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This commit is contained in:
Thaddeus-Maximus
9
configs/.claude/settings.local.json
Executable file
9
configs/.claude/settings.local.json
Executable file
@@ -0,0 +1,9 @@
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{
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"permissions": {
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"allow": [
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"Bash(dir /s \"L:\\\\configs\")",
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"Bash(dir:*)",
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"WebFetch(domain:github.com)"
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]
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}
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}
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35
configs/lagun/autosave.halscope
Executable file
35
configs/lagun/autosave.halscope
Executable file
@@ -0,0 +1,35 @@
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THREAD servo-thread
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MAXCHAN 16
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HMULT 1
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HZOOM 3
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HPOS 4.873061e-01
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CHAN 3
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PIN pid.x.command
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VSCALE -1
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VPOS 0.627706
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VAC 0.000000e+00
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CHOFF
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CHAN 4
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PIN pid.x.feedback
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VSCALE -1
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VPOS 0.629149
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VAC 0.000000e+00
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CHOFF
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CHAN 5
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PIN pid.x.error
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VSCALE -8
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VPOS 0.456633
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VAC 0.000000e+00
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CHOFF
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CHAN 2
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PIN joint.0.motor-pos-fb
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VSCALE 0
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VPOS 0.353535
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VOFF 0.000000e+00
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CHAN 1
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PIN pid.xl.error
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VSCALE 0
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VPOS 0.685426
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VOFF 0.000000e+00
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TMODE 0
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RMODE 0
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2
configs/lagun/custom.hal
Executable file
2
configs/lagun/custom.hal
Executable file
@@ -0,0 +1,2 @@
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# Include your custom HAL commands here
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# This file will not be overwritten when you run PNCconf again
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2
configs/lagun/custom_gvcp.hal
Executable file
2
configs/lagun/custom_gvcp.hal
Executable file
@@ -0,0 +1,2 @@
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# Include your custom_gvcp HAL commands here
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# This file will not be overwritten when you run PNCconf again
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2
configs/lagun/custom_postgui.hal
Executable file
2
configs/lagun/custom_postgui.hal
Executable file
@@ -0,0 +1,2 @@
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# Include your custom_postgui HAL commands here
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# This file will not be overwritten when you run PNCconf again
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22
configs/lagun/halshow.preferences
Executable file
22
configs/lagun/halshow.preferences
Executable file
@@ -0,0 +1,22 @@
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# Halshow settings
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# This file is generated automatically.
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wm geometry . 700x475+628+261
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placeFrames 0.3
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set ::ratio 0.3
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set ::old_w_leftf 160
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set ::watchlist {
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pin+axis.x.jog-scale
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pin+axis.x.pos-cmd
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pin+axis.x.teleop-pos-cmd
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pin+axis.x.kb-jog-active
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pin+axis.x.eoffset
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pin+axis.x.jog-counts
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pin+axisui.jog.x
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}
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set ::workmode showhal
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set ::watchInterval 100
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set ::col1_width 100
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set ::ffmts
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set ::ifmts
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set ::alwaysOnTop 0
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set ::autoSaveWatchlist 1
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398
configs/lagun/lagun.hal
Executable file
398
configs/lagun/lagun.hal
Executable file
@@ -0,0 +1,398 @@
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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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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 mux16 names=jogincr,foincr,mvoincr,soincr
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loadrt mux2 count=1
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loadrt sum2 count=3
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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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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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addf sum2.0 servo-thread
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addf sum2.1 servo-thread
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addf sum2.2 servo-thread
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addf jogincr servo-thread
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addf foincr servo-thread
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addf mvoincr servo-thread
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addf soincr servo-thread
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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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loadrt pid names=pid.x,pid.y,pid.s,pid.xl,pid.yl,pid.zl
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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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addf pid.x.do-pid-calcs servo-thread
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addf pid.xl.do-pid-calcs servo-thread
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addf pid.y.do-pid-calcs servo-thread
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addf pid.yl.do-pid-calcs servo-thread
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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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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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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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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.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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#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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# This stuff should work but it seems to be shutting off the machine.
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# net btn-estop-out hm2_5i24.0.gpio.029.in_not => halui.machine.on
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# net btn-estop-in hm2_5i24.0.gpio.029.in => halui.machine.off
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# net btn-pause hm2_5i24.0.gpio.031.in_not => halui.program.pause
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# net btn-start hm2_5i24.0.gpio.030.in_not => halui.program.run
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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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#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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#setp hm2_5i24.0.gpio.035.is_output false
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#setp hm2_5i24.0.gpio.036.is_output false
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#setp hm2_5i24.0.gpio.037.is_output false
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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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#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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#setp hm2_5i24.0.gpio.043.is_output false
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#setp hm2_5i24.0.gpio.044.is_output false
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#setp hm2_5i24.0.gpio.045.is_output false
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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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#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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#net hm2_5i24.0.gpio.035 <= wsum.0.bit.3.in
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#net hm2_5i24.0.gpio.036 <= wsum.0.bit.4.in
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#net hm2_5i24.0.gpio.037 <= wsum.0.bit.5.in
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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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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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setp pid.x.bias [JOINT_0]BIAS
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setp pid.x.FF0 [JOINT_0]FF0
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setp pid.x.FF1 [JOINT_0]FF1
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setp pid.x.FF2 [JOINT_0]FF2
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setp pid.x.deadband [JOINT_0]DEADBAND
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setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
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setp pid.x.error-previous-target true
