin>"button-sample"</halpin>
|
||||
</button>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label><text>"Checkbutton:"</text></label>
|
||||
<checkbutton>
|
||||
|
||||
<halpin>"chbutton-sample"</halpin>
|
||||
</checkbutton>
|
||||
</hbox>
|
||||
</vbox>
|
||||
|
||||
<label><text>"These widgets indicate a HAL_FLOAT"</text></label>
|
||||
<vbox>
|
||||
|
||||
<hbox>
|
||||
<label><text>"Bar:"</text></label>
|
||||
<bar>
|
||||
<halpin>"bar-sample"</halpin>
|
||||
</bar>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label><text>"Number:"</text></label>
|
||||
<number>
|
||||
<halpin>"number-sample"</halpin>
|
||||
<format>"+004.4f"</format>
|
||||
<font>('Helvetica',40)</font>
|
||||
</number>
|
||||
</hbox>
|
||||
</vbox>
|
||||
|
||||
<label><text>"These widgets control a HAL_FLOAT"</text></label>
|
||||
<vbox>
|
||||
<hbox>
|
||||
<label><text>"Scale:"</text></label>
|
||||
<scale>
|
||||
<orient>HORIZONTAL</orient>
|
||||
<halpin>"scale-sample"</halpin>
|
||||
</scale>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label><text>"Spinbox:"</text></label>
|
||||
<spinbox>
|
||||
<font>('Helvetica',40)</font>
|
||||
</spinbox>
|
||||
</hbox>
|
||||
</vbox>
|
||||
|
||||
<!-- this is a comment-->
|
||||
|
||||
</vbox>
|
||||
</pyvcp>
|
||||
113
configs/by_machine/scorbot-er-3/scorbot-er-3.hal
Normal file
113
configs/by_machine/scorbot-er-3/scorbot-er-3.hal
Normal file
@@ -0,0 +1,113 @@
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
#autoconverted scorbot-kins
|
||||
|
||||
# motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
|
||||
loadrt differential
|
||||
|
||||
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf differential.0 servo-thread
|
||||
|
||||
loadusr -W scorbot-er-3
|
||||
|
||||
|
||||
#
|
||||
# E-Stop
|
||||
#
|
||||
|
||||
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
|
||||
|
||||
|
||||
#
|
||||
# Joint 0
|
||||
#
|
||||
|
||||
net j0.cmd <= joint.0.motor-pos-cmd
|
||||
net j0.cmd => scorbot-er-3.joint0.motor-pos-cmd
|
||||
net j0.cmd => joint.0.motor-pos-fb
|
||||
|
||||
net j0.limit <= scorbot-er-3.joint0.limit-sw
|
||||
net j0.limit => joint.0.home-sw-in
|
||||
net j0.limit => joint.0.neg-lim-sw-in
|
||||
net j0.limit => joint.0.pos-lim-sw-in
|
||||
|
||||
setp scorbot-er-3.joint0.scale [JOINT_0]SCALE
|
||||
|
||||
|
||||
#
|
||||
# Joint 1
|
||||
#
|
||||
|
||||
net j1.cmd <= joint.1.motor-pos-cmd
|
||||
net j1.cmd => scorbot-er-3.joint1.motor-pos-cmd
|
||||
net j1.cmd => joint.1.motor-pos-fb
|
||||
|
||||
net j1.limit <= scorbot-er-3.joint1.limit-sw
|
||||
net j1.limit => joint.1.home-sw-in
|
||||
net j1.limit => joint.1.neg-lim-sw-in
|
||||
net j1.limit => joint.1.pos-lim-sw-in
|
||||
|
||||
setp scorbot-er-3.joint1.scale [JOINT_1]SCALE
|
||||
|
||||
|
||||
#
|
||||
# Joint 2
|
||||
#
|
||||
|
||||
net j2.cmd <= joint.2.motor-pos-cmd
|
||||
net j2.cmd => scorbot-er-3.joint2.motor-pos-cmd
|
||||
net j2.cmd => joint.2.motor-pos-fb
|
||||
|
||||
net j2.limit <= scorbot-er-3.joint2.limit-sw
|
||||
net j2.limit => joint.2.home-sw-in
|
||||
net j2.limit => joint.2.neg-lim-sw-in
|
||||
net j2.limit => joint.2.pos-lim-sw-in
|
||||
|
||||
setp scorbot-er-3.joint2.scale [JOINT_2]SCALE
|
||||
|
||||
|
||||
#
|
||||
# Joint 3
|
||||
# LinuxCNC commands "wrist pitch" on J3, this goes through the differential.
|
||||
#
|
||||
|
||||
net wrist.pitch-cmd <= joint.3.motor-pos-cmd
|
||||
net wrist.pitch-cmd => differential.0.pitch-cmd
|
||||
|
||||
net wrist.pitch-fb <= differential.0.pitch-fb
|
||||
net wrist.pitch-fb => joint.3.motor-pos-fb
|
||||
|
||||
net j3.cmd <= differential.0.motor0-cmd
|
||||
net j3.cmd => scorbot-er-3.joint3.motor-pos-cmd
|
||||
net j3.cmd => differential.0.motor0-fb
|
||||
|
||||
net wrist-pitch.limit <= scorbot-er-3.joint3.limit-sw
|
||||
net wrist-pitch.limit => joint.3.home-sw-in
|
||||
|
||||
setp scorbot-er-3.joint3.scale [JOINT_3]SCALE
|
||||
|
||||
|
||||
#
|
||||
# Joint 4
|
||||
# LinuxCNC commands "wrist roll" on J4, this goes through the differential.
|
||||
#
|
||||
|
||||
net wrist.roll-cmd <= joint.4.motor-pos-cmd
|
||||
net wrist.roll-cmd => differential.0.roll-cmd
|
||||
|
||||
net wrist.roll-fb <= differential.0.roll-fb
|
||||
net wrist.roll-fb => joint.4.motor-pos-fb
|
||||
|
||||
net j4.cmd <= differential.0.motor1-cmd
|
||||
net j4.cmd => scorbot-er-3.joint4.motor-pos-cmd
|
||||
net j4.cmd => differential.0.motor1-fb
|
||||
|
||||
net wrist-roll.limit <= scorbot-er-3.joint4.limit-sw
|
||||
net wrist-roll.limit => joint.4.home-sw-in
|
||||
|
||||
setp scorbot-er-3.joint4.scale [JOINT_4]SCALE
|
||||
|
||||
370
configs/by_machine/scorbot-er-3/scorbot-er-3.ini
Normal file
370
configs/by_machine/scorbot-er-3/scorbot-er-3.ini
Normal file
@@ -0,0 +1,370 @@
|
||||
# This config file was created 2015-10-18 15:29:00.438682 by the update_ini script
|
||||
# The original config files may be found in the /home/seb/linuxcnc-dev/configs/by_machine/scorbot-er-3/scorbot-er-3.old directory
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
MACHINE = Scorbot-ER III
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x7fffffff
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
CYCLE_TIME = 0.100
|
||||
HELP_FILE = doc/help.txt
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 2.0
|
||||
MAX_SPINDLE_OVERRIDE = 2.0
|
||||
|
||||
MAX_LINEAR_VELOCITY = 27
|
||||
DEFAULT_LINEAR_VELOCITY = 27
|
||||
|
||||
MAX_ANGULAR_VELOCITY = 27
|
||||
DEFAULT_ANGULAR_VELOCITY = 27
|
||||
|
||||
PROGRAM_PREFIX = ../../../nc_files/
|
||||
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
EDITOR = gvim
|
||||
TOOL_EDITOR = gvim
|
||||
|
||||
INCREMENTS = 10 mm, 1 mm, 0.10 mm, 0.01 mm
|
||||
|
||||
PYVCP = gripper.xml
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
|
||||
[HAL]
|
||||
HALFILE = scorbot-er-3.hal
|
||||
#HALFILE = ../../common/shuttlexpress.hal
|
||||
#HALFILE = shuttlexpress-customization.hal
|
||||
POSTGUI_HALFILE = pyvcp.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
AXES = 5
|
||||
COORDINATES = X Y Z A B
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
#HOME = 0 0 0 0 0
|
||||
|
||||
# mm/second
|
||||
DEFAULT_VELOCITY = 675
|
||||
MAX_VELOCITY = 675
|
||||
|
||||
# mm/second/second
|
||||
DEFAULT_ACCELERATION = 5000
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
POSITION_FILE = position.txt
|
||||
|
||||
|
||||
#
|
||||
# The Scorbot-ER III User's Manual (6th Edition) Appendix E states that
|
||||
# motors 1-5 (joints 0-4) use optical encoders with 6 slots/revolution.
|
||||
# Experimentally, the Scorbot motor control box reports 6 counts per
|
||||
# revolution.
|
||||
#
|
||||
# The arm motors (joint 0, 1, & 2) have gearboxes with a ratio of 127.7:1.
|
||||
# The wrist motors (joints 3 & 4) have gearboxes with a ratio of 65.5:1.
|
||||
#
|
||||
# 6 counts/motor-rev * 127.7 motor-revs/driveshaft-rev = 766.2 counts/driveshaft-rev
|
||||
#
|
||||
# 6 counts/motor-rev * 65.5 motor-revs/driveshaft-rev = 393 counts/driveshaft-rev
|
||||
#
|
||||
# Each motor then has a different transmission to actuate the joint, but
|
||||
# they're all 1:1 after the gearbox on the motor.
|
||||
#
|
||||
|
||||
[EMCIO]
|
||||
#TOOL_TABLE = sim.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 0
|
||||
#TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = scorbot-kins
|
||||
#This is a best-guess at the number of joints, it should be checked
|
||||
JOINTS = 5
|
||||
|
||||
|
||||
[AXIS_X]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
[JOINT_0]
|
||||
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
# Motor 0 turns a 24 tooth gear that rolls around a 120 tooth gear.
|
||||
# 766.2 counts/driveshaft-rev * 1 driveshaft-rev/24 teeth = 31.925 counts/tooth
|
||||
# 31.925 counts/tooth * 120 teeth/joint-rev = 3831.0 counts/joint-rev
|
||||
# 3831.0 counts/joint-rev * 1 joint-rev/360 degrees = 10.6417 counts/degree
|
||||
SCALE = 10.6417
|
||||
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
|
||||
FERROR = 0.100
|
||||
MIN_FERROR = 0.010
|
||||
|
||||
HOME = 0.000
|
||||
HOME_OFFSET = -0.100
|
||||
HOME_SEARCH_VEL = -7.500
|
||||
HOME_LATCH_VEL = 2.000
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
|
||||
[AXIS_Y]
|
||||
HOME = 130.000
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
MAX_VELOCITY = 500
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 500
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
# Motor 1 turns an 18 tooth gear that rolls around a 72 tooth gear.
|
||||
# 766.2 counts/driveshaft-rev * 1 driveshaft-rev/18 teeth = 42.567 counts/tooth
|
||||
# 42.567 counts/tooth * 72 teeth/joint-rev = 3064.8 counts/joint-rev
|
||||
# 3064.8 counts/joint-rev * 1 joint-rev/360 degrees = 8.513 counts/degree
|
||||
SCALE = -8.513
|
||||
|
||||
MIN_LIMIT = -32
|
||||
MAX_LIMIT = 127
|
||||
FERROR = 0.100
|
||||
MIN_FERROR = 0.010
|
||||
HOME = 125.000
|
||||
HOME_OFFSET = 127.900
|
||||
HOME_SEARCH_VEL = 7.500
|
||||
HOME_LATCH_VEL = -2.000
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
|
||||
[AXIS_Z]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
# Motor 2 turns an 18 tooth gear that rolls around a 72 tooth gear.
|
||||
# The 72 tooth gear turns a 19(?) tooth timing pulley connected to a 17 tooth timing pulley.
|
||||
# 766.2 counts/driveshaft-rev * 1 driveshaft-rev/18 teeth = 42.567 counts/tooth
|
||||
# 42.567 counts/tooth * 72 teeth/axle-rev = 3064.8 counts/axle-rev
|
||||
# 3064.8 counts/axle-rev * 1 axle-rev/19 timing-teeth = 161.305 counts/timing-tooth
|
||||
# 161.305 counts/timing-tooth * 17 timing-teeth/joint-rev = 2742.189 counts/joint-rev
|
||||
# 2742.189 counts/joint-rev * 1 joint-rev/360 degrees = 7.617 counts/rev
|
||||
SCALE = 7.6171929824561415
|
||||
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME = 0.000
|
||||
HOME_OFFSET = -30.001
|
||||
HOME_SEARCH_VEL = -7.500
|
||||
HOME_LATCH_VEL = 2.000
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
|
||||
[AXIS_A]
|
||||
HOME = 20.0
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
[JOINT_3]
|
||||
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
# Motor 3 turns a 12 tooth timing gear (gear #1) connected by a timing belt
|
||||
# to a 23 tooth timing gear (gear #2). Gear #2 is connected by another
|
||||
# belt to another 23 tooth timing gear (gear #3). Gear #3 is connected by
|
||||
# another timing belt to another 23 tooth timing gear (gear #4).
|
||||
# Gear #4 is connected to a differential drive in the wrist.
|
||||
# The drive gear (the part of the diff rigidly connected to the timing gear)
|
||||
# has 32 teeth. The driven gear also has 32 teeth.
|
||||
#
|
||||
# FIXME: Since this motor moves the hand in two degrees of freedom, i'm not
|
||||
# sure how to think about the units etc here.
|
||||
#
|
||||
# At the motor:
|
||||
# 393 counts/driveshaft-rev * 1 driveshaft-rev/12 teeth = 32.75 counts/timing-tooth
|
||||
# Then at the end of the timing belt drive:
|
||||
# 32.75 counts/timing-tooth * 32 diff-teeth/23 timing-teeth = 45.56521739130435 counts/diff-tooth
|
||||
# 45.56521739130435 counts/diff-tooth * 32 diff-teeth/360 degrees = 4.05024154589372 counts/degree
|
||||
# FIXME: i'm not sure it's ok to convert diff-teeth to degrees that way since it's a differential
|
||||
|
||||
SCALE = 4.05024154589372
|
||||
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
|
||||
HOME = -30.0
|
||||
HOME_OFFSET = -56.0
|
||||
HOME_SEARCH_VEL = -7.500
|
||||
HOME_LATCH_VEL = 2.000
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
|
||||
[AXIS_B]
|
||||
HOME = 4.0
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
[JOINT_4]
|
||||
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 675
|
||||
MAX_ACCELERATION = 5000
|
||||
|
||||
# Motor 4, same as motor 3
|
||||
SCALE = 4.05024154589372
|
||||
|
||||
MIN_LIMIT = -1000
|
||||
MAX_LIMIT = 1000
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
|
||||
HOME = 4.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = -7.500
|
||||
HOME_LATCH_VEL = 2.000
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
|
||||
#[AXIS_5]
|
||||
#TYPE = ANGULAR
|
||||
#MAX_VELOCITY = 100
|
||||
#MAX_ACCELERATION = 500
|
||||
|
||||
# joint 5
|
||||
#SCALE = 5
|
||||
|
||||
#MIN_LIMIT = -8.0
|
||||
#MAX_LIMIT = 0.0001
|
||||
#FERROR = 0.050
|
||||
#MIN_FERROR = 0.010
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 1.0
|
||||
#HOME_SEARCH_VEL = 20.0
|
||||
#HOME_LATCH_VEL = 20.0
|
||||
#HOME_USE_INDEX = NO
|
||||
#HOME_IGNORE_LIMITS = NO
|
||||
#HOME_SEQUENCE = 0
|
||||
|
||||
|
||||
#[AXIS_6]
|
||||
#TYPE = ANGULAR
|
||||
#MAX_VELOCITY = 100
|
||||
#MAX_ACCELERATION = 500
|
||||
|
||||
# joint 6
|
||||
#SCALE = 5
|
||||
|
||||
#MIN_LIMIT = -8.0
|
||||
#MAX_LIMIT = 0.0001
|
||||
#FERROR = 0.050
|
||||
#MIN_FERROR = 0.010
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 1.0
|
||||
#HOME_SEARCH_VEL = 20.0
|
||||
#HOME_LATCH_VEL = 20.0
|
||||
#HOME_USE_INDEX = NO
|
||||
#HOME_IGNORE_LIMITS = NO
|
||||
#HOME_SEQUENCE = 0
|
||||
|
||||
|
||||
#[AXIS_7]
|
||||
#TYPE = ANGULAR
|
||||
#MAX_VELOCITY = 100
|
||||
#MAX_ACCELERATION = 500
|
||||
|
||||
# joint 7
|
||||
#SCALE = 5
|
||||
|
||||
#MIN_LIMIT = -8.0
|
||||
#MAX_LIMIT = 0.0001
|
||||
#FERROR = 0.050
|
||||
#MIN_FERROR = 0.010
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 1.0
|
||||
#HOME_SEARCH_VEL = 20.0
|
||||
#HOME_LATCH_VEL = 20.0
|
||||
#HOME_USE_INDEX = NO
|
||||
#HOME_IGNORE_LIMITS = NO
|
||||
#HOME_SEQUENCE = 0
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
|
||||
# for each click of the jog-wheel there's 1000 simulated counts coming out
|
||||
# of the ilowpass below, so these numbers are 1000x smaller than the jog
|
||||
# increment size they encode
|
||||
setp tristate-float.sxp-jog-increment-0.in 0.0005
|
||||
setp tristate-float.sxp-jog-increment-1.in 0.001
|
||||
setp tristate-float.sxp-jog-increment-2.in 0.005
|
||||
setp tristate-float.sxp-jog-increment-3.in 0.010
|
||||
|
||||
# each of the 8 tristate floats has a constant jog speed on it
|
||||
# speeds are specified as "fraction of machine max speed"
|
||||
setp tristate-float.sxp0.in 0
|
||||
setp tristate-float.sxp1.in 25
|
||||
setp tristate-float.sxp2.in 50
|
||||
setp tristate-float.sxp3.in 100
|
||||
setp tristate-float.sxp4.in 200
|
||||
setp tristate-float.sxp5.in 400
|
||||
setp tristate-float.sxp6.in 810
|
||||
setp tristate-float.sxp7.in 1620
|
||||
|
||||
3
configs/by_machine/sherline/README
Normal file
3
configs/by_machine/sherline/README
Normal file
@@ -0,0 +1,3 @@
|
||||
Sherline Proucts
|
||||
|
||||
www.sherline.com
|
||||
7
configs/by_machine/sherline/Sherline3Axis/README
Normal file
7
configs/by_machine/sherline/Sherline3Axis/README
Normal file
@@ -0,0 +1,7 @@
|
||||
This configuration step is intended for Sherline 3-axis stepper machines.
