Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
17
configs/by_machine/scorbot-er-3/gripper.xml
Normal file
17
configs/by_machine/scorbot-er-3/gripper.xml
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@@ -0,0 +1,17 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<pyvcp>
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<labelframe text="Gripper">
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<vbox>
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<scale>
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<halpin>"gripper"</halpin>
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<resolution>1</resolution>
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<orient>HORIZONTAL</orient>
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<initval>0</initval>
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<min_>-200</min_>
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<max_>200</max_>
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</scale>
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</vbox>
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</labelframe>
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</pyvcp>
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3
configs/by_machine/scorbot-er-3/pyvcp.hal
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3
configs/by_machine/scorbot-er-3/pyvcp.hal
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@@ -0,0 +1,3 @@
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net gripper <= pyvcp.gripper-f
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net gripper => scorbot-er-3.joint7.motor-pos-cmd
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71
configs/by_machine/scorbot-er-3/pyvcp.xml
Normal file
71
configs/by_machine/scorbot-er-3/pyvcp.xml
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@@ -0,0 +1,71 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<pyvcp>
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<vbox>
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<label><text>"These widgets indicate a HAL_BIT"</text></label>
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<hbox>
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<label><text>"LED:"</text></label>
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<led>
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<halpin>"led-sample"</halpin>
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<size>20</size>
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</led>
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</hbox>
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<label><text>"These widgets control a HAL_BIT"</text></label>
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<vbox>
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<hbox>
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<label><text>"Button"</text></label>
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<button>
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<text>"Button:"</text>
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<halpin>"button-sample"</halpin>
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</button>
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</hbox>
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<hbox>
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<label><text>"Checkbutton:"</text></label>
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<checkbutton>
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<halpin>"chbutton-sample"</halpin>
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</checkbutton>
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</hbox>
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</vbox>
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<label><text>"These widgets indicate a HAL_FLOAT"</text></label>
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<vbox>
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<hbox>
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<label><text>"Bar:"</text></label>
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<bar>
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<halpin>"bar-sample"</halpin>
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</bar>
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</hbox>
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<hbox>
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<label><text>"Number:"</text></label>
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<number>
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<halpin>"number-sample"</halpin>
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<format>"+004.4f"</format>
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<font>('Helvetica',40)</font>
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</number>
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</hbox>
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</vbox>
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<label><text>"These widgets control a HAL_FLOAT"</text></label>
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<vbox>
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<hbox>
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<label><text>"Scale:"</text></label>
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<scale>
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<orient>HORIZONTAL</orient>
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<halpin>"scale-sample"</halpin>
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</scale>
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</hbox>
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<hbox>
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<label><text>"Spinbox:"</text></label>
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<spinbox>
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<font>('Helvetica',40)</font>
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</spinbox>
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</hbox>
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</vbox>
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<!-- this is a comment-->
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</vbox>
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</pyvcp>
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113
configs/by_machine/scorbot-er-3/scorbot-er-3.hal
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113
configs/by_machine/scorbot-er-3/scorbot-er-3.hal
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@@ -0,0 +1,113 @@
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loadrt [KINS]KINEMATICS
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#autoconverted scorbot-kins
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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadrt differential
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf differential.0 servo-thread
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loadusr -W scorbot-er-3
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#
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# E-Stop
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#
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net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
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#
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# Joint 0
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#
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net j0.cmd <= joint.0.motor-pos-cmd
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net j0.cmd => scorbot-er-3.joint0.motor-pos-cmd
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net j0.cmd => joint.0.motor-pos-fb
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net j0.limit <= scorbot-er-3.joint0.limit-sw
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net j0.limit => joint.0.home-sw-in
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net j0.limit => joint.0.neg-lim-sw-in
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net j0.limit => joint.0.pos-lim-sw-in
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setp scorbot-er-3.joint0.scale [JOINT_0]SCALE
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#
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# Joint 1
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#
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net j1.cmd <= joint.1.motor-pos-cmd
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net j1.cmd => scorbot-er-3.joint1.motor-pos-cmd
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net j1.cmd => joint.1.motor-pos-fb
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net j1.limit <= scorbot-er-3.joint1.limit-sw
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net j1.limit => joint.1.home-sw-in
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net j1.limit => joint.1.neg-lim-sw-in
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net j1.limit => joint.1.pos-lim-sw-in
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setp scorbot-er-3.joint1.scale [JOINT_1]SCALE
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#
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# Joint 2
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#
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net j2.cmd <= joint.2.motor-pos-cmd
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net j2.cmd => scorbot-er-3.joint2.motor-pos-cmd
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net j2.cmd => joint.2.motor-pos-fb
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net j2.limit <= scorbot-er-3.joint2.limit-sw
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net j2.limit => joint.2.home-sw-in
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net j2.limit => joint.2.neg-lim-sw-in
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net j2.limit => joint.2.pos-lim-sw-in
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setp scorbot-er-3.joint2.scale [JOINT_2]SCALE
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#
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# Joint 3
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# LinuxCNC commands "wrist pitch" on J3, this goes through the differential.
