claude init
This commit is contained in:
Thaddeus Hughes
163
configs/lagun_gmoccapy/README.md
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163
configs/lagun_gmoccapy/README.md
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@@ -0,0 +1,163 @@
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# Lagun Milling Machine - GMOCCAPY Configuration
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LinuxCNC configuration for a Lagun 3-axis (X, Y, Z) milling machine with servo drives, controlled by a Mesa 5i24 FPGA card and the GMOCCAPY GUI. Units are imperial (inches).
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Originally generated by PNCconf (July 2024), then modified for GMOCCAPY and dual-encoder feedback.
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## Files
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| File | Purpose |
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|------|---------|
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| `lagun_gmoccapy.ini` | Main config: axes, PID gains, encoder scales, limits, MDI commands |
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| `lagun.hal` | Main HAL: loads drivers, wires encoders/PWM/PID/GPIO, tool change |
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| `xhc-whb04b-6.hal` | Pendant HAL: jog, axis select, feed override, macro buttons |
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| `gmoccapy_postgui.hal` | Post-GUI HAL: connects tool offset display to GMOCCAPY |
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| `shutdown.hal` | Shutdown HAL: currently empty (placeholder) |
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| `tool.tbl` | Tool table with 6 tools (T0-T5) |
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## Hardware
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### Controller
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- **Mesa 5i24** PCI FPGA card (`hm2_pci`)
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- 6 encoder channels, 6 PWM generators
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- PWM frequency: 15,500 Hz
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- Servo period: 1 ms (1,000,000 ns)
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### Servo Drives and PWM Mapping
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| Axis | PWM Channel | Output Scale |
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|------|-------------|-------------|
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| X | pwmgen.00 | +1 |
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| Y | pwmgen.02 | -1 (inverted) |
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| Z | pwmgen.04 | -1 (inverted) |
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### Encoder Mapping
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X and Y each have two encoders (motor + linear scale). Z has only a linear scale.
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| Signal | Encoder Channel | Scale (counts/inch) | Purpose |
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|--------|----------------|---------------------|---------|
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| X linear | encoder.00 | 5085.5 | Position feedback (used for joint FB) |
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| Y linear | encoder.01 | 5085.4 | Position feedback (used for joint FB) |
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| Z linear | encoder.02 | -10075 | Position feedback (used for joint FB) |
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| X motor | encoder.03 | -27939.6 | Velocity/damping feedback |
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| Y motor | encoder.04 | 27453.6 | Velocity/damping feedback |
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| Z motor | (none) | N/A | Not installed |
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### GPIO Pin Assignments
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**Relay outputs** (active low / inverted):
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| GPIO | Function |
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|------|----------|
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| 041 | Spindle on/off relay |
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| 044 | Z-axis servo enable relay |
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| 046 | X-axis servo enable relay |
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**Button inputs** (active low, currently unused/commented out):
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| GPIO | Function |
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|------|----------|
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| 027 | Button (unassigned) |
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| 028 | Button (unassigned) |
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| 029 | ESTOP button |
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| 030 | START button |
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| 031 | STOP button |
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The button inputs are configured as inputs but their HAL net connections are commented out because they were causing unexpected machine shutoff.
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## Dual PID Feedback (X and Y Axes)
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X and Y each use two PID loops running in parallel, whose outputs are summed:
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1. **Motor encoder PID** (`pid.x` / `pid.y`): Uses D gain and FF1 for velocity damping. No I gain. Feedback from the motor-mounted encoder.
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2. **Linear scale PID** (`pid.xl` / `pid.yl`): Uses high P and I gains for accurate position correction. Feedback from the linear scale mounted on the axis.
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The outputs are summed via `sum2` components:
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- `sum2.0`: X motor PID + X linear PID
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- `sum2.1`: Y motor PID + Y linear PID
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- `sum2.2`: Z linear PID only (no motor encoder)
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The **linear scale** position is used as the joint feedback (`joint.N.motor-pos-fb`), so LinuxCNC tracks actual table position rather than motor position.
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## Z-Axis Override Mechanism
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The Z-axis has a special enable/disable mechanism for manual quill operation:
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- A HAL `logic AND` gate combines two signals: `z-override` and `z-enable`
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- The combined output `z-enable-comb` controls the Z servo PID enable and the GPIO 044 relay
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- `z-override` defaults to TRUE at startup (CNC controls Z)
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- M101 can set `z-override` to FALSE, disabling the Z servo so the quill can be moved manually
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- M102 can set `z-override` back to TRUE to re-enable CNC Z control
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**Workaround**: Because the Z servo is disabled during manual quill use, the quill position diverges from the commanded position. To prevent following-error faults, `MIN_FERROR` is set to 100 inches in the INI file (ideally it would be 0.2). An attempt to dynamically switch the ferror value via a `mux2` component exists in the HAL but is non-functional (the output signal is not connected to the joint).
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## Spindle
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On/off relay control only via GPIO 041. No speed control or encoder feedback. The spindle PID section in the INI exists but is effectively unused (FF0=1 with no feedback). Default spindle speed in the GUI is 500 RPM.
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## Pendant (XHC WHB04B-6)
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Wireless pendant loaded with `xhc-whb04b-6 -HsfB` (HAL-only, step, filtered, 6-axis model).
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Connected to `joint.N.jog-*` pins (not `axis.x.jog-*`, which GMOCCAPY does not create).
