Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
10
configs/sim/axis/vismach/5axis/max5/README
Normal file
10
configs/sim/axis/vismach/5axis/max5/README
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@@ -0,0 +1,10 @@
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max5 5 axis XYZBC configs
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max5triv.ini -- implemented with trivkins
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max5kins.ini -- implemented with max5 kinematics
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non-identity kinematics
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automatic teleop after homing
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max5_base.inc -- shared settings
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4
configs/sim/axis/vismach/5axis/max5/max5.tbl
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4
configs/sim/axis/vismach/5axis/max5/max5.tbl
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@@ -0,0 +1,4 @@
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T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
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T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
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T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
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T99999 P99999 Z+0.100000 ;big tool number
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159
configs/sim/axis/vismach/5axis/max5/max5_base.inc
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159
configs/sim/axis/vismach/5axis/max5/max5_base.inc
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@@ -0,0 +1,159 @@
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[MAX]
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# distance from the end of the "reference tool" (tool-length - 0) to the
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# center of the head tilt axis
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B_PIVOT_LENGTH = 0
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[DISPLAY]
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DISPLAY = axis
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CYCLE_TIME = 0.200
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 2.0
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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 = gedit
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[RS274NGC]
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PARAMETER_FILE = max5triv.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 = 0.010
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[TRAJ]
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COORDINATES = X Y Z B C
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LINEAR_UNITS = mm
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ANGULAR_UNITS = deg
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DEFAULT_LINEAR_VELOCITY = 200.0
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MAX_LINEAR_VELOCITY = 346.0
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MAX_LINEAR_ACCELERATION = 800.0
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DEFAULT_LINEAR_ACCELERATION = 800.0
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[EMCIO]
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TOOL_TABLE = max5.tbl
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[AXIS_X]
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MIN_LIMIT = -100
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MAX_LIMIT = 200
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 100.0
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[JOINT_0]
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# this is the table
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -100
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MAX_LIMIT = 200
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HOME_OFFSET = 101.0
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HOME_SEARCH_VEL = 20.0
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HOME_LATCH_VEL = 5.0
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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[AXIS_Y]
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MIN_LIMIT = -60
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MAX_LIMIT = 60
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 100.0
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[JOINT_1]
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# this is the saddle
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -60
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MAX_LIMIT = 60
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HOME_OFFSET = -61
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HOME_SEARCH_VEL = -20
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HOME_LATCH_VEL = -3
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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[AXIS_Z]
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MIN_LIMIT = -149.0
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MAX_LIMIT = 1.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 100.0
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[JOINT_2]
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# this is the head moving up and down the column
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -149.0
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MAX_LIMIT = 1.0
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HOME_OFFSET = 2.0
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HOME_SEARCH_VEL = 20.0
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HOME_LATCH_VEL = 5.0
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 0
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[AXIS_A]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 45.0