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#
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net wrist.pitch-cmd <= joint.3.motor-pos-cmd
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net wrist.pitch-cmd => differential.0.pitch-cmd
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net wrist.pitch-fb <= differential.0.pitch-fb
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net wrist.pitch-fb => joint.3.motor-pos-fb
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net j3.cmd <= differential.0.motor0-cmd
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net j3.cmd => scorbot-er-3.joint3.motor-pos-cmd
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net j3.cmd => differential.0.motor0-fb
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net wrist-pitch.limit <= scorbot-er-3.joint3.limit-sw
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net wrist-pitch.limit => joint.3.home-sw-in
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setp scorbot-er-3.joint3.scale [JOINT_3]SCALE
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#
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# Joint 4
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# LinuxCNC commands "wrist roll" on J4, this goes through the differential.
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#
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net wrist.roll-cmd <= joint.4.motor-pos-cmd
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net wrist.roll-cmd => differential.0.roll-cmd
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net wrist.roll-fb <= differential.0.roll-fb
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net wrist.roll-fb => joint.4.motor-pos-fb
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net j4.cmd <= differential.0.motor1-cmd
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net j4.cmd => scorbot-er-3.joint4.motor-pos-cmd
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net j4.cmd => differential.0.motor1-fb
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net wrist-roll.limit <= scorbot-er-3.joint4.limit-sw
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net wrist-roll.limit => joint.4.home-sw-in
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setp scorbot-er-3.joint4.scale [JOINT_4]SCALE
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370
configs/by_machine/scorbot-er-3/scorbot-er-3.ini
Normal file
370
configs/by_machine/scorbot-er-3/scorbot-er-3.ini
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@@ -0,0 +1,370 @@
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# This config file was created 2015-10-18 15:29:00.438682 by the update_ini script
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# The original config files may be found in the /home/seb/linuxcnc-dev/configs/by_machine/scorbot-er-3/scorbot-er-3.old directory
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[EMC]
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# The version string for this INI file.
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VERSION = 1.1
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MACHINE = Scorbot-ER III
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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#DEBUG = 0x7fffffff
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DEBUG = 0
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[DISPLAY]
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DISPLAY = axis
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CYCLE_TIME = 0.100
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HELP_FILE = doc/help.txt
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 2.0
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MAX_SPINDLE_OVERRIDE = 2.0
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MAX_LINEAR_VELOCITY = 27
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DEFAULT_LINEAR_VELOCITY = 27
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MAX_ANGULAR_VELOCITY = 27
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DEFAULT_ANGULAR_VELOCITY = 27
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PROGRAM_PREFIX = ../../../nc_files/
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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EDITOR = gvim
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TOOL_EDITOR = gvim
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INCREMENTS = 10 mm, 1 mm, 0.10 mm, 0.01 mm
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PYVCP = gripper.xml
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python3
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[RS274NGC]
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PARAMETER_FILE = sim.var
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[HAL]
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HALFILE = scorbot-er-3.hal
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#HALFILE = ../../common/shuttlexpress.hal
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#HALFILE = shuttlexpress-customization.hal
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POSTGUI_HALFILE = pyvcp.hal
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HALUI = halui
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[HALUI]
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#No Content
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[TRAJ]
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AXES = 5
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COORDINATES = X Y Z A B
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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#HOME = 0 0 0 0 0
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# mm/second
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DEFAULT_VELOCITY = 675
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MAX_VELOCITY = 675
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# mm/second/second
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DEFAULT_ACCELERATION = 5000
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MAX_ACCELERATION = 5000
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POSITION_FILE = position.txt
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||||
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#
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||||
# The Scorbot-ER III User's Manual (6th Edition) Appendix E states that
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# motors 1-5 (joints 0-4) use optical encoders with 6 slots/revolution.
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# Experimentally, the Scorbot motor control box reports 6 counts per
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||||
# revolution.
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#
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# The arm motors (joint 0, 1, & 2) have gearboxes with a ratio of 127.7:1.
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||||
# The wrist motors (joints 3 & 4) have gearboxes with a ratio of 65.5:1.
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#
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# 6 counts/motor-rev * 127.7 motor-revs/driveshaft-rev = 766.2 counts/driveshaft-rev
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||||
#
|
||||
# 6 counts/motor-rev * 65.5 motor-revs/driveshaft-rev = 393 counts/driveshaft-rev
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#
|
||||
# Each motor then has a different transmission to actuate the joint, but
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||||
# they're all 1:1 after the gearbox on the motor.
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||||
#
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||||
|
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[EMCIO]
|
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#TOOL_TABLE = sim.tbl
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#TOOL_CHANGE_POSITION = 0 0 0
|
||||
#TOOL_CHANGE_QUILL_UP = 1
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[KINS]
|
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KINEMATICS = scorbot-kins
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#This is a best-guess at the number of joints, it should be checked
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JOINTS = 5
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||||
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||||
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||||
[AXIS_X]
|
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HOME = 0.000
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||||
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
|
||||
|
||||
Reference in New Issue
Block a user