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### Macro Button Mapping
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Macro buttons trigger MDI commands defined in the `[HALUI]` section of the INI:
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| Button | MDI Index | G-code | Action |
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|--------|-----------|--------|--------|
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| Macro 1 | 01 | `G10 L20 P0 X[#<_x>/2.0]` | Halve X coordinate |
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| Macro 2 | 02 | `G10 L20 P0 Y[#<_y>/2.0]` | Halve Y coordinate |
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| Macro 3 | -- | (hardcoded) | Spindle speed increase |
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| Macro 4 | -- | (hardcoded) | Spindle speed decrease |
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| Macro 5 | 05 | `G10 L20 P0 X0` | Zero X |
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| Macro 6 | 06 | `G10 L20 P0 Y0` | Zero Y |
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| Macro 7 | 07 | `G10 L20 P0 Z0` | Zero Z |
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| Macro 8 | -- | (hardcoded) | Spindle direction |
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| Macro 10 | -- | (hardcoded) | Toggle ABS/REL DRO |
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| Macro 15 | -- | (hardcoded) | Flood coolant toggle |
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| Macro 16 | -- | (hardcoded) | Mist coolant toggle |
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### Function Buttons
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| Button | Action |
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|--------|--------|
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| M-Home | Home all axes (`halui.home-all`) |
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| Safe-Z | MDI command 03 (debug/placeholder) |
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| W-Home | MDI command 04 (debug/placeholder) |
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| Probe-Z | MDI command 08 (debug/placeholder) |
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Feed override is connected and functional via the pendant knob.
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## Tool Change
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Manual tool change using `hal_manualtoolchange`. A dialog pops up on screen prompting the operator to change the tool. Tool prepare requests are looped back (no automatic tool changer).
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## Axis Limits and Homing
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| Axis | Travel (inches) | Home Sequence |
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|------|----------------|---------------|
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| X | -24.0 to +24.0 | 2 |
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| Y | -12.0 to +12.0 | 3 |
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| Z | -4.0 to +1.0 | 1 (first) |
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`NO_FORCE_HOMING = 1` is set, so the machine can be jogged and run programs without homing first.
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## Startup G-code
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```
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G20 G40 G90 G94 G97 G64 P0.001
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```
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- G20: Inch mode
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- G40: Cancel cutter compensation
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- G90: Absolute distance mode
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- G94: Feed per minute
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- G97: RPM mode (constant spindle speed)
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- G64 P0.001: Path blending with 0.001" tolerance
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## E-Stop
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The estop signal is looped back internally (`user-enable-out` -> `emc-enable-in`). There is no external hardware estop chain connected through LinuxCNC. The physical ESTOP button on GPIO 029 is configured as an input but not wired into the estop logic.
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@@ -2,5 +2,6 @@
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# These connections are made after the GUI loads so gmoccapy pins exist
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# --- Tool offset display ---
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# Pass tool offset values to GMOCCAPY for DRO display
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net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
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net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z
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@@ -1,20 +1,30 @@
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# ============================================================================
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# Lagun milling machine - Main HAL configuration
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# Generated by PNCconf at Fri Jul 26 13:18:08 2024
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# Using LinuxCNC version: Master (2.9)
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# If you make changes to this file, they will be
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# overwritten when you run PNCconf again
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# ============================================================================
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# --- Load realtime modules ---
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loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS base_thread_fp=1
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loadrt hostmot2
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loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
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loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
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# mux16: used by pendant for jog increment, feed override, max velocity override, spindle override
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loadrt mux16 names=jogincr,foincr,mvoincr,soincr
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# mux2: selects ferror value based on z-override state (attempted but unused)
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loadrt mux2 count=1
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# sum2: sums dual PID outputs for X(0), Y(1), Z(2)
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loadrt sum2 count=3
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# logic: 2-input AND gate for z-override mechanism
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# personality 0x0102 = 1 output, 2 inputs, AND function
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loadrt logic count=1 personality=0x0102
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addf logic.0 servo-thread
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addf mux2.0 servo-thread
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# weighted_sum: for ADC reading (currently unused)
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loadrt weighted_sum wsum_sizes=8 #wsum_sizes=[128,64,32,16,8,4,2,1] # default should do conversion??