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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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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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setp pid.xl.bias 0
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setp pid.xl.FF0 0
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setp pid.xl.FF1 0
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setp pid.xl.FF2 0
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setp pid.xl.deadband [JOINT_0]DEADBAND
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setp pid.xl.maxoutput [JOINT_0]MAX_OUTPUT
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setp pid.xl.error-previous-target true
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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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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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net x-pos-cmd => pid.xl.command
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net x-pos-cmd => pid.x.command
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# ---PWM Generator signals/setup---
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setp hm2_5i24.0.pwmgen.00.output-type 1
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setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
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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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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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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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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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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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setp hm2_5i24.0.encoder.00.index-mask 0
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setp hm2_5i24.0.encoder.00.index-mask-invert 0
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setp hm2_5i24.0.encoder.00.scale [JOINT_0]ENCODER_LIN_SCALE
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net x-pos-mtr <= hm2_5i24.0.encoder.03.position
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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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||||
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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||||
|
||||
# ******************
|
||||
# AXIS Y JOINT 1
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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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||||
setp pid.y.bias [JOINT_1]BIAS
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||||
setp pid.y.FF0 [JOINT_1]FF0
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||||
setp pid.y.FF1 [JOINT_1]FF1
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||||
setp pid.y.FF2 [JOINT_1]FF2
|
||||
setp pid.y.deadband [JOINT_1]DEADBAND
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||||
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.y.error-previous-target true
|
||||
|
||||
net y-enable => pid.y.enable
|
||||
net y-pos-mtr => pid.y.feedback
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||||
net y-output-mtr <= pid.y.output
|
||||
|
||||
setp pid.yl.Pgain [JOINT_1]P_LIN
|
||||
setp pid.yl.Igain [JOINT_1]I_LIN
|
||||
setp pid.yl.Dgain [JOINT_1]D_LIN
|
||||
setp pid.yl.bias 0
|
||||
setp pid.yl.FF0 0
|
||||
setp pid.yl.FF1 0
|
||||
setp pid.yl.FF2 0
|
||||
setp pid.yl.deadband [JOINT_1]DEADBAND
|
||||
setp pid.yl.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.yl.error-previous-target true
|
||||
|
||||
net y-enable => pid.yl.enable
|
||||
net y-pos-lin => pid.yl.feedback
|
||||
net y-output-lin <= pid.yl.output
|
||||
|
||||
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
|
||||
net y-pos-cmd => pid.yl.command
|
||||
net y-pos-cmd => pid.y.command
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.02.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.02.scale [JOINT_1]OUTPUT_SCALE
|
||||
setp hm2_5i24.0.pwmgen.02.offset-mode 1
|
||||
|
||||
net y-output => hm2_5i24.0.pwmgen.02.value
|
||||
net y-enable joint.1.amp-enable-out => hm2_5i24.0.pwmgen.02.enable
|
||||
# net y-enable => hm2_5i24.0.gpio.044.out # commented out because duplicates x axis
|
||||
net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
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
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.01.index-mask 0
|
||||
setp hm2_5i24.0.encoder.01.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.01.scale [JOINT_1]ENCODER_LIN_SCALE
|
||||
|
||||
net y-pos-mtr <= hm2_5i24.0.encoder.04.position
|
||||
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
|
||||
|
||||
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
|
||||
#*******************
|
||||
|
||||
#setp pid.z.Pgain [JOINT_2]P
|
||||
#setp pid.z.Igain 0
|
||||
#setp pid.z.Dgain [JOINT_2]D
|
||||
#setp pid.z.bias [JOINT_2]BIAS
|
||||
#setp pid.z.FF0 [JOINT_2]FF0
|
||||
#setp pid.z.FF1 [JOINT_2]FF1
|
||||
#setp pid.z.FF2 [JOINT_2]FF2
|
||||
#setp pid.z.deadband [JOINT_2]DEADBAND
|
||||
#setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
#setp pid.z.error-previous-target true
|
||||
|
||||
#net z-enable => pid.z.enable
|
||||
#net z-pos-mtr => pid.z.feedback
|
||||
#net z-output-mtr <= pid.z.output
|
||||
|
||||
setp pid.zl.Pgain [JOINT_2]P
|
||||
setp pid.zl.Igain [JOINT_2]I
|
||||
setp pid.zl.Dgain [JOINT_2]D
|
||||
setp pid.zl.bias 0
|
||||
setp pid.zl.FF0 0
|
||||
setp pid.zl.FF1 0
|
||||
setp pid.zl.FF2 0
|
||||
setp pid.zl.deadband [JOINT_2]DEADBAND
|
||||
setp pid.zl.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.zl.error-previous-target true
|
||||
|
||||
net z-override => logic.0.in-00
|
||||
net z-enable => logic.0.in-01
|
||||
net z-enable-comb <= logic.0.and
|
||||
|
||||
sets z-override TRUE
|
||||
|
||||
# this section about ferror doesnt work
|
||||
net z-enable-comb => mux2.0.sel
|
||||
setp mux2.0.in0 100
|
||||
setp mux2.0.in1 0.2
|
||||
net z-ferror <= mux2.0.out
|
||||
#net z-ferror => ini.2.min_ferror #joint.2.f-error #ini.2.ferror
|
||||
|
||||
net z-enable-comb => pid.zl.enable
|
||||
net z-pos-lin => pid.zl.feedback
|
||||
net z-output-lin <= pid.zl.output
|
||||
|
||||
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 => pid.zl.command
|
||||
#net z-pos-cmd => pid.z.command
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.04.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.04.scale [JOINT_2]OUTPUT_SCALE
|
||||
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
|
||||
net z-enable-comb => hm2_5i24.0.gpio.044.out
|
||||
net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
#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
|
||||
#setp hm2_5i24.0.encoder.05.index-mask 0
|
||||
#setp hm2_5i24.0.encoder.05.index-mask-invert 0
|
||||
#setp hm2_5i24.0.encoder.05.scale [JOINT_2]ENCODER_MTR_SCALE
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.02.index-mask 0
|
||||
setp hm2_5i24.0.encoder.02.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_LIN_SCALE
|
||||
|
||||
#net z-pos-mtr <= hm2_5i24.0.encoder.05.position
|
||||
#net z-vel-mtr <= hm2_5i24.0.encoder.05.velocity
|
||||
#net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.05.index-enable
|
||||
#net z-pos-mtr => joint.2.motor-pos-fb
|
||||
|
||||
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 ####
|
||||
#net spindle.0.on spindle-enable
|
||||
net spindle-enable spindle.0.on => hm2_5i24.0.gpio.041.out
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
net coolant-mist <= iocontrol.0.coolant-mist
|
||||
net coolant-flood <= iocontrol.0.coolant-flood
|
||||
|
||||
# ---probe signal---
|
||||
|
||||
net probe-in => motion.probe-input
|
||||
|
||||
# ---motion control signals---
|
||||
|
||||
net in-position <= motion.in-position
|
||||
net machine-is-enabled <= motion.motion-enabled
|
||||
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
|
||||
# ---manual tool change signals---
|
||||
|
||||
net tool-change-request <= iocontrol.0.tool-change
|
||||
net tool-change-confirmed => iocontrol.0.tool-changed
|
||||
net tool-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
# ---Use external manual tool change dialog---
|
||||
|
||||
loadusr -W hal_manualtoolchange
|
||||
net tool-change-request => hal_manualtoolchange.change
|
||||
net tool-change-confirmed <= hal_manualtoolchange.changed
|
||||
net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
259
configs/lagun/lagun.ini
Executable file
259
configs/lagun/lagun.ini
Executable file
@@ -0,0 +1,259 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = lagun.hal
|
||||
#HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
HALFILE = xhc-whb04b-6.hal
|
||||
HALUI = halui
|
||||
|
||||
[HALUI]
|
||||
MDI_COMMAND=(DEBUG,<1>)
|
||||
MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
|
||||
MDI_COMMAND=G10 L20 P0 Y[#<_y>/2.0]
|
||||
MDI_COMMAND=(DEBUG,<4>)
|
||||
MDI_COMMAND=(DEBUG,<5>)
|
||||
MDI_COMMAND=G10 L20 P0 X0
|
||||
MDI_COMMAND=G10 L20 P0 Y0
|
||||
MDI_COMMAND=G10 L20 P0 Z0
|
||||
MDI_COMMAND=(DEBUG,<5>)
|
||||
MDI_COMMAND=(DEBUG,<9>)
|
||||
MDI_COMMAND=(DEBUG,<10>)
|
||||
MDI_COMMAND=(DEBUG,<2>)
|
||||
MDI_COMMAND=(DEBUG,<12>)
|
||||
MDI_COMMAND=(DEBUG,<13>)
|
||||
MDI_COMMAND=(DEBUG,<14>)
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -24.0
|
||||
MAX_LIMIT = +24.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
|
||||
|
||||
|
||||
P = 0
|
||||
I = 0
|
||||
D = 4
|
||||
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
P_LIN = 300
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
|
||||
BIAS = 0
|
||||
DEADBAND = 0.0005
|
||||
MAX_OUTPUT = 0
|
||||
|
||||
ENCODER_LIN_SCALE = 5085.5
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# 5.4 is the ratio between linear and motor scales, roughly
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -24.0
|
||||
MAX_LIMIT = +24.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = +12.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
|
||||
P = 0
|
||||
I = 0
|
||||
D = 5
|
||||
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
P_LIN = 350
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 1
|
||||
|
||||
ENCODER_LIN_SCALE = 5085.4
|
||||
ENCODER_MTR_SCALE = 27453.6
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12
|
||||
MAX_LIMIT = +12
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 1.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
# SETTING MIN_FERROR TO 100 ALLOWS Z AXIS TO DO WHATEVER. IDEALLY ITS 0.2
|
||||
MIN_FERROR = 100
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 200
|
||||
I = 300
|
||||
D = 2
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = +1.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
ENCODER_LIN_SCALE = -10075
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
258
configs/lagun/lagun.ini.bak
Executable file
258
configs/lagun/lagun.ini.bak
Executable file
@@ -0,0 +1,258 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = lagun.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
HALFILE = xhc-whb04b-6.hal
|
||||
HALUI = halui
|
||||
|
||||
[HALUI]
|
||||
MDI_COMMAND=(DEBUG,<1>)
|
||||
MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
|
||||
MDI_COMMAND=G10 L20 P0 Y[#<_y>/2.0]
|
||||
MDI_COMMAND=(DEBUG,<4>)
|
||||
MDI_COMMAND=(DEBUG,<5>)
|
||||
MDI_COMMAND=G10 L20 P0 X0
|
||||
MDI_COMMAND=G10 L20 P0 Y0
|
||||
MDI_COMMAND=G10 L20 P0 Z0
|
||||
MDI_COMMAND=(DEBUG,<5>)
|
||||
MDI_COMMAND=(DEBUG,<9>)
|
||||
MDI_COMMAND=(DEBUG,<10>)
|
||||
MDI_COMMAND=(DEBUG,<2>)
|
||||
MDI_COMMAND=(DEBUG,<12>)
|
||||
