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configs/sim/axis/corexy/3joint_xyz.hal

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+# 3joint_xyz.hal
+
+# This halfile loads modules and makes connections
+# for use of any kinematics using xyz coordinates
+# implemented with 3 joints.  Such configs include:
+#  [KINS]KINEMATICS = trivkins coordinates=xyz
+#  [KINS]KINEMATICS = corexykins
+
+# Notes:
+# 1) stepgens are implemented but no connections are
+#    included for hardware
+# 2) home switches are simulated
+#----------------------------------------------------------
+
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT  base_period_nsec=[EMCMOT]BASE_PERIOD \
+                       servo_period_nsec=[EMCMOT]SERVO_PERIOD \
+                       num_joints=[KINS]JOINTS
+loadrt stepgen         step_type=0,0,0
+
+# simulated home switches:
+loadrt sim_home_switch names=j0home,j1home,j2home
+
+#----------------------------------------------------------
+setp stepgen.0.position-scale [JOINT_0]SCALE
+setp stepgen.0.maxaccel       [JOINT_0]STEPGEN_MAXACCEL
+setp stepgen.0.steplen        5000
+setp stepgen.0.stepspace      5000
+setp stepgen.0.dirhold       35000
+setp stepgen.0.dirsetup      35000
+
+setp stepgen.1.position-scale [JOINT_1]SCALE
+setp stepgen.1.maxaccel      [JOINT_1]STEPGEN_MAXACCEL
+setp stepgen.1.steplen        5000
+setp stepgen.1.stepspace      5000
+setp stepgen.1.dirhold       35000
+setp stepgen.1.dirsetup      35000
+
+setp stepgen.2.position-scale [JOINT_2]SCALE
+setp stepgen.2.maxaccel       [JOINT_2]STEPGEN_MAXACCEL
+setp stepgen.2.steplen        5000
+setp stepgen.2.stepspace      5000
+setp stepgen.2.dirhold       35000
+setp stepgen.2.dirsetup      35000
+#----------------------------------------------------------
+# simulated home motor positions:
+setp j0home.home-pos 0.2
+setp j1home.home-pos 0.2
+setp j2home.home-pos 0.1
+
+#----------------------------------------------------------
+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
+addf j0home                   servo-thread
+addf j1home                   servo-thread
+addf j2home                   servo-thread
+#----------------------------------------------------------
+net j0enable  <= joint.0.amp-enable-out
+net j0enable  => stepgen.0.enable
+net j0pos-cmd <= joint.0.motor-pos-cmd
+net j0pos-cmd => stepgen.0.position-cmd
+net j0pos-cmd => j0home.cur-pos
+net j0pos-fb  <= stepgen.0.position-fb
+net j0pos-fb  => joint.0.motor-pos-fb
+net j0step    <= stepgen.0.step
+net j0dir     <= stepgen.0.dir
+net j0homesw  <= j0home.home-sw
+net j0homesw  => joint.0.home-sw-in
+
+net j1enable  <= joint.1.amp-enable-out
+net j1enable  => stepgen.1.enable
+net j1pos-cmd <= joint.1.motor-pos-cmd
+net j1pos-cmd => stepgen.1.position-cmd
+net j1pos-cmd => j1home.cur-pos
+net j1pos-fb  <= stepgen.1.position-fb
+net j1pos-fb  => joint.1.motor-pos-fb
+net j1step    <= stepgen.1.step
+net j1dir     <= stepgen.1.dir
+net j1homesw  <= j1home.home-sw
+net j1homesw  => joint.1.home-sw-in
+
+net j2enable  <= joint.2.amp-enable-out
+net j2enable  => stepgen.2.enable
+net j2pos-cmd <= joint.2.motor-pos-cmd
+net j2pos-cmd => stepgen.2.position-cmd
+net j2pos-cmd => j2home.cur-pos
+net j2pos-fb  <= stepgen.2.position-fb
+net j2pos-fb  => joint.2.motor-pos-fb
+net j2step    <= stepgen.2.step
+net j2dir     <= stepgen.2.dir
+net j2homesw  <= j2home.home-sw
+net j2homesw  => joint.2.home-sw-in
+#----------------------------------------------------------
+net estop-out <= iocontrol.0.user-enable-out
+net estop-out => iocontrol.0.emc-enable-in
+
+net tool-change-loopback  <= iocontrol.0.tool-change
+net tool-change-loopback  => iocontrol.0.tool-changed
+net tool-prepare-loopback <= iocontrol.0.tool-prepare
+net tool-prepare-loopback => iocontrol.0.tool-prepared