|
||||
|
||||
Sherline3Axis_inch.ini
|
||||
inch units
|
||||
|
||||
Sherline3Axis_mm.ini
|
||||
metric units
|
||||
205
configs/by_machine/sherline/Sherline3Axis/Sherline3Axis_inch.ini
Normal file
205
configs/by_machine/sherline/Sherline3Axis/Sherline3Axis_inch.ini
Normal file
@@ -0,0 +1,205 @@
|
||||
# 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-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]
|
||||
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 = 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 = core_stepper.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 A B C
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.18
|
||||
MAX_LINEAR_VELOCITY = .36
|
||||
DEFAULT_LINEAR_ACCELERATION = 2.0
|
||||
MAX_LINEAR_ACCELERATION = 2.0
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
#+ First axis
|
||||
|
||||
[EMCIO]
|
||||
#- tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = .36
|
||||
# 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 = 2
|
||||
STEPGEN_MAXACCEL = 2.2
|
||||
BACKLASH = 0.000
|
||||
SCALE = 16000
|
||||
MIN_LIMIT = -10
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
MIN_FERROR = 0.01
|
||||
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 = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
STEPGEN_MAXACCEL = 2.20
|
||||
BACKLASH = 0.000
|
||||
SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 1
|
||||
MIN_FERROR = .01
|
||||
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 = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2
|
||||
STEPGEN_MAXACCEL = 2.20
|
||||
BACKLASH = 0.000
|
||||
SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
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
|
||||
###############################################################################
|
||||
# section for main IO controller parameters
|
||||
###############################################################################
|
||||
205
configs/by_machine/sherline/Sherline3Axis/Sherline3Axis_mm.ini
Normal file
205
configs/by_machine/sherline/Sherline3Axis/Sherline3Axis_mm.ini
Normal file
@@ -0,0 +1,205 @@
|
||||
# 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-MM
|
||||
#+ 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]
|
||||
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 = 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 = core_stepper.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 A B C
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 4.6
|
||||
MAX_LINEAR_VELOCITY = 8
|
||||
DEFAULT_LINEAR_ACCELERATION = 50
|
||||
MAX_LINEAR_ACCELERATION = 50
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
#+ First axis
|
||||
|
||||
[EMCIO]
|
||||
#- tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 8
|
||||
# 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 = 50
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
SCALE = 800
|
||||
MIN_LIMIT = -400
|
||||
MAX_LIMIT = 400.0
|
||||
FERROR = 26
|
||||
MIN_FERROR = 0.26
|
||||
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 = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
FERROR = 26
|
||||
MIN_FERROR = 0.26
|
||||
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 = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
FERROR = 26
|
||||
MIN_FERROR = 0.26
|
||||
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
|
||||
###############################################################################
|
||||
@@ -0,0 +1,77 @@
|
||||
# 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
|
||||
|
||||
# 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
|
||||
|
||||
# connect "spindle on" motion controller pin to a physical pin
|
||||
net spindle-on spindle.0.on => parport.0.pin-09-out
|
||||
|
||||
###
|
||||
### You might use something like this to enable chopper drives when machine ON
|
||||
### the Xen signal is defined in core_stepper.hal
|
||||
###
|
||||
|
||||
# net Xen => parport.0.pin-01-out
|
||||
|
||||
###
|
||||
### If you want active low for this pin, invert it like this:
|
||||
###
|
||||
|
||||
# setp parport.0.pin-01-out-invert 1
|
||||
|
||||
###
|
||||
### A sample home switch on the X axis (axis 0). make a signal,
|
||||
### link the incoming parport pin to the signal, then link the signal
|
||||
### to EMC's axis 0 home switch input pin
|
||||
###
|
||||
|
||||
# net Xhome parport.0.pin-10-in => joint.0.home-sw-in
|
||||
|
||||
###
|
||||
### Shared home switches all on one parallel port pin?
|
||||
### that's ok, hook the same signal to all the axes, but be sure to
|
||||
### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file. See the
|
||||
### user manual!
|
||||
###
|
||||
|
||||
# net homeswitches <= parport.0.pin-10-in
|
||||
# net homeswitches => joint.0.home-sw-in
|
||||
# net homeswitches => joint.1.home-sw-in
|
||||
# net homeswitches => joint.2.home-sw-in
|
||||
|
||||
###
|
||||
### Sample separate limit switches on the X axis (axis 0)
|
||||
###
|
||||
|
||||
# net X-neg-limit parport.0.pin-11-in => joint.0.neg-lim-sw-in
|
||||
# net X-pos-limit parport.0.pin-12-in => joint.0.pos-lim-sw-in
|
||||
|
||||
###
|
||||
### Just like the shared home switches example, you can wire together
|
||||
### limit switches. Beware if you hit one, EMC will stop but can't tell
|
||||
### you which switch/axis has faulted. Use caution when recovering from this.
|
||||
###
|
||||
|
||||
# net Xlimits parport.0.pin-13-in => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in
|
||||
4
configs/by_machine/sherline/Sherline3Axis/stepper.tbl
Normal file
4
configs/by_machine/sherline/Sherline3Axis/stepper.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
|
||||
7
configs/by_machine/sherline/Sherline4Axis/README
Normal file
7
configs/by_machine/sherline/Sherline4Axis/README
Normal file
@@ -0,0 +1,7 @@
|
||||
This configuration step is intended for Sherline 4-axis stepper machines.
|
||||
|
||||
Sherline4Axis_inch.ini
|
||||
inch units
|
||||
|
||||
Sherline4Axis_mm.ini
|
||||
metric units
|
||||
243
configs/by_machine/sherline/Sherline4Axis/Sherline4Axis_inch.ini
Normal file
243
configs/by_machine/sherline/Sherline4Axis/Sherline4Axis_inch.ini
Normal file
@@ -0,0 +1,243 @@
|
||||
# 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]
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
#- Path to help file
|
||||
HELP_FILE = doc/help.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 = 1.20
|
||||
#- Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#- Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
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., bridgeporttask
|
||||
TASK = milltask
|
||||
# TASK = minimilltask
|
||||
#- 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 = 25
|
||||
MAX_LINEAR_VELOCITY = 25
|
||||
MAX_ANGULAR_VELOCITY = 25
|
||||
DEFAULT_LINEAR_ACCELERATION = 2.0
|
||||
MAX_LINEAR_ACCELERATION = 2.0
|
||||
# for gui only
|
||||
MAX_LINEAR_VELOCITY = .36
|
||||
DEFAULT_LINEAR_VELOCITY = .2
|
||||
MAX_ANGULAR_VELOCITY = 25
|
||||
DEFAULT_ANGULAR_VELOCITY = 25
|
||||
###############################################################################
|
||||
# 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 = .36
|
||||
MAX_ACCELERATION = 2
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = .36
|
||||
# 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 = 2
|
||||
STEPGEN_MAXVEL = .4
|
||||
STEPGEN_MAXACCEL = 2.2
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
MIN_FERROR = 0.0100
|
||||
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 = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
STEPGEN_MAXVEL = .4
|
||||
STEPGEN_MAXACCEL = 2.2
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
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 = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
STEPGEN_MAXVEL = .4
|
||||
STEPGEN_MAXACCEL = 2.2
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
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 = 25.0
|
||||
MAX_ACCELERATION = 160.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 25.0
|
||||
MAX_ACCELERATION = 160.0
|
||||
STEPGEN_MAXVEL = 26.0
|
||||
STEPGEN_MAXACCEL = 196.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 160
|
||||
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
|
||||
###############################################################################
|
||||
243
configs/by_machine/sherline/Sherline4Axis/Sherline4Axis_mm.ini
Normal file
243
configs/by_machine/sherline/Sherline4Axis/Sherline4Axis_mm.ini
Normal file
@@ -0,0 +1,243 @@
|
||||
# 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]
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
#- Path to help file
|
||||
HELP_FILE = doc/help.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 = 1.20
|
||||
#- Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#- Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
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., bridgeporttask
|
||||
TASK = milltask
|
||||
# TASK = minimilltask
|
||||
#- 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 = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 4.6
|
||||
DEFAULT_ANGULAR_VELOCITY = 25
|
||||
MAX_LINEAR_VELOCITY = 25
|
||||
MAX_ANGULAR_VELOCITY = 25
|
||||
DEFAULT_LINEAR_ACCELERATION = 50
|
||||
MAX_LINEAR_ACCELERATION = 50
|
||||
# for gui only
|
||||
MAX_LINEAR_VELOCITY = 8
|
||||
DEFAULT_LINEAR_VELOCITY = 4.6
|
||||
MAX_ANGULAR_VELOCITY = 25
|
||||
DEFAULT_ANGULAR_VELOCITY = 25
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
#+ First axis
|
||||
|
||||
[EMCIO]
|
||||
#- tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 8
|
||||
# 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 = 50
|
||||
STEPGEN_MAXVEL = 10
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 800
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
FERROR = 026.00
|
||||
MIN_FERROR = 0.2600
|
||||
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 = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
STEPGEN_MAXVEL = 10
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -800
|
||||
MIN_LIMIT = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
FERROR = 026.00
|
||||
MIN_FERROR = 0.260
|
||||
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 = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
STEPGEN_MAXVEL = 10
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = -800
|
||||
MIN_LIMIT = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
FERROR = 026.00
|
||||
MIN_FERROR = 0.260
|
||||
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 = 25.0
|
||||
MAX_ACCELERATION = 160.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 25.0
|
||||
MAX_ACCELERATION = 160.0
|
||||
STEPGEN_MAXVEL = 26.0
|
||||
STEPGEN_MAXACCEL = 196.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 160
|
||||
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
|
||||
###############################################################################
|
||||
@@ -0,0 +1,43 @@
|
||||
# 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 estop-out => parport.0.pin-01-out
|
||||
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-ext <= parport.0.pin-10-in
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
# create signals for tool loading loopback
|
||||
#net ioctl-tool-prepare iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
#net ioctl-tool-change iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
|
||||
# create a signal for "spindle on"
|
||||
#newsig spindle_on bit
|
||||
|
||||
# commented out till we resolve this issue
|
||||
# connect it to the iocontroller
|
||||
#linksp spindle_on spindle.0.on
|
||||
# connect it to a physical pin
|
||||
#linksp spindle_on parport.0.pin-01-out
|
||||
|
||||
|
||||
4
configs/by_machine/sherline/Sherline4Axis/stepper.tbl
Normal file
4
configs/by_machine/sherline/Sherline4Axis/stepper.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
|
||||
106
configs/by_machine/sherline/Sherline4Axis/stepper_xyza.hal
Normal file
106
configs/by_machine/sherline/Sherline4Axis/stepper_xyza.hal
Normal file
@@ -0,0 +1,106 @@
|
||||
# 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
|
||||
# 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]INPUT_SCALE
|
||||
setp stepgen.1.position-scale [JOINT_1]INPUT_SCALE
|
||||
setp stepgen.2.position-scale [JOINT_2]INPUT_SCALE
|
||||
setp stepgen.3.position-scale [JOINT_3]INPUT_SCALE
|
||||
|
||||
# set stepgen module velocity limits - get values from ini file
|
||||
setp stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp stepgen.3.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# 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
|
||||
7
configs/by_machine/sherline/SherlineLathe/README
Normal file
7
configs/by_machine/sherline/SherlineLathe/README
Normal file
@@ -0,0 +1,7 @@
|
||||
This configuration step is intended for Sherline stepper lathes.
|
||||
|
||||
SherlineLathe_inch.in
|
||||
inch units
|
||||
|
||||
SherlineLathe_mm.in
|
||||
metric units
|
||||
206
configs/by_machine/sherline/SherlineLathe/SherlineLathe_inch.ini
Normal file
206
configs/by_machine/sherline/SherlineLathe/SherlineLathe_inch.ini
Normal file
@@ -0,0 +1,206 @@
|
||||
# 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-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]
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
LATHE = 1
|
||||
#- 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 = 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 = core_stepper.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 A B C
|
||||
COORDINATES = X Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.18
|
||||
MAX_LINEAR_VELOCITY = .36
|
||||
DEFAULT_LINEAR_ACCELERATION = 2.0
|
||||
MAX_LINEAR_ACCELERATION = 2.0
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
#+ First axis
|
||||
|
||||
[EMCIO]
|
||||
#- tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = .36
|
||||
# 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 = 2
|
||||
STEPGEN_MAXACCEL = 2.2
|
||||
BACKLASH = 0.000
|
||||
SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
MIN_FERROR = 0.5
|
||||
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 = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2.0
|
||||
STEPGEN_MAXACCEL = 2.20
|
||||
BACKLASH = 0.000
|
||||
SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 1
|
||||
MIN_FERROR = .5
|
||||
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 = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = .36
|
||||
MAX_ACCELERATION = 2
|
||||
STEPGEN_MAXACCEL = 2.20
|
||||
BACKLASH = 0.000
|
||||
SCALE = -16000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
FERROR = 01.00
|
||||
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
|
||||
###############################################################################
|
||||
# section for main IO controller parameters
|
||||
###############################################################################
|
||||
206
configs/by_machine/sherline/SherlineLathe/SherlineLathe_mm.ini
Normal file
206
configs/by_machine/sherline/SherlineLathe/SherlineLathe_mm.ini
Normal file
@@ -0,0 +1,206 @@
|
||||
# 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-MM
|
||||
#+ 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]
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
LATHE = 1
|
||||
#- 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 = 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 = core_stepper.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 A B C
|
||||
COORDINATES = X Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 4.6
|
||||
MAX_LINEAR_VELOCITY = 8
|
||||
DEFAULT_LINEAR_ACCELERATION = 50
|
||||
MAX_LINEAR_ACCELERATION = 50
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
#+ First axis
|
||||
|
||||
[EMCIO]
|
||||
#- tool table file
|
||||
TOOL_TABLE = stepper.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 8
|
||||
# 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 = 50
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -400
|
||||
MAX_LIMIT = 400.0
|
||||
FERROR = 26
|
||||
MIN_FERROR = 0.26
|
||||
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 = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -300.0
|
||||
MAX_LIMIT = 300.0
|
||||
FERROR = 26
|
||||
MIN_FERROR = 0.26
|
||||
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 = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 8