MDI_COMMAND=(DEBUG,<13>)
|
||||
MDI_COMMAND=(DEBUG,<14>)
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -24.0
|
||||
MAX_LIMIT = +24.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
|
||||
|
||||
|
||||
P = 0
|
||||
I = 0
|
||||
D = 4
|
||||
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
P_LIN = 300
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
|
||||
BIAS = 0
|
||||
DEADBAND = 0.0005
|
||||
MAX_OUTPUT = 0
|
||||
|
||||
ENCODER_LIN_SCALE = 5085.5
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# 5.4 is the ratio between linear and motor scales, roughly
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -24.0
|
||||
MAX_LIMIT = +24.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = +12.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
|
||||
P = 0
|
||||
I = 0
|
||||
D = 5
|
||||
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
P_LIN = 350
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 1
|
||||
|
||||
ENCODER_LIN_SCALE = 5085.4
|
||||
ENCODER_MTR_SCALE = 27453.6
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12
|
||||
MAX_LIMIT = +12
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 1.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 200
|
||||
I = 300
|
||||
D = 2
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = +1.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
ENCODER_LIN_SCALE = -10075
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
119
configs/lagun/linuxcnc.var
Normal file
119
configs/lagun/linuxcnc.var
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 10.519713
|
||||
5222 -9.229862
|
||||
5223 -2.943129
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.080900
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/lagun/linuxcnc.var.bak
Normal file
119
configs/lagun/linuxcnc.var.bak
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 10.519713
|
||||
5222 -9.229862
|
||||
5223 -2.943129
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.080900
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/lagun/linuxcnc.var.new
Normal file
119
configs/lagun/linuxcnc.var.new
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 10.519713
|
||||
5222 -9.229862
|
||||
5223 -2.943129
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.080900
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
225
configs/lagun/my_LinuxCNC_machine.ini.bak
Executable file
225
configs/lagun/my_LinuxCNC_machine.ini.bak
Executable file
@@ -0,0 +1,225 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = my_LinuxCNC_machine.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
P = 400
|
||||
I = 0
|
||||
D = 4
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
P_LIN = 400
|
||||
I_LIN = 100
|
||||
D_LIN = 4
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 100
|
||||
MAX_OUTPUT_LINEAR = 100
|
||||
|
||||
|
||||
|
||||
ENCODER_LIN_SCALE = 5174
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# /5.4
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = 12.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 10.0
|
||||
MIN_FERROR = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
ENCODER_SCALE = 5084
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
ENCODER_SCALE = -9862
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
2
configs/lagun/shutdown.hal
Executable file
2
configs/lagun/shutdown.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
5
configs/lagun/tool.tbl
Normal file
5
configs/lagun/tool.tbl
Normal file
@@ -0,0 +1,5 @@
|
||||
T1 P1 D+0.375000 I+7.000000 ;1/8 end mill Sample Tool
|
||||
T2 P2 D+0.062500 ;1/16 end mill Sample Tool
|
||||
T3 P3 D+0.201000 ;#7 tap drill Sample Tool
|
||||
T4 P4 D+2.000000 ;2 inch mill Sample Tool
|
||||
T5 P5 D+0.250000 ;1/4
|
||||
5
configs/lagun/tool.tbl.bak
Normal file
5
configs/lagun/tool.tbl.bak
Normal file
@@ -0,0 +1,5 @@
|
||||
T1 P1 D0.375 I7 ;1/8 end mill Sample Tool
|
||||
T2 P2 D0.0625 ;1/16 end mill Sample Tool
|
||||
T3 P3 D0.201 ;#7 tap drill Sample Tool
|
||||
T4 P4 D2 ;2 inch mill Sample Tool
|
||||
T5 P5 D0.25 ;1/4
|
||||
167
configs/lagun/xhc-whb04b-6.hal
Executable file
167
configs/lagun/xhc-whb04b-6.hal
Executable file
@@ -0,0 +1,167 @@
|
||||
|
||||
|
||||
# ######################################################################
|
||||
# load pendant components
|
||||
# ######################################################################
|
||||
|
||||
loadusr -W xhc-whb04b-6 -HsfB
|
||||
|
||||
# ######################################################################
|
||||
# pendant signal configuration
|
||||
# ######################################################################
|
||||
|
||||
# On/Off signals
|
||||
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
|
||||
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
|
||||
#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
|
||||
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
|
||||
net pdnt.mode.joint whb.halui.mode.joint halui.mode.joint
|
||||
net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop
|
||||
net pdnt.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
|
||||
net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
|
||||
net pdnt.mode.is-mdi halui.mode.is-mdi whb.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
|
||||
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
|
||||
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
|
||||
|
||||
net pdnt.axis.x.jog-scale whb.axis.x.jog-scale axis.x.jog-scale
|
||||
net pdnt.axis.y.jog-scale whb.axis.y.jog-scale axis.y.jog-scale
|
||||
net pdnt.axis.z.jog-scale whb.axis.z.jog-scale axis.z.jog-scale
|
||||
|
||||
net pdnt.axis.x.jog-counts whb.axis.x.jog-counts axis.x.jog-counts
|
||||
net pdnt.axis.y.jog-counts whb.axis.y.jog-counts axis.y.jog-counts
|
||||
net pdnt.axis.z.jog-counts whb.axis.z.jog-counts axis.z.jog-counts
|
||||
|
||||
net pdnt.axis.x.jog-enable whb.axis.x.jog-enable axis.x.jog-enable
|
||||
net pdnt.axis.y.jog-enable whb.axis.y.jog-enable axis.y.jog-enable
|
||||
net pdnt.axis.z.jog-enable whb.axis.z.jog-enable axis.z.jog-enable
|
||||
|
||||
net pdnt.axis.x.jog-vel-mode whb.axis.x.jog-vel-mode axis.x.jog-vel-mode
|
||||
net pdnt.axis.y.jog-vel-mode whb.axis.y.jog-vel-mode axis.y.jog-vel-mode
|
||||
net pdnt.axis.z.jog-vel-mode whb.axis.z.jog-vel-mode axis.z.jog-vel-mode
|
||||
|
||||
|
||||
# macro buttons to MDI commands
|
||||
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
|
||||
#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
|
||||
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
|
||||
#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
|
||||
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
|
||||
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
|
||||
|
||||
net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11 # use MDI command from main.ini
|
||||
net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12 # use MDI command from main.ini
|
||||
net pdnt.macro.13 whb.button.macro-13 halui.mdi-command-13 # use MDI command from main.ini
|
||||
|
||||
|
||||
# flood and mist toggle signals
|
||||
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
|
||||
|
||||
net pdnt.mist.is-on whb.halui.mist.is-on halui.mist.is-on #return signal is on or off
|
||||
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
|
||||
|
||||
#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
|
||||
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
|
||||
#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
|
||||
#net pdnt.mode-step whb.halui.feed.selected-step
|
||||
|
||||
#net pdnt.button.mode-mpg whb.button.mode-continuous
|
||||
#net pdnt.button.mode-step whb.button.mode-step
|
||||
#net pdnt.button.fn whb.button.fn
|
||||
#net pdnt.button.reset whb.button.reset
|
||||
#net pdnt.button.stop whb.button.stop
|
||||
#net pdnt.button.start-pause whb.button.start-pause
|
||||
#net pdnt.button.s-on-off whb.button.s-on-off
|
||||
#net pdnt.button.spindle-plus whb.button.spindle-plus
|
||||
#net pdnt.button.spindle-minus whb.button.spindle-minus
|
||||
#net pdnt.button.feed-plus whb.button.feed-plus
|
||||
#net pdnt.button.feed-minus whb.button.feed-minus
|
||||
|
||||
|
||||
# spindle related signals
|
||||
#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
|
||||
#net pdnt.spindle.forward whb.halui.spindle.forward halui.spindle.0.forward
|
||||
#net pdnt.spindle.reverse whb.halui.spindle.reverse halui.spindle.0.reverse
|
||||
#net pdnt.spindle.increase whb.halui.spindle.increase halui.spindle.0.increase # reserved whb.button.macro-3
|
||||
#net pdnt.spindle.decrease whb.halui.spindle.decrease halui.spindle.0.decrease # reserved whb.button.macro-4
|
||||
#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
|
||||
#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
|
||||
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
|
||||
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
|
||||
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
|
||||
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
|
||||
|
||||
|
||||
|
||||
6
configs/lagun_gmoccapy/gmoccapy_postgui.hal
Executable file
6
configs/lagun_gmoccapy/gmoccapy_postgui.hal
Executable file
@@ -0,0 +1,6 @@
|
||||
# gmoccapy postgui HAL file for Lagun mill
|
||||
# These connections are made after the GUI loads so gmoccapy pins exist
|
||||
|
||||
# --- Tool offset display ---
|
||||
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
|
||||
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z
|
||||
398
configs/lagun_gmoccapy/lagun.hal
Executable file
398
configs/lagun_gmoccapy/lagun.hal
Executable file
@@ -0,0 +1,398 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS base_thread_fp=1
|
||||
loadrt hostmot2
|
||||
loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
|
||||
loadrt mux16 names=jogincr,foincr,mvoincr,soincr
|
||||
loadrt mux2 count=1
|
||||
loadrt sum2 count=3
|
||||
|
||||
loadrt logic count=1 personality=0x0102
|
||||
addf logic.0 servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
|
||||
loadrt weighted_sum wsum_sizes=8 #wsum_sizes=[128,64,32,16,8,4,2,1] # default should do conversion??
|
||||
addf process_wsums servo-thread
|
||||
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf jogincr servo-thread
|
||||
addf foincr servo-thread
|
||||
addf mvoincr servo-thread
|
||||
addf soincr servo-thread
|
||||
|
||||
setp hm2_5i24.0.pwmgen.pwm_frequency 15500
|
||||
setp hm2_5i24.0.pwmgen.pdm_frequency 15500
|
||||
setp hm2_5i24.0.watchdog.timeout_ns 5000000
|
||||
loadrt pid names=pid.x,pid.y,pid.s,pid.xl,pid.yl,pid.zl
|
||||
|
||||
addf hm2_5i24.0.read servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid.x.do-pid-calcs servo-thread
|
||||
addf pid.xl.do-pid-calcs servo-thread
|
||||
addf pid.y.do-pid-calcs servo-thread
|
||||
addf pid.yl.do-pid-calcs servo-thread
|
||||
addf pid.zl.do-pid-calcs servo-thread
|
||||
addf pid.s.do-pid-calcs servo-thread
|
||||
addf hm2_5i24.0.write servo-thread
|
||||
|
||||
# relay outputs
|
||||
setp hm2_5i24.0.gpio.041.is_output true
|
||||
setp hm2_5i24.0.gpio.044.is_output true
|
||||
setp hm2_5i24.0.gpio.046.is_output true
|
||||
setp hm2_5i24.0.gpio.041.invert_output true
|
||||
setp hm2_5i24.0.gpio.044.invert_output true
|
||||
setp hm2_5i24.0.gpio.046.invert_output true
|
||||
|
||||
# some inputs
|
||||
setp hm2_5i24.0.gpio.027.is_output false
|
||||
setp hm2_5i24.0.gpio.028.is_output false
|
||||
setp hm2_5i24.0.gpio.029.is_output false # ESTOP
|
||||
setp hm2_5i24.0.gpio.030.is_output false # START
|
||||
setp hm2_5i24.0.gpio.031.is_output false # STOP
|
||||
|
||||
#net machine_estop_out <= hm2_5i24.0.gpio.029.in_not
|
||||
#net machine_estop_out => halui.machine.on
|
||||
|
||||
# This stuff should work but it seems to be shutting off the machine.
|
||||