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addf process_wsums servo-thread
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@@ -26,11 +36,19 @@ addf foincr servo-thread
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addf mvoincr servo-thread
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addf soincr servo-thread
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# --- Mesa 5i24 global PWM/watchdog settings ---
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setp hm2_5i24.0.pwmgen.pwm_frequency 15500
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setp hm2_5i24.0.pwmgen.pdm_frequency 15500
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setp hm2_5i24.0.watchdog.timeout_ns 5000000
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# --- Load PID controllers ---
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# pid.x / pid.xl = X motor encoder / linear scale (dual loop)
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# pid.y / pid.yl = Y motor encoder / linear scale (dual loop)
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# pid.zl = Z linear scale (single loop, no motor encoder)
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# pid.s = spindle (not actively used)
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loadrt pid names=pid.x,pid.y,pid.s,pid.xl,pid.yl,pid.zl
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# --- Servo thread function execution order ---
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addf hm2_5i24.0.read 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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@@ -42,7 +60,10 @@ addf pid.zl.do-pid-calcs servo-thread
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addf pid.s.do-pid-calcs servo-thread
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addf hm2_5i24.0.write servo-thread
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# relay outputs
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# --- GPIO relay outputs (active low / inverted) ---
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# GPIO 041 = spindle on/off relay
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# GPIO 044 = Z-axis servo enable relay
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# GPIO 046 = X-axis servo enable relay
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setp hm2_5i24.0.gpio.041.is_output true
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setp hm2_5i24.0.gpio.044.is_output true
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setp hm2_5i24.0.gpio.046.is_output true
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@@ -50,13 +71,15 @@ setp hm2_5i24.0.gpio.041.invert_output true
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setp hm2_5i24.0.gpio.044.invert_output true
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setp hm2_5i24.0.gpio.046.invert_output true
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# some inputs
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# --- GPIO button inputs (active low, not all wired into HAL logic) ---
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# GPIO 029 = ESTOP, 030 = START, 031 = STOP
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setp hm2_5i24.0.gpio.027.is_output false
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setp hm2_5i24.0.gpio.028.is_output false
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setp hm2_5i24.0.gpio.028.is_output false
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setp hm2_5i24.0.gpio.029.is_output false # ESTOP
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setp hm2_5i24.0.gpio.030.is_output false # START
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setp hm2_5i24.0.gpio.031.is_output false # STOP
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# Button wiring attempts - commented out, caused machine to shut off unexpectedly
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#net machine_estop_out <= hm2_5i24.0.gpio.029.in_not
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#net machine_estop_out => halui.machine.on
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@@ -69,7 +92,8 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
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# net btn-start hm2_5i24.0.gpio.030.in_not => halui.program.resume
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# first ADC
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# --- ADC inputs (commented out, unused) ---
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# first ADC (GPIO 032-039)
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#setp hm2_5i24.0.gpio.032.is_output false
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#setp hm2_5i24.0.gpio.033.is_output false
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#setp hm2_5i24.0.gpio.034.is_output false
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@@ -79,7 +103,7 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
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#setp hm2_5i24.0.gpio.038.is_output false
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#setp hm2_5i24.0.gpio.039.is_output false
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# second ADC
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# second ADC (GPIO 040-047)
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#setp hm2_5i24.0.gpio.040.is_output false
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#setp hm2_5i24.0.gpio.041.is_output false
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#setp hm2_5i24.0.gpio.042.is_output false
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@@ -89,7 +113,7 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
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#setp hm2_5i24.0.gpio.046.is_output false
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#setp hm2_5i24.0.gpio.047.is_output false
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# weighted_sum wiring for ADC (unused)
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#net hm2_5i24.0.gpio.032 <= wsum.0.bit.0.in
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#net hm2_5i24.0.gpio.033 <= wsum.0.bit.1.in
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#net hm2_5i24.0.gpio.034 <= wsum.0.bit.2.in
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@@ -99,10 +123,16 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
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#net hm2_5i24.0.gpio.038 <= wsum.0.bit.6.in
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#net hm2_5i24.0.gpio.039 <= wsum.0.bit.7.in
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# ******************
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# AXIS X JOINT 0
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# ******************
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# ============================================================================
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# AXIS X - JOINT 0
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# Dual PID: pid.x (motor encoder) + pid.xl (linear scale), summed via sum2.0
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# Motor encoder: hm2 encoder 03
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# Linear scale: hm2 encoder 00
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# PWM output: pwmgen.00
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# Enable relay: GPIO 046 (active low)
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# ============================================================================