|
||||
MAX_ACCELERATION = 50
|
||||
STEPGEN_MAXACCEL = 60
|
||||
BACKLASH = 0.000
|
||||
SCALE = -800
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
FERROR = 26
|
||||
MIN_FERROR = 0.26
|
||||
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
|
||||
###############################################################################
|
||||
@@ -0,0 +1,77 @@
|
||||
# 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
|
||||
|
||||
# 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
|
||||
|
||||
# connect "spindle on" motion controller pin to a physical pin
|
||||
net spindle-on spindle.0.on => parport.0.pin-09-out
|
||||
|
||||
###
|
||||
### You might use something like this to enable chopper drives when machine ON
|
||||
### the Xen signal is defined in core_stepper.hal
|
||||
###
|
||||
|
||||
# net Xen => parport.0.pin-01-out
|
||||
|
||||
###
|
||||
### If you want active low for this pin, invert it like this:
|
||||
###
|
||||
|
||||
# setp parport.0.pin-01-out-invert 1
|
||||
|
||||
###
|
||||
### A sample home switch on the X axis (axis 0). make a signal,
|
||||
### link the incoming parport pin to the signal, then link the signal
|
||||
### to EMC's axis 0 home switch input pin
|
||||
###
|
||||
|
||||
# net Xhome parport.0.pin-10-in => joint.0.home-sw-in
|
||||
|
||||
###
|
||||
### Shared home switches all on one parallel port pin?
|
||||
### that's ok, hook the same signal to all the axes, but be sure to
|
||||
### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file. See the
|
||||
### user manual!
|
||||
###
|
||||
|
||||
# net homeswitches <= parport.0.pin-10-in
|
||||
# net homeswitches => joint.0.home-sw-in
|
||||
# net homeswitches => joint.1.home-sw-in
|
||||
# net homeswitches => joint.2.home-sw-in
|
||||
|
||||
###
|
||||
### Sample separate limit switches on the X axis (axis 0)
|
||||
###
|
||||
|
||||
# net X-neg-limit parport.0.pin-11-in => joint.0.neg-lim-sw-in
|
||||
# net X-pos-limit parport.0.pin-12-in => joint.0.pos-lim-sw-in
|
||||
|
||||
###
|
||||
### Just like the shared home switches example, you can wire together
|
||||
### limit switches. Beware if you hit one, EMC will stop but can't tell
|
||||
### you which switch/axis has faulted. Use caution when recovering from this.
|
||||
###
|
||||
|
||||
# net Xlimits parport.0.pin-13-in => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in
|
||||
4
configs/by_machine/sherline/SherlineLathe/stepper.tbl
Normal file
4
configs/by_machine/sherline/SherlineLathe/stepper.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
|
||||
271
configs/by_machine/smithy/1034gecko.ini
Normal file
271
configs/by_machine/smithy/1034gecko.ini
Normal file
@@ -0,0 +1,271 @@
|
||||
# EMC controller parameters for Parallel Port controlled Smithy 1034 Gecko Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1034 Gecko Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 2.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 10000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240gecko.hal
|
||||
EZTROL_HALFILE = eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 2.0
|
||||
MAX_LINEAR_ACCELERATION = 1.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -14.7
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 2.2
|
||||
STEPGEN_MAXACCEL = 1.7
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 1181"/min
|
||||
SCALE = 10160
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -14.7
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -7.7
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 2.2
|
||||
STEPGEN_MAXACCEL = 1.7
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 1181"/min
|
||||
SCALE = -10160
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -7.7
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -9.0
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.4
|
||||
STEPGEN_MAXACCEL = 1.7
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 1181"/min
|
||||
SCALE = -10160
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -9.0
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -36000.0
|
||||
MAX_LIMIT = 36000.0
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
STEPGEN_MAXVEL = 33.0
|
||||
STEPGEN_MAXACCEL = 330.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -500
|
||||
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 = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
187
configs/by_machine/smithy/1240.hal
Normal file
187
configs/by_machine/smithy/1240.hal
Normal file
@@ -0,0 +1,187 @@
|
||||
# 5i20 config file for Smithy 1240 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4 enable_raw"
|
||||
|
||||
# 13312 = 0x3400 = Encoder Sample Rate Register
|
||||
setp hm2_5i20.0.raw.write_address 13312
|
||||
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
|
||||
setp hm2_5i20.0.raw.write_data 8
|
||||
# write data
|
||||
setp hm2_5i20.0.raw.write_strobe 1
|
||||
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 4000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.00.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.01.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.02.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.03.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
#net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
#net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
#net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
#net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.024.in_not => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.026.in_not => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in_not => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in_not => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.032.in_not => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.034.in_not => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV0 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV1 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.forward => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
285
configs/by_machine/smithy/1240.ini
Normal file
285
configs/by_machine/smithy/1240.ini
Normal file
@@ -0,0 +1,285 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 1240 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1240 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
#MAX_LINEAR_VELOCITY = 7.0
|
||||
MAX_LINEAR_VELOCITY = 5.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 150.0
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 20.0
|
||||
MAX_LINEAR_VELOCITY = 5.0
|
||||
MAX_LINEAR_ACCELERATION = 7.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 10.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472 in/min
|
||||
SCALE = 50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 10.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472 in/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 10.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472 in/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 150.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 150.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 9600 deg/min
|
||||
SCALE = 2500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 2.0
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
#HOME_FINAL_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 4000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
187
configs/by_machine/smithy/1240_4axis.hal
Normal file
187
configs/by_machine/smithy/1240_4axis.hal
Normal file
@@ -0,0 +1,187 @@
|
||||
# 5i20 config file for 4 Axis Smithy 1240 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4 enable_raw"
|
||||
|
||||
# 13312 = 0x3400 = Encoder Sample Rate Register
|
||||
setp hm2_5i20.0.raw.write_address 13312
|
||||
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
|
||||
setp hm2_5i20.0.raw.write_data 8
|
||||
# write data
|
||||
setp hm2_5i20.0.raw.write_strobe 1
|
||||
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 4000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.00.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.01.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.02.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.03.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.024.in_not => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.026.in_not => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in_not => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in_not => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.032.in_not => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.034.in_not => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV0 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV1 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.forward => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
285
configs/by_machine/smithy/1240_4axis.ini
Normal file
285
configs/by_machine/smithy/1240_4axis.ini
Normal file
@@ -0,0 +1,285 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled 4 Axis Smithy 1240 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = 4 Axis Smithy 1240 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
#MAX_LINEAR_VELOCITY = 7.0
|
||||
MAX_LINEAR_VELOCITY = 5.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 150.0
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240_4axis.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 20.0
|
||||
MAX_LINEAR_VELOCITY = 5.0
|
||||
MAX_LINEAR_ACCELERATION = 7.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 10.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472 in/min
|
||||
SCALE = 50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 10.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472 in/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
#MAX_VELOCITY = 7.0
|
||||
#MAX_ACCELERATION = 10.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 7.5
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472 in/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 150.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 150.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 9600 deg/min
|
||||
SCALE = 2500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 2.0
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
#HOME_FINAL_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 4000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
277
configs/by_machine/smithy/1240combined.hal
Normal file
277
configs/by_machine/smithy/1240combined.hal
Normal file
@@ -0,0 +1,277 @@
|
||||
# 5i20 config file for Smithy 1240 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/sssvst2_2_4_v31.bit num_encoders=1 num_pwmgens=0 num_stepgens=4 sserial_port_0=0xxxxxxx enable_raw"
|
||||
#loadrt hm2_pci config="firmware=hm2/5i20/sssvst2_2_2_v35.bit num_encoders=1 num_pwmgens=0 num_stepgens=4 enable_raw"
|
||||
|
||||
# 13312 = 0x3400 = Encoder Sample Rate Register
|
||||
setp hm2_5i20.0.raw.write_address 13312
|
||||
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
|
||||
setp hm2_5i20.0.raw.write_data 8
|
||||
# write data
|
||||
setp hm2_5i20.0.raw.write_strobe 1
|
||||
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
setp charge-pump.enable TRUE
|
||||
|
||||
# load and configure the spindle speed PID
|
||||
loadrt pid num_chan=1
|
||||
setp pid.0.Pgain 0.1
|
||||
setp pid.0.Igain 100.0
|
||||
setp pid.0.Dgain 0.0
|
||||
setp pid.0.maxoutput 1.0
|
||||
setp pid.0.deadband 0.01
|
||||
|
||||
# load and configure the spindle speed limiting, filtering, and comparison blocks
|
||||
# Need this line so AXIS shows +/- buttons
|
||||
net srpm spindle.0.speed-out
|
||||
# Limit bounds and slew rate/second
|
||||
loadrt limit2
|
||||
setp limit2.0.min -100
|
||||
setp limit2.0.max 100
|
||||
setp limit2.0.maxv 50
|
||||
# Stalled spindle detector
|
||||
loadrt abs
|
||||
loadrt comp count=2
|
||||
setp comp.0.in0 1.0
|
||||
setp comp.1.in0 0.0
|
||||
loadrt and2 count=2
|
||||
# Filter srps
|
||||
loadrt lowpass
|
||||
setp lowpass.0.gain 0.07
|
||||
# Spindle at-speed detection
|
||||
loadrt near
|
||||
setp near.0.scale 1.1
|
||||
setp near.0.difference 0.1
|
||||
net srps spindle.0.speed-out-rps limit2.0.in near.0.in1
|
||||
net scmd limit2.0.out pid.0.command
|
||||
net fb hm2_5i20.0.encoder.00.velocity pid.0.feedback spindle.0.speed-in lowpass.0.in comp.1.in1
|
||||
net sflt lowpass.0.out near.0.in2
|
||||
net at-speed near.0.out spindle.0.at-speed
|
||||
net scur-abs abs.0.out comp.0.in1
|
||||
net scmd-ok comp.0.equal and2.0.in0
|
||||
net sfb-ok comp.1.equal and2.0.in1
|
||||
net stall and2.0.out
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
### q = encoder, h=hall sensors, i=index
|
||||
loadrt bldc cfg=qh
|
||||
setp bldc.0.rev 1
|
||||
setp hm2_5i20.0.encoder.00.scale 2880
|
||||
net Spos hm2_5i20.0.encoder.00.position spindle.0.revs
|
||||
net Sidx hm2_5i20.0.encoder.00.index-enable spindle.0.index-enable
|
||||
net pid-out pid.0.output bldc.0.value
|
||||
net rawcount hm2_5i20.0.encoder.00.rawcounts
|
||||
net rotor_angle hm2_5i20.0.8i20.0.0.angle bldc.0.rotor-angle
|
||||
setp hm2_5i20.0.8i20.0.0.max_current 30.0
|
||||
net current bldc.0.out hm2_5i20.0.8i20.0.0.current abs.0.in
|
||||
|
||||
### IF cfg==*q* uncomment these lines
|
||||
setp bldc.0.initvalue 0.8
|
||||
setp bldc.0.lead-angle 0
|
||||
### 2.2kW Motor
|
||||
setp bldc.0.poles 4
|
||||
### 1kW Motor
|
||||
#setp bldc.0.poles 8
|
||||
setp bldc.0.scale -2880
|
||||
net rawcount bldc.0.rawcounts
|
||||
|
||||
### IF cfg==*h* uncomment these lines
|
||||
net spindle-on spindle.0.on pid.0.enable
|
||||
net sa bldc.0.hall1 hm2_5i20.0.gpio.005.in
|
||||
net sb bldc.0.hall2 hm2_5i20.0.gpio.007.in
|
||||
net sc bldc.0.hall3 hm2_5i20.0.gpio.009.in
|
||||
### 2.2kW Motor
|
||||
setp bldc.0.pattern 17 # 17 or 44
|
||||
### 1kW Motor
|
||||
#setp bldc.0.pattern 34 # 15 or 34
|
||||
### ELSE uncomment these lines
|
||||
#net amp-enable bldc.0.init
|
||||
#net init-done bldc.0.init-done
|
||||
|
||||
### IF cfg==*i* uncomment this line
|
||||
#net Sidx bldc.0.index-enable
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.00.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.01.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.02.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.03.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd hm2_5i20.0.stepgen.02.position-cmd
|
||||
#net Apos-cmd joint.3.motor-pos-cmd hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb joint.2.motor-pos-fb
|
||||
#net Apos-fb hm2_5i20.0.stepgen.03.position-fb joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out hm2_5i20.0.stepgen.02.enable
|
||||
#net Aen joint.3.amp-enable-out hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
setp joint.0.jog-vel-mode TRUE
|
||||
setp joint.1.jog-vel-mode TRUE
|
||||
setp joint.2.jog-vel-mode TRUE
|
||||
#setp joint.3.jog-vel-mode TRUE
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
loadrt debounce cfg=1
|
||||
setp debounce.0.delay 1000
|
||||
net key-on hm2_5i20.0.gpio.039.in_not debounce.0.0.in
|
||||
net machine-on debounce.0.0.out hm2_5i20.0.sserial.port-0.run hm2_5i20.0.8i20.0.0.amp_enable halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.024.in_not joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.026.in_not joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in_not joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in_not joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.032.in_not joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.034.in_not joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax joint.0.home-sw-in
|
||||
net Ymax joint.1.home-sw-in
|
||||
net Zmax joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
|
||||
# Stop on any spindle fault
|
||||
loadrt or2
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not and2.1.in0
|
||||
net VFDOK hm2_5i20.0.gpio.031.in_not or2.0.in0
|
||||
#net AUTO halui.mode.is-auto and2.1.in1
|
||||
net stall or2.0.in1
|
||||
#net ABORT and2.1.out halui.abort
|
||||
net ABORT or2.0.out halui.abort
|
||||
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV0 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV1 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# Link Spindle Direction Signals to make AXIS Display Buttons
|
||||
net FWD spindle.0.reverse
|
||||
net REV spindle.0.forward
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# limit the spindle speed command
|
||||
addf limit2.0 servo-thread
|
||||
# do spindle pid calcs
|
||||
addf pid.0.do-pid-calcs servo-thread
|
||||
# filter encoder velocity
|
||||
addf lowpass.0 servo-thread
|
||||
# compare filtered encoder velocity to commanded
|
||||
addf near.0 servo-thread
|
||||
# detect a stalled spindle
|
||||
addf abs.0 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf and2.0 servo-thread
|
||||
# delay running the 8i20 smart serial channel
|
||||
addf debounce.0 servo-thread
|
||||
# detect a spindle fault
|
||||
#addf and2.1 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# run bldc function
|
||||
addf bldc.0 servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
302
configs/by_machine/smithy/1240combined.ini
Normal file
302
configs/by_machine/smithy/1240combined.ini
Normal file
@@ -0,0 +1,302 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 1240 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1240 Combined Box Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
# @SCALE = 25600
|
||||
#MAX_LINEAR_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_LINEAR_VELOCITY = 4.2
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 85.0
|
||||
PYVCP = 8i20.xml
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 250000
|
||||
SERVO_PERIOD = 250000
|
||||
TRAJ_PERIOD = 250000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240combined.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
#HALFILE = axis_manualtoolchange.hal
|
||||
POSTGUI_HALFILE = 8i20postgui.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_LINEAR_VELOCITY = 4.2
|
||||
MAX_LINEAR_ACCELERATION = 10.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 25600
|
||||
# Vel at 250k Steps/S = 115"/min
|
||||
#SCALE = 130048
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 295"/min
|
||||
SCALE = 50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 25600
|
||||
# Vel at 250k Steps/S = 115"/min
|
||||
#SCALE = -130048
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 295"/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 25600
|
||||
# Vel at 250k Steps/S = 115"/min
|
||||
#SCALE = -130048
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 295"/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 85.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 85.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 9600 deg/min
|
||||
SCALE = 2500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 2.0
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
#HOME_FINAL_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 6000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
277
configs/by_machine/smithy/1240combined_4axis.hal
Normal file
277
configs/by_machine/smithy/1240combined_4axis.hal
Normal file
@@ -0,0 +1,277 @@
|
||||
# 5i20 config file for a 4 Axis Smithy 1240 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/sssvst2_2_4_v31.bit num_encoders=1 num_pwmgens=0 num_stepgens=4 sserial_port_0=0xxxxxxx enable_raw"
|
||||
#loadrt hm2_pci config="firmware=hm2/5i20/sssvst2_2_2_v35.bit num_encoders=1 num_pwmgens=0 num_stepgens=4 enable_raw"
|
||||
|
||||
# 13312 = 0x3400 = Encoder Sample Rate Register
|
||||
setp hm2_5i20.0.raw.write_address 13312
|
||||
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
|
||||
setp hm2_5i20.0.raw.write_data 8
|
||||
# write data
|
||||
setp hm2_5i20.0.raw.write_strobe 1
|
||||
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
setp charge-pump.enable TRUE
|
||||
|
||||
# load and configure the spindle speed PID
|
||||
loadrt pid num_chan=1
|
||||
setp pid.0.Pgain 0.1
|
||||
setp pid.0.Igain 100.0
|
||||
setp pid.0.Dgain 0.0
|
||||
setp pid.0.maxoutput 1.0
|
||||
setp pid.0.deadband 0.01
|
||||
|
||||
# load and configure the spindle speed limiting, filtering, and comparison blocks
|
||||
# Need this line so AXIS shows +/- buttons
|
||||
net srpm spindle.0.speed-out
|
||||
# Limit bounds and slew rate/second
|
||||
loadrt limit2
|
||||
setp limit2.0.min -100
|
||||
setp limit2.0.max 100
|
||||
setp limit2.0.maxv 50
|
||||
# Stalled spindle detector
|
||||
loadrt abs
|
||||
loadrt comp count=2
|
||||
setp comp.0.in0 1.0
|
||||
setp comp.1.in0 0.0
|
||||
loadrt and2 count=2
|
||||
# Filter srps
|
||||
loadrt lowpass
|
||||
setp lowpass.0.gain 0.07
|
||||
# Spindle at-speed detection
|
||||
loadrt near
|
||||
setp near.0.scale 1.1
|
||||
setp near.0.difference 0.1
|
||||
net srps spindle.0.speed-out-rps limit2.0.in near.0.in1
|
||||
net scmd limit2.0.out pid.0.command
|
||||
net fb hm2_5i20.0.encoder.00.velocity pid.0.feedback spindle.0.speed-in lowpass.0.in comp.1.in1
|
||||
net sflt lowpass.0.out near.0.in2
|
||||
net at-speed near.0.out spindle.0.at-speed
|
||||
net scur-abs abs.0.out comp.0.in1