# net btn-estop-out hm2_5i24.0.gpio.029.in_not => halui.machine.on
|
||||
# net btn-estop-in hm2_5i24.0.gpio.029.in => halui.machine.off
|
||||
|
||||
# net btn-pause hm2_5i24.0.gpio.031.in_not => halui.program.pause
|
||||
# net btn-start hm2_5i24.0.gpio.030.in_not => halui.program.run
|
||||
# net btn-start hm2_5i24.0.gpio.030.in_not => halui.program.resume
|
||||
|
||||
|
||||
# first ADC
|
||||
#setp hm2_5i24.0.gpio.032.is_output false
|
||||
#setp hm2_5i24.0.gpio.033.is_output false
|
||||
#setp hm2_5i24.0.gpio.034.is_output false
|
||||
#setp hm2_5i24.0.gpio.035.is_output false
|
||||
#setp hm2_5i24.0.gpio.036.is_output false
|
||||
#setp hm2_5i24.0.gpio.037.is_output false
|
||||
#setp hm2_5i24.0.gpio.038.is_output false
|
||||
#setp hm2_5i24.0.gpio.039.is_output false
|
||||
|
||||
# second ADC
|
||||
#setp hm2_5i24.0.gpio.040.is_output false
|
||||
#setp hm2_5i24.0.gpio.041.is_output false
|
||||
#setp hm2_5i24.0.gpio.042.is_output false
|
||||
#setp hm2_5i24.0.gpio.043.is_output false
|
||||
#setp hm2_5i24.0.gpio.044.is_output false
|
||||
#setp hm2_5i24.0.gpio.045.is_output false
|
||||
#setp hm2_5i24.0.gpio.046.is_output false
|
||||
#setp hm2_5i24.0.gpio.047.is_output false
|
||||
|
||||
|
||||
#net hm2_5i24.0.gpio.032 <= wsum.0.bit.0.in
|
||||
#net hm2_5i24.0.gpio.033 <= wsum.0.bit.1.in
|
||||
#net hm2_5i24.0.gpio.034 <= wsum.0.bit.2.in
|
||||
#net hm2_5i24.0.gpio.035 <= wsum.0.bit.3.in
|
||||
#net hm2_5i24.0.gpio.036 <= wsum.0.bit.4.in
|
||||
#net hm2_5i24.0.gpio.037 <= wsum.0.bit.5.in
|
||||
#net hm2_5i24.0.gpio.038 <= wsum.0.bit.6.in
|
||||
#net hm2_5i24.0.gpio.039 <= wsum.0.bit.7.in
|
||||
|
||||
# ******************
|
||||
# AXIS X JOINT 0
|
||||
# ******************
|
||||
|
||||
setp pid.x.Pgain [JOINT_0]P
|
||||
setp pid.x.Igain 0
|
||||
setp pid.x.Dgain [JOINT_0]D
|
||||
setp pid.x.bias [JOINT_0]BIAS
|
||||
setp pid.x.FF0 [JOINT_0]FF0
|
||||
setp pid.x.FF1 [JOINT_0]FF1
|
||||
setp pid.x.FF2 [JOINT_0]FF2
|
||||
setp pid.x.deadband [JOINT_0]DEADBAND
|
||||
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.x.error-previous-target true
|
||||
|
||||
net x-enable => pid.x.enable
|
||||
net x-pos-mtr => pid.x.feedback
|
||||
net x-output-mtr <= pid.x.output
|
||||
|
||||
setp pid.xl.Pgain [JOINT_0]P_LIN
|
||||
setp pid.xl.Igain [JOINT_0]I_LIN
|
||||
setp pid.xl.Dgain [JOINT_0]D_LIN
|
||||
setp pid.xl.bias 0
|
||||
setp pid.xl.FF0 0
|
||||
setp pid.xl.FF1 0
|
||||
setp pid.xl.FF2 0
|
||||
setp pid.xl.deadband [JOINT_0]DEADBAND
|
||||
setp pid.xl.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.xl.error-previous-target true
|
||||
|
||||
net x-enable => pid.xl.enable
|
||||
net x-pos-lin => pid.xl.feedback
|
||||
net x-output-lin <= pid.xl.output
|
||||
|
||||
net x-output-lin => sum2.0.in0
|
||||
net x-output-mtr => sum2.0.in1
|
||||
net x-output <= sum2.0.out
|
||||
|
||||
net x-pos-cmd <= joint.0.motor-pos-cmd
|
||||
net x-pos-cmd => pid.xl.command
|
||||
net x-pos-cmd => pid.x.command
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
|
||||
setp hm2_5i24.0.pwmgen.00.offset-mode 1
|
||||
|
||||
net x-output => hm2_5i24.0.pwmgen.00.value
|
||||
net x-enable joint.0.amp-enable-out => hm2_5i24.0.pwmgen.00.enable
|
||||
net x-enable => hm2_5i24.0.gpio.046.out
|
||||
net x-pos-rawcounts <= hm2_5i24.0.encoder.00.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
setp hm2_5i24.0.encoder.03.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.03.filter 1
|
||||
setp hm2_5i24.0.encoder.03.index-invert 0
|
||||
setp hm2_5i24.0.encoder.03.index-mask 0
|
||||
setp hm2_5i24.0.encoder.03.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.03.scale [JOINT_0]ENCODER_MTR_SCALE
|
||||
|
||||
setp hm2_5i24.0.encoder.00.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.00.filter 1
|
||||
setp hm2_5i24.0.encoder.00.index-invert 0
|
||||
setp hm2_5i24.0.encoder.00.index-mask 0
|
||||
setp hm2_5i24.0.encoder.00.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.00.scale [JOINT_0]ENCODER_LIN_SCALE
|
||||
|
||||
net x-pos-mtr <= hm2_5i24.0.encoder.03.position
|
||||
net x-vel-mtr <= hm2_5i24.0.encoder.03.velocity
|
||||
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.03.index-enable
|
||||
#net x-pos-mtr => joint.0.motor-pos-fb
|
||||
|
||||
net x-pos-lin <= hm2_5i24.0.encoder.00.position
|
||||
net x-vel-lin <= hm2_5i24.0.encoder.00.velocity
|
||||
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.00.index-enable
|
||||
net x-pos-lin => joint.0.motor-pos-fb
|
||||
|
||||
# ******************
|
||||
# AXIS Y JOINT 1
|
||||
# ******************
|
||||
|
||||
setp pid.y.Pgain [JOINT_1]P
|
||||
setp pid.y.Igain 0
|
||||
setp pid.y.Dgain [JOINT_1]D
|
||||
setp pid.y.bias [JOINT_1]BIAS
|
||||
setp pid.y.FF0 [JOINT_1]FF0
|
||||
setp pid.y.FF1 [JOINT_1]FF1
|
||||
setp pid.y.FF2 [JOINT_1]FF2
|
||||
setp pid.y.deadband [JOINT_1]DEADBAND
|
||||
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.y.error-previous-target true
|
||||
|
||||
net y-enable => pid.y.enable
|
||||
net y-pos-mtr => pid.y.feedback
|
||||
net y-output-mtr <= pid.y.output
|
||||
|
||||
setp pid.yl.Pgain [JOINT_1]P_LIN
|
||||
setp pid.yl.Igain [JOINT_1]I_LIN
|
||||
setp pid.yl.Dgain [JOINT_1]D_LIN
|
||||
setp pid.yl.bias 0
|
||||
setp pid.yl.FF0 0
|
||||
setp pid.yl.FF1 0
|
||||
setp pid.yl.FF2 0
|
||||
setp pid.yl.deadband [JOINT_1]DEADBAND
|
||||
setp pid.yl.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.yl.error-previous-target true
|
||||
|
||||
net y-enable => pid.yl.enable
|
||||
net y-pos-lin => pid.yl.feedback
|
||||
net y-output-lin <= pid.yl.output
|
||||
|
||||
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
|
||||
net y-pos-cmd => pid.yl.command
|
||||
net y-pos-cmd => pid.y.command
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.02.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.02.scale [JOINT_1]OUTPUT_SCALE
|
||||
setp hm2_5i24.0.pwmgen.02.offset-mode 1
|
||||
|
||||
net y-output => hm2_5i24.0.pwmgen.02.value
|
||||
net y-enable joint.1.amp-enable-out => hm2_5i24.0.pwmgen.02.enable
|
||||
# net y-enable => hm2_5i24.0.gpio.044.out # commented out because duplicates x axis
|
||||
net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
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
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.01.index-mask 0
|
||||
setp hm2_5i24.0.encoder.01.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.01.scale [JOINT_1]ENCODER_LIN_SCALE
|
||||
|
||||
net y-pos-mtr <= hm2_5i24.0.encoder.04.position
|
||||
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
|
||||
|
||||
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
|
||||
#*******************
|
||||
|
||||
#setp pid.z.Pgain [JOINT_2]P
|
||||
#setp pid.z.Igain 0
|
||||
#setp pid.z.Dgain [JOINT_2]D
|
||||
#setp pid.z.bias [JOINT_2]BIAS
|
||||
#setp pid.z.FF0 [JOINT_2]FF0
|
||||
#setp pid.z.FF1 [JOINT_2]FF1
|
||||
#setp pid.z.FF2 [JOINT_2]FF2
|
||||
#setp pid.z.deadband [JOINT_2]DEADBAND
|
||||
#setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
#setp pid.z.error-previous-target true
|
||||
|
||||
#net z-enable => pid.z.enable
|
||||
#net z-pos-mtr => pid.z.feedback
|
||||
#net z-output-mtr <= pid.z.output
|
||||
|
||||
setp pid.zl.Pgain [JOINT_2]P
|
||||
setp pid.zl.Igain [JOINT_2]I
|
||||
setp pid.zl.Dgain [JOINT_2]D
|
||||
setp pid.zl.bias 0
|
||||
setp pid.zl.FF0 0
|
||||
setp pid.zl.FF1 0
|
||||
setp pid.zl.FF2 0
|
||||
setp pid.zl.deadband [JOINT_2]DEADBAND
|
||||
setp pid.zl.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.zl.error-previous-target true
|
||||
|
||||
net z-override => logic.0.in-00
|
||||
net z-enable => logic.0.in-01
|
||||
net z-enable-comb <= logic.0.and
|
||||
|
||||
sets z-override TRUE
|
||||
|
||||
# this section about ferror doesnt work
|
||||
net z-enable-comb => mux2.0.sel
|
||||
setp mux2.0.in0 100
|
||||
setp mux2.0.in1 0.2
|
||||
net z-ferror <= mux2.0.out
|
||||
#net z-ferror => ini.2.min_ferror #joint.2.f-error #ini.2.ferror
|
||||
|
||||
net z-enable-comb => pid.zl.enable
|
||||
net z-pos-lin => pid.zl.feedback
|
||||
net z-output-lin <= pid.zl.output
|
||||
|
||||
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 => pid.zl.command
|
||||
#net z-pos-cmd => pid.z.command
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.04.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.04.scale [JOINT_2]OUTPUT_SCALE
|
||||
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
|
||||
net z-enable-comb => hm2_5i24.0.gpio.044.out
|
||||
net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
#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
|
||||
#setp hm2_5i24.0.encoder.05.index-mask 0
|
||||
#setp hm2_5i24.0.encoder.05.index-mask-invert 0
|
||||
#setp hm2_5i24.0.encoder.05.scale [JOINT_2]ENCODER_MTR_SCALE
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.02.index-mask 0
|
||||
setp hm2_5i24.0.encoder.02.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_LIN_SCALE
|
||||
|
||||
#net z-pos-mtr <= hm2_5i24.0.encoder.05.position
|
||||
#net z-vel-mtr <= hm2_5i24.0.encoder.05.velocity
|
||||
#net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.05.index-enable
|
||||
#net z-pos-mtr => joint.2.motor-pos-fb
|
||||
|
||||
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 ####
|
||||
#net spindle.0.on spindle-enable
|
||||
net spindle-enable spindle.0.on => hm2_5i24.0.gpio.041.out
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
net coolant-mist <= iocontrol.0.coolant-mist
|
||||
net coolant-flood <= iocontrol.0.coolant-flood
|
||||
|
||||
# ---probe signal---
|
||||
|
||||
net probe-in => motion.probe-input
|
||||
|
||||
# ---motion control signals---
|
||||
|
||||
net in-position <= motion.in-position
|
||||
net machine-is-enabled <= motion.motion-enabled
|
||||
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
|
||||
# ---manual tool change signals---
|
||||
|
||||
net tool-change-request <= iocontrol.0.tool-change
|
||||
net tool-change-confirmed => iocontrol.0.tool-changed
|
||||
net tool-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
# ---Use external manual tool change dialog---
|
||||
|
||||
loadusr -W hal_manualtoolchange
|
||||
net tool-change-request => hal_manualtoolchange.change
|
||||
net tool-change-confirmed <= hal_manualtoolchange.changed
|
||||
net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
255
configs/lagun_gmoccapy/lagun_gmoccapy.ini
Executable file
255
configs/lagun_gmoccapy/lagun_gmoccapy.ini
Executable file
@@ -0,0 +1,255 @@
|
||||
# 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)
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
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
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
DEFAULT_SPINDLE_SPEED = 500
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = lagun.hal
|
||||
HALFILE = xhc-whb04b-6.hal
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
MDI_COMMAND=(DEBUG,<1>)
|
||||
MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
|
||||
MDI_COMMAND=G10 L20 P0 Y[#<_y>/2.0]
|
||||
MDI_COMMAND=(DEBUG,<4>)
|
||||
MDI_COMMAND=(DEBUG,<5>)
|
||||
MDI_COMMAND=G10 L20 P0 X0
|
||||
MDI_COMMAND=G10 L20 P0 Y0
|
||||
MDI_COMMAND=G10 L20 P0 Z0
|
||||
MDI_COMMAND=(DEBUG,<5>)
|
||||
MDI_COMMAND=(DEBUG,<9>)
|
||||
MDI_COMMAND=(DEBUG,<10>)
|
||||
MDI_COMMAND=(DEBUG,<2>)
|
||||
MDI_COMMAND=(DEBUG,<12>)
|
||||
MDI_COMMAND=(DEBUG,<13>)
|
||||
MDI_COMMAND=(DEBUG,<14>)
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -24.0
|
||||
MAX_LIMIT = +24.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
|
||||
|
||||
|
||||
P = 0
|
||||
I = 0
|
||||
D = 4
|
||||
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
P_LIN = 300
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
|
||||
BIAS = 0
|
||||
DEADBAND = 0.0005
|
||||
MAX_OUTPUT = 0
|
||||
|
||||
ENCODER_LIN_SCALE = 5085.5