configs/sim/axis/corexy/README

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+corexy examples:
+
+corexy_by_kins.ini 
+  Demonstrates corexykins kinematics
+  (Note: using corexykins kinematics
+   on real hardware requires home
+   switches triggered by motor
+   positions)
+
+corexy_by_hal.ini
+  Demonstrates use of trivkins with
+  corexy kinematics implemented by a
+  hal component
+  (Notes: this method supports
+  home switches aligned with x,y
+  coordinates)
+
+Notes:
+ 1) The configurations share common ini
+    file settings from corey_base.inc
+ 2) Home switches are simulated
+ 3) stepgens are configured but no
+    connections to hardware are 
+    included.

configs/sim/axis/corexy/corexy.halshow

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+pin+corexy_by_hal.j0-motor-pos-cmd
+pin+corexy_by_hal.j1-motor-pos-cmd
+pin+corexy_by_hal.j0-motor-pos-fb
+pin+corexy_by_hal.j1-motor-pos-fb
+pin+corexy_by_hal.alpha-cmd
+pin+corexy_by_hal.beta-cmd
+pin+corexy_by_hal.alpha-fb
+pin+corexy_by_hal.beta-fb
+
+pin+joint.0.motor-pos-cmd
+pin+joint.1.motor-pos-cmd
+pin+joint.0.motor-pos-fb
+pin+joint.1.motor-pos-fb
+pin+joint.0.motor-offset
+pin+joint.1.motor-offset
+
+pin+stepgen.0.position-cmd
+pin+stepgen.1.position-cmd
+
+pin+stepgen.0.position-fb
+pin+stepgen.1.position-fb
+

configs/sim/axis/corexy/corexy_base.inc

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+# Notes:
+# 1) this is an INCLUDE file for common settings
+#    for demonstration configs
+# 2) INCLUDING file must supply the sections for:
+#    [EMC],[KINS],[HAL]
+
+[APPLICATIONS]
+APP = halshow --fformat "%.3f" corexy.halshow
+
+[DISPLAY]
+DISPLAY = axis
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+DEFAULT_LINEAR_VELOCITY = 1.0
+MIN_LINEAR_VELOCITY = 0
+MAX_LINEAR_VELOCITY = 1.0
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+PROGRAM_PREFIX = ../../nc_files/
+INCREMENTS = .1in .01in .001in
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[RS274NGC]
+PARAMETER_FILE = linuxcnc.var
+
+[EMCMOT]
+EMCMOT = motmod
+BASE_PERIOD =   250000
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES =  XYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+MAX_LINEAR_VELOCITY = 1.0
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+
+[AXIS_X]
+MAX_VELOCITY =      2.0
+MAX_ACCELERATION = 20.0
+MIN_LIMIT =        -0.1
+MAX_LIMIT =        10.0
+
+[AXIS_Y]
+MAX_VELOCITY =      2.0
+MAX_ACCELERATION = 20.0
+MIN_LIMIT =        -0.1
+MAX_LIMIT =        10.0
+
+[AXIS_Z]
+MAX_VELOCITY =      2.0
+MAX_ACCELERATION = 20.0
+MIN_LIMIT =        -5.0
+MAX_LIMIT =         0.5
+
+[JOINT_0]
+TYPE = LINEAR
+MAX_VELOCITY =        2.0
+MAX_ACCELERATION =   20.0
+STEPGEN_MAXACCEL =   25.0
+SCALE =            8000.0
+HOME_SEARCH_VEL = 1
+HOME_LATCH_VEL  = 1
+HOME_SEQUENCE   = 0
+
+[JOINT_1]
+TYPE = LINEAR
+MAX_VELOCITY =        2.0
+MAX_ACCELERATION =   20.0
+STEPGEN_MAXACCEL =   25.0
+SCALE =            8000.0
+HOME_SEARCH_VEL = 1
+HOME_LATCH_VEL  = 1
+HOME_SEQUENCE   = 1
+
+[JOINT_2]
+TYPE = LINEAR
+MAX_VELOCITY =        2.0
+MAX_ACCELERATION =   20.0
+STEPGEN_MAXACCEL =   25.0
+SCALE =            8000.0
+HOME_SEARCH_VEL = 1
+HOME_LATCH_VEL  = 1
+HOME_SEQUENCE   = 2