|
||||
net scmd-ok comp.0.equal and2.0.in0
|
||||
net sfb-ok comp.1.equal and2.0.in1
|
||||
net stall and2.0.out
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
### q = encoder, h=hall sensors, i=index
|
||||
loadrt bldc cfg=qh
|
||||
setp bldc.0.rev 1
|
||||
setp hm2_5i20.0.encoder.00.scale 2880
|
||||
net Spos hm2_5i20.0.encoder.00.position spindle.0.revs
|
||||
net Sidx hm2_5i20.0.encoder.00.index-enable spindle.0.index-enable
|
||||
net pid-out pid.0.output bldc.0.value
|
||||
net rawcount hm2_5i20.0.encoder.00.rawcounts
|
||||
net rotor_angle hm2_5i20.0.8i20.0.0.angle bldc.0.rotor-angle
|
||||
setp hm2_5i20.0.8i20.0.0.max_current 30.0
|
||||
net current bldc.0.out hm2_5i20.0.8i20.0.0.current abs.0.in
|
||||
|
||||
### IF cfg==*q* uncomment these lines
|
||||
setp bldc.0.initvalue 0.8
|
||||
setp bldc.0.lead-angle 0
|
||||
### 2.2kW Motor
|
||||
setp bldc.0.poles 4
|
||||
### 1kW Motor
|
||||
#setp bldc.0.poles 8
|
||||
setp bldc.0.scale -2880
|
||||
net rawcount bldc.0.rawcounts
|
||||
|
||||
### IF cfg==*h* uncomment these lines
|
||||
net spindle-on spindle.0.on pid.0.enable
|
||||
net sa bldc.0.hall1 hm2_5i20.0.gpio.005.in
|
||||
net sb bldc.0.hall2 hm2_5i20.0.gpio.007.in
|
||||
net sc bldc.0.hall3 hm2_5i20.0.gpio.009.in
|
||||
### 2.2kW Motor
|
||||
setp bldc.0.pattern 17 # 17 or 44
|
||||
### 1kW Motor
|
||||
#setp bldc.0.pattern 34 # 15 or 34
|
||||
### ELSE uncomment these lines
|
||||
#net amp-enable bldc.0.init
|
||||
#net init-done bldc.0.init-done
|
||||
|
||||
### IF cfg==*i* uncomment this line
|
||||
#net Sidx bldc.0.index-enable
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.00.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.01.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.02.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.03.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd hm2_5i20.0.stepgen.02.position-cmd
|
||||
net Apos-cmd joint.3.motor-pos-cmd hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb joint.2.motor-pos-fb
|
||||
net Apos-fb hm2_5i20.0.stepgen.03.position-fb joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out hm2_5i20.0.stepgen.02.enable
|
||||
net Aen joint.3.amp-enable-out hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
setp joint.0.jog-vel-mode TRUE
|
||||
setp joint.1.jog-vel-mode TRUE
|
||||
setp joint.2.jog-vel-mode TRUE
|
||||
setp joint.3.jog-vel-mode TRUE
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
loadrt debounce cfg=1
|
||||
setp debounce.0.delay 1000
|
||||
net key-on hm2_5i20.0.gpio.039.in_not debounce.0.0.in
|
||||
net machine-on debounce.0.0.out hm2_5i20.0.sserial.port-0.run hm2_5i20.0.8i20.0.0.amp_enable halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.024.in_not joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.026.in_not joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in_not joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in_not joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.032.in_not joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.034.in_not joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax joint.0.home-sw-in
|
||||
net Ymax joint.1.home-sw-in
|
||||
net Zmax joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
|
||||
# Stop on any spindle fault
|
||||
loadrt or2
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not and2.1.in0
|
||||
net VFDOK hm2_5i20.0.gpio.031.in_not or2.0.in0
|
||||
#net AUTO halui.mode.is-auto and2.1.in1
|
||||
net stall or2.0.in1
|
||||
#net ABORT and2.1.out halui.abort
|
||||
net ABORT or2.0.out halui.abort
|
||||
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV0 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV1 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# Link Spindle Direction Signals to make AXIS Display Buttons
|
||||
net FWD spindle.0.reverse
|
||||
net REV spindle.0.forward
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# limit the spindle speed command
|
||||
addf limit2.0 servo-thread
|
||||
# do spindle pid calcs
|
||||
addf pid.0.do-pid-calcs servo-thread
|
||||
# filter encoder velocity
|
||||
addf lowpass.0 servo-thread
|
||||
# compare filtered encoder velocity to commanded
|
||||
addf near.0 servo-thread
|
||||
# detect a stalled spindle
|
||||
addf abs.0 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf and2.0 servo-thread
|
||||
# delay running the 8i20 smart serial channel
|
||||
addf debounce.0 servo-thread
|
||||
# detect a spindle fault
|
||||
#addf and2.1 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# run bldc function
|
||||
addf bldc.0 servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
302
configs/by_machine/smithy/1240combined_4axis.ini
Normal file
302
configs/by_machine/smithy/1240combined_4axis.ini
Normal file
@@ -0,0 +1,302 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled 4 Axis Smithy 1240 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = 4 Axis Smithy 1240 Combined Box Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
# @SCALE = 25600
|
||||
#MAX_LINEAR_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_LINEAR_VELOCITY = 4.2
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 85.0
|
||||
PYVCP = 8i20.xml
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 250000
|
||||
SERVO_PERIOD = 250000
|
||||
TRAJ_PERIOD = 250000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240combined_4axis.hal
|
||||
#HALFILE = naiky_4axis.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
#HALFILE = axis_manualtoolchange.hal
|
||||
POSTGUI_HALFILE = 8i20postgui.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_LINEAR_VELOCITY = 4.2
|
||||
MAX_LINEAR_ACCELERATION = 10.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 25600
|
||||
# Vel at 250k Steps/S = 115"/min
|
||||
#SCALE = 130048
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 295"/min
|
||||
SCALE = 50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 25600
|
||||
# Vel at 250k Steps/S = 115"/min
|
||||
#SCALE = -130048
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 295"/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 4.2
|
||||
MAX_ACCELERATION = 10.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 25600
|
||||
# Vel at 250k Steps/S = 115"/min
|
||||
#SCALE = -130048
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 295"/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 85.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 85.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 9600 deg/min
|
||||
SCALE = 2500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 2.0
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
#HOME_FINAL_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 4000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
282
configs/by_machine/smithy/1240combined_mm.ini
Normal file
282
configs/by_machine/smithy/1240combined_mm.ini
Normal file
@@ -0,0 +1,282 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 1240 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1240 Combined Box Mill (metric operation)
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = 1mm .5mm .1mm .05mm .01mm .005mm .001mm .0005mm
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 5.08
|
||||
MAX_LINEAR_VELOCITY = 124.46
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 150.0
|
||||
PYVCP = 8i20.xml
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
RS274NGC_STARTUP_CODE = G21
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 250000
|
||||
SERVO_PERIOD = 250000
|
||||
TRAJ_PERIOD = 250000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240combined.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
#HALFILE = axis_manualtoolchange.hal
|
||||
POSTGUI_HALFILE = 8i20postgui.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 124.46
|
||||
MAX_LINEAR_ACCELERATION = 254.0
|
||||
DEFAULT_LINEAR_VELOCITY = 5.08
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 0
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -553.72
|
||||
MAX_LIMIT = 5.08
|
||||
MAX_VELOCITY = 124.46
|
||||
MAX_ACCELERATION = 254.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 124.46
|
||||
MAX_ACCELERATION = 254.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 7493mm/min
|
||||
SCALE = 2000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -553.72
|
||||
MAX_LIMIT = 5.08
|
||||
FERROR = 6.35
|
||||
MIN_FERROR = 2.54
|
||||
HOME_OFFSET = 6.35
|
||||
HOME_SEARCH_VEL = 12.7
|
||||
HOME_LATCH_VEL = 1.27
|
||||
HOME_FINAL_VEL = 12.7
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -299.72
|
||||
MAX_LIMIT = 5.08
|
||||
MAX_VELOCITY = 124.46
|
||||
MAX_ACCELERATION = 254.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 124.46
|
||||
MAX_ACCELERATION = 254.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 7493mm/min
|
||||
SCALE = -2000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -299.72
|
||||
MAX_LIMIT = 5.08
|
||||
FERROR = 6.35
|
||||
MIN_FERROR = 2.54
|
||||
HOME_OFFSET = 6.35
|
||||
HOME_SEARCH_VEL = 12.7
|
||||
HOME_LATCH_VEL = 1.27
|
||||
HOME_FINAL_VEL = 12.7
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -299.72
|
||||
MAX_LIMIT = 5.08
|
||||
MAX_VELOCITY = 124.46
|
||||
MAX_ACCELERATION = 254.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
# @SCALE = 25600
|
||||
#MAX_VELOCITY = 1.9
|
||||
# @SCALE = 10000
|
||||
MAX_VELOCITY = 124.46
|
||||
MAX_ACCELERATION = 254.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 250k Steps/S = 7493mm/min
|
||||
SCALE = -2000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -299.72
|
||||
MAX_LIMIT = 5.08
|
||||
FERROR = 6.35
|
||||
MIN_FERROR = 2.54
|
||||
HOME_OFFSET = 6.35
|
||||
HOME_SEARCH_VEL = 12.7
|
||||
HOME_LATCH_VEL = 1.27
|
||||
HOME_FINAL_VEL = 12.7
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 150.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 150.0
|
||||
MAX_ACCELERATION = 450.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 9600 deg/min
|
||||
SCALE = 2500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 2.0
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
#HOME_FINAL_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 4000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
125
configs/by_machine/smithy/1240gecko.hal
Normal file
125
configs/by_machine/smithy/1240gecko.hal
Normal file
@@ -0,0 +1,125 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
loadrt hal_parport cfg=0x378
|
||||
setp parport.0.reset-time 4000
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
loadrt charge_pump
|
||||
loadrt match8 count=1
|
||||
|
||||
loadrt pwmgen output_type=1
|
||||
setp pwmgen.0.pwm-freq 5.0
|
||||
setp pwmgen.0.scale 4000
|
||||
setp pwmgen.0.offset 0.0
|
||||
setp pwmgen.0.min-dc 0.01
|
||||
setp pwmgen.0.max-dc 0.99
|
||||
setp pwmgen.0.dither-pwm true
|
||||
|
||||
addf parport.0.read base-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
addf charge-pump base-thread
|
||||
addf pwmgen.make-pulses base-thread
|
||||
addf parport.0.write base-thread
|
||||
addf parport.0.reset 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
|
||||
addf pwmgen.update servo-thread
|
||||
addf match8.0 servo-thread
|
||||
|
||||
net spindle-cmd spindle.0.speed-out pwmgen.0.value
|
||||
net spindle-enable spindle.0.on pwmgen.0.enable
|
||||
|
||||
net coolant-flood parport.0.pin-01-out iocontrol.0.coolant-flood
|
||||
net xdir parport.0.pin-02-out stepgen.0.dir
|
||||
net xstep parport.0.pin-03-out stepgen.0.step
|
||||
setp parport.0.pin-03-out-reset 1
|
||||
net ydir parport.0.pin-04-out stepgen.1.dir
|
||||
net ystep parport.0.pin-05-out stepgen.1.step
|
||||
setp parport.0.pin-05-out-reset 1
|
||||
net zdir parport.0.pin-06-out stepgen.2.dir
|
||||
net zstep parport.0.pin-07-out stepgen.2.step
|
||||
setp parport.0.pin-07-out-reset 1
|
||||
net adir parport.0.pin-08-out stepgen.3.dir
|
||||
net astep parport.0.pin-09-out stepgen.3.step
|
||||
setp parport.0.pin-09-out-reset 1
|
||||
|
||||
#PMDX-110
|
||||
# Need this line so AXIS shows the reverse button
|
||||
net spindle-rev spindle.0.reverse
|
||||
net spindle-fwd parport.0.pin-14-out spindle.0.forward
|
||||
#--OR--
|
||||
#PMDX-131
|
||||
# Need this line so AXIS shows the forward button
|
||||
#net spindle-fwd spindle.0.forward
|
||||
#net spindle-rev parport.0.pin-14-out spindle.0.reverse
|
||||
|
||||
net spindle-pwm parport.0.pin-16-out pwmgen.0.pwm
|
||||
net charge-pump parport.0.pin-17-out charge-pump.out
|
||||
net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
|
||||
net estop-out charge-pump.enable halui.machine.is-on
|
||||
|
||||
#PMDX-110
|
||||
#net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
|
||||
#--OR--
|
||||
#PMDX-131
|
||||
net run parport.0.pin-11-in halui.program.pause motion.feed-hold
|
||||
|
||||
net all-home parport.0.pin-12-in-not
|
||||
|
||||
setp stepgen.0.position-scale [JOINT_0]SCALE
|
||||
setp stepgen.0.steplen 1
|
||||
setp stepgen.0.stepspace 0
|
||||
setp stepgen.0.dirhold 35000
|
||||
setp stepgen.0.dirsetup 16000
|
||||
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
net xpos-cmd joint.0.motor-pos-cmd stepgen.0.position-cmd
|
||||
net xpos-fb stepgen.0.position-fb joint.0.motor-pos-fb
|
||||
net xenable joint.0.amp-enable-out stepgen.0.enable
|
||||
net all-home joint.0.home-sw-in
|
||||
|
||||
setp stepgen.1.position-scale [JOINT_1]SCALE
|
||||
setp stepgen.1.steplen 1
|
||||
setp stepgen.1.stepspace 0
|
||||
setp stepgen.1.dirhold 35000
|
||||
setp stepgen.1.dirsetup 16000
|
||||
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
net ypos-cmd joint.1.motor-pos-cmd stepgen.1.position-cmd
|
||||
net ypos-fb stepgen.1.position-fb joint.1.motor-pos-fb
|
||||
net yenable joint.1.amp-enable-out stepgen.1.enable
|
||||
net all-home joint.1.home-sw-in
|
||||
|
||||
setp stepgen.2.position-scale [JOINT_2]SCALE
|
||||
setp stepgen.2.steplen 1
|
||||
setp stepgen.2.stepspace 0
|
||||
setp stepgen.2.dirhold 35000
|
||||
setp stepgen.2.dirsetup 16000
|
||||
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
net zpos-cmd joint.2.motor-pos-cmd stepgen.2.position-cmd
|
||||
net zpos-fb stepgen.2.position-fb joint.2.motor-pos-fb
|
||||
net zenable joint.2.amp-enable-out stepgen.2.enable
|
||||
net all-home joint.2.home-sw-in
|
||||
|
||||
setp stepgen.3.position-scale [JOINT_3]SCALE
|
||||
setp stepgen.3.steplen 1
|
||||
setp stepgen.3.stepspace 0
|
||||
setp stepgen.3.dirhold 35000
|
||||
setp stepgen.3.dirsetup 16000
|
||||
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
net apos-cmd joint.3.motor-pos-cmd stepgen.3.position-cmd
|
||||
net apos-fb stepgen.3.position-fb joint.3.motor-pos-fb
|
||||
net aenable joint.3.amp-enable-out stepgen.3.enable
|
||||
|
||||
newsig false bit
|
||||
sets false FALSE
|
||||
net xhoming joint.0.homing match8.0.a0
|
||||
net yhoming joint.1.homing match8.0.a1
|
||||
net zhoming joint.2.homing match8.0.a2
|
||||
net false match8.0.b0 match8.0.b1 match8.0.b2
|
||||
net all-home match8.0.in
|
||||
net limit match8.0.out joint.0.neg-lim-sw-in
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
272
configs/by_machine/smithy/1240gecko.ini
Normal file
272
configs/by_machine/smithy/1240gecko.ini
Normal file
@@ -0,0 +1,272 @@
|
||||
# EMC controller parameters for Parallel Port controlled Smithy 1240 Gecko Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1240 Gecko Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 2.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
PYVCP = gecko.xml
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 10000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240gecko.hal
|
||||
EZTROL_HALFILE = eztrol.hal
|
||||
POSTGUI_HALFILE = gecko_postgui.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 2.0
|
||||
MAX_LINEAR_ACCELERATION = 1.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 2.2
|
||||
STEPGEN_MAXACCEL = 1.7
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 1181"/min
|
||||
SCALE = 10160
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -21.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 2.2
|
||||
STEPGEN_MAXACCEL = 1.7
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 1181"/min
|
||||
SCALE = -10160
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.3
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.4
|
||||
STEPGEN_MAXACCEL = 1.7
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 1181"/min
|
||||
SCALE = -10160
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.3
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -36000.0
|
||||
MAX_LIMIT = 36000.0
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
STEPGEN_MAXVEL = 33.0
|
||||
STEPGEN_MAXACCEL = 330.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -500
|
||||
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 = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
77
configs/by_machine/smithy/1240rutex.hal
Normal file
77
configs/by_machine/smithy/1240rutex.hal
Normal file
@@ -0,0 +1,77 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
loadrt stepgen step_type=0,0,0
|
||||
loadrt match8 count=1
|
||||
# Used to filter out spurious limit switch signals
|
||||
# THIS IS VERY BAD & SHOULD BE FIXED IN HARDWARE!!!
|
||||
loadrt debounce cfg=1
|
||||
setp debounce.0.delay 2
|
||||
loadrt hal_parport cfg="0x378"
|
||||
|
||||
addf parport.0.read base-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
addf debounce.0 base-thread
|
||||
addf parport.0.write base-thread
|
||||
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf match8.0 servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
|
||||
net Xpos-cmd joint.0.motor-pos-cmd stepgen.0.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd stepgen.1.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd stepgen.2.position-cmd
|
||||
|
||||
net Xpos-fb stepgen.0.position-fb joint.0.motor-pos-fb
|
||||
net Ypos-fb stepgen.1.position-fb joint.1.motor-pos-fb
|
||||
net Zpos-fb stepgen.2.position-fb joint.2.motor-pos-fb
|
||||
|
||||
net Xen <= joint.0.amp-enable-out stepgen.0.enable
|
||||
net Yen <= joint.1.amp-enable-out stepgen.1.enable
|
||||
net Zen <= joint.2.amp-enable-out stepgen.2.enable
|
||||
|
||||
net Xstep stepgen.0.step parport.0.pin-03-out
|
||||
net Xdir stepgen.0.dir parport.0.pin-02-out
|
||||
net Ystep stepgen.1.step parport.0.pin-05-out
|
||||
net Ydir stepgen.1.dir parport.0.pin-04-out
|
||||
net Zstep stepgen.2.step parport.0.pin-07-out
|
||||
net Zdir stepgen.2.dir parport.0.pin-06-out
|
||||
|
||||
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.0.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
|
||||
# three axis motion allows 6 other outputs on pins 8,9,1,14,16,17
|
||||
# five additional input pins are available 10,11,12,13,15
|
||||
|
||||
setp parport.0.pin-01-out-invert true
|
||||
net estop iocontrol.0.user-enable-out parport.0.pin-01-out iocontrol.0.emc-enable-in
|
||||
|
||||
setp parport.0.pin-14-out-invert true
|
||||
net flood iocontrol.0.coolant-flood parport.0.pin-14-out
|
||||
|
||||
setp parport.0.pin-17-out-invert true
|
||||
net forward spindle.0.forward parport.0.pin-16-out
|
||||
net reverse spindle.0.reverse parport.0.pin-17-out
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
newsig false bit
|
||||
sets false FALSE
|
||||
net xhoming joint.0.homing match8.0.a0
|
||||
net yhoming joint.1.homing match8.0.a1
|
||||
net zhoming joint.2.homing match8.0.a2
|
||||
net false match8.0.b0 match8.0.b1 match8.0.b2
|
||||
net home-raw parport.0.pin-15-in-not debounce.0.0.in
|
||||
net home-filtered debounce.0.0.out joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in match8.0.in
|
||||
net limit match8.0.out joint.0.neg-lim-sw-in
|
||||
|
||||
270
configs/by_machine/smithy/1240rutex.ini
Normal file
270
configs/by_machine/smithy/1240rutex.ini
Normal file
@@ -0,0 +1,270 @@
|
||||
# EMC controller parameters for Parallel Port controlled Smithy 1240 Rutex Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1240 Rutex Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 10000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240rutex.hal
|
||||
EZTROL_HALFILE = eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 3.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -22.0
|
||||
MAX_LIMIT = 0.25
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
STEPGEN_MAXVEL = 3.4
|
||||
STEPGEN_MAXACCEL = 4.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = 2033.2
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -22.0
|
||||
MAX_LIMIT = 0.25
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
STEPGEN_MAXVEL = 3.4
|
||||
STEPGEN_MAXACCEL = 4.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -2033.2
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 1.4
|
||||
STEPGEN_MAXACCEL = 21.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -2033.2
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 10.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 10.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
STEPGEN_MAXVEL = 11.0
|
||||
STEPGEN_MAXACCEL = 31.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 40:360 = 1:9
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 50k Steps/S = 13500 deg/min