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# --- X motor encoder PID (velocity/damping loop) ---
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setp pid.x.Pgain [JOINT_0]P
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setp pid.x.Igain 0
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setp pid.x.Dgain [JOINT_0]D
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@@ -118,6 +148,7 @@ net x-enable => pid.x.enable
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net x-pos-mtr => pid.x.feedback
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net x-output-mtr <= pid.x.output
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# --- X linear scale PID (position correction loop) ---
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setp pid.xl.Pgain [JOINT_0]P_LIN
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setp pid.xl.Igain [JOINT_0]I_LIN
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setp pid.xl.Dgain [JOINT_0]D_LIN
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@@ -133,11 +164,13 @@ net x-enable => pid.xl.enable
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net x-pos-lin => pid.xl.feedback
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net x-output-lin <= pid.xl.output
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# Sum motor + linear PID outputs for final X drive signal
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net x-output-lin => sum2.0.in0
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net x-output-mtr => sum2.0.in1
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net x-output <= sum2.0.out
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net x-pos-cmd <= joint.0.motor-pos-cmd
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# Position command feeds both PID loops
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net x-pos-cmd <= joint.0.motor-pos-cmd
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net x-pos-cmd => pid.xl.command
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net x-pos-cmd => pid.x.command
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@@ -149,11 +182,13 @@ setp hm2_5i24.0.pwmgen.00.offset-mode 1
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net x-output => hm2_5i24.0.pwmgen.00.value
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net x-enable joint.0.amp-enable-out => hm2_5i24.0.pwmgen.00.enable
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# X enable also drives GPIO 046 relay
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net x-enable => hm2_5i24.0.gpio.046.out
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net x-pos-rawcounts <= hm2_5i24.0.encoder.00.rawcounts
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# ---Encoder feedback signals/setup---
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# Motor encoder (encoder 03)
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setp hm2_5i24.0.encoder.03.counter-mode 0
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setp hm2_5i24.0.encoder.03.filter 1
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setp hm2_5i24.0.encoder.03.index-invert 0
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@@ -161,6 +196,7 @@ setp hm2_5i24.0.encoder.03.index-mask 0
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setp hm2_5i24.0.encoder.03.index-mask-invert 0
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setp hm2_5i24.0.encoder.03.scale [JOINT_0]ENCODER_MTR_SCALE
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# Linear scale (encoder 00)
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setp hm2_5i24.0.encoder.00.counter-mode 0
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setp hm2_5i24.0.encoder.00.filter 1
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setp hm2_5i24.0.encoder.00.index-invert 0
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@@ -173,15 +209,21 @@ net x-vel-mtr <= hm2_5i24.0.encoder.03.velocity
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net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.03.index-enable
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#net x-pos-mtr => joint.0.motor-pos-fb
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# Linear scale provides the actual position feedback to the joint
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net x-pos-lin <= hm2_5i24.0.encoder.00.position
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net x-vel-lin <= hm2_5i24.0.encoder.00.velocity
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net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.00.index-enable
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net x-pos-lin => joint.0.motor-pos-fb
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# ******************
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# AXIS Y JOINT 1
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# ******************
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# ============================================================================
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# AXIS Y - JOINT 1
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# Dual PID: pid.y (motor encoder) + pid.yl (linear scale), summed via sum2.1
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# Motor encoder: hm2 encoder 04
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# Linear scale: hm2 encoder 01
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# PWM output: pwmgen.02
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# ============================================================================
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||||
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# --- Y motor encoder PID (velocity/damping loop) ---
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setp pid.y.Pgain [JOINT_1]P
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setp pid.y.Igain 0
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setp pid.y.Dgain [JOINT_1]D
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@@ -197,6 +239,7 @@ net y-enable => pid.y.enable
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net y-pos-mtr => pid.y.feedback
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net y-output-mtr <= pid.y.output
|
||||
|
||||
# --- Y linear scale PID (position correction loop) ---
|
||||
setp pid.yl.Pgain [JOINT_1]P_LIN
|
||||
setp pid.yl.Igain [JOINT_1]I_LIN
|
||||
setp pid.yl.Dgain [JOINT_1]D_LIN
|
||||
@@ -212,11 +255,13 @@ net y-enable => pid.yl.enable
|
||||
net y-pos-lin => pid.yl.feedback
|
||||
net y-output-lin <= pid.yl.output
|
||||
|
||||
# Sum motor + linear PID outputs for final Y drive signal
|
||||
net y-output-lin => sum2.1.in0
|
||||
net y-output-mtr => sum2.1.in1
|
||||
net y-output <= sum2.1.out
|
||||
|
||||
net y-pos-cmd <= joint.1.motor-pos-cmd
|
||||
# Position command feeds both PID loops
|
||||
net y-pos-cmd <= joint.1.motor-pos-cmd
|
||||
net y-pos-cmd => pid.yl.command
|
||||
net y-pos-cmd => pid.y.command
|
||||
|
||||
@@ -233,6 +278,7 @@ net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
# Motor encoder (encoder 04)
|
||||
setp hm2_5i24.0.encoder.04.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.04.filter 1
|
||||
setp hm2_5i24.0.encoder.04.index-invert 0
|
||||
@@ -240,6 +286,7 @@ setp hm2_5i24.0.encoder.04.index-mask 0
|
||||
setp hm2_5i24.0.encoder.04.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.04.scale [JOINT_1]ENCODER_MTR_SCALE
|
||||
|
||||
# Linear scale (encoder 01)
|
||||
setp hm2_5i24.0.encoder.01.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.01.filter 1