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MAX_ACCELERATION = 100.0
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[JOINT_3]
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TYPE = ANGULAR
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HOME = 0.000
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MAX_VELOCITY = 45.0
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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[AXIS_B]
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MIN_LIMIT = -90.0
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MAX_LIMIT = 90.0
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MAX_VELOCITY = 45.0
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MAX_ACCELERATION = 225.0
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[JOINT_4]
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# this is the head tilting side to side
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TYPE = ANGULAR
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HOME = 0.000
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MAX_VELOCITY = 45.0
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MAX_ACCELERATION = 225.0
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MIN_LIMIT = -90.0
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MAX_LIMIT = 90.0
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HOME_OFFSET = 91.0
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HOME_SEARCH_VEL = 25.0
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HOME_LATCH_VEL = 3.0
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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[AXIS_C]
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MIN_LIMIT = -3600.0
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MAX_LIMIT = 3600.0
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MAX_VELOCITY = 45.0
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MAX_ACCELERATION = 225.0
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[JOINT_5]
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# this is a rotary table sitting on the main table
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TYPE = ANGULAR
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HOME = 0.000
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MAX_VELOCITY = 45.0
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MAX_ACCELERATION = 225.0
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MIN_LIMIT = -3600.0
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MAX_LIMIT = 3600.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 20.0
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HOME_LATCH_VEL = 3.0
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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112
configs/sim/axis/vismach/5axis/max5/max5kins.hal
Normal file
112
configs/sim/axis/vismach/5axis/max5/max5kins.hal
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@@ -0,0 +1,112 @@
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# HAL config file for vismach simulation of max5 - 9-axis version
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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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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# load five limit3 blocks to simulate the accel and vel limits of the motors
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loadrt limit3 count=5
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# load window comparators for home/limit switches
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loadrt wcomp count=5
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loadrt not count=5
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# load the vismach model
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loadusr -W max5gui
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# set a visible tool
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#setp max5gui.tool-length 35
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setp max5gui.tool-radius 3
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net tool-len motion.tooloffset.w max5gui.tool-length
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# add other functions
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addf limit3.0 servo-thread
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addf limit3.1 servo-thread
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addf limit3.2 servo-thread
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addf limit3.3 servo-thread
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addf limit3.4 servo-thread
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addf wcomp.0 servo-thread
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addf wcomp.1 servo-thread
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addf wcomp.2 servo-thread
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addf wcomp.3 servo-thread
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addf wcomp.4 servo-thread
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addf not.0 servo-thread
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addf not.1 servo-thread
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addf not.2 servo-thread
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addf not.3 servo-thread
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addf not.4 servo-thread
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# create HAL signals for position commands from motion module
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# send them to limit blocks so it will ferror if it exceeds a limit
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net table-pos-cmd joint.0.motor-pos-cmd => limit3.0.in
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net saddle-pos-cmd joint.1.motor-pos-cmd => limit3.1.in