|
||||
#SCALE = -222.22222222
|
||||
# Drive Ratio = 72:360 = 1:5
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 50k Steps/S = 7500 deg/min
|
||||
#SCALE = -400.0
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 50k Steps/S = 6000 deg/min
|
||||
SCALE = -500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 50.0
|
||||
MIN_FERROR = 10.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
86
configs/by_machine/smithy/1240rutex_4axis.hal
Normal file
86
configs/by_machine/smithy/1240rutex_4axis.hal
Normal file
@@ -0,0 +1,86 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
loadrt match8 count=1
|
||||
# Used to filter out spurious limit switch signals
|
||||
# THIS IS VERY BAD & SHOULD BE FIXED IN HARDWARE!!!
|
||||
loadrt debounce cfg=1
|
||||
setp debounce.0.delay 2
|
||||
loadrt hal_parport cfg="0x378"
|
||||
|
||||
addf parport.0.read base-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
addf debounce.0 base-thread
|
||||
addf parport.0.write base-thread
|
||||
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf match8.0 servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
|
||||
net Xpos-cmd joint.0.motor-pos-cmd stepgen.0.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd stepgen.1.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd stepgen.2.position-cmd
|
||||
net Apos-cmd joint.3.motor-pos-cmd stepgen.3.position-cmd
|
||||
|
||||
net Xpos-fb stepgen.0.position-fb joint.0.motor-pos-fb
|
||||
net Ypos-fb stepgen.1.position-fb joint.1.motor-pos-fb
|
||||
net Zpos-fb stepgen.2.position-fb joint.2.motor-pos-fb
|
||||
net Apos-fb stepgen.3.position-fb joint.3.motor-pos-fb
|
||||
|
||||
net Xen <= joint.0.amp-enable-out stepgen.0.enable
|
||||
net Yen <= joint.1.amp-enable-out stepgen.1.enable
|
||||
net Zen <= joint.2.amp-enable-out stepgen.2.enable
|
||||
net Aen <= joint.3.amp-enable-out stepgen.3.enable
|
||||
|
||||
net Xstep stepgen.0.step parport.0.pin-03-out
|
||||
net Xdir stepgen.0.dir parport.0.pin-02-out
|
||||
net Ystep stepgen.1.step parport.0.pin-05-out
|
||||
net Ydir stepgen.1.dir parport.0.pin-04-out
|
||||
net Zstep stepgen.2.step parport.0.pin-07-out
|
||||
net Zdir stepgen.2.dir parport.0.pin-06-out
|
||||
net Astep stepgen.3.step parport.0.pin-09-out
|
||||
net Adir stepgen.3.dir parport.0.pin-08-out
|
||||
|
||||
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
|
||||
setp stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp stepgen.3.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
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
|
||||
|
||||
# four axis motion allows 4 other outputs on pins 1,14,16,17
|
||||
# five additional input pins are available 10,11,12,13,15
|
||||
|
||||
setp parport.0.pin-01-out-invert true
|
||||
net estop iocontrol.0.user-enable-out parport.0.pin-01-out iocontrol.0.emc-enable-in
|
||||
|
||||
setp parport.0.pin-14-out-invert true
|
||||
net flood iocontrol.0.coolant-flood parport.0.pin-14-out
|
||||
|
||||
setp parport.0.pin-17-out-invert true
|
||||
net forward spindle.0.forward parport.0.pin-16-out
|
||||
net reverse spindle.0.reverse parport.0.pin-17-out
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
newsig false bit
|
||||
sets false FALSE
|
||||
net xhoming joint.0.homing match8.0.a0
|
||||
net yhoming joint.1.homing match8.0.a1
|
||||
net zhoming joint.2.homing match8.0.a2
|
||||
net ahoming joint.3.homing match8.0.a3
|
||||
net false match8.0.b0 match8.0.b1 match8.0.b2 match8.0.b3
|
||||
net home-raw parport.0.pin-15-in-not debounce.0.0.in
|
||||
net home-filtered debounce.0.0.out joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in joint.3.home-sw-in match8.0.in
|
||||
net limit match8.0.out joint.0.neg-lim-sw-in
|
||||
|
||||
270
configs/by_machine/smithy/1240rutex_4axis.ini
Normal file
270
configs/by_machine/smithy/1240rutex_4axis.ini
Normal file
@@ -0,0 +1,270 @@
|
||||
# EMC controller parameters for Parallel Port controlled Smithy 1240 Rutex Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = 4 Axis Smithy 1240 Rutex Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 10000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1240rutex_4axis.hal
|
||||
EZTROL_HALFILE = eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 3.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -22.0
|
||||
MAX_LIMIT = 0.25
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
STEPGEN_MAXVEL = 3.4
|
||||
STEPGEN_MAXACCEL = 4.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = 2033.2
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -22.0
|
||||
MAX_LIMIT = 0.25
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 3.0
|
||||
STEPGEN_MAXVEL = 3.4
|
||||
STEPGEN_MAXACCEL = 4.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -2033.2
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.2
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 1.4
|
||||
STEPGEN_MAXACCEL = 21.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -2033.2
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.0
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.1
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 10.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 10.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
STEPGEN_MAXVEL = 11.0
|
||||
STEPGEN_MAXACCEL = 31.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 40:360 = 1:9
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 50k Steps/S = 13500 deg/min
|
||||
#SCALE = -222.22222222
|
||||
# Drive Ratio = 72:360 = 1:5
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 50k Steps/S = 7500 deg/min
|
||||
#SCALE = -400.0
|
||||
# Drive Ratio = 90:360 = 1:4
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 50k Steps/S = 6000 deg/min
|
||||
SCALE = -500.0
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 50.0
|
||||
MIN_FERROR = 10.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
181
configs/by_machine/smithy/1315.hal
Normal file
181
configs/by_machine/smithy/1315.hal
Normal file
@@ -0,0 +1,181 @@
|
||||
# 5i20 config file for Smithy 1315 Lathe
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=2 num_pwmgens=1 num_stepgens=2 enable_raw"
|
||||
|
||||
# 13312 = 0x3400 = Encoder Sample Rate Register
|
||||
setp hm2_5i20.0.raw.write_address 13312
|
||||
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
|
||||
setp hm2_5i20.0.raw.write_data 8
|
||||
# write data
|
||||
setp hm2_5i20.0.raw.write_strobe 1
|
||||
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# classicladder for machine logic
|
||||
# (load the realtime portion)
|
||||
loadrt classicladder_rt
|
||||
# invoke the user part of CL to silently load the program
|
||||
loadusr -w classicladder --nogui 924.clp
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
setp charge-pump.enable TRUE
|
||||
|
||||
#configure the spindle encoder
|
||||
#encoder scale was 4800 on Pete's machine
|
||||
setp hm2_5i20.0.encoder.00.scale -4096
|
||||
net Spos hm2_5i20.0.encoder.00.position spindle.0.revs
|
||||
net Svel hm2_5i20.0.encoder.00.velocity spindle.0.speed-in
|
||||
net Sidx hm2_5i20.0.encoder.00.index-enable spindle.0.index-enable
|
||||
|
||||
#configure the spindle speed PWM generator
|
||||
net Scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 3000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.00.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 2000
|
||||
setp hm2_5i20.0.stepgen.01.steplen 2000
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 2000
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd hm2_5i20.0.stepgen.01.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb joint.0.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.01.position-fb joint.2.motor-pos-fb
|
||||
|
||||
# connect enable signals for amplifiers and step generators
|
||||
setp hm2_5i20.0.gpio.018.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.019.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.019.invert_output TRUE
|
||||
net Xen joint.0.amp-enable-out hm2_5i20.0.gpio.018.out hm2_5i20.0.stepgen.00.enable
|
||||
net Zen joint.2.amp-enable-out hm2_5i20.0.gpio.019.out hm2_5i20.0.stepgen.01.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
setp joint.0.jog-vel-mode TRUE
|
||||
setp joint.2.jog-vel-mode TRUE
|
||||
|
||||
# enable the PWM generator
|
||||
setp hm2_5i20.0.pwmgen.00.enable TRUE
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
loadrt debounce cfg=1
|
||||
setp debounce.0.delay 1000
|
||||
net key-on hm2_5i20.0.gpio.039.in_not debounce.0.0.in
|
||||
net machine-on debounce.0.0.out halui.machine.on
|
||||
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
#connect limit/home switches
|
||||
#Brown Wire - Was Zhome, now Xpos
|
||||
net Xpos_lim hm2_5i20.0.gpio.024.in joint.0.pos-lim-sw-in joint.0.home-sw-in
|
||||
#Brown/White Wire - Was Xhome, now Xneg
|
||||
net Xneg_lim hm2_5i20.0.gpio.026.in joint.0.neg-lim-sw-in
|
||||
#Green Wire - Was XZpos, now Zpos
|
||||
net Zpos_lim hm2_5i20.0.gpio.028.in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
#Green/White Wire - Was XZneg, now Zneg
|
||||
net Zneg_lim hm2_5i20.0.gpio.030.in joint.2.neg-lim-sw-in
|
||||
|
||||
#Tool Post Control Inputs
|
||||
net PrepNo iocontrol.0.tool-prep-number classicladder.0.s32in-00
|
||||
net TC iocontrol.0.tool-change classicladder.0.in-00
|
||||
net T1 hm2_5i20.0.gpio.032.in classicladder.0.in-01
|
||||
net T2 hm2_5i20.0.gpio.034.in classicladder.0.in-02
|
||||
net T3 hm2_5i20.0.gpio.036.in classicladder.0.in-03
|
||||
net T4 hm2_5i20.0.gpio.038.in classicladder.0.in-04
|
||||
net TP iocontrol.0.tool-prepare classicladder.0.in-05
|
||||
|
||||
#Door Sensor
|
||||
net SS hm2_5i20.0.gpio.029.in
|
||||
|
||||
#Output Bits
|
||||
#AIN
|
||||
#setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
#setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
#KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.forward hm2_5i20.0.gpio.040.out
|
||||
#KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.reverse hm2_5i20.0.gpio.042.out
|
||||
#Tool Post Control Outputs
|
||||
net TD classicladder.0.out-00 iocontrol.0.tool-changed
|
||||
net TQ classicladder.0.out-03 iocontrol.0.tool-prepared
|
||||
#KA3
|
||||
setp hm2_5i20.0.gpio.044.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.044.invert_output TRUE
|
||||
net KA3 hm2_5i20.0.gpio.044.out classicladder.0.out-01
|
||||
#KA4
|
||||
setp hm2_5i20.0.gpio.046.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.046.invert_output TRUE
|
||||
net KA4 hm2_5i20.0.gpio.046.out classicladder.0.out-02
|
||||
#Spindle Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.out TRUE
|
||||
#Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# debounce the keyswitch
|
||||
addf debounce.0 servo-thread
|
||||
# refresh classicladder
|
||||
addf classicladder.0.refresh servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
158
configs/by_machine/smithy/1315.ini
Normal file
158
configs/by_machine/smithy/1315.ini
Normal file
@@ -0,0 +1,158 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 6130 Lathe
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 1315 Lathe
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
# Path to help file for tklinuxcnc
|
||||
HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
LATHE = 1
|
||||
TKPKG = Ngcgui 1.0
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
NGCGUI_PREAMBLE = lathe_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = id.ngc
|
||||
NGCGUI_SUBFILE = od.ngc
|
||||
NGCGUI_SUBFILE = taper-od.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 1.5
|
||||
DEFAULT_ANGULAR_VELOCITY = 0.1
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
PYVCP = 1315.xml
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
RS274NGC_STARTUP_CODE = G18 G54
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/lathe:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 250000
|
||||
SERVO_PERIOD = 250000
|
||||
TRAJ_PERIOD = 250000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 1315.hal
|
||||
#HALFILE = naiky.hal
|
||||
POSTGUI_HALFILE = 1315postgui.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
HOME = 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 1.5
|
||||
MAX_LINEAR_ACCELERATION = 5.0
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = lathe.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 0
|
||||
TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -5.75
|
||||
MAX_LIMIT = 0.15
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 5.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 5.0
|
||||
STEPGEN_MAXACCEL = 0
|
||||
STEPGEN_MAXVEL = 0
|
||||
BACKLASH = 0.0005
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 21:35
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 200k Steps/S = 2.4 in/min
|
||||
SCALE = 84666.666666667
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -5.75
|
||||
MAX_LIMIT = 0.15
|
||||
FERROR = 0.250
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.20
|
||||
HOME_SEARCH_VEL = 1.0
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -7.8
|
||||
MAX_LIMIT = 0.15
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 5.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 5.0
|
||||
STEPGEN_MAXACCEL = 0
|
||||
STEPGEN_MAXVEL = 0
|
||||
BACKLASH = 0.0010
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 21:35
|
||||
# Steps/Rev = 10000
|
||||
# Vel at 200k Steps/S = 2.4 in/min
|
||||
SCALE = 84666.666666667
|
||||
OUTPUT_SCALE = 1.000
|
||||
#MIN_LIMIT = -10.1
|
||||
MIN_LIMIT = -7.8
|
||||
MAX_LIMIT = 0.15
|
||||
FERROR = 0.250
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.20
|
||||
HOME_SEARCH_VEL = 1.0
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
21
configs/by_machine/smithy/1315.xml
Normal file
21
configs/by_machine/smithy/1315.xml
Normal file
@@ -0,0 +1,21 @@
|
||||
<pyvcp>
|
||||
<label>
|
||||
<text>"Commanded:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"commanded-spindle-speed"</halpin>
|
||||
<font>("Helvetica",12)</font>
|
||||
<format>"6d"</format>
|
||||
<width>6</width>
|
||||
</number>
|
||||
<label>
|
||||
<text>"Actual:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"actual-spindle-speed"</halpin>
|
||||
<font>("Helvetica",12)</font>
|
||||
<format>"6d"</format>
|
||||
<width>6</width>
|
||||
</number>
|
||||
</pyvcp>
|
||||
|
||||
8
configs/by_machine/smithy/1315postgui.hal
Normal file
8
configs/by_machine/smithy/1315postgui.hal
Normal file
@@ -0,0 +1,8 @@
|
||||
loadrt scale count=1
|
||||
net Svel scale.0.in
|
||||
setp scale.0.gain 60
|
||||
net Scmd pyvcp.commanded-spindle-speed
|
||||
net Sact pyvcp.actual-spindle-speed scale.0.out
|
||||
addf scale.0 servo-thread
|
||||
|
||||
|
||||
121
configs/by_machine/smithy/516gecko.hal
Normal file
121
configs/by_machine/smithy/516gecko.hal
Normal file
@@ -0,0 +1,121 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
loadrt hal_parport cfg=0x378
|
||||
setp parport.0.reset-time 4000
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
loadrt charge_pump
|
||||
loadrt match8 count=1
|
||||
|
||||
loadrt pwmgen output_type=1
|
||||
setp pwmgen.0.pwm-freq 5.0
|
||||
#5000 RPM spindles (early production)
|
||||
setp pwmgen.0.scale 5000
|
||||
#7000 RPM spindles (late production)
|
||||
#setp pwmgen.0.scale 7000
|
||||
setp pwmgen.0.offset 0.0
|
||||
setp pwmgen.0.min-dc 0.01
|
||||
setp pwmgen.0.max-dc 0.99
|
||||
setp pwmgen.0.dither-pwm true
|
||||
|
||||
addf parport.0.read base-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
addf charge-pump base-thread
|
||||
addf pwmgen.make-pulses base-thread
|
||||
addf parport.0.write base-thread
|
||||
addf parport.0.reset 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
|
||||
addf pwmgen.update servo-thread
|
||||
addf match8.0 servo-thread
|
||||
|
||||
net spindle-cmd motion.spindle-speed-out pwmgen.0.value
|
||||
net spindle-enable motion.spindle-on pwmgen.0.enable
|
||||
|
||||
net coolant-flood parport.0.pin-01-out iocontrol.0.coolant-flood
|
||||
net xdir parport.0.pin-02-out stepgen.0.dir
|
||||
net xstep parport.0.pin-03-out stepgen.0.step
|
||||
setp parport.0.pin-03-out-reset 1
|
||||
net ydir parport.0.pin-04-out stepgen.1.dir
|
||||
net ystep parport.0.pin-05-out stepgen.1.step
|
||||
setp parport.0.pin-05-out-reset 1
|
||||
net zdir parport.0.pin-06-out stepgen.2.dir
|
||||
net zstep parport.0.pin-07-out stepgen.2.step
|
||||
setp parport.0.pin-07-out-reset 1
|
||||
net adir parport.0.pin-08-out stepgen.3.dir
|
||||
net astep parport.0.pin-09-out stepgen.3.step
|
||||
setp parport.0.pin-09-out-reset 1
|
||||
#PMDX-110
|
||||
net spindle-dir parport.0.pin-14-out motion.spindle-reverse
|
||||
#PMDX-131
|
||||
#net spindle-dir parport.0.pin-14-out motion.spindle-forward
|
||||
net spindle-pwm parport.0.pin-16-out pwmgen.0.pwm
|
||||
net charge-pump parport.0.pin-17-out charge-pump.out
|
||||
net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
|
||||
net estop-out charge-pump.enable halui.machine.is-on
|
||||
#PMDX-110
|
||||
net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
|
||||
#PMDX-131
|
||||
#net run parport.0.pin-11-in halui.program.pause motion.feed-hold
|
||||
#normally closed switches (late production)
|
||||
net all-home parport.0.pin-12-in
|
||||
#normally open switches (early production)
|
||||
#net all-home parport.0.pin-12-in-not
|
||||
|
||||
setp stepgen.0.position-scale [AXIS_0]SCALE
|
||||
setp stepgen.0.steplen 1
|
||||
setp stepgen.0.stepspace 0
|
||||
setp stepgen.0.dirhold 35000
|
||||
setp stepgen.0.dirsetup 16000
|
||||
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
|
||||
net xpos-cmd axis.0.motor-pos-cmd stepgen.0.position-cmd
|
||||
net xpos-fb stepgen.0.position-fb axis.0.motor-pos-fb
|
||||
net xenable axis.0.amp-enable-out stepgen.0.enable
|
||||
net all-home axis.0.home-sw-in
|
||||
|
||||
setp stepgen.1.position-scale [AXIS_1]SCALE
|
||||
setp stepgen.1.steplen 1
|
||||
setp stepgen.1.stepspace 0
|
||||
setp stepgen.1.dirhold 35000
|
||||
setp stepgen.1.dirsetup 16000
|
||||
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
|
||||
net ypos-cmd axis.1.motor-pos-cmd stepgen.1.position-cmd
|
||||
net ypos-fb stepgen.1.position-fb axis.1.motor-pos-fb
|
||||
net yenable axis.1.amp-enable-out stepgen.1.enable
|
||||
net all-home axis.1.home-sw-in
|
||||
|
||||
setp stepgen.2.position-scale [AXIS_2]SCALE
|
||||
setp stepgen.2.steplen 1
|
||||
setp stepgen.2.stepspace 0
|
||||
setp stepgen.2.dirhold 35000
|
||||
setp stepgen.2.dirsetup 16000
|
||||
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
|
||||
net zpos-cmd axis.2.motor-pos-cmd stepgen.2.position-cmd
|
||||
net zpos-fb stepgen.2.position-fb axis.2.motor-pos-fb
|
||||
net zenable axis.2.amp-enable-out stepgen.2.enable
|
||||
net all-home axis.2.home-sw-in
|
||||
|
||||
setp stepgen.3.position-scale [AXIS_3]SCALE
|
||||
setp stepgen.3.steplen 1
|
||||
setp stepgen.3.stepspace 0
|
||||
setp stepgen.3.dirhold 35000
|
||||
setp stepgen.3.dirsetup 16000
|
||||
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
|
||||
net apos-cmd axis.3.motor-pos-cmd stepgen.3.position-cmd
|
||||
net apos-fb stepgen.3.position-fb axis.3.motor-pos-fb