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# 5.4 is the ratio between linear and motor scales, roughly
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -24.0
|
||||
MAX_LIMIT = +24.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = +12.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.2
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
|
||||
P = 0
|
||||
I = 0
|
||||
D = 5
|
||||
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
|
||||
P_LIN = 350
|
||||
I_LIN = 500
|
||||
D_LIN = 0
|
||||
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 1
|
||||
|
||||
ENCODER_LIN_SCALE = 5085.4
|
||||
ENCODER_MTR_SCALE = 27453.6
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12
|
||||
MAX_LIMIT = +12
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 1.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
# SETTING MIN_FERROR TO 100 ALLOWS Z AXIS TO DO WHATEVER. IDEALLY ITS 0.2
|
||||
MIN_FERROR = 100
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 200
|
||||
I = 300
|
||||
D = 2
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = +1.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
OUTPUT_SCALE = -1
|
||||
OUTPUT_OFFSET = 0
|
||||
|
||||
ENCODER_LIN_SCALE = -10075
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
119
configs/lagun_gmoccapy/linuxcnc.var
Normal file
119
configs/lagun_gmoccapy/linuxcnc.var
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.488159
|
||||
5222 -0.501329
|
||||
5223 -1.515298
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.080900
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/lagun_gmoccapy/linuxcnc.var.bak
Normal file
119
configs/lagun_gmoccapy/linuxcnc.var.bak
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.488159
|
||||
5222 -0.501329
|
||||
5223 -1.515298
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.080900
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
80
configs/lagun_gmoccapy/my_LinuxCNC_machine.pref
Normal file
80
configs/lagun_gmoccapy/my_LinuxCNC_machine.pref
Normal file
@@ -0,0 +1,80 @@
|
||||
[DEFAULT]
|
||||
dro_digits = 4
|
||||
dro_size = 28
|
||||
abs_color = #0000FF
|
||||
rel_color = #000000
|
||||
dtg_color = #FFFF00
|
||||
homed_color = #00FF00
|
||||
unhomed_color = #FF0000
|
||||
enable_dro = False
|
||||
scale_jog_vel = 1.0
|
||||
scale_spindle_override = 1
|
||||
scale_feed_override = 1
|
||||
scale_rapid_override = 1
|
||||
spindle_bar_min = 0.0
|
||||
spindle_bar_max = 6000.0
|
||||
turtle_jog_factor = 20
|
||||
hide_turtle_jog_button = False
|
||||
unlock_code = 123
|
||||
toggle_readout = True
|
||||
spindle_start_rpm = 500.0
|
||||
kbd_height = 250
|
||||
blockheight = 0.0
|
||||
reload_tool = False
|
||||
open_file =
|
||||
screen1 = window
|
||||
hide_titlebar = False
|
||||
x_pos = 40
|
||||
y_pos = 30
|
||||
width = 979
|
||||
height = 750
|
||||
use_toolmeasurement = False
|
||||
gtk_theme = Follow System Theme
|
||||
icon_theme = classic
|
||||
audio_enabled = True
|
||||
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
|
||||
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
|
||||
grid_size = 1.0
|
||||
view = z
|
||||
mouse_btn_mode = 4
|
||||
hide_cursor = False
|
||||
hide_tooltips = False
|
||||
system_name_tool = Tool
|
||||
system_name_g5x = G5x
|
||||
system_name_rot = Rot
|
||||
system_name_g92 = G92
|
||||
system_name_g54 = G54
|
||||
system_name_g55 = G55
|
||||
system_name_g56 = G56
|
||||
system_name_g57 = G57
|
||||
system_name_g58 = G58
|
||||
system_name_g59 = G59
|
||||
system_name_g59.1 = G59.1
|
||||
system_name_g59.2 = G59.2
|
||||
system_name_g59.3 = G59.3
|
||||
jump_to_dir = /home/linuxcnc
|
||||
show_keyboard_on_offset = False
|
||||
show_keyboard_on_tooledit = False
|
||||
show_keyboard_on_edit = True
|
||||
show_keyboard_on_mdi = True
|
||||
show_keyboard_on_file_selection = False
|
||||
x_pos_popup = 45.0
|
||||
y_pos_popup = 55
|
||||
width_popup = 250.0
|
||||
max_messages = 10
|
||||
message_font = sans 10
|
||||
use_frames = True
|
||||
blockdel = False
|
||||
show_offsets = True
|
||||
show_dtg = False
|
||||
view_tool_path = False
|
||||
view_dimension = False
|
||||
run_from_line = no_run
|
||||
unlock_way = use
|
||||
show_preview_on_offset = False
|
||||
use_keyboard_shortcuts = True
|
||||
offset_axis_y = -0.1
|
||||
offset_axis_x = -0.1875
|
||||
offset_axis_z = 0.0
|
||||
tool_in_spindle = 3
|
||||
|
||||
2
configs/lagun_gmoccapy/shutdown.hal
Executable file
2
configs/lagun_gmoccapy/shutdown.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
6
configs/lagun_gmoccapy/tool.tbl
Executable file
6
configs/lagun_gmoccapy/tool.tbl
Executable file
@@ -0,0 +1,6 @@
|
||||
T3 P3 D+0.187500 ;3/16in flat
|
||||
T1 P1 D+0.187500 I+7.000000 ;0.201in DrillBit
|
||||
T5 P5 D+0.250000 ;1/4
|
||||
T2 P2 D+0.437500 ;7/16in MillBit
|
||||
T4 P4 D+2.000000 ;2 inch mill Sample Tool
|
||||
T0 P0 ;comment
|
||||
170
configs/lagun_gmoccapy/xhc-whb04b-6.hal
Executable file
170
configs/lagun_gmoccapy/xhc-whb04b-6.hal
Executable file
@@ -0,0 +1,170 @@
|
||||
|
||||
|
||||
# ######################################################################
|
||||
# load pendant components
|
||||
# ######################################################################
|
||||
|
||||
loadusr -W xhc-whb04b-6 -HsfB
|
||||
|
||||
# ######################################################################
|
||||
# pendant signal configuration
|
||||
# ######################################################################
|
||||
|
||||
# On/Off signals
|
||||
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
|
||||
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
|
||||
#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
|
||||
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
|
||||
net pdnt.mode.joint whb.halui.mode.joint halui.mode.joint
|
||||
net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop
|
||||
net pdnt.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
|
||||
net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
|
||||
net pdnt.mode.is-mdi halui.mode.is-mdi whb.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
|
||||
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
|
||||
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
|
||||
|
||||
# --- Jog signals ---
|
||||
# GMOCCAPY does not create axis.x.jog-* pins like AXIS does.
|
||||
# Use joint.N.jog-* pins instead (provided by the motion module).
|
||||
|
||||
net pdnt.axis.x.jog-scale whb.axis.x.jog-scale joint.0.jog-scale
|
||||
net pdnt.axis.y.jog-scale whb.axis.y.jog-scale joint.1.jog-scale
|
||||
net pdnt.axis.z.jog-scale whb.axis.z.jog-scale joint.2.jog-scale
|
||||
|
||||
net pdnt.axis.x.jog-counts whb.axis.x.jog-counts joint.0.jog-counts
|
||||
net pdnt.axis.y.jog-counts whb.axis.y.jog-counts joint.1.jog-counts
|
||||
net pdnt.axis.z.jog-counts whb.axis.z.jog-counts joint.2.jog-counts
|
||||
|
||||
net pdnt.axis.x.jog-enable whb.axis.x.jog-enable joint.0.jog-enable
|
||||
net pdnt.axis.y.jog-enable whb.axis.y.jog-enable joint.1.jog-enable
|
||||
net pdnt.axis.z.jog-enable whb.axis.z.jog-enable joint.2.jog-enable
|
||||
|
||||
net pdnt.axis.x.jog-vel-mode whb.axis.x.jog-vel-mode joint.0.jog-vel-mode
|
||||
net pdnt.axis.y.jog-vel-mode whb.axis.y.jog-vel-mode joint.1.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
|
||||
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
|
||||
#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
|
||||
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
|
||||
#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
|
||||
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
|
||||
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
|
||||
|
||||
net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11 # use MDI command from main.ini
|
||||
net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12 # use MDI command from main.ini
|
||||
net pdnt.macro.13 whb.button.macro-13 halui.mdi-command-13 # use MDI command from main.ini
|
||||
|
||||
|
||||
# flood and mist toggle signals
|
||||
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
|
||||
|
||||
net pdnt.mist.is-on whb.halui.mist.is-on halui.mist.is-on #return signal is on or off
|
||||
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
|
||||
|
||||
#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
|
||||
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
|
||||
#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
|
||||
#net pdnt.mode-step whb.halui.feed.selected-step
|
||||
|
||||
#net pdnt.button.mode-mpg whb.button.mode-continuous
|
||||
#net pdnt.button.mode-step whb.button.mode-step
|
||||
#net pdnt.button.fn whb.button.fn
|
||||
#net pdnt.button.reset whb.button.reset
|
||||
#net pdnt.button.stop whb.button.stop
|
||||
#net pdnt.button.start-pause whb.button.start-pause
|
||||
#net pdnt.button.s-on-off whb.button.s-on-off
|
||||
#net pdnt.button.spindle-plus whb.button.spindle-plus
|
||||
#net pdnt.button.spindle-minus whb.button.spindle-minus
|
||||
#net pdnt.button.feed-plus whb.button.feed-plus
|
||||
#net pdnt.button.feed-minus whb.button.feed-minus
|
||||
|
||||
|
||||
# spindle related signals
|
||||
#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
|
||||
#net pdnt.spindle.forward whb.halui.spindle.forward halui.spindle.0.forward
|
||||
#net pdnt.spindle.reverse whb.halui.spindle.reverse halui.spindle.0.reverse
|
||||
#net pdnt.spindle.increase whb.halui.spindle.increase halui.spindle.0.increase # reserved whb.button.macro-3
|
||||
#net pdnt.spindle.decrease whb.halui.spindle.decrease halui.spindle.0.decrease # reserved whb.button.macro-4
|
||||
#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
|
||||
#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
|
||||
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
|
||||
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
|
||||
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
|
||||
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
|
||||
|
||||
|
||||
5209
configs/mpgtest.pncconf
Executable file
5209
configs/mpgtest.pncconf
Executable file
File diff suppressed because it is too large
Load Diff
2
configs/mpgtest/custom.hal
Executable file
2
configs/mpgtest/custom.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/mpgtest/custom_gvcp.hal
Executable file
2
configs/mpgtest/custom_gvcp.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_gvcp HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/mpgtest/custom_postgui.hal
Executable file
2
configs/mpgtest/custom_postgui.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_postgui HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
324
configs/mpgtest/mpgtest.hal
Executable file
324
configs/mpgtest/mpgtest.hal
Executable file
@@ -0,0 +1,324 @@
|
||||
# Generated by PNCconf at Sat Aug 3 03:07:39 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt hostmot2
|
||||
loadrt hm2_pci config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxxxx"
|
||||
setp hm2_5i25.0.watchdog.timeout_ns 5000000
|
||||
loadrt pid names=pid.x,pid.y,pid.z,pid.s
|
||||
loadrt mux16 names=jogincr,foincr,mvoincr,soincr
|
||||
|
||||
addf hm2_5i25.0.read servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid.x.do-pid-calcs servo-thread
|
||||
addf pid.y.do-pid-calcs servo-thread
|
||||
addf pid.z.do-pid-calcs servo-thread
|
||||
addf pid.s.do-pid-calcs servo-thread
|
||||
addf jogincr servo-thread
|
||||
addf foincr servo-thread
|
||||
addf mvoincr servo-thread
|
||||
addf soincr servo-thread
|
||||
addf hm2_5i25.0.write servo-thread
|
||||
setp hm2_5i25.0.dpll.01.timer-us -50
|
||||
setp hm2_5i25.0.stepgen.timer-number 1
|
||||
|
||||
# external output signals
|
||||
|
||||
|
||||
# external input signals
|
||||
|
||||
|
||||
#*******************
|
||||
# AXIS X JOINT 0
|
||||
#*******************
|
||||
|
||||
setp pid.x.Pgain [JOINT_0]P