|
||||
setp hm2_5i24.0.encoder.01.index-invert 0
|
||||
@@ -252,15 +299,28 @@ net y-vel-mtr <= hm2_5i24.0.encoder.04.velocity
|
||||
net y-index-enable joint.1.index-enable <=> hm2_5i24.0.encoder.04.index-enable
|
||||
#net y-pos-mtr => joint.1.motor-pos-fb
|
||||
|
||||
# Linear scale provides the actual position feedback to the joint
|
||||
net y-pos-lin <= hm2_5i24.0.encoder.01.position
|
||||
net y-vel-lin <= hm2_5i24.0.encoder.01.velocity
|
||||
net y-index-enable joint.1.index-enable <=> hm2_5i24.0.encoder.01.index-enable
|
||||
net y-pos-lin => joint.1.motor-pos-fb
|
||||
|
||||
#*******************
|
||||
# AXIS Z JOINT 2
|
||||
#*******************
|
||||
# ============================================================================
|
||||
# AXIS Z - JOINT 2
|
||||
# Single PID: pid.zl (linear scale only), output via sum2.2
|
||||
# Linear scale: hm2 encoder 02
|
||||
# PWM output: pwmgen.04
|
||||
# Enable relay: GPIO 044 (active low), gated by z-override AND gate
|
||||
#
|
||||
# Z-OVERRIDE MECHANISM:
|
||||
# A HAL "logic AND" gate combines z-override (default TRUE) with z-enable.
|
||||
# When z-override is set FALSE (via M101), the AND output goes low,
|
||||
# disabling the Z servo and GPIO 044 relay. This allows manual quill use.
|
||||
# M102 sets z-override back to TRUE to re-enable CNC Z control.
|
||||
# MIN_FERROR is set to 100 in INI to prevent following errors during manual mode.
|
||||
# ============================================================================
|
||||
|
||||
# Z motor encoder PID commented out - no motor encoder on Z axis
|
||||
#setp pid.z.Pgain [JOINT_2]P
|
||||
#setp pid.z.Igain 0
|
||||
#setp pid.z.Dgain [JOINT_2]D
|
||||
@@ -276,6 +336,7 @@ net y-pos-lin => joint.1.motor-pos-fb
|
||||
#net z-pos-mtr => pid.z.feedback
|
||||
#net z-output-mtr <= pid.z.output
|
||||
|
||||
# --- Z linear scale PID ---
|
||||
setp pid.zl.Pgain [JOINT_2]P
|
||||
setp pid.zl.Igain [JOINT_2]I
|
||||
setp pid.zl.Dgain [JOINT_2]D
|
||||
@@ -287,13 +348,17 @@ setp pid.zl.deadband [JOINT_2]DEADBAND
|
||||
setp pid.zl.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.zl.error-previous-target true
|
||||
|
||||
# Z-override AND gate: z-enable-comb = z-override AND z-enable
|
||||
# When z-override is FALSE, Z servo is disabled (manual quill mode)
|
||||
net z-override => logic.0.in-00
|
||||
net z-enable => logic.0.in-01
|
||||
net z-enable-comb <= logic.0.and
|
||||
|
||||
# Default: z-override is TRUE (CNC controls Z)
|
||||
sets z-override TRUE
|
||||
|
||||
# this section about ferror doesnt work
|
||||
# Attempted dynamic ferror switching (not functional - see INI workaround)
|
||||
# mux2 selects between 100 (disabled) and 0.2 (enabled) based on z-enable-comb
|
||||
net z-enable-comb => mux2.0.sel
|
||||
setp mux2.0.in0 100
|
||||
setp mux2.0.in1 0.2
|
||||
@@ -304,11 +369,12 @@ net z-enable-comb => pid.zl.enable
|
||||
net z-pos-lin => pid.zl.feedback
|
||||
net z-output-lin <= pid.zl.output
|
||||
|
||||
# Z only has linear scale PID, no motor encoder sum needed
|
||||
net z-output-lin => sum2.2.in0
|
||||
#net z-output-mtr => sum2.2.in1
|
||||
net z-output <= sum2.2.out
|
||||
|
||||
net z-pos-cmd <= joint.2.motor-pos-cmd
|
||||
net z-pos-cmd <= joint.2.motor-pos-cmd
|
||||
net z-pos-cmd => pid.zl.command
|
||||
#net z-pos-cmd => pid.z.command
|
||||
|
||||
@@ -320,11 +386,13 @@ setp hm2_5i24.0.pwmgen.04.offset-mode 1
|
||||
|
||||
net z-output => hm2_5i24.0.pwmgen.04.value
|
||||
net z-enable joint.2.amp-enable-out => hm2_5i24.0.pwmgen.04.enable
|
||||
# Z enable relay gated through AND gate (z-override mechanism)
|
||||
net z-enable-comb => hm2_5i24.0.gpio.044.out
|
||||
net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
# Motor encoder (encoder 05) - not used on Z axis
|
||||
#setp hm2_5i24.0.encoder.05.counter-mode 0
|
||||
#setp hm2_5i24.0.encoder.05.filter 1
|
||||
#setp hm2_5i24.0.encoder.05.index-invert 0
|
||||
@@ -332,6 +400,7 @@ net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
#setp hm2_5i24.0.encoder.05.index-mask-invert 0
|
||||
#setp hm2_5i24.0.encoder.05.scale [JOINT_2]ENCODER_MTR_SCALE
|
||||
|
||||
# Linear scale (encoder 02)
|
||||
setp hm2_5i24.0.encoder.02.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.02.filter 1
|
||||
setp hm2_5i24.0.encoder.02.index-invert 0
|
||||
@@ -344,19 +413,23 @@ setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_LIN_SCALE
|
||||
#net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.05.index-enable
|
||||
#net z-pos-mtr => joint.2.motor-pos-fb
|
||||
|
||||
# Linear scale provides the actual position feedback to the joint
|
||||
net z-pos-lin <= hm2_5i24.0.encoder.02.position
|
||||
net z-vel-lin <= hm2_5i24.0.encoder.02.velocity
|
||||
net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.02.index-enable
|
||||
net z-pos-lin => joint.2.motor-pos-fb
|
||||
|
||||
|
||||
#### SPINDLE ####
|
||||
# ============================================================================
|
||||
# SPINDLE
|
||||
# On/off relay via GPIO 041 (active low). No speed control or feedback.
|
||||
# ============================================================================
|
||||
#net spindle.0.on spindle-enable
|
||||
net spindle-enable spindle.0.on => hm2_5i24.0.gpio.041.out
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
# ============================================================================
|
||||
# MISCELLANEOUS SIGNALS
|
||||
# ============================================================================
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
@@ -375,7 +448,7 @@ net machine-is-enabled <= motion.motion-enabled
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
# Estop loops back: user-enable-out feeds emc-enable-in (no external estop chain)
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
@@ -395,4 +468,3 @@ net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
|
||||
@@ -1,12 +1,21 @@
|
||||
# Lagun milling machine configuration for GMOCCAPY GUI
|
||||
# Based on lagun config (PNCconf Fri Jul 26 13:18:08 2024)
|
||||
# Modified to use GMOCCAPY instead of AXIS
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
#
|
||||
# Hardware: Mesa 5i24 FPGA card (hm2_pci)
|
