claude init

2026-04-03 21:47:22 -05:00
parent f3953d66ae
commit 9d2379205f
26 changed files with 2382 additions and 4243 deletions
--- a/configs/lagun_gmoccapy/lagun_gmoccapy.ini
+++ b/configs/lagun_gmoccapy/lagun_gmoccapy.ini
@@ -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