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net head-pos-cmd joint.2.motor-pos-cmd => limit3.2.in
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net tilt-pos-cmd joint.4.motor-pos-cmd => limit3.3.in
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net rotate-pos-cmd joint.5.motor-pos-cmd => limit3.4.in
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# set the limit block parameters from the ini file
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setp limit3.0.maxv [JOINT_0]MAX_VELOCITY
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setp limit3.0.maxa [JOINT_0]MAX_ACCELERATION
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setp limit3.1.maxv [JOINT_1]MAX_VELOCITY
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setp limit3.1.maxa [JOINT_1]MAX_ACCELERATION
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setp limit3.2.maxv [JOINT_2]MAX_VELOCITY
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setp limit3.2.maxa [JOINT_2]MAX_ACCELERATION
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setp limit3.3.maxv [JOINT_4]MAX_VELOCITY
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setp limit3.3.maxa [JOINT_4]MAX_ACCELERATION
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setp limit3.4.maxv [JOINT_5]MAX_VELOCITY
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setp limit3.4.maxa [JOINT_5]MAX_ACCELERATION
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# loop limited position commands back to motion module feedback
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# also send them to the vismach model and to the "limit switches"
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net table-pos-fb limit3.0.out => joint.0.motor-pos-fb max5gui.table wcomp.0.in
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net saddle-pos-fb limit3.1.out => joint.1.motor-pos-fb max5gui.saddle wcomp.1.in
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net head-pos-fb limit3.2.out => joint.2.motor-pos-fb max5gui.head wcomp.2.in
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net tilt-pos-fb limit3.3.out => joint.4.motor-pos-fb max5gui.tilt wcomp.3.in
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net rotate-pos-fb limit3.4.out => joint.5.motor-pos-fb max5gui.rotate wcomp.4.in
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# route home/limit switch signals to EMC
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net table-limits-ok wcomp.0.out => not.0.in
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net table-limits-tripped not.0.out => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
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net saddle-limits-ok wcomp.1.out => not.1.in
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net saddle-limits-tripped not.1.out => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
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net head-limits-ok wcomp.2.out => not.2.in
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net head-limits-tripped not.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
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net tilt-limits-ok wcomp.3.out => not.3.in
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net tilt-limits-tripped not.3.out => joint.4.neg-lim-sw-in joint.4.pos-lim-sw-in joint.4.home-sw-in
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net rotate-home-tripped wcomp.4.out => joint.5.home-sw-in
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# set location of switches
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# these positions are in vismach coords - they can be are offset from machine coords
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# these hardware limits are set to allow 2mm more overall travel than the soft limits
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setp wcomp.0.min -101
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setp wcomp.0.max 101
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setp wcomp.1.min -101
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setp wcomp.1.max 21
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setp wcomp.2.min -96
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setp wcomp.2.max 57
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setp wcomp.3.min -91
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setp wcomp.3.max 91
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setp wcomp.4.min 90
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setp wcomp.4.max 100
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# kins needs this value
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setp maxkins.pivot-length [MAX]B_PIVOT_LENGTH
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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net spindle-fwd spindle.0.forward
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net spindle-rev spindle.0.reverse
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net spindle-speed spindle.0.speed-out
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net flood iocontrol.0.coolant-flood
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net mist iocontrol.0.coolant-mist
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net Aloop joint.3.motor-pos-cmd joint.3.motor-pos-fb
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14
configs/sim/axis/vismach/5axis/max5/max5kins.ini
Normal file
14
configs/sim/axis/vismach/5axis/max5/max5kins.ini
Normal file
@@ -0,0 +1,14 @@
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#INCLUDE max5_base.inc
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[KINS]
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KINEMATICS = maxkins
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JOINTS = 6
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[HAL]
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HALFILE = max5kins.hal
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HALUI = halui