||||
# Axes: X, Y (dual encoder: motor + linear scale), Z (linear scale only)
|
||||
# Pendant: XHC WHB04B-6 wireless
|
||||
# Spindle: On/off relay (no speed control)
|
||||
# Units: Imperial (inches)
|
||||
|
||||
# --- General EMC settings ---
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
# --- GUI configuration ---
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
POSITION_OFFSET = RELATIVE
|
||||
@@ -17,6 +26,7 @@ MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
# Jog increments available in the GUI (inches)
|
||||
INCREMENTS = 0.1000 0.0500 0.0100 0.0050 0.0010 0.0005 0.0001
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
@@ -29,6 +39,7 @@ GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
DEFAULT_SPINDLE_SPEED = 500
|
||||
|
||||
# --- File type filters for loading programs ---
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
@@ -37,23 +48,31 @@ gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
# --- Task controller ---
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
# --- G-code interpreter ---
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
# Startup: G20=inch, G40=cancel cutter comp, G90=absolute, G94=feed/min,
|
||||
# G97=RPM mode, G64 P0.001=path blending tolerance 0.001"
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
# --- Motion controller ---
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
# 1ms servo period
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# --- Mesa 5i24 FPGA card ---
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
# --- HAL file loading order ---
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = lagun.hal
|
||||
@@ -61,6 +80,16 @@ HALFILE = xhc-whb04b-6.hal
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
# --- MDI commands for HALUI (pendant macro buttons) ---
|
||||
# Index 00: (unused, debug)
|
||||
# Index 01: Halve X coordinate (macro button 1)
|
||||
# Index 02: Halve Y coordinate (macro button 2)
|
||||
# Index 03: (unused, debug)
|
||||
# Index 04: (unused, debug)
|
||||
# Index 05: Zero X in current work offset (macro button 5)
|
||||
# Index 06: Zero Y in current work offset (macro button 6)
|
||||
# Index 07: Zero Z in current work offset (macro button 7)
|
||||
# Index 08-14: (unused, debug or reserved)
|
||||
[HALUI]
|
||||
MDI_COMMAND=(DEBUG,<1>)
|
||||
MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
|
||||
@@ -78,24 +107,34 @@ SHUTDOWN = shutdown.hal
|
||||
MDI_COMMAND=(DEBUG,<13>)
|
||||
MDI_COMMAND=(DEBUG,<14>)
|
||||
|
||||
# --- Kinematics ---
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
# --- Trajectory planner ---
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
# Allow motion without homing first
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
# --- I/O controller ---
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
# Raise quill before tool change
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
# X AXIS - Joint 0
|
||||
# Dual feedback: motor encoder (enc 03) + linear scale (enc 00)
|
||||
# PWM output: pwmgen.00
|
||||
# Enable relay: GPIO 046 (active low)
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
@@ -113,8 +152,7 @@ MAX_ACCELERATION = 30.0
|
||||
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
|
||||
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
|
||||
|
||||
|
||||
|
||||
# Motor encoder PID gains (velocity loop)
|
||||
P = 0
|
||||
I = 0
|
||||
D = 4
|
||||
@@ -123,6 +161,7 @@ FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
# Linear scale PID gains (position correction loop)
|
||||
P_LIN = 300
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
@@ -131,6 +170,7 @@ BIAS = 0
|
||||
DEADBAND = 0.0005
|
||||
MAX_OUTPUT = 0
|
||||
|
||||
# Encoder scales (counts per inch)
|
||||
ENCODER_LIN_SCALE = 5085.5
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# 5.4 is the ratio between linear and motor scales, roughly
|
||||
@@ -149,6 +189,12 @@ HOME_SEQUENCE = 2
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
#******************************************
|
||||
# Y AXIS - Joint 1
|
||||
# Dual feedback: motor encoder (enc 04) + linear scale (enc 01)
|
||||
# PWM output: pwmgen.02
|
||||
# Enable relay: (shares Z-axis GPIO 044 line)
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
@@ -165,6 +211,7 @@ MAX_ACCELERATION = 30.0
|
||||
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
|
||||
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
|
||||
|
||||
# Motor encoder PID gains (velocity loop)
|
||||
P = 0
|
||||
I = 0
|
||||
D = 5
|
||||
@@ -173,6 +220,7 @@ FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
# Linear scale PID gains (position correction loop)
|
||||
P_LIN = 350
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
@@ -181,6 +229,7 @@ BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 1
|
||||
|
||||
# Encoder scales (counts per inch)
|
||||
ENCODER_LIN_SCALE = 5085.4
|
||||
ENCODER_MTR_SCALE = 27453.6
|
||||
# these are in nanoseconds
|
||||
@@ -194,10 +243,17 @@ MAX_LIMIT = +12
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
# Negative scale inverts direction
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
# Z AXIS - Joint 2
|
||||
# Single feedback: linear scale only (enc 02), no motor encoder
|
||||
# PWM output: pwmgen.04
|
||||
# Enable relay: GPIO 044 (active low), gated by z-override AND logic
|
||||
# z-override allows M101/M102 to disable CNC Z for manual quill use
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
@@ -210,6 +266,8 @@ TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
# SETTING MIN_FERROR TO 100 ALLOWS Z AXIS TO DO WHATEVER. IDEALLY ITS 0.2
|
||||
# This is a workaround: when z-override disables the Z servo, the quill
|
||||
# can be moved manually and would trip a normal following error limit.
|
||||
MIN_FERROR = 100
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
@@ -217,6 +275,7 @@ MAX_ACCELERATION = 30.0
|
||||
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
# Linear scale PID gains (single loop, no motor encoder on Z)
|
||||
P = 200
|
||||
I = 300
|
||||
D = 2
|
||||
@@ -237,12 +296,15 @@ MAX_LIMIT = +1.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Negative scale inverts direction