|
||||
net aenable axis.3.amp-enable-out stepgen.3.enable
|
||||
|
||||
newsig false bit
|
||||
sets false FALSE
|
||||
net xhoming axis.0.homing match8.0.a0
|
||||
net yhoming axis.1.homing match8.0.a1
|
||||
net zhoming axis.2.homing match8.0.a2
|
||||
net false match8.0.b0 match8.0.b1 match8.0.b2
|
||||
net all-home match8.0.in
|
||||
net limit match8.0.out axis.0.neg-lim-sw-in
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
274
configs/by_machine/smithy/516gecko.ini
Normal file
274
configs/by_machine/smithy/516gecko.ini
Normal file
@@ -0,0 +1,274 @@
|
||||
# EMC controller parameters for Parallel Port controlled Smithy 622 Gecko Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 622 Gecko Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 1.5
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 10000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622gecko.hal
|
||||
EZTROL_HALFILE = eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 1.5
|
||||
MAX_LINEAR_ACCELERATION = 1.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.6
|
||||
STEPGEN_MAXACCEL = 1.6
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 944"/min
|
||||
SCALE = -12700
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -4.1
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.6
|
||||
STEPGEN_MAXACCEL = 1.6
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 944"/min
|
||||
SCALE = 12700
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -4.1
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -6.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 0.8
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 0.8
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.3
|
||||
STEPGEN_MAXACCEL = 1.6
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 944"/min
|
||||
SCALE = 12700
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -6.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -36000.0
|
||||
MAX_LIMIT = 36000.0
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
STEPGEN_MAXVEL = 32.0
|
||||
STEPGEN_MAXACCEL = 310.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -400
|
||||
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 = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
#4000 RPM spindles (early production)
|
||||
#MAX_SPINDLE_RPM = 4000
|
||||
#5000 RPM spindles (late production)
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
24
configs/by_machine/smithy/5i20eztrol.hal
Normal file
24
configs/by_machine/smithy/5i20eztrol.hal
Normal file
@@ -0,0 +1,24 @@
|
||||
unlinkp iocontrol.0.tool-change
|
||||
unlinkp iocontrol.0.tool-changed
|
||||
net tool-change eztrol.tool-change iocontrol.0.tool-change
|
||||
net tool-changed eztrol.tool-changed iocontrol.0.tool-changed
|
||||
net tool-prep-number eztrol.tool-prep-number iocontrol.0.tool-prep-number
|
||||
net Xmax eztrol.x-positive-limit
|
||||
net Xmin eztrol.x-negative-limit
|
||||
net Ymax eztrol.y-positive-limit
|
||||
net Ymin eztrol.y-negative-limit
|
||||
net Zmax eztrol.z-positive-limit
|
||||
net Zmin eztrol.z-negative-limit
|
||||
loadrt mux2
|
||||
unlinkp motion.spindle-speed-out
|
||||
unlinkp hm2_5i20.0.pwmgen.00.value
|
||||
net spd-mux mux2.0.out hm2_5i20.0.pwmgen.00.value eztrol.spindle-rpm-reading
|
||||
net spd-motion motion.spindle-speed-out mux2.0.in0
|
||||
net spd-eztrol eztrol.spindle-rpm-control mux2.0.in1
|
||||
net speed-select halui.mode.is-manual mux2.0.sel
|
||||
addf mux2.0 servo-thread
|
||||
#eztrol.estop
|
||||
#eztrol.in-manual-mode
|
||||
#eztrol.limit-override
|
||||
#eztrol.spindle-max-rpm
|
||||
|
||||
179
configs/by_machine/smithy/622.hal
Normal file
179
configs/by_machine/smithy/622.hal
Normal file
@@ -0,0 +1,179 @@
|
||||
# 5i20 config file for Smithy 622 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4"
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 5000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.00.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.01.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.02.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.03.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
#net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
#net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
#net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
#net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable => charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.032.in => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.034.in => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.024.in => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.026.in => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV1 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV4 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.on => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
279
configs/by_machine/smithy/622.ini
Normal file
279
configs/by_machine/smithy/622.ini
Normal file
@@ -0,0 +1,279 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 622 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 622 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60.0
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 180"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 180"/min
|
||||
SCALE = -63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 180"/min
|
||||
SCALE = -63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 120.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 120.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 4800 deg/min
|
||||
SCALE = -1111.11111111111111111111111111
|
||||
|
||||
# If [TRAJ]ANGULAR_UNITS = grad
|
||||
#SCALE = -1000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 36.0
|
||||
HOME_LATCH_VEL = 3.6
|
||||
HOME_FINAL_VEL = 36.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
179
configs/by_machine/smithy/622_4axis.hal
Normal file
179
configs/by_machine/smithy/622_4axis.hal
Normal file
@@ -0,0 +1,179 @@
|
||||
# 5i20 config file for 4 Axis Smithy 622 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4"
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 5000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.00.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.01.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.02.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.03.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable => charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.032.in => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.034.in => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.024.in => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.026.in => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV1 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV4 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.on => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
279
configs/by_machine/smithy/622_4axis.ini
Normal file
279
configs/by_machine/smithy/622_4axis.ini
Normal file
@@ -0,0 +1,279 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled 4 axis Smithy 622 Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = 4 Axis Smithy 622 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622_4axis.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 180"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 180"/min
|
||||
SCALE = -63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 2.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 180"/min
|
||||
SCALE = -63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 120.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 120.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 4800 deg/min
|
||||
SCALE = -1111.11111111111111111111111111
|
||||
|
||||
# If [TRAJ]ANGULAR_UNITS = grad
|
||||
#SCALE = -1000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 36.0
|
||||
HOME_LATCH_VEL = 3.6
|
||||
HOME_FINAL_VEL = 36.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
121
configs/by_machine/smithy/622gecko.hal
Normal file
121
configs/by_machine/smithy/622gecko.hal
Normal file
@@ -0,0 +1,121 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
loadrt hal_parport cfg=0x378
|
||||
setp parport.0.reset-time 4000
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
loadrt charge_pump
|
||||
loadrt match8 count=1
|
||||
|
||||
loadrt pwmgen output_type=1
|
||||
setp pwmgen.0.pwm-freq 5.0
|
||||
#4000 RPM spindles (early production)
|
||||
setp pwmgen.0.scale 4000
|
||||
#5000 RPM spindles (late production)
|
||||
#setp pwmgen.0.scale 5000
|
||||
setp pwmgen.0.offset 0.0
|
||||
setp pwmgen.0.min-dc 0.01
|
||||
setp pwmgen.0.max-dc 0.99
|
||||
setp pwmgen.0.dither-pwm true
|
||||
|
||||
addf parport.0.read base-thread
|
||||
addf stepgen.make-pulses base-thread
|
||||
addf charge-pump base-thread
|
||||
addf pwmgen.make-pulses base-thread
|
||||
addf parport.0.write base-thread
|
||||
addf parport.0.reset 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
|
||||
addf pwmgen.update servo-thread
|
||||
addf match8.0 servo-thread
|
||||
|
||||
net spindle-cmd spindle.0.speed-out pwmgen.0.value
|
||||
net spindle-enable spindle.0.on pwmgen.0.enable
|
||||
|
||||
net coolant-flood parport.0.pin-01-out iocontrol.0.coolant-flood
|
||||
net xdir parport.0.pin-02-out stepgen.0.dir
|
||||
net xstep parport.0.pin-03-out stepgen.0.step
|
||||
setp parport.0.pin-03-out-reset 1
|
||||
net ydir parport.0.pin-04-out stepgen.1.dir
|
||||
net ystep parport.0.pin-05-out stepgen.1.step
|
||||
setp parport.0.pin-05-out-reset 1
|
||||
net zdir parport.0.pin-06-out stepgen.2.dir
|
||||
net zstep parport.0.pin-07-out stepgen.2.step
|
||||
setp parport.0.pin-07-out-reset 1
|
||||
net adir parport.0.pin-08-out stepgen.3.dir
|
||||
net astep parport.0.pin-09-out stepgen.3.step
|
||||
setp parport.0.pin-09-out-reset 1
|
||||
#PMDX-110
|
||||
net spindle-dir parport.0.pin-14-out spindle.0.reverse
|
||||
#PMDX-131
|
||||
#net spindle-dir parport.0.pin-14-out spindle.0.forward
|
||||
net spindle-pwm parport.0.pin-16-out pwmgen.0.pwm
|
||||
net charge-pump parport.0.pin-17-out charge-pump.out
|
||||
net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
|
||||
net estop-out charge-pump.enable halui.machine.is-on
|
||||
#PMDX-110
|
||||
net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
|
||||
#PMDX-131
|
||||
#net run parport.0.pin-11-in halui.program.pause motion.feed-hold
|
||||
#normally closed switches (late production)
|
||||
net all-home parport.0.pin-12-in
|
||||
#normally open switches (early production)
|
||||
#net all-home parport.0.pin-12-in-not
|
||||
|
||||
setp stepgen.0.position-scale [JOINT_0]SCALE
|
||||
setp stepgen.0.steplen 1
|
||||
setp stepgen.0.stepspace 0
|
||||
setp stepgen.0.dirhold 35000
|
||||
setp stepgen.0.dirsetup 16000
|
||||
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
net xpos-cmd joint.0.motor-pos-cmd stepgen.0.position-cmd
|
||||
net xpos-fb stepgen.0.position-fb joint.0.motor-pos-fb
|
||||
net xenable joint.0.amp-enable-out stepgen.0.enable
|
||||
net all-home joint.0.home-sw-in
|
||||
|
||||
setp stepgen.1.position-scale [JOINT_1]SCALE
|
||||
setp stepgen.1.steplen 1
|
||||
setp stepgen.1.stepspace 0
|
||||
setp stepgen.1.dirhold 35000
|
||||
setp stepgen.1.dirsetup 16000
|
||||
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
net ypos-cmd joint.1.motor-pos-cmd stepgen.1.position-cmd
|
||||
net ypos-fb stepgen.1.position-fb joint.1.motor-pos-fb
|
||||
net yenable joint.1.amp-enable-out stepgen.1.enable
|
||||
net all-home joint.1.home-sw-in
|
||||
|
||||
setp stepgen.2.position-scale [JOINT_2]SCALE
|
||||
setp stepgen.2.steplen 1
|
||||
setp stepgen.2.stepspace 0
|
||||
setp stepgen.2.dirhold 35000
|
||||
setp stepgen.2.dirsetup 16000
|
||||
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
net zpos-cmd joint.2.motor-pos-cmd stepgen.2.position-cmd
|
||||
net zpos-fb stepgen.2.position-fb joint.2.motor-pos-fb
|
||||
net zenable joint.2.amp-enable-out stepgen.2.enable
|
||||
net all-home joint.2.home-sw-in
|
||||
|
||||
setp stepgen.3.position-scale [JOINT_3]SCALE
|
||||
setp stepgen.3.steplen 1
|
||||
setp stepgen.3.stepspace 0
|
||||
setp stepgen.3.dirhold 35000
|
||||
setp stepgen.3.dirsetup 16000
|
||||
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
net apos-cmd joint.3.motor-pos-cmd stepgen.3.position-cmd
|
||||
net apos-fb stepgen.3.position-fb joint.3.motor-pos-fb
|
||||
net aenable joint.3.amp-enable-out stepgen.3.enable
|
||||
|
||||
newsig false bit
|
||||
sets false FALSE
|
||||
net xhoming joint.0.homing match8.0.a0
|
||||
net yhoming joint.1.homing match8.0.a1
|
||||
net zhoming joint.2.homing match8.0.a2
|
||||
net false match8.0.b0 match8.0.b1 match8.0.b2
|
||||
net all-home match8.0.in
|
||||
net limit match8.0.out joint.0.neg-lim-sw-in
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
274
configs/by_machine/smithy/622gecko.ini
Normal file
274
configs/by_machine/smithy/622gecko.ini
Normal file
@@ -0,0 +1,274 @@
|
||||
# EMC controller parameters for Parallel Port controlled Smithy 622 Gecko Mill
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 622 Gecko Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 1.5
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 10000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622gecko.hal
|
||||
EZTROL_HALFILE = eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 1.5
|
||||
MAX_LINEAR_ACCELERATION = 1.5
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.6
|
||||
STEPGEN_MAXACCEL = 1.6
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 944"/min
|
||||
SCALE = -12700
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -5.05
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.5
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.6
|
||||
STEPGEN_MAXACCEL = 1.6
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 944"/min
|
||||
SCALE = 12700
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -5.05
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -9.8
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 0.8
|
||||
MAX_ACCELERATION = 1.5
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 0.8
|
||||
MAX_ACCELERATION = 1.5
|
||||
STEPGEN_MAXVEL = 1.3
|
||||
STEPGEN_MAXACCEL = 1.6
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 10uSteps = 2000
|
||||
# Vel at 200k Steps/S = 944"/min
|
||||
SCALE = 12700
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -9.8
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.05
|
||||
MIN_FERROR = 0.01
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = -0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -36000.0
|
||||
MAX_LIMIT = 36000.0
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 30.0
|
||||
MAX_ACCELERATION = 300.0
|
||||
STEPGEN_MAXVEL = 32.0
|
||||
STEPGEN_MAXACCEL = 310.0
|
||||
BACKLASH = 0.0000
|
||||
SCALE = -500
|
||||
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 = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
#4000 RPM spindles (early production)
|
||||
#MAX_SPINDLE_RPM = 4000
|
||||
#5000 RPM spindles (late production)
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
180
configs/by_machine/smithy/622keyence.hal
Normal file
180
configs/by_machine/smithy/622keyence.hal
Normal file
@@ -0,0 +1,180 @@
|
||||
# 5i20 config file for Smithy 622 Mill with Leadshine Drives
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4"
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 5000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.00.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.01.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.02.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.03.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
#net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
#net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
#net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
#net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable => charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.032.in => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.034.in => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.024.in_not => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.026.in_not => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV1 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV4 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.on => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
|
||||
# Mist
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
280
configs/by_machine/smithy/622keyence.ini
Normal file
280
configs/by_machine/smithy/622keyence.ini
Normal file
@@ -0,0 +1,280 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 622 Mill with Leadshine Axis Drives
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 622 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 150.0
|
||||
PYVCP = keyence.xml
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622keyence.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 622eztrol-leadshine.hal
|
||||
#HALFILE = axis_manualtoolchange.hal
|
||||
POSTGUI_HALFILE = keyence_postgui.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 377"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -0.73
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -0.73
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -8.25
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 377"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -8.25
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 120.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 120.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 1:4
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 200k Steps/S = 4800 deg/min
|
||||
SCALE = -1111.11111111111111111111111111
|
||||
|
||||
# If [TRAJ]ANGULAR_UNITS = grad
|
||||
#SCALE = -1000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 36.0
|
||||
HOME_LATCH_VEL = 3.6
|
||||
HOME_FINAL_VEL = 36.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
186
configs/by_machine/smithy/622leadshine.hal
Normal file
186
configs/by_machine/smithy/622leadshine.hal
Normal file
@@ -0,0 +1,186 @@
|
||||
# 5i20 config file for Smithy 622 Mill with Leadshine Drives
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4"
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 5000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.00.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.01.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.02.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.03.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
#net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
#net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
#net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
#net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable => charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.032.in => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.034.in => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in => joint.1.neg-lim-sw-in