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[EMC]
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VERSION = 1.1
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MACHINE = MAX5 with kinematics Simulation
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DEBUG = 0
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109
configs/sim/axis/vismach/5axis/max5/max5triv.hal
Normal file
109
configs/sim/axis/vismach/5axis/max5/max5triv.hal
Normal file
@@ -0,0 +1,109 @@
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# HAL config file for vismach simulation of max5 - trivkins version
|
||||
|
||||
# first load all the RT modules that will be needed
|
||||
# kinematics
|
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loadrt [KINS]KINEMATICS
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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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||||
# load five limit3 blocks to simulate the accel and vel limits of the motors
|
||||
loadrt limit3 count=5
|
||||
# load window comparators for home/limit switches
|
||||
loadrt wcomp count=5
|
||||
loadrt not count=5
|
||||
|
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# load the vismach model
|
||||
loadusr -W max5gui
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||||
# set a visible tool
|
||||
setp max5gui.tool-radius 3
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||||
# get tool length from motion controller
|
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net tool-len motion.tooloffset.z max5gui.tool-length
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||||
|
||||
# add motion controller functions to servo thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
# add other functions
|
||||
addf limit3.0 servo-thread
|
||||
addf limit3.1 servo-thread
|
||||
addf limit3.2 servo-thread
|
||||
addf limit3.3 servo-thread
|
||||
addf limit3.4 servo-thread
|
||||
addf wcomp.0 servo-thread
|
||||
addf wcomp.1 servo-thread
|
||||
addf wcomp.2 servo-thread
|
||||
addf wcomp.3 servo-thread
|
||||
addf wcomp.4 servo-thread
|
||||
addf not.0 servo-thread
|
||||
addf not.1 servo-thread
|
||||
addf not.2 servo-thread
|
||||
addf not.3 servo-thread
|
||||
addf not.4 servo-thread
|
||||
|
||||
# create HAL signals for position commands from motion module
|
||||
# send them to limit blocks so it will ferror if it exceeds a limit
|
||||
net table-pos-cmd joint.0.motor-pos-cmd => limit3.0.in
|
||||
net saddle-pos-cmd joint.1.motor-pos-cmd => limit3.1.in
|
||||
net head-pos-cmd joint.2.motor-pos-cmd => limit3.2.in
|
||||
net tilt-pos-cmd joint.4.motor-pos-cmd => limit3.3.in
|
||||
net rotate-pos-cmd joint.5.motor-pos-cmd => limit3.4.in
|
||||
|
||||
# set the limit block parameters from the ini file
|
||||
setp limit3.0.maxv [JOINT_0]MAX_VELOCITY
|
||||
setp limit3.0.maxa [JOINT_0]MAX_ACCELERATION
|
||||
setp limit3.1.maxv [JOINT_1]MAX_VELOCITY
|
||||
setp limit3.1.maxa [JOINT_1]MAX_ACCELERATION
|
||||
setp limit3.2.maxv [JOINT_2]MAX_VELOCITY
|
||||
setp limit3.2.maxa [JOINT_2]MAX_ACCELERATION
|
||||
setp limit3.3.maxv [JOINT_4]MAX_VELOCITY
|
||||
setp limit3.3.maxa [JOINT_4]MAX_ACCELERATION
|
||||
setp limit3.4.maxv [JOINT_5]MAX_VELOCITY
|
||||
setp limit3.4.maxa [JOINT_5]MAX_ACCELERATION
|
||||
|
||||
# loop limited position commands back to motion module feedback
|
||||
# also send them to the vismach model and to the "limit switches"
|
||||
net table-pos-fb limit3.0.out => joint.0.motor-pos-fb max5gui.table wcomp.0.in
|
||||
net saddle-pos-fb limit3.1.out => joint.1.motor-pos-fb max5gui.saddle wcomp.1.in
|
||||
net head-pos-fb limit3.2.out => joint.2.motor-pos-fb max5gui.head wcomp.2.in
|
||||
net tilt-pos-fb limit3.3.out => joint.4.motor-pos-fb max5gui.tilt wcomp.3.in
|
||||
net rotate-pos-fb limit3.4.out => joint.5.motor-pos-fb max5gui.rotate wcomp.4.in
|
||||
|
||||
# route home/limit switch signals to EMC
|
||||
net table-limits-ok wcomp.0.out => not.0.in
|
||||
net table-limits-tripped not.0.out => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
|
||||
net saddle-limits-ok wcomp.1.out => not.1.in
|
||||
net saddle-limits-tripped not.1.out => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
|
||||
net head-limits-ok wcomp.2.out => not.2.in
|
||||
net head-limits-tripped not.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net tilt-limits-ok wcomp.3.out => not.3.in
|
||||
net tilt-limits-tripped not.3.out => joint.4.neg-lim-sw-in joint.4.pos-lim-sw-in joint.4.home-sw-in
|
||||
net rotate-home-tripped wcomp.4.out => joint.5.home-sw-in
|
||||
|
||||
# set location of switches
|
||||
# these positions are in vismach coords - they can be are offset from machine coords
|
||||
# these hardware limits are set to allow 2mm more overall travel than the soft limits
|
||||
setp wcomp.0.min -101
|
||||
setp wcomp.0.max 101
|
||||
setp wcomp.1.min -101
|
||||
setp wcomp.1.max 21
|
||||
setp wcomp.2.min -96
|
||||
setp wcomp.2.max 57
|
||||
setp wcomp.3.min -91
|
||||
setp wcomp.3.max 91
|
||||
setp wcomp.4.min 90
|
||||
setp wcomp.4.max 100
|
||||
|
||||
# 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
|
||||
|
||||
net spindle-fwd spindle.0.forward
|
||||
net spindle-rev spindle.0.reverse
|
||||
net spindle-speed spindle.0.speed-out
|
||||
|
||||
net flood iocontrol.0.coolant-flood
|
||||
net mist iocontrol.0.coolant-mist
|
||||
|
||||
net Aloop joint.3.motor-pos-cmd joint.3.motor-pos-fb
|
||||
14
configs/sim/axis/vismach/5axis/max5/max5triv.ini
Normal file
14
configs/sim/axis/vismach/5axis/max5/max5triv.ini
Normal file
@@ -0,0 +1,14 @@
|
||||
#INCLUDE max5_base.inc
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=xyzabc
|
||||
JOINTS = 6
|
||||
|
||||
[HAL]
|
||||
HALFILE = max5triv.hal
|
||||
HALUI = halui
|
||||
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = MAX5-trivkins Simulation
|
||||
DEBUG = 0
|
||||
Reference in New Issue
Block a user