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
# Encoder scale (counts per inch)
|
||||
ENCODER_LIN_SCALE = -10075
|
||||
#******************************************
|
||||
|
||||
# --- Spindle PID (not actively used; relay on/off only) ---
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
|
||||
@@ -1,2 +1,3 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
# Currently no shutdown actions are configured.
|
||||
|
||||
@@ -1,30 +1,35 @@
|
||||
|
||||
# ============================================================================
|
||||
# XHC WHB04B-6 wireless pendant configuration for Lagun mill
|
||||
# Provides jog wheel, axis select, feed override, homing, and macro buttons
|
||||
# ============================================================================
|
||||
|
||||
# ######################################################################
|
||||
# load pendant components
|
||||
# ######################################################################
|
||||
|
||||
# -H = HAL-only mode, -s = step mode, -f = filtered, -B = big (6-axis pendant)
|
||||
loadusr -W xhc-whb04b-6 -HsfB
|
||||
|
||||
# ######################################################################
|
||||
# pendant signal configuration
|
||||
# ######################################################################
|
||||
|
||||
# On/Off signals
|
||||
# --- Machine on/off ---
|
||||
net machine.is-on halui.machine.is-on whb.halui.machine.is-on
|
||||
# net pdnt.machine.on whb.halui.machine.on halui.machine.on
|
||||
# net pdnt.machine.off whb.halui.machine.off halui.machine.off
|
||||
|
||||
# program related signals
|
||||
# --- Program state feedback (read-only status to pendant) ---
|
||||
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
|
||||
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused
|
||||
net pdnt.program-is-running whb.halui.program.is-running halui.program.is-running
|
||||
# Program control buttons disabled
|
||||
#net pdnt.program.resume whb.halui.program.resume halui.program.resume
|
||||
#net pdnt.program.pause whb.halui.program.pause halui.program.pause
|
||||
#net pdnt.program.run whb.halui.program.run halui.program.run
|
||||
#net pdnt.program.stop whb.halui.program.stop halui.program.stop
|
||||
|
||||
# machine mode related signals
|
||||
# --- Machine mode (auto/manual/mdi/joint/teleop) ---
|
||||
net pdnt.mode.auto whb.halui.mode.auto halui.mode.auto
|
||||
net pdnt.mode.manual whb.halui.mode.manual halui.mode.manual
|
||||
net pdnt.mode.mdi whb.halui.mode.mdi halui.mode.mdi
|
||||
@@ -36,12 +41,12 @@ net pdnt.mode.is-mdi halui.mode.is-mdi
|
||||
net pdnt.mode.is-joint halui.mode.is-joint whb.halui.mode.is-joint
|
||||
net pdnt.mode.is-teleop halui.mode.is-teleop whb.halui.mode.is-teleop
|
||||
|
||||
# "is-homed" axis signal for allowing pendant when machine is not homed
|
||||
# --- Homed status per axis (pendant needs this to allow jogging) ---
|
||||
net pdnt.axis.X.is-homed halui.joint.0.is-homed whb.halui.joint.x.is-homed
|
||||
net pdnt.axis.Y.is-homed halui.joint.1.is-homed whb.halui.joint.y.is-homed
|
||||
net pdnt.axis.Z.is-homed halui.joint.2.is-homed whb.halui.joint.z.is-homed
|
||||
|
||||
# "selected axis" signals
|
||||
# --- Axis select (pendant rotary switch picks active axis) ---
|
||||
net pdnt.axis.X.select whb.halui.axis.x.select halui.axis.x.select
|
||||
net pdnt.axis.y.select whb.halui.axis.y.select halui.axis.y.select
|
||||
net pdnt.axis.Z.select whb.halui.axis.z.select halui.axis.z.select
|
||||
@@ -67,18 +72,27 @@ net pdnt.axis.y.jog-vel-mode whb.axis.y.jog-vel-mode
|
||||
net pdnt.axis.z.jog-vel-mode whb.axis.z.jog-vel-mode joint.2.jog-vel-mode
|
||||
|
||||
|
||||
# macro buttons to MDI commands
|
||||
# --- Macro buttons mapped to MDI commands (see [HALUI] in INI) ---
|
||||
# Macro 1: halve X coord (MDI 01)
|
||||
# Macro 2: halve Y coord (MDI 02)
|
||||
net pdnt.macro-1 whb.button.macro-1 halui.mdi-command-01 # use MDI command from main.ini
|
||||
net pdnt.macro-2 whb.button.macro-2 halui.mdi-command-02 # use MDI command from main.ini or used for Hardcoded lube on/off
|
||||
# Macro 3,4: hardcoded spindle+/- inside pendant firmware
|
||||
#net pdnt.reserved.for.spindle+ whb.button.macro-3 # Hardcoded for spindle+ whb.halui.spindle.increase
|
||||
#net pdnt.reserved.for.spindle- whb.button.macro-4 # Hardcoded for spindle- whb.halui.spindle.decrease
|
||||
# Macro 5: zero X (MDI 05)
|
||||
# Macro 6: zero Y (MDI 06)
|
||||
# Macro 7: zero Z (MDI 07)
|
||||
net pdnt.macro-5 whb.button.macro-5 halui.mdi-command-05 # use MDI command from main.ini
|
||||
net pdnt.macro-6 whb.button.macro-6 halui.mdi-command-06 # use MDI command from main.ini
|
||||
net pdnt.macro-7 whb.button.macro-7 halui.mdi-command-07 # use MDI command from main.ini
|
||||
# Macro 8: hardcoded spindle direction inside pendant
|
||||
#net pdnt.reserved.for.spindle.dir whb.button.macro-8 # Hardcoded for spindle direction inside pendant
|
||||
net pdnt.macro-9 whb.button.macro-9 halui.mdi-command-09 # use MDI command from main.ini
|
||||
# Macro 10: hardcoded ABS/REL DRO toggle
|
||||
net pdnt.reserved.for.ABS-REL whb.button.macro-10 # Hardcoded for swap Dro Relative/Absolue
|
||||
net pdnt.macro-14 whb.button.macro-14 halui.mdi-command-14 # use MDI command from main.ini
|
||||