|
||||
# The earliest production units had normally open switches
|
||||
# on the Z axis which were deemed too difficult to change
|
||||
# to normally closed operation due to their remote location.
|
||||
#net Zmax hm2_5i20.0.gpio.024.in_not => joint.2.pos-lim-sw-in
|
||||
#net Zmin hm2_5i20.0.gpio.026.in_not => joint.2.neg-lim-sw-in
|
||||
# Later production units came correctly wired with normally
|
||||
# closed switched on all three axes.
|
||||
net Zmax hm2_5i20.0.gpio.024.in => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.026.in => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV1 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV4 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.on => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
279
configs/by_machine/smithy/622leadshine.ini
Normal file
279
configs/by_machine/smithy/622leadshine.ini
Normal file
@@ -0,0 +1,279 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 622 Mill with Leadshine Axis Drives
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 622 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 300.0
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622leadshine.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 377"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 377"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 300.0
|
||||
MAX_ACCELERATION = 1000.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 300.0
|
||||
MAX_ACCELERATION = 1000.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 40:360 = 1:9
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 21600 deg/min
|
||||
SCALE = -1111.11111111111111111111111111
|
||||
|
||||
# If [TRAJ]ANGULAR_UNITS = grad
|
||||
#SCALE = -1000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 36.0
|
||||
HOME_LATCH_VEL = 3.6
|
||||
HOME_FINAL_VEL = 36.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
179
configs/by_machine/smithy/622leadshine_4axis.hal
Normal file
179
configs/by_machine/smithy/622leadshine_4axis.hal
Normal file
@@ -0,0 +1,179 @@
|
||||
# 5i20 config file for 4 Axis Smithy 622 Mill with Leadshine Drives
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4"
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 5000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.00.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.01.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.02.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.03.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable => charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.032.in => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.034.in => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.024.in_not => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.026.in_not => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV1 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV4 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.on => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
279
configs/by_machine/smithy/622leadshine_4axis.ini
Normal file
279
configs/by_machine/smithy/622leadshine_4axis.ini
Normal file
@@ -0,0 +1,279 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled 4 axis Smithy 622 Mill with Leadshine Axis Drives
|
||||
|
||||
[EMC]
|
||||
MACHINE = 4 Axis Smithy 622 Mill
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
#DISPLAY = eztrol
|
||||
# CYCLE_TIME is used by eztrol
|
||||
CYCLE_TIME = .1
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = hole_circle.ngc
|
||||
NGCGUI_SUBFILE = helix.ngc
|
||||
NGCGUI_SUBFILE = helix_rtheta.ngc
|
||||
NGCGUI_SUBFILE = slot.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = oquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = ohex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 300.0
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 622leadshine_4axis.hal
|
||||
#HALFILE = naiky.hal
|
||||
EZTROL_HALFILE = 5i20eztrol.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = mill.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 377"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -11.6
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 472"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -5.3
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 5mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 377"/min
|
||||
SCALE = 63500
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -10.2
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_A]
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
MAX_VELOCITY = 300.0
|
||||
MAX_ACCELERATION = 1000.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 300.0
|
||||
MAX_ACCELERATION = 1000.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Drive Ratio = 40:360 = 1:9
|
||||
# Steps/Rev = 200 * 50uSteps = 10000
|
||||
# Vel at 400k Steps/S = 21600 deg/min
|
||||
SCALE = -1111.11111111111111111111111111
|
||||
|
||||
# If [TRAJ]ANGULAR_UNITS = grad
|
||||
#SCALE = -1000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -360000.0
|
||||
MAX_LIMIT = 360000.0
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 36.0
|
||||
HOME_LATCH_VEL = 3.6
|
||||
HOME_FINAL_VEL = 36.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
[EZTROL]
|
||||
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
|
||||
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
|
||||
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
|
||||
MAX_SPINDLE_RPM = 5000
|
||||
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
|
||||
PLUGIN = libeztrol_wizard_plugin.so
|
||||
PLUGIN = libeztrol_webwizard_plugin.so
|
||||
# disabling settings gcode editor will benefit systems with small memory size
|
||||
ENABLE_SETTINGS_EDITOR = true
|
||||
# disable OpenGL 3D Preview
|
||||
ENABLE_3D_PREVIEW = true
|
||||
# set to Full Screen TRUE/FALSE
|
||||
FULLSCREEN = false
|
||||
# Settings Tab GCode Editor Syntax Highlight
|
||||
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
|
||||
AXIS_COLOR = magenta
|
||||
LINENUMBER_COLOR = rosybrown
|
||||
GM_COLOR = blue
|
||||
STFDRLPQH_COLOR = red
|
||||
O_COLOR = blue
|
||||
RESERVEDWORDS_COLOR = darkviolet
|
||||
VARIABLE_COLOR = olive
|
||||
COMMENT_COLOR = seagreen
|
||||
GUI_STYLESHEET = eztrolstyle1.qss
|
||||
|
||||
[EZTROLWIZARDS]
|
||||
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
|
||||
SAVE_DIRECTORY = ../../nc_files
|
||||
|
||||
[EZTROLWEBWIZARD]
|
||||
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
|
||||
195
configs/by_machine/smithy/8i20.xml
Normal file
195
configs/by_machine/smithy/8i20.xml
Normal file
@@ -0,0 +1,195 @@
|
||||
<pyvcp>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Commanded Velocity:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"command"</halpin>
|
||||
<format>"+4.0f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Feedback Velocity:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"vel"</halpin>
|
||||
<format>"+4.0f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<led>
|
||||
<halpin>"enabled"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"Machine On"</text>
|
||||
</label>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<led>
|
||||
<halpin>"done"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"Init Done"</text>
|
||||
</label>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"PID Out/BLDC In:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"val"</halpin>
|
||||
<format>"+4.2f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Encoder Count:"</text>
|
||||
</label>
|
||||
<s32>
|
||||
<halpin>"count"</halpin>
|
||||
<format>"6d"</format>
|
||||
</s32>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Rotor Angle:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"rotor_angle"</halpin>
|
||||
<format>"+4.4f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Phase Angle:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"phase_angle"</halpin>
|
||||
<format>"+4.4f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Current:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"current"</halpin>
|
||||
<format>"+4.4f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"A"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"a"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"B"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"b"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"C"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"c"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"Index Enable"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"ie_led"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"8i20 Comms:"</text>
|
||||
</label>
|
||||
<u32>
|
||||
<halpin>"comms"</halpin>
|
||||
<format>"8x"</format>
|
||||
</u32>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"8i20 Fault:"</text>
|
||||
</label>
|
||||
<u32>
|
||||
<halpin>"fault"</halpin>
|
||||
<format>"8x"</format>
|
||||
</u32>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"8i20 Status:"</text>
|
||||
</label>
|
||||
<u32>
|
||||
<halpin>"status"</halpin>
|
||||
<format>"8x"</format>
|
||||
</u32>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"8i20 Temp:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"temp"</halpin>
|
||||
<format>"+2.0f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"8i20 Volts:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"voltage"</halpin>
|
||||
<format>"+3.2f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"SS Fault Count:"</text>
|
||||
</label>
|
||||
<u32>
|
||||
<halpin>"faults"</halpin>
|
||||
<format>"6d"</format>
|
||||
</u32>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"SS Port0 State:"</text>
|
||||
</label>
|
||||
<u32>
|
||||
<halpin>"port_state"</halpin>
|
||||
<format>"8x"</format>
|
||||
</u32>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Hall Error"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"hall-error"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Spindle At Speed"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"at-speed"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"Spindle Stalled"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"stall"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
</pyvcp>
|
||||
|
||||
32
configs/by_machine/smithy/8i20postgui.hal
Normal file
32
configs/by_machine/smithy/8i20postgui.hal
Normal file
@@ -0,0 +1,32 @@
|
||||
net srpm pyvcp.command
|
||||
loadrt scale count=1
|
||||
addf scale.0 servo-thread
|
||||
setp scale.0.gain 60
|
||||
net fb scale.0.in
|
||||
net svel pyvcp.vel scale.0.out
|
||||
net machine-on pyvcp.enabled
|
||||
net init-done pyvcp.done
|
||||
|
||||
net pid-out pyvcp.val
|
||||
net count hm2_5i20.0.encoder.00.count pyvcp.count
|
||||
net rotor_angle pyvcp.rotor_angle
|
||||
net phase_angle bldc.0.phase-angle pyvcp.phase_angle
|
||||
|
||||
net current pyvcp.current
|
||||
net sa pyvcp.a
|
||||
net sb pyvcp.b
|
||||
net sc pyvcp.c
|
||||
net Sidx pyvcp.ie_led
|
||||
# 8i20 Pins:
|
||||
net comms hm2_5i20.0.8i20.0.0.comms pyvcp.comms
|
||||
net fault hm2_5i20.0.8i20.0.0.fault pyvcp.fault
|
||||
net status hm2_5i20.0.8i20.0.0.status pyvcp.status
|
||||
net temp hm2_5i20.0.8i20.0.0.temp pyvcp.temp
|
||||
net voltage hm2_5i20.0.8i20.0.0.voltage pyvcp.voltage
|
||||
# SSerial Pins:
|
||||
net fault-count hm2_5i20.0.sserial.port-0.fault-count pyvcp.faults
|
||||
net port_state hm2_5i20.0.sserial.port-0.port_state pyvcp.port_state
|
||||
net herr bldc.0.hall-error pyvcp.hall-error
|
||||
net at-speed pyvcp.at-speed
|
||||
net stall pyvcp.stall
|
||||
|
||||
309
configs/by_machine/smithy/924.clp
Normal file
309
configs/by_machine/smithy/924.clp
Normal file
@@ -0,0 +1,309 @@
|
||||
_FILES_CLASSICLADDER
|
||||
_FILE-monostables.csv
|
||||
1,1
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
_/FILE-monostables.csv
|
||||
_FILE-general.txt
|
||||
PERIODIC_REFRESH=1
|
||||
SIZE_NBR_RUNGS=100
|
||||
SIZE_NBR_BITS=20
|
||||
SIZE_NBR_WORDS=20
|
||||
SIZE_NBR_TIMERS=10
|
||||
SIZE_NBR_MONOSTABLES=10
|
||||
SIZE_NBR_COUNTERS=10
|
||||
SIZE_NBR_TIMERS_IEC=10
|
||||
SIZE_NBR_PHYS_INPUTS=15
|
||||
SIZE_NBR_PHYS_OUTPUTS=15
|
||||
SIZE_NBR_ARITHM_EXPR=100
|
||||
SIZE_NBR_SECTIONS=10
|
||||
SIZE_NBR_SYMBOLS=160
|
||||
_/FILE-general.txt
|
||||
_FILE-rung_1.csv
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=3
|
||||
#NEXTRUNG=-1
|
||||
9-0-0/0 , 1-0-50/0 , 9-0-0/0 , 2-0-0/0 , 9-0-0/0 , 2-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/1
|
||||
1-0-50/0 , 9-0-0/0 , 1-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/0
|
||||
9-0-0/0 , 4-0-60/1 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 11-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2
|
||||
1-0-50/0 , 9-0-0/0 , 1-0-0/3 , 0-1-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
9-0-0/0 , 4-0-60/2 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 52-0-60/0
|
||||
9-0-0/0 , 3-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 53-0-60/0
|
||||
_/FILE-rung_1.csv
|
||||
_FILE-sections.csv
|
||||
#VER=1.0
|
||||
#NAME000=Prog1
|
||||
000,0,-1,2,1,0
|
||||
_/FILE-sections.csv
|
||||
_FILE-modbusioconf.csv
|
||||
#VER=1.0
|
||||
_/FILE-modbusioconf.csv
|
||||
_FILE-arithmetic_expressions.csv
|
||||
#VER=2.0
|
||||
0000,(@270/0@-1)&3=@200/1@
|
||||
0001,@270/0@=0
|
||||
0004,@200/1@=1
|
||||
0005,@200/1@=0
|
||||
0006,@200/1@=2
|
||||
0007,@200/1@=3
|
||||
_/FILE-arithmetic_expressions.csv
|
||||
_FILE-com_params.txt
|
||||
MODBUS_MASTER_SERIAL_PORT=
|
||||
MODBUS_MASTER_SERIAL_SPEED=9600
|
||||
MODBUS_MASTER_SERIAL_DATABITS=8
|
||||
MODBUS_MASTER_SERIAL_STOPBITS=1
|
||||
MODBUS_MASTER_SERIAL_PARITY=0
|
||||
MODBUS_ELEMENT_OFFSET=0
|
||||
MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
|
||||
MODBUS_MASTER_TIME_INTER_FRAME=100
|
||||
MODBUS_MASTER_TIME_OUT_RECEIPT=500
|
||||
MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
|
||||
MODBUS_DEBUG_LEVEL=0
|
||||
MODBUS_MAP_COIL_READ=0
|
||||
MODBUS_MAP_COIL_WRITE=0
|
||||
MODBUS_MAP_INPUT=0
|
||||
MODBUS_MAP_HOLDING=0
|
||||
MODBUS_MAP_REGISTER_READ=0
|
||||
MODBUS_MAP_REGISTER_WRITE=0
|
||||
_/FILE-com_params.txt
|
||||
_FILE-counters.csv
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
_/FILE-counters.csv
|
||||
_FILE-timers.csv
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
_/FILE-timers.csv
|
||||
_FILE-sequential.csv
|
||||
#VER=1.0
|
||||
_/FILE-sequential.csv
|
||||
_FILE-ioconf.csv
|
||||
#VER=1.0
|
||||
_/FILE-ioconf.csv
|
||||
_FILE-rung_3.csv
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=2
|
||||
#NEXTRUNG=1
|
||||
9-0-0/0 , 1-0-50/1 , 1-0-50/2 , 1-0-50/3 , 1-0-50/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/2
|
||||
9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/3
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
1-0-50/5 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/3
|
||||
_/FILE-rung_3.csv
|
||||
_FILE-timers_iec.csv
|
||||
1,15,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
_/FILE-timers_iec.csv
|
||||
_FILE-symbols.csv
|
||||
#VER=1.0
|
||||
%Q1,TPFWD,
|
||||
%Q2,TPREV,
|
||||
%Q0,TCACK,
|
||||
%B0,TPINPOS,
|
||||
%I0,TCREQ,
|
||||
%I1,T1,
|
||||
%I2,T2,
|
||||
%I3,T3,
|
||||
%I4,T4,
|
||||
%IW0,PREPNO,
|
||||
%W1,TPOS,
|
||||
%B1,TPUP,
|
||||
%B2,TPROT,
|
||||
%B3,T0,
|
||||
%I5,TP,
|
||||
%I6,%I6,
|
||||
%I7,%I7,
|
||||
%I8,%I8,
|
||||
%I9,%I9,
|
||||
%I10,%I10,
|
||||
%I11,%I11,
|
||||
%I12,%I12,
|
||||
%I13,%I13,
|
||||
%I14,%I14,
|
||||
%Q3,TQ,
|
||||
%Q4,%Q4,
|
||||
%Q5,%Q5,
|
||||
%Q6,%Q6,
|
||||
%Q7,%Q7,
|
||||
%Q8,%Q8,
|
||||
%Q9,%Q9,
|
||||
%Q10,%Q10,
|
||||
%Q11,%Q11,
|
||||
%Q12,%Q12,
|
||||
%Q13,%Q13,
|
||||
%Q14,%Q14,
|
||||
%B4,%B4,
|
||||
%B5,%B5,
|
||||
%B6,%B6,
|
||||
%B7,%B7,
|
||||
%B8,%B8,
|
||||
%B9,%B9,
|
||||
%B10,%B10,
|
||||
%B11,%B11,
|
||||
%B12,%B12,
|
||||
%B13,%B13,
|
||||
%B14,%B14,
|
||||
%B15,%B15,
|
||||
%B16,%B16,
|
||||
%B17,%B17,
|
||||
%B18,%B18,
|
||||
%B19,%B19,
|
||||
%W0,%W0,
|
||||
%W2,%W2,
|
||||
%W3,%W3,
|
||||
%W4,%W4,
|
||||
%W5,%W5,
|
||||
%W6,%W6,
|
||||
%W7,%W7,
|
||||
%W8,%W8,
|
||||
%W9,%W9,
|
||||
%W10,%W10,
|
||||
%W11,%W11,
|
||||
%W12,%W12,
|
||||
%W13,%W13,
|
||||
%W14,%W14,
|
||||
%W15,%W15,
|
||||
%W16,%W16,
|
||||
%W17,%W17,
|
||||
%W18,%W18,
|
||||
%W19,%W19,
|
||||
%IW1,%IW1,
|
||||
%IW2,%IW2,
|
||||
%IW3,%IW3,
|
||||
%IW4,%IW4,
|
||||
%IW5,%IW5,
|
||||
%IW6,%IW6,
|
||||
%IW7,%IW7,
|
||||
%IW8,%IW8,
|
||||
%IW9,%IW9,
|
||||
%QW0,%QW0,
|
||||
%QW1,%QW1,
|
||||
%QW2,%QW2,
|
||||
%QW3,%QW3,
|
||||
%QW4,%QW4,
|
||||
%QW5,%QW5,
|
||||
%QW6,%QW6,
|
||||
%QW7,%QW7,
|
||||
%QW8,%QW8,
|
||||
%QW9,%QW9,
|
||||
%IF0,%IF0,
|
||||
%IF1,%IF1,
|
||||
%IF2,%IF2,
|
||||
%IF3,%IF3,
|
||||
%IF4,%IF4,
|
||||
%IF5,%IF5,
|
||||
%IF6,%IF6,
|
||||
%IF7,%IF7,
|
||||
%IF8,%IF8,
|
||||
%IF9,%IF9,
|
||||
%QF0,%QF0,
|
||||
%QF1,%QF1,
|
||||
%QF2,%QF2,
|
||||
%QF3,%QF3,
|
||||
%QF4,%QF4,
|
||||
%QF5,%QF5,
|
||||
%QF6,%QF6,
|
||||
%QF7,%QF7,
|
||||
%QF8,%QF8,
|
||||
%QF9,%QF9,
|
||||
%T0,%T0,Old Timer
|
||||
%T1,%T1,Old Timer
|
||||
%T2,%T2,Old Timer
|
||||
%T3,%T3,Old Timer
|
||||
%T4,%T4,Old Timer
|
||||
%T5,%T5,Old Timer
|
||||
%T6,%T6,Old Timer
|
||||
%T7,%T7,Old Timer
|
||||
%T8,%T8,Old Timer
|
||||
%T9,%T9,Old Timer
|
||||
%TM0,%TM0,New Timer
|
||||
%TM1,%TM1,New Timer
|
||||
%TM2,%TM2,New Timer
|
||||
%TM3,%TM3,New Timer
|
||||
%TM4,%TM4,New Timer
|
||||
%TM5,%TM5,New Timer
|
||||
%TM6,%TM6,New Timer
|
||||
%TM7,%TM7,New Timer
|
||||
%TM8,%TM8,New Timer
|
||||
%TM9,%TM9,New Timer
|
||||
%M0,%M0,One-shot
|
||||
%M1,%M1,One-shot
|
||||
%M2,%M2,One-shot
|
||||
%M3,%M3,One-shot
|
||||
%M4,%M4,One-shot
|
||||
%M5,%M5,One-shot
|
||||
%M6,%M6,One-shot
|
||||
%M7,%M7,One-shot
|
||||
%M8,%M8,One-shot
|
||||
%M9,%M9,One-shot
|
||||
%C0,%C0,Counter
|
||||
%C1,%C1,Counter
|
||||
%C2,%C2,Counter
|
||||
%C3,%C3,Counter
|
||||
%C4,%C4,Counter
|
||||
%C5,%C5,Counter
|
||||
%C6,%C6,Counter
|
||||
%C7,%C7,Counter
|
||||
%C8,%C8,Counter
|
||||
%C9,%C9,Counter
|
||||
%E0,%E0,Error Flag Bit
|
||||
%E1,%E1,Error Flag Bit
|
||||
%E2,%E2,Error Flag Bit
|
||||
%E3,%E3,Error Flag Bit
|
||||
%E4,%E4,Error Flag Bit
|
||||
%E5,%E5,Error Flag Bit
|
||||
%E6,%E6,Error Flag Bit
|
||||
%E7,%E7,Error Flag Bit
|
||||
%E8,%E8,Error Flag Bit
|
||||
%E9,%E9,Error Flag Bit
|
||||
_/FILE-symbols.csv
|
||||
_FILE-rung_2.csv
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=-1
|
||||
#NEXTRUNG=3
|
||||
9-0-0/0 , 2-0-50/1 , 1-0-50/2 , 1-0-50/3 , 1-0-50/4 , 2-0-0/3 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/5
|
||||
9-0-0/0 , 2-0-50/2 , 1-0-50/1 , 1-0-50/3 , 1-0-50/4 , 2-0-0/3 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/4
|
||||
9-0-0/0 , 2-0-50/3 , 1-0-50/1 , 1-0-50/2 , 1-0-50/4 , 2-0-0/3 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/6
|
||||
9-0-0/0 , 2-0-50/4 , 1-0-50/1 , 1-0-50/2 , 1-0-50/3 , 2-0-0/3 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/7
|
||||
9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/0 , 9-0-0/0 , 2-0-0/2 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/0
|
||||
9-0-0/0 , 9-0-50/0 , 1-0-0/3 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/1
|
||||
_/FILE-rung_2.csv
|
||||
_/FILES_CLASSICLADDER
|
||||
185
configs/by_machine/smithy/924.hal
Normal file
185
configs/by_machine/smithy/924.hal
Normal file
@@ -0,0 +1,185 @@
|
||||
# 5i20 config file for Smithy 924 Lathe
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=3 num_pwmgens=1 num_stepgens=2"