|
||||
setp pid.x.Igain [JOINT_0]I
|
||||
setp pid.x.Dgain [JOINT_0]D
|
||||
setp pid.x.bias [JOINT_0]BIAS
|
||||
setp pid.x.FF0 [JOINT_0]FF0
|
||||
setp pid.x.FF1 [JOINT_0]FF1
|
||||
setp pid.x.FF2 [JOINT_0]FF2
|
||||
setp pid.x.deadband [JOINT_0]DEADBAND
|
||||
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.x.error-previous-target true
|
||||
# This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.x.maxerror 0.000500
|
||||
|
||||
net x-index-enable => pid.x.index-enable
|
||||
net x-enable => pid.x.enable
|
||||
net x-pos-cmd => pid.x.command
|
||||
net x-pos-fb => pid.x.feedback
|
||||
net x-output <= pid.x.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
|
||||
setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
|
||||
setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN
|
||||
setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
|
||||
setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
|
||||
setp hm2_5i25.0.stepgen.00.step_type 0
|
||||
setp hm2_5i25.0.stepgen.00.control-type 1
|
||||
setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net x-pos-cmd <= joint.0.motor-pos-cmd
|
||||
net x-vel-cmd <= joint.0.vel-cmd
|
||||
net x-output => hm2_5i25.0.stepgen.00.velocity-cmd
|
||||
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
|
||||
net x-pos-fb => joint.0.motor-pos-fb
|
||||
net x-enable <= joint.0.amp-enable-out
|
||||
net x-enable => hm2_5i25.0.stepgen.00.enable
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net x-home-sw => joint.0.home-sw-in
|
||||
net x-neg-limit => joint.0.neg-lim-sw-in
|
||||
net x-pos-limit => joint.0.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Y JOINT 1
|
||||
#*******************
|
||||
|
||||
setp pid.y.Pgain [JOINT_1]P
|
||||
setp pid.y.Igain [JOINT_1]I
|
||||
setp pid.y.Dgain [JOINT_1]D
|
||||
setp pid.y.bias [JOINT_1]BIAS
|
||||
setp pid.y.FF0 [JOINT_1]FF0
|
||||
setp pid.y.FF1 [JOINT_1]FF1
|
||||
setp pid.y.FF2 [JOINT_1]FF2
|
||||
setp pid.y.deadband [JOINT_1]DEADBAND
|
||||
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.y.error-previous-target true
|
||||
# This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.y.maxerror 0.000500
|
||||
|
||||
net y-index-enable => pid.y.index-enable
|
||||
net y-enable => pid.y.enable
|
||||
net y-pos-cmd => pid.y.command
|
||||
net y-pos-fb => pid.y.feedback
|
||||
net y-output <= pid.y.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
|
||||
setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
|
||||
setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
|
||||
setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
|
||||
setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
|
||||
setp hm2_5i25.0.stepgen.01.step_type 0
|
||||
setp hm2_5i25.0.stepgen.01.control-type 1
|
||||
setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net y-pos-cmd <= joint.1.motor-pos-cmd
|
||||
net y-vel-cmd <= joint.1.vel-cmd
|
||||
net y-output => hm2_5i25.0.stepgen.01.velocity-cmd
|
||||
net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-enable <= joint.1.amp-enable-out
|
||||
net y-enable => hm2_5i25.0.stepgen.01.enable
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net y-home-sw => joint.1.home-sw-in
|
||||
net y-neg-limit => joint.1.neg-lim-sw-in
|
||||
net y-pos-limit => joint.1.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Z JOINT 2
|
||||
#*******************
|
||||
|
||||
setp pid.z.Pgain [JOINT_2]P
|
||||
setp pid.z.Igain [JOINT_2]I
|
||||
setp pid.z.Dgain [JOINT_2]D
|
||||
setp pid.z.bias [JOINT_2]BIAS
|
||||
setp pid.z.FF0 [JOINT_2]FF0
|
||||
setp pid.z.FF1 [JOINT_2]FF1
|
||||
setp pid.z.FF2 [JOINT_2]FF2
|
||||
setp pid.z.deadband [JOINT_2]DEADBAND
|
||||
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.z.error-previous-target true
|
||||
# This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.z.maxerror 0.000500
|
||||
|
||||
net z-index-enable => pid.z.index-enable
|
||||
net z-enable => pid.z.enable
|
||||
net z-pos-cmd => pid.z.command
|
||||
net z-pos-fb => pid.z.feedback
|
||||
net z-output <= pid.z.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
|
||||
setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
|
||||
setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN
|
||||
setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
|
||||
setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
|
||||
setp hm2_5i25.0.stepgen.02.step_type 0
|
||||
setp hm2_5i25.0.stepgen.02.control-type 1
|
||||
setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i25.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net z-pos-cmd <= joint.2.motor-pos-cmd
|
||||
net z-vel-cmd <= joint.2.vel-cmd
|
||||
net z-output => hm2_5i25.0.stepgen.02.velocity-cmd
|
||||
net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-enable <= joint.2.amp-enable-out
|
||||
net z-enable => hm2_5i25.0.stepgen.02.enable
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net z-home-sw => joint.2.home-sw-in
|
||||
net z-neg-limit => joint.2.neg-lim-sw-in
|
||||
net z-pos-limit => joint.2.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# SPINDLE
|
||||
#*******************
|
||||
|
||||
setp pid.s.Pgain [SPINDLE_0]P
|
||||
setp pid.s.Igain [SPINDLE_0]I
|
||||
setp pid.s.Dgain [SPINDLE_0]D
|
||||
setp pid.s.bias [SPINDLE_0]BIAS
|
||||
setp pid.s.FF0 [SPINDLE_0]FF0
|
||||
setp pid.s.FF1 [SPINDLE_0]FF1
|
||||
setp pid.s.FF2 [SPINDLE_0]FF2
|
||||
setp pid.s.deadband [SPINDLE_0]DEADBAND
|
||||
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
|
||||
setp pid.s.error-previous-target true
|
||||
|
||||
net spindle-index-enable => pid.s.index-enable
|
||||
net spindle-enable => pid.s.enable
|
||||
net spindle-vel-cmd-rpm => pid.s.command
|
||||
net spindle-vel-fb-rpm => pid.s.feedback
|
||||
net spindle-output <= pid.s.output
|
||||
|
||||
# ---setup spindle control signals---
|
||||
|
||||
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
|
||||
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
|
||||
net spindle-vel-cmd-rpm <= spindle.0.speed-out
|
||||
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
|
||||
net spindle-enable <= spindle.0.on
|
||||
net spindle-cw <= spindle.0.forward
|
||||
net spindle-ccw <= spindle.0.reverse
|
||||
net spindle-brake <= spindle.0.brake
|
||||
net spindle-revs => spindle.0.revs
|
||||
net spindle-at-speed => spindle.0.at-speed
|
||||
net spindle-vel-fb-rps => spindle.0.speed-in
|
||||
net spindle-index-enable <=> spindle.0.index-enable
|
||||
|
||||
# ---Setup spindle at speed signals---
|
||||
|
||||
sets spindle-at-speed true
|
||||
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
|
||||
# ---HALUI signals---
|
||||
|
||||
net axis-select-x halui.axis.x.select
|
||||
net jog-x-pos halui.axis.x.plus
|
||||
net jog-x-neg halui.axis.x.minus
|
||||
net jog-x-analog halui.axis.x.analog
|
||||
net x-is-homed halui.joint.0.is-homed
|
||||
net axis-select-y halui.axis.y.select
|
||||
net jog-y-pos halui.axis.y.plus
|
||||
net jog-y-neg halui.axis.y.minus
|
||||
net jog-y-analog halui.axis.y.analog
|
||||
net y-is-homed halui.joint.1.is-homed
|
||||
net axis-select-z halui.axis.z.select
|
||||
net jog-z-pos halui.axis.z.plus
|
||||
net jog-z-neg halui.axis.z.minus
|
||||
net jog-z-analog halui.axis.z.analog
|
||||
net z-is-homed halui.joint.2.is-homed
|
||||
net jog-selected-pos halui.axis.selected.plus
|
||||
net jog-selected-neg halui.axis.selected.minus
|
||||
net spindle-manual-cw halui.spindle.0.forward
|
||||
net spindle-manual-ccw halui.spindle.0.reverse
|
||||
net spindle-manual-stop halui.spindle.0.stop
|
||||
net machine-is-on halui.machine.is-on
|
||||
net jog-speed halui.axis.jog-speed
|
||||
net MDI-mode halui.mode.is-mdi
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
net coolant-mist <= iocontrol.0.coolant-mist
|
||||
net coolant-flood <= iocontrol.0.coolant-flood
|
||||
|
||||
# ---probe signal---
|
||||
|
||||
net probe-in => motion.probe-input
|
||||
|
||||
sets selected-jog-incr 0.000000
|
||||
|
||||
# connect feed override increments - MPG
|
||||
|
||||
setp halui.feed-override.direct-value false
|
||||
setp halui.feed-override.scale .01
|
||||
net fo-enable => halui.feed-override.count-enable
|
||||
net axis-selected-count => halui.feed-override.counts
|
||||
|
||||
# connect max velocity override increments - MPG
|
||||
|
||||
setp halui.max-velocity.direct-value false
|
||||
setp halui.max-velocity.scale 20.000000
|
||||
net mvo-enable => halui.max-velocity.count-enable
|
||||
net axis-selected-count => halui.max-velocity.counts
|
||||
|
||||
# connect spindle override increments - MPG
|
||||
|
||||
setp halui.spindle.0.override.direct-value false
|
||||
setp halui.spindle.0.override.scale .01
|
||||
net so-enable => halui.spindle.0.override.count-enable
|
||||
net axis-selected-count => halui.spindle.0.override.counts
|
||||
|
||||
# ---motion control signals---
|
||||
|
||||
net in-position <= motion.in-position
|
||||
net machine-is-enabled <= motion.motion-enabled
|
||||
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
# ---manual tool change signals---
|
||||
|
||||
net tool-change-request <= iocontrol.0.tool-change
|
||||
net tool-change-confirmed => iocontrol.0.tool-changed
|
||||
net tool-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
# ---Use external manual tool change dialog---
|
||||
|
||||
loadusr -W hal_manualtoolchange
|
||||
net tool-change-request => hal_manualtoolchange.change
|
||||
net tool-change-confirmed <= hal_manualtoolchange.changed
|
||||
net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
211
configs/mpgtest/mpgtest.ini
Executable file
211
configs/mpgtest/mpgtest.ini
Executable file
@@ -0,0 +1,211 @@
|
||||
# Generated by PNCconf at Sat Aug 3 03:07:39 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = mpgtest
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = 1in .5in .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.500000
|
||||
MAX_LINEAR_VELOCITY = 1.666667
|
||||
MIN_LINEAR_VELOCITY = 0.003333
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i25.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = mpgtest.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
DEADBAND = 0.0
|
||||
MAX_OUTPUT = 0.0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
DEADBAND = 0.0
|
||||
MAX_OUTPUT = 0.0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
DEADBAND = 0.0
|
||||
MAX_OUTPUT = 0.0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
2
configs/mpgtest/shutdown.hal
Executable file
2
configs/mpgtest/shutdown.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
4
configs/mpgtest/tool.tbl
Executable file
4
configs/mpgtest/tool.tbl
Executable file
@@ -0,0 +1,4 @@
|
||||
T1 P1 Z0.511 D0.125 ;1/8 end mill Sample Tool
|
||||
T2 P2 Z0.1 D0.0625 ;1/16 end mill Sample Tool
|
||||
T3 P3 Z1.273 D0.201 ;#7 tap drill Sample Tool
|
||||
T4 P4 Z0 D2 ; 2 inch mill Sample Tool
|
||||
7
configs/my_LinuxCNC_machine (copy 1)/autosave.halscope
Executable file
7
configs/my_LinuxCNC_machine (copy 1)/autosave.halscope
Executable file
@@ -0,0 +1,7 @@
|
||||
THREAD servo-thread
|
||||
MAXCHAN 16
|
||||
HMULT 1
|
||||
HZOOM 1
|
||||
HPOS 5.000000e-01
|
||||
TMODE 0
|
||||
RMODE 0
|
||||
2
configs/my_LinuxCNC_machine (copy 1)/custom.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 1)/custom.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/my_LinuxCNC_machine (copy 1)/custom_gvcp.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 1)/custom_gvcp.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_gvcp HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/my_LinuxCNC_machine (copy 1)/custom_postgui.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 1)/custom_postgui.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_postgui HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