# Macro 15,16: hardcoded flood/mist toggles
|
||||
net pdnt.reserved.for.flood whb.button.macro-15 # Hardcoded for halui.flood on/off
|
||||
net pdnt.reserved.for.mist whb.button.macro-16 # Hardcoded for halui.mist on/off
|
||||
|
||||
@@ -87,7 +101,7 @@ net pdnt.macro.12 whb.button.macro-12
|
||||
net pdnt.macro.13 whb.button.macro-13 halui.mdi-command-13 # use MDI command from main.ini
|
||||
|
||||
|
||||
# flood and mist toggle signals
|
||||
# --- Flood and mist coolant toggle (pendant hardcoded buttons) ---
|
||||
net pdnt.flood.is-on whb.halui.flood.is-on halui.flood.is-on #return signal is on or off
|
||||
net pdnt.flood.off whb.halui.flood.off halui.flood.off #reserved whb.button.macro-15
|
||||
net pdnt.flood.on whb.halui.flood.on halui.flood.on #reserved whb.button.macro-15
|
||||
@@ -96,19 +110,20 @@ net pdnt.mist.is-on whb.halui.mist.is-on
|
||||
net pdnt.mist.off whb.halui.mist.off halui.mist.off #reserved whb.button.macro-16
|
||||
net pdnt.mist.on whb.halui.mist.on halui.mist.on #reserved whb.button.macro-16
|
||||
|
||||
# Lube control (unused)
|
||||
#net pdnt.lube.is-on whb.halui.lube.is-on halui.lube.is-on #return signal is on or off
|
||||
#net pdnt.lube.off whb.halui.lube.off halui.lube.off #reserved whb.button.macro-2
|
||||
#net pdnt.lube.on whb.halui.lube.on halui.lube.on #reserved whb.button.macro-2
|
||||
|
||||
|
||||
# default function button signals
|
||||
# --- Default function buttons ---
|
||||
net pdnt.button.m-home whb.button.m-home halui.home-all # Homing use built-in halui home all
|
||||
net pdnt.button.safe-z whb.button.safe-z halui.mdi-command-03 # Safe-z use MDI command from main.ini
|
||||
net pdnt.button.w-home whb.button.w-home halui.mdi-command-04 # Unpark use MDI command from main.ini
|
||||
net pdnt.button.probe-z whb.button.probe-z halui.mdi-command-08 # Probe-Z use MDI command from main.ini
|
||||
|
||||
|
||||
# unused, just exposes pendant internal status or as basic button
|
||||
# --- Unused pendant status/button signals ---
|
||||
#net pdnt.mode-lead whb.halui.feed.selected-lead
|
||||
#net pdnt.mode-mpg-feed whb.halui.feed.selected-mpg-feed
|
||||
#net pdnt.mode-continuous whb.halui.feed.selected-continuous
|
||||
@@ -127,7 +142,7 @@ net pdnt.button.probe-z whb.button.probe-z
|
||||
#net pdnt.button.feed-minus whb.button.feed-minus
|
||||
|
||||
|
||||
# spindle related signals
|
||||
# --- Spindle control (disabled - relay-only spindle, no speed feedback) ---
|
||||
#net pdnt.spindle.is-on whb.halui.spindle.is-on spindle.0.on
|
||||
#net pdnt.spindle.start whb.halui.spindle.start halui.spindle.0.start
|
||||
#net pdnt.spindle.stop whb.halui.spindle.stop halui.spindle.0.stop
|
||||
@@ -138,33 +153,31 @@ net pdnt.button.probe-z whb.button.probe-z
|
||||
#net pdnt.spindle-speed-abs whb.halui.spindle-speed-cmd spindle.0.speed-out-abs # speed cmd from motion in rpm absolue
|
||||
|
||||
|
||||
# spindle speed override signals
|
||||
# --- Spindle speed override (disabled) ---
|
||||
#net pdnt.spindle-override.scale whb.halui.spindle-override.scale halui.spindle.0.override.scale # needed for both spindle+/- and spindleoverride+/- button
|
||||
#net pdnt.spindle.override.value halui.spindle.0.override.value whb.halui.spindle-override.value # GUI feed rate related signals
|
||||
#net pdnt.spindle.override.increase whb.halui.spindle-override.increase halui.spindle.0.override.increase
|
||||
#net pdnt.spindle.override.decrease whb.halui.spindle-override.decrease halui.spindle.0.override.decrease
|
||||
|
||||
|
||||
# GUI feed rate related signals can be used when program is running moving GUI slider
|
||||
# --- Feed override (pendant knob controls feed rate) ---
|
||||
net pdnt.feed-override.scale whb.halui.feed-override.scale halui.feed-override.scale # needed for both FeedOverride+/- and rotary knob button
|
||||
net pdnt.max-velocity.value whb.halui.max-velocity.value halui.max-velocity.value # needed for Mpg mode : button feed position% * max-velocity = Mpg feedrate
|
||||
|
||||
|
||||
# take feed override min/max values from/to the GUI
|
||||
# --- Feed override value and increment/decrement ---
|
||||
net pdnt.feed-override.value halui.feed-override.value whb.halui.feed-override.value # GUI feed rate related signals
|
||||
net pdnt.feed-override.increase whb.halui.feed-override.increase halui.feed-override.increase
|
||||
net pdnt.feed-override.decrease whb.halui.feed-override.decrease halui.feed-override.decrease
|
||||
|
||||
|
||||
# axis position related signals feedback
|
||||
# --- Axis position feedback to pendant display ---
|
||||
net pdnt.axis.x.pos-feedback halui.axis.x.pos-feedback whb.halui.axis.x.pos-feedback
|
||||
net pdnt.axis.y.pos-feedback halui.axis.y.pos-feedback whb.halui.axis.y.pos-feedback
|
||||
net pdnt.axis.z.pos-feedback halui.axis.z.pos-feedback whb.halui.axis.z.pos-feedback
|
||||
|
||||
|
||||
# axis position related signals relative
|
||||
# --- Axis position relative to work offset (for pendant DRO) ---
|
||||
net pdnt.axis.x.pos-relative halui.axis.x.pos-relative whb.halui.axis.x.pos-relative
|
||||
net pdnt.axis.y.pos-relative halui.axis.y.pos-relative whb.halui.axis.y.pos-relative
|
||||
net pdnt.axis.z.pos-relative halui.axis.z.pos-relative whb.halui.axis.z.pos-relative
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user