configs/sim/axis/corexy/corexy_by_hal.hal

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+# corexy_by_hal.hal
+
+# This halfile adapts a configuration using trvikins
+# to implement corexy kinematics using the hal
+# component: corexy_by_hal.
+
+# This corexy method allows home switches to operate
+# along the Cartesian X and Y coordinate motion.
+# By contrast, when using corexykins kinematics, home
+# switches operate according to motor positions for
+# joints 0 and 1.
+
+# show original signals for joints 0,1
+show sig j0pos-cmd j1pos-cmd
+show sig j0pos-fb  j1pos-fb
+
+# remove original signals that connect
+# pins for stepgens 0,1:
+delsig j0pos-cmd
+delsig j1pos-cmd
+delsig j0pos-fb
+delsig j1pos-fb
+
+# implement corexy kinematics with hal component:
+loadrt corexy_by_hal names=corexy_by_hal
+addf   corexy_by_hal servo-thread
+
+net :j0motor-cmd <= joint.0.motor-pos-cmd
+net :j0motor-cmd => corexy_by_hal.j0-motor-pos-cmd
+net :j0motor-cmd => j0home.cur-pos
+
+net :j1motor-cmd <= joint.1.motor-pos-cmd
+net :j1motor-cmd => corexy_by_hal.j1-motor-pos-cmd
+net :j1motor-cmd => j1home.cur-pos
+
+net :j0motor-fb <= corexy_by_hal.j0-motor-pos-fb
+net :j0motor-fb => joint.0.motor-pos-fb
+
+net :j1motor-fb <= corexy_by_hal.j1-motor-pos-fb
+net :j1motor-fb => joint.1.motor-pos-fb
+
+# new signals connecting pins for stepgens 0,1:
+net :alpha-cmd <= corexy_by_hal.alpha-cmd
+net :alpha-cmd => stepgen.0.position-cmd
+
+net :beta-cmd => corexy_by_hal.beta-cmd
+net :beta-cmd <= stepgen.1.position-cmd
+
+net :alpha-fb  <= stepgen.0.position-fb
+net :alpha-fb  => corexy_by_hal.alpha-fb
+
+net :beta-fb  <= stepgen.1.position-fb
+net :beta-fb  => corexy_by_hal.beta-fb
+
+# show new signals:
+show sig :*alpha*
+show sig :*beta*

configs/sim/axis/corexy/corexy_by_hal.ini

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+# basic configuration items:
+#INCLUDE corexy_base.inc
+
+[EMC]
+MACHINE = corexy_by_hal
+VERSION = 1.1
+
+[KINS]
+JOINTS = 3
+KINEMATICS = trivkins coordinates=XYZ kinstype=b
+
+[HAL]
+# default connections for a 3joint xyz config:
+HALFILE = 3joint_xyz.hal
+
+# update connections for trivkins to implement
+# corexy kinematics in hal
+HALFILE = corexy_by_hal.hal

configs/sim/axis/corexy/corexy_by_hal.txt

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+corexy_by_hal.ini 
+
+CoreXY simulation using the
+trivkins kinematics module
+with the corexy_by_hal
+hal component
+
+This hal method supports home switches
+that are aligned with the X and Y
+coordinates instead of the joint 0,1
+motor positions.

configs/sim/axis/corexy/corexy_by_kins.ini

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+# basic configuration items:
+#INCLUDE corexy_base.inc
+
+[EMC]
+MACHINE = corexy_by_kins
+VERSION = 1.1
+
+[KINS]
+JOINTS = 3
+KINEMATICS = corexykins
+
+[HAL]
+# default connections for a 3joint xyz config:
+HALFILE = 3joint_xyz.hal

configs/sim/axis/corexy/corexy_by_kins.txt

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+corexy_by_kins.ini
+
+CoreXY simulation using the
+corexykins kinematics module
+
+$ man kins for more info
+
+Notes:
+
+1) Using corexykins requires home
+switches operating on motor
+positions for joints 0 and 1
+
+2) An alternative method for coreXY
+kinematics uses trivkins kinematics
+with a hal component:
+     (corexy_by_hal.comp)
+This method allows use of home
+switches aligned to x,y coordinate
+motion.
+
+See the demo: corexy_by_hal.ini