15
configs/my_LinuxCNC_machine (copy 1)/halshow.preferences
Executable file
15
configs/my_LinuxCNC_machine (copy 1)/halshow.preferences
Executable file
@@ -0,0 +1,15 @@
|
||||
# Halshow settings
|
||||
# This file is generated automatically.
|
||||
wm geometry . 700x475+610+302
|
||||
placeFrames 0.3
|
||||
set ::ratio 0.3
|
||||
set ::old_w_leftf 160
|
||||
set ::watchlist {
|
||||
}
|
||||
set ::workmode settings
|
||||
set ::watchInterval 100
|
||||
set ::col1_width 100
|
||||
set ::ffmts
|
||||
set ::ifmts
|
||||
set ::alwaysOnTop 0
|
||||
set ::autoSaveWatchlist 1
|
||||
119
configs/my_LinuxCNC_machine (copy 1)/linuxcnc.var
Executable file
119
configs/my_LinuxCNC_machine (copy 1)/linuxcnc.var
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
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5241 0.000000
|
||||
5242 0.000000
|
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5243 0.000000
|
||||
5244 0.000000
|
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5245 0.000000
|
||||
5246 0.000000
|
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5247 0.000000
|
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5248 0.000000
|
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5249 0.000000
|
||||
5250 0.000000
|
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5261 0.000000
|
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5262 0.000000
|
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5263 0.000000
|
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5264 0.000000
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5265 0.000000
|
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5266 0.000000
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5267 0.000000
|
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5268 0.000000
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5269 0.000000
|
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5270 0.000000
|
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5281 0.000000
|
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5282 0.000000
|
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5283 0.000000
|
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5284 0.000000
|
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5285 0.000000
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5286 0.000000
|
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5287 0.000000
|
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5288 0.000000
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5289 0.000000
|
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5290 0.000000
|
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5301 0.000000
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5302 0.000000
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5303 0.000000
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5304 0.000000
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5305 0.000000
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5306 0.000000
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5307 0.000000
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5308 0.000000
|
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5309 0.000000
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5310 0.000000
|
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5321 0.000000
|
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5322 0.000000
|
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5323 0.000000
|
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5324 0.000000
|
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5325 0.000000
|
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5326 0.000000
|
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5327 0.000000
|
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5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
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5350 0.000000
|
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5361 0.000000
|
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5362 0.000000
|
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5363 0.000000
|
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5364 0.000000
|
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5365 0.000000
|
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5366 0.000000
|
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5367 0.000000
|
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5368 0.000000
|
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5369 0.000000
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5370 0.000000
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5381 0.000000
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5382 0.000000
|
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5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/my_LinuxCNC_machine (copy 1)/linuxcnc.var.bak
Executable file
119
configs/my_LinuxCNC_machine (copy 1)/linuxcnc.var.bak
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
338
configs/my_LinuxCNC_machine (copy 1)/my_LinuxCNC_machine.hal
Executable file
338
configs/my_LinuxCNC_machine (copy 1)/my_LinuxCNC_machine.hal
Executable file
@@ -0,0 +1,338 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt hostmot2
|
||||
loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
|
||||
|
||||
setp hm2_5i24.0.pwmgen.pwm_frequency 15500
|
||||
setp hm2_5i24.0.pwmgen.pdm_frequency 15500
|
||||
setp hm2_5i24.0.watchdog.timeout_ns 5000000
|
||||
loadrt pid names=pid.x,pid.y,pid.z,pid.s
|
||||
|
||||
addf hm2_5i24.0.read servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid.x.do-pid-calcs servo-thread
|
||||
addf pid.y.do-pid-calcs servo-thread
|
||||
addf pid.z.do-pid-calcs servo-thread
|
||||
addf pid.s.do-pid-calcs servo-thread
|
||||
addf hm2_5i24.0.write servo-thread
|
||||
# setp hm2_5i24.0.dpll.01.timer-us -50
|
||||
# stepgen setp hm2_5i24.0.stepgen.timer-number 1
|
||||
|
||||
# external output signals
|
||||
|
||||
# external input signals
|
||||
|
||||
#*******************
|
||||
# AXIS X JOINT 0
|
||||
#*******************
|
||||
|
||||
setp pid.x.Pgain [JOINT_0]P
|
||||
setp pid.x.Igain [JOINT_0]I
|
||||
setp pid.x.Dgain [JOINT_0]D
|
||||
setp pid.x.bias [JOINT_0]BIAS
|
||||
setp pid.x.FF0 [JOINT_0]FF0
|
||||
setp pid.x.FF1 [JOINT_0]FF1
|
||||
setp pid.x.FF2 [JOINT_0]FF2
|
||||
setp pid.x.deadband [JOINT_0]DEADBAND
|
||||
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.x.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.x.maxerror 0.000500
|
||||
|
||||
net x-index-enable => pid.x.index-enable
|
||||
net x-enable => pid.x.enable
|
||||
net x-pos-cmd => pid.x.command
|
||||
net x-pos-fb => pid.x.feedback
|
||||
net x-output <= pid.x.output
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
|
||||
setp hm2_5i24.0.pwmgen.00.offset-mode 1
|
||||
|
||||
net x-output => hm2_5i24.0.pwmgen.00.value
|
||||
net x-pos-cmd joint.0.motor-pos-cmd
|
||||
net x-enable joint.0.amp-enable-out => hm2_5i24.0.pwmgen.00.enable
|
||||
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
setp hm2_5i24.0.encoder.00.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.00.filter 1
|
||||
setp hm2_5i24.0.encoder.00.index-invert 0
|
||||
setp hm2_5i24.0.encoder.00.index-mask 0
|
||||
setp hm2_5i24.0.encoder.00.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.00.scale [JOINT_0]ENCODER_SCALE
|
||||
|
||||
net x-pos-fb <= hm2_5i24.0.encoder.00.position
|
||||
net x-vel-fb <= hm2_5i24.0.encoder.00.velocity
|
||||
net x-pos-fb => joint.0.motor-pos-fb
|
||||
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.00.index-enable
|
||||
net x-pos-rawcounts <= hm2_5i24.0.encoder.00.rawcounts
|
||||
|
||||
net x-pos-mtr hm2_5i24.0.encoder.03.position
|
||||
net x-vel-mtr hm2_5i24.0.encoder.03.velocity
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net x-home-sw => joint.0.home-sw-in
|
||||
net x-neg-limit => joint.0.neg-lim-sw-in
|
||||
net x-pos-limit => joint.0.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Y JOINT 1
|
||||
#*******************
|
||||
|
||||
setp pid.y.Pgain [JOINT_1]P
|
||||
setp pid.y.Igain [JOINT_1]I
|
||||
setp pid.y.Dgain [JOINT_1]D
|
||||
setp pid.y.bias [JOINT_1]BIAS
|
||||
setp pid.y.FF0 [JOINT_1]FF0
|
||||
setp pid.y.FF1 [JOINT_1]FF1
|
||||
setp pid.y.FF2 [JOINT_1]FF2
|
||||
setp pid.y.deadband [JOINT_1]DEADBAND
|
||||
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.y.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.y.maxerror 0.000500
|
||||
|
||||
net y-index-enable => pid.y.index-enable
|
||||
net y-enable => pid.y.enable
|
||||
net y-pos-cmd => pid.y.command
|
||||
net y-pos-fb => pid.y.feedback
|
||||
net y-output <= pid.y.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.dirsetup [JOINT_1]DIRSETUP
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.dirhold [JOINT_1]DIRHOLD
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.steplen [JOINT_1]STEPLEN
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.stepspace [JOINT_1]STEPSPACE
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.position-scale [JOINT_1]STEP_SCALE
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.step_type 0
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.control-type 1
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net y-pos-cmd <= joint.1.motor-pos-cmd
|
||||
net y-vel-cmd <= joint.1.vel-cmd
|
||||
# stepgen net y-output => hm2_5i24.0.stepgen.09.velocity-cmd
|
||||
# stepgen net y-pos-fb <= hm2_5i24.0.stepgen.09.position-fb
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-enable <= joint.1.amp-enable-out
|
||||
# stepgen net y-enable => hm2_5i24.0.stepgen.09.enable
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.01.index-mask 0
|
||||
setp hm2_5i24.0.encoder.01.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
|
||||
|
||||
net y-pos-fb <= hm2_5i24.0.encoder.01.position
|
||||
net y-vel-fb <= hm2_5i24.0.encoder.01.velocity
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-index-enable joint.1.index-enable <=> hm2_5i24.0.encoder.01.index-enable
|
||||
net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts
|
||||
|
||||
net y-pos-mtr hm2_5i24.0.encoder.04.position
|
||||
net y-vel-mtr hm2_5i24.0.encoder.04.velocity
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net y-home-sw => joint.1.home-sw-in
|
||||
net y-neg-limit => joint.1.neg-lim-sw-in
|
||||
net y-pos-limit => joint.1.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Z JOINT 2
|
||||
#*******************
|
||||
|
||||
setp pid.z.Pgain [JOINT_2]P
|
||||
setp pid.z.Igain [JOINT_2]I
|
||||
setp pid.z.Dgain [JOINT_2]D
|
||||
setp pid.z.bias [JOINT_2]BIAS
|
||||
setp pid.z.FF0 [JOINT_2]FF0
|
||||
setp pid.z.FF1 [JOINT_2]FF1
|
||||
setp pid.z.FF2 [JOINT_2]FF2
|
||||
setp pid.z.deadband [JOINT_2]DEADBAND
|
||||
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.z.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.z.maxerror 0.000500
|
||||
|
||||
net z-index-enable => pid.z.index-enable
|
||||
net z-enable => pid.z.enable
|
||||
net z-pos-cmd => pid.z.command
|
||||
net z-pos-fb => pid.z.feedback
|
||||
net z-output <= pid.z.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.dirsetup [JOINT_2]DIRSETUP
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.dirhold [JOINT_2]DIRHOLD
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.steplen [JOINT_2]STEPLEN
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.stepspace [JOINT_2]STEPSPACE
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.position-scale [JOINT_2]STEP_SCALE
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.step_type 0
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.control-type 1
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net z-pos-cmd <= joint.2.motor-pos-cmd
|
||||
net z-vel-cmd <= joint.2.vel-cmd
|
||||
# stepgen net z-output => hm2_5i24.0.stepgen.06.velocity-cmd
|
||||
# stepgen net z-pos-fb <= hm2_5i24.0.stepgen.06.position-fb
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-enable <= joint.2.amp-enable-out
|
||||
# stepgen net z-enable => hm2_5i24.0.stepgen.06.enable
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.02.index-mask 0
|
||||
setp hm2_5i24.0.encoder.02.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
|
||||
|
||||
net z-pos-fb <= hm2_5i24.0.encoder.02.position
|
||||
net z-vel-fb <= hm2_5i24.0.encoder.02.velocity
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.02.index-enable
|
||||
net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net z-home-sw => joint.2.home-sw-in
|
||||
net z-neg-limit => joint.2.neg-lim-sw-in
|
||||
net z-pos-limit => joint.2.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# SPINDLE
|
||||
#*******************