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# classicladder for machine logic
|
||||
# (load the realtime portion)
|
||||
loadrt classicladder_rt
|
||||
# invoke the user part of CL to silently load the program
|
||||
loadusr -w classicladder --nogui 924.clp
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# load the spindle speed lowpass filter
|
||||
loadrt lowpass
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle encoder
|
||||
setp hm2_5i20.0.encoder.00.scale 4096
|
||||
net Spos hm2_5i20.0.encoder.00.position spindle.0.revs
|
||||
net Svel hm2_5i20.0.encoder.00.velocity spindle.0.speed-in
|
||||
net Sidx hm2_5i20.0.encoder.00.index-enable => spindle.0.index-enable
|
||||
|
||||
#configure the spindle speed lowpass filter & PWM generator
|
||||
net Scmd spindle.0.speed-out => lowpass.0.in
|
||||
net Sflt lowpass.0.out => hm2_5i20.0.pwmgen.00.value
|
||||
#early production machines
|
||||
setp lowpass.0.gain 0.0001
|
||||
#later production machines
|
||||
#setp lowpass.0.gain 1.0
|
||||
setp hm2_5i20.0.pwmgen.00.scale 3000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.00.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 2500
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 2500
|
||||
setp hm2_5i20.0.stepgen.01.steplen 2500
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 2500
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.01.position-fb => joint.2.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable => charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.024.in => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.026.in => joint.0.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.028.in => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.030.in => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
#Tool Post Control Inputs
|
||||
net PrepNo iocontrol.0.tool-prep-number => classicladder.0.s32in-00
|
||||
net TC iocontrol.0.tool-change => classicladder.0.in-00
|
||||
net T1 hm2_5i20.0.gpio.032.in => classicladder.0.in-01
|
||||
net T2 hm2_5i20.0.gpio.034.in => classicladder.0.in-02
|
||||
net T3 hm2_5i20.0.gpio.036.in => classicladder.0.in-03
|
||||
net T4 hm2_5i20.0.gpio.038.in => classicladder.0.in-04
|
||||
net TP iocontrol.0.tool-prepare => classicladder.0.in-05
|
||||
|
||||
#Door Sensor
|
||||
net SS hm2_5i20.0.gpio.029.in
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.on => hm2_5i20.0.gpio.042.out
|
||||
#Tool Post Control Outputs
|
||||
net TD classicladder.0.out-00 => iocontrol.0.tool-changed
|
||||
net TQ classicladder.0.out-03 => iocontrol.0.tool-prepared
|
||||
#KA3
|
||||
setp hm2_5i20.0.gpio.044.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.044.invert_output TRUE
|
||||
net KA3 hm2_5i20.0.gpio.044.out => classicladder.0.out-01
|
||||
#KA4
|
||||
setp hm2_5i20.0.gpio.046.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.046.invert_output TRUE
|
||||
net KA4 hm2_5i20.0.gpio.046.out => classicladder.0.out-02
|
||||
#Spindle Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
net Enable => hm2_5i20.0.gpio.041.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# refresh classicladder
|
||||
addf classicladder.0.refresh servo-thread
|
||||
# run the spindle speed lowpass filter
|
||||
addf lowpass.0 servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
163
configs/by_machine/smithy/924.ini
Normal file
163
configs/by_machine/smithy/924.ini
Normal file
@@ -0,0 +1,163 @@
|
||||
# EMC controller parameters for Mesa 5i20 controlled Smithy 924 Lathe
|
||||
|
||||
[EMC]
|
||||
MACHINE = Smithy 924 Lathe
|
||||
VERSION = 1.1
|
||||
DEBUG = 0x00000000
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
#DISPLAY = tklinuxcnc
|
||||
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
|
||||
LATHE = 1
|
||||
TKPKG = Ngcgui 1.0
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
NGCGUI_PREAMBLE = lathe_std.ngc
|
||||
NGCGUI_POSTAMBLE = bye.ngc
|
||||
NGCGUI_SUBFILE = backlash.ngc
|
||||
NGCGUI_SUBFILE = id.ngc
|
||||
NGCGUI_SUBFILE = od.ngc
|
||||
NGCGUI_SUBFILE = taper-od.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_SUBFILE = "" use when imageframe is specified if
|
||||
# opening other files is required
|
||||
# images will be put in a toplevel window
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making a new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MIN_SPINDLE_OVERRIDE = 0.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.5
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
MAX_LINEAR_VELOCITY = 3.75
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.0
|
||||
MAX_ANGULAR_VELOCITY = 60.0
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = emc.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/lathe:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
SHMEM_KEY = 111
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 1000000
|
||||
SERVO_PERIOD = 1000000
|
||||
TRAJ_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = 924.hal
|
||||
#HALFILE = naiky.hal
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 3.93
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
DEFAULT_LINEAR_VELOCITY = 0.2
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = lathe.tbl
|
||||
#TOOL_CHANGE_POSITION = 0 0 2
|
||||
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
#TOOL_CHANGE_QUILL_UP = 1
|
||||
#TOOL_CHANGE_AT_G30 = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.6
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 1.875
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 1.875
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 2:1
|
||||
# Steps/Rev = 200 * 40uSteps = 8000
|
||||
# Vel at 200k Steps/S = 118"/min
|
||||
SCALE = -101600
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -3.6
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -16.2
|
||||
MAX_LIMIT = 0.2
|
||||
MAX_VELOCITY = 3.75
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.75
|
||||
MAX_ACCELERATION = 20.0
|
||||
STEPGEN_MAXVEL = 0.0
|
||||
STEPGEN_MAXACCEL = 0.0
|
||||
BACKLASH = 0.0000
|
||||
# Leadscrew Pitch = 4mm
|
||||
# Drive Ratio = 1:1
|
||||
# Steps/Rev = 200 * 40uSteps = 8000
|
||||
# Vel at 200k Steps/S = 236"/min
|
||||
SCALE = -50800
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -16.2
|
||||
MAX_LIMIT = 0.2
|
||||
FERROR = 0.25
|
||||
MIN_FERROR = 0.1
|
||||
HOME_OFFSET = 0.25
|
||||
HOME_SEARCH_VEL = 0.5
|
||||
HOME_LATCH_VEL = 0.05
|
||||
HOME_FINAL_VEL = 0.5
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
18
configs/by_machine/smithy/924eztrol.hal
Normal file
18
configs/by_machine/smithy/924eztrol.hal
Normal file
@@ -0,0 +1,18 @@
|
||||
net Xmax eztrol.x-positive-limit
|
||||
net Xmin eztrol.x-negative-limit
|
||||
net Zmax eztrol.z-positive-limit
|
||||
net Zmin eztrol.z-negative-limit
|
||||
loadrt mux2
|
||||
unlinkp motion.spindle-speed-out
|
||||
unlinkp lowpass.0.in
|
||||
net spd-mux mux2.0.out lowpass.0.in
|
||||
net encodervelocity hm2_5i20.0.encoder.00.velocity eztrol.spindle-rps-reading
|
||||
net spd-motion motion.spindle-speed-out mux2.0.in0
|
||||
net spd-eztrol eztrol.spindle-rpm-control mux2.0.in1
|
||||
net speed-select halui.mode.is-manual mux2.0.sel
|
||||
addf mux2.0 servo-thread
|
||||
#eztrol.estop
|
||||
#eztrol.in-manual-mode
|
||||
#eztrol.limit-override
|
||||
#eztrol.spindle-max-rpm
|
||||
|
||||
39
configs/by_machine/smithy/README
Normal file
39
configs/by_machine/smithy/README
Normal file
@@ -0,0 +1,39 @@
|
||||
Smithy
|
||||
|
||||
www.smithy.com
|
||||
|
||||
|
||||
These configurations are for the following Smithy machines:
|
||||
|
||||
1240 - Mill equipped with Leadshine axis drives, VFD and 1.5kW AC induction type spindle motor, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
1240_4axis - Mill equipped with Leadshine axis drives, VFD and 1.5kW AC induction type spindle motor, rotary 4th axis, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
1240combined - Mill equipped with Leadshine three phase axis drives, Mesa 8i20 BLDC spindle motor drive and 6000RPM spindle motor, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
1240combined_4axis - Mill equipped with Leadshine three phase axis drives, Mesa 8i20 BLDC spindle motor drive and 6000RPM spindle motor, rotary 4th axis (two phase), and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
1240combined_mm - Metric version of 1240combined.
|
||||
|
||||
1034gecko/1240gecko - Mill equipped with Gecko G201 axis drives, VFD and 1.5kW AC induction type spindle motor, and controlled by signals from a PC parallel port.
|
||||
|
||||
1240rutex - Mill equipped with Rutex DC brush servo axis drives, 1.5kW AC induction type spindle motor with forward and reverse, and controlled by signals from a PC parallel port.
|
||||
|
||||
1240rutex_4axis - Mill equipped with Rutex DC brush servo axis drives, 1.5kW AC induction type spindle motor with forward and reverse, rotary 4th axis, and controlled by signals from a PC parallel port.
|
||||
|
||||
516gecko - Mill equipped with Gecko G201 axis drives, Sieg variable speed brushless DC spindle, and controlled by signals from a PC parallel port.
|
||||
|
||||
622 - Mill equipped with YAKO Automation axis drives, Sieg variable speed brushless DC spindle, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
622_4axis - Mill equipped with YAKO Automation axis drives, Sieg variable speed brushless DC spindle, rotary 4th axis, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
622gecko - Mill equipped with Gecko G201 axis drives, Sieg variable speed brushless DC spindle, and controlled by signals from a PC parallel port.
|
||||
|
||||
622keyence - Mill equipped with Leadshine MD2278 axis drives, Sieg variable speed brushless DC spindle, Keyence digital contact sensor, chip vacuum and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
622leadshine - Mill equipped with Leadshine MD2278 axis drives, Sieg variable speed brushless DC spindle, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
924 - Lathe equipped with YAKO Automation axis drives, Sieg variable speed brushless DC spindle, programmable power tool post, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
6130 - Lathe equipped with Leadshine three phase axis drives, VFD and AC induction type spindle motor, programmable power tool post, and controlled by signals from a Mesa 5i20 FPGA card.
|
||||
|
||||
24
configs/by_machine/smithy/eztrol.hal
Normal file
24
configs/by_machine/smithy/eztrol.hal
Normal file
@@ -0,0 +1,24 @@
|
||||
unlinkp iocontrol.0.tool-change
|
||||
unlinkp iocontrol.0.tool-changed
|
||||
net tool-change eztrol.tool-change iocontrol.0.tool-change
|
||||
net tool-changed eztrol.tool-changed iocontrol.0.tool-changed
|
||||
net tool-prep-number eztrol.tool-prep-number iocontrol.0.tool-prep-number
|
||||
net Xmax eztrol.x-positive-limit
|
||||
net Xmin eztrol.x-negative-limit
|
||||
net Ymax eztrol.y-positive-limit
|
||||
net Ymin eztrol.y-negative-limit
|
||||
net Zmax eztrol.z-positive-limit
|
||||
net Zmin eztrol.z-negative-limit
|
||||
loadrt mux2
|
||||
unlinkp motion.spindle-speed-out
|
||||
unlinkp pwmgen.0.value
|
||||
net spd-mux mux2.0.out pwmgen.0.value eztrol.spindle-rpm-reading
|
||||
net spd-motion motion.spindle-speed-out mux2.0.in0
|
||||
net spd-eztrol eztrol.spindle-rpm-control mux2.0.in1
|
||||
net speed-select halui.mode.is-manual mux2.0.sel
|
||||
addf mux2.0 servo-thread
|
||||
#eztrol.estop
|
||||
#eztrol.in-manual-mode
|
||||
#eztrol.limit-override
|
||||
#eztrol.spindle-max-rpm
|
||||
|
||||
12
configs/by_machine/smithy/gecko.xml
Normal file
12
configs/by_machine/smithy/gecko.xml
Normal file
@@ -0,0 +1,12 @@
|
||||
<pyvcp>
|
||||
<label>
|
||||
<text>"RPM:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"rpm"</halpin>
|
||||
<font>("Helvetica",12)</font>
|
||||
<format>"4d"</format>
|
||||
<width>4</width>
|
||||
</number>
|
||||
</pyvcp>
|
||||
|
||||
14
configs/by_machine/smithy/gecko_postgui.hal
Normal file
14
configs/by_machine/smithy/gecko_postgui.hal
Normal file
@@ -0,0 +1,14 @@
|
||||
loadusr -W hal_manualtoolchange
|
||||
|
||||
# in case they were linked already
|
||||
unlinkp iocontrol.0.tool-change
|
||||
unlinkp iocontrol.0.tool-changed
|
||||
|
||||
net tool-change hal_manualtoolchange.change iocontrol.0.tool-change
|
||||
net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
|
||||
net tool-prep-number hal_manualtoolchange.number iocontrol.0.tool-prep-number
|
||||
|
||||
net spindle-cmd pyvcp.rpm
|
||||
|
||||
|
||||
|
||||
43
configs/by_machine/smithy/keyence.xml
Normal file
43
configs/by_machine/smithy/keyence.xml
Normal file
@@ -0,0 +1,43 @@
|
||||
<pyvcp>
|
||||
<label>
|
||||
<text>"Sensor Position:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"keyence_position"</halpin>
|
||||
<font>("Helvetica",12)</font>
|
||||
<format>"1.4f"</format>
|
||||
<width>6</width>
|
||||
</number>
|
||||
<button>
|
||||
<halpin>"keyence_reset"</halpin>
|
||||
<text>"SET SENSOR = 0.0"</text>
|
||||
</button>
|
||||
<scale>
|
||||
<font>("Helvetica",12)</font>
|
||||
<width>"50"</width>
|
||||
<halpin>"adjustment"</halpin>
|
||||
<resolution>.0001</resolution>
|
||||
<orient>VERTICAL</orient>
|
||||
<min_>.025</min_>
|
||||
<max_>-.025</max_>
|
||||
</scale>
|
||||
<label>
|
||||
<text>"Center Electrode Height:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"center_height"</halpin>
|
||||
<font>("Helvetica",12)</font>
|
||||
<format>"1.4f"</format>
|
||||
<width>6</width>
|
||||
</number>
|
||||
<label>
|
||||
<text>"Center Electrode to Post Height:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"gap"</halpin>
|
||||
<font>("Helvetica",12)</font>
|
||||
<format>"1.4f"</format>
|
||||
<width>6</width>
|
||||
</number>
|
||||
</pyvcp>
|
||||
|
||||
29
configs/by_machine/smithy/keyence_postgui.hal
Normal file
29
configs/by_machine/smithy/keyence_postgui.hal
Normal file
@@ -0,0 +1,29 @@
|
||||
loadusr -W hal_manualtoolchange
|
||||
|
||||
# in case they were linked already
|
||||
unlinkp iocontrol.0.tool-change
|
||||
unlinkp iocontrol.0.tool-changed
|
||||
|
||||
net tool-change hal_manualtoolchange.change iocontrol.0.tool-change
|
||||
net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
|
||||
net tool-prep-number hal_manualtoolchange.number iocontrol.0.tool-prep-number
|
||||
|
||||
#configure the encoder input for the Keyence sensor
|
||||
setp hm2_5i20.0.encoder.00.scale 25641.025641026
|
||||
|
||||
#connect the encoder position to an analog input of the motion controller for the Keyence sensor
|
||||
net keyence_position hm2_5i20.0.encoder.00.position motion.analog-in-00
|
||||
|
||||
#connect pyvcp signals for the keyence sensor interface
|
||||
net keyence_position pyvcp.keyence_position
|
||||
|
||||
#connect the encoder reset signal to a [yvcp button for the Keyence sensor
|
||||
net keyence_reset hm2_5i20.0.encoder.00.reset pyvcp.keyence_reset
|
||||
|
||||
#connect the pyvcp scale wigit to an analog input of the motion controller
|
||||
net adjustment pyvcp.adjustment-f motion.analog-in-01
|
||||
|
||||
#connect the pyvcp scale wigit to an analog input of the motion controller
|
||||
net center_height pyvcp.center_height motion.analog-out-00
|
||||
net gap pyvcp.gap motion.analog-out-01
|
||||
|
||||
4
configs/by_machine/smithy/lathe.tbl
Normal file
4
configs/by_machine/smithy/lathe.tbl
Normal file
@@ -0,0 +1,4 @@
|
||||
T1 P1 Z+0.100000 D0.100000 I+60.000000 J+120.000000 Q1 ;
|
||||
T2 P2 D0.100000 I+60.000000 J+120.000000 Q2 ;
|
||||
T3 P3 D0.100000 I+5.000000 J+85.000000 Q3 ;
|
||||
T4 P4 D0.100000 I+5.000000 J+85.000000 Q4 ;
|
||||
4
configs/by_machine/smithy/mill.tbl
Normal file
4
configs/by_machine/smithy/mill.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
|
||||
44
configs/by_machine/smithy/naiky.hal
Normal file
44
configs/by_machine/smithy/naiky.hal
Normal file
@@ -0,0 +1,44 @@
|
||||
# Jog Pendant
|
||||
loadrt encoder num_chan=1
|
||||
loadrt mux8 count=1
|
||||
|
||||
addf encoder.capture-position servo-thread
|
||||
addf encoder.update-counters servo-thread
|
||||
addf mux8.0 servo-thread
|
||||
|
||||
# "times 4 mode" one count per full quadrature cycle, instead of the usual one count per edge.
|
||||
# mpg jog wheels often have a full quadrature cycle per "click". 0 for off and 1 for on.
|
||||
setp encoder.0.x4-mode 1
|
||||
|
||||
# X1
|
||||
net scale1 mux8.0.sel0 hm2_5i20.0.gpio.048.in_not
|
||||
setp mux8.0.in1 0.0001
|
||||
# X10
|
||||
net scale2 mux8.0.sel1 hm2_5i20.0.gpio.050.in_not
|
||||
setp mux8.0.in2 0.001
|
||||
# X100
|
||||
net scale3 mux8.0.sel2 hm2_5i20.0.gpio.052.in_not
|
||||
setp mux8.0.in4 0.01
|
||||
|
||||
net pend-scale axis.0.jog-scale mux8.0.out
|
||||
net pend-scale axis.1.jog-scale
|
||||
net pend-scale axis.2.jog-scale
|
||||
#net pend-scale axis.3.jog-scale
|
||||
|
||||
net mpg-a encoder.0.phase-A hm2_5i20.0.gpio.051.in_not
|
||||
net mpg-b encoder.0.phase-B hm2_5i20.0.gpio.049.in_not
|
||||
|
||||
net mpg-x axis.0.jog-enable hm2_5i20.0.gpio.054.in_not
|
||||
net mpg-y axis.1.jog-enable hm2_5i20.0.gpio.056.in_not
|
||||
net mpg-z axis.2.jog-enable hm2_5i20.0.gpio.058.in_not
|
||||
#net mpg-4 axis.3.jog-enable hm2_5i20.0.gpio.060.in_not
|
||||
#net mpg-off hm2_5i20.0.gpio.062.in_not
|
||||
setp hm2_5i20.0.gpio.064.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.064.invert_output TRUE
|
||||
net mpg-led hm2_5i20.0.gpio.064.out hm2_5i20.0.gpio.062.in
|
||||
|
||||
net pend-counts axis.0.jog-counts <= encoder.0.counts
|
||||
net pend-counts axis.1.jog-counts
|
||||
net pend-counts axis.2.jog-counts
|
||||
#net pend-counts axis.3.jog-counts
|
||||
|
||||
87
configs/by_machine/smithy/naiky.xml
Normal file
87
configs/by_machine/smithy/naiky.xml
Normal file
@@ -0,0 +1,87 @@
|
||||
<pyvcp>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"COUNT:"</text>
|
||||
</label>
|
||||
<number>
|
||||
<halpin>"count"</halpin>
|
||||
<format>"6d"</format>
|
||||
<width>6</width>
|
||||
</number>
|
||||
<button>
|
||||
<halpin>"reset"</halpin>
|
||||
<text>"RESET"</text>
|
||||
</button>
|
||||
<checkbutton>
|
||||
<halpin>"led"</halpin>
|
||||
<text>"LED"</text>
|
||||
</checkbutton>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"A"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"a"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"B"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"b"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"X1"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"x1"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"X10"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"x10"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"X100"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"x100"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<label>
|
||||
<text>"OFF"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"off"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"X"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"x"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"Y"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"y"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"Z"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"z"</halpin>
|
||||
</led>
|
||||
<label>
|
||||
<text>"4"</text>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"4"</halpin>
|
||||
</led>
|
||||
</hbox>
|
||||
</pyvcp>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user