|
||||
|
||||
setp pid.s.Pgain [SPINDLE_0]P
|
||||
setp pid.s.Igain [SPINDLE_0]I
|
||||
setp pid.s.Dgain [SPINDLE_0]D
|
||||
setp pid.s.bias [SPINDLE_0]BIAS
|
||||
setp pid.s.FF0 [SPINDLE_0]FF0
|
||||
setp pid.s.FF1 [SPINDLE_0]FF1
|
||||
setp pid.s.FF2 [SPINDLE_0]FF2
|
||||
setp pid.s.deadband [SPINDLE_0]DEADBAND
|
||||
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
|
||||
setp pid.s.error-previous-target true
|
||||
|
||||
net spindle-index-enable => pid.s.index-enable
|
||||
net spindle-enable => pid.s.enable
|
||||
net spindle-vel-cmd-rpm => pid.s.command
|
||||
net spindle-vel-fb-rpm => pid.s.feedback
|
||||
net spindle-output <= pid.s.output
|
||||
|
||||
# ---setup spindle control signals---
|
||||
|
||||
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
|
||||
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
|
||||
net spindle-vel-cmd-rpm <= spindle.0.speed-out
|
||||
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
|
||||
net spindle-enable <= spindle.0.on
|
||||
net spindle-cw <= spindle.0.forward
|
||||
net spindle-ccw <= spindle.0.reverse
|
||||
net spindle-brake <= spindle.0.brake
|
||||
net spindle-revs => spindle.0.revs
|
||||
net spindle-at-speed => spindle.0.at-speed
|
||||
net spindle-vel-fb-rps => spindle.0.speed-in
|
||||
net spindle-index-enable <=> spindle.0.index-enable
|
||||
|
||||
# ---Setup spindle at speed signals---
|
||||
|
||||
sets spindle-at-speed true
|
||||
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
|
||||
# ---HALUI signals---
|
||||
|
||||
net axis-select-x halui.axis.x.select
|
||||
net jog-x-pos halui.axis.x.plus
|
||||
net jog-x-neg halui.axis.x.minus
|
||||
net jog-x-analog halui.axis.x.analog
|
||||
net x-is-homed halui.joint.0.is-homed
|
||||
net axis-select-y halui.axis.y.select
|
||||
net jog-y-pos halui.axis.y.plus
|
||||
net jog-y-neg halui.axis.y.minus
|
||||
net jog-y-analog halui.axis.y.analog
|
||||
net y-is-homed halui.joint.1.is-homed
|
||||
net axis-select-z halui.axis.z.select
|
||||
net jog-z-pos halui.axis.z.plus
|
||||
net jog-z-neg halui.axis.z.minus
|
||||
net jog-z-analog halui.axis.z.analog
|
||||
net z-is-homed halui.joint.2.is-homed
|
||||
net jog-selected-pos halui.axis.selected.plus
|
||||
net jog-selected-neg halui.axis.selected.minus
|
||||
net spindle-manual-cw halui.spindle.0.forward
|
||||
net spindle-manual-ccw halui.spindle.0.reverse
|
||||
net spindle-manual-stop halui.spindle.0.stop
|
||||
net machine-is-on halui.machine.is-on
|
||||
net jog-speed halui.axis.jog-speed
|
||||
net MDI-mode halui.mode.is-mdi
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
net coolant-mist <= iocontrol.0.coolant-mist
|
||||
net coolant-flood <= iocontrol.0.coolant-flood
|
||||
|
||||
# ---probe signal---
|
||||
|
||||
net probe-in => motion.probe-input
|
||||
|
||||
# ---motion control signals---
|
||||
|
||||
net in-position <= motion.in-position
|
||||
net machine-is-enabled <= motion.motion-enabled
|
||||
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
# ---manual tool change signals---
|
||||
|
||||
net tool-change-request <= iocontrol.0.tool-change
|
||||
net tool-change-confirmed => iocontrol.0.tool-changed
|
||||
net tool-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
# ---Use external manual tool change dialog---
|
||||
|
||||
loadusr -W hal_manualtoolchange
|
||||
net tool-change-request => hal_manualtoolchange.change
|
||||
net tool-change-confirmed <= hal_manualtoolchange.changed
|
||||
net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
216
configs/my_LinuxCNC_machine (copy 1)/my_LinuxCNC_machine.ini
Executable file
216
configs/my_LinuxCNC_machine (copy 1)/my_LinuxCNC_machine.ini
Executable file
@@ -0,0 +1,216 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = my_LinuxCNC_machine.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
P = 1000.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
DEADBAND = 0.0
|
||||
MAX_OUTPUT = 40.0
|
||||
ENCODER_SCALE = 5174.0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = 12.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
DEADBAND = 0.0
|
||||
MAX_OUTPUT = 0.0
|
||||
ENCODER_SCALE = 5084.0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000.0
|
||||
I = 0.0
|
||||
D = 0.0
|
||||
FF0 = 0.0
|
||||
FF1 = 1.0
|
||||
FF2 = 0.0
|
||||
BIAS = 0.0
|
||||
DEADBAND = 0.0
|
||||
MAX_OUTPUT = 0.0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
ENCODER_SCALE = -9862
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
2
configs/my_LinuxCNC_machine (copy 1)/shutdown.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 1)/shutdown.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
4
configs/my_LinuxCNC_machine (copy 1)/tool.tbl
Executable file
4
configs/my_LinuxCNC_machine (copy 1)/tool.tbl
Executable file
@@ -0,0 +1,4 @@
|
||||
T1 P1 Z0.511 D0.125 ;1/8 end mill Sample Tool
|
||||
T2 P2 Z0.1 D0.0625 ;1/16 end mill Sample Tool
|
||||
T3 P3 Z1.273 D0.201 ;#7 tap drill Sample Tool
|
||||
T4 P4 Z0 D2 ; 2 inch mill Sample Tool
|
||||
17
configs/my_LinuxCNC_machine (copy 2)/autosave.halscope
Executable file
17
configs/my_LinuxCNC_machine (copy 2)/autosave.halscope
Executable file
@@ -0,0 +1,17 @@
|
||||
THREAD servo-thread
|
||||
MAXCHAN 16
|
||||
HMULT 1
|
||||
HZOOM 3
|
||||
HPOS 5.000000e-01
|
||||
CHAN 1
|
||||
PIN pid.x.error
|
||||
VSCALE 0
|
||||
VPOS 0.500000
|
||||
VOFF 0.000000e+00
|
||||
CHAN 2
|
||||
PIN pid.x.output
|
||||
VSCALE 0
|
||||
VPOS 0.500000
|
||||
VOFF 0.000000e+00
|
||||
TMODE 0
|
||||
RMODE 1
|
||||
2
configs/my_LinuxCNC_machine (copy 2)/custom.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 2)/custom.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/my_LinuxCNC_machine (copy 2)/custom_gvcp.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 2)/custom_gvcp.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_gvcp HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/my_LinuxCNC_machine (copy 2)/custom_postgui.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 2)/custom_postgui.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_postgui HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
15
configs/my_LinuxCNC_machine (copy 2)/halshow.preferences
Executable file
15
configs/my_LinuxCNC_machine (copy 2)/halshow.preferences
Executable file
@@ -0,0 +1,15 @@
|
||||
# Halshow settings
|
||||
# This file is generated automatically.
|
||||
wm geometry . 700x475+610+302
|
||||
placeFrames 0.3
|
||||
set ::ratio 0.3
|
||||
set ::old_w_leftf 160
|
||||
set ::watchlist {
|
||||
}
|
||||
set ::workmode settings
|
||||
set ::watchInterval 100
|
||||
set ::col1_width 100
|
||||
set ::ffmts
|
||||
set ::ifmts
|
||||
set ::alwaysOnTop 0
|
||||
set ::autoSaveWatchlist 1
|
||||
119
configs/my_LinuxCNC_machine (copy 2)/linuxcnc.var
Executable file
119
configs/my_LinuxCNC_machine (copy 2)/linuxcnc.var
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
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||||
5165 0.000000
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||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
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||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
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||||
5230 0.000000
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5241 0.000000
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||||
5242 0.000000
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5243 0.000000
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5244 0.000000
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5245 0.000000
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5246 0.000000
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5247 0.000000
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5248 0.000000
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5249 0.000000
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5250 0.000000
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5261 0.000000
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5262 0.000000
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5263 0.000000
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5264 0.000000
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5265 0.000000
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5266 0.000000
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5267 0.000000
|
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5268 0.000000
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5269 0.000000
|
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5270 0.000000
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5281 0.000000
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5282 0.000000
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5283 0.000000
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5284 0.000000
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5285 0.000000
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5286 0.000000
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5287 0.000000
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5288 0.000000
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5289 0.000000
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5290 0.000000
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5301 0.000000
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5302 0.000000
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5303 0.000000
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5304 0.000000
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5305 0.000000
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5306 0.000000
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5307 0.000000
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5308 0.000000
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5309 0.000000
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5310 0.000000
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5321 0.000000
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5322 0.000000
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5323 0.000000
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5324 0.000000
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5325 0.000000
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5326 0.000000
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5327 0.000000
|
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5328 0.000000
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5329 0.000000
|
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5330 0.000000
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5341 0.000000
|
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5342 0.000000
|
||||
5343 0.000000
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5344 0.000000
|
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5345 0.000000
|
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5346 0.000000
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5347 0.000000
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5348 0.000000
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5349 0.000000
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5350 0.000000
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5361 0.000000
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5362 0.000000
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5363 0.000000
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5364 0.000000
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5365 0.000000
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5366 0.000000
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5367 0.000000
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5368 0.000000
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5369 0.000000
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5370 0.000000
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5381 0.000000
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5382 0.000000
|
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5383 0.000000
|
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5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/my_LinuxCNC_machine (copy 2)/linuxcnc.var.bak
Executable file
119
configs/my_LinuxCNC_machine (copy 2)/linuxcnc.var.bak
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
338
configs/my_LinuxCNC_machine (copy 2)/my_LinuxCNC_machine.hal
Executable file
338
configs/my_LinuxCNC_machine (copy 2)/my_LinuxCNC_machine.hal
Executable file
@@ -0,0 +1,338 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt hostmot2
|
||||
loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
|
||||
|
||||
setp hm2_5i24.0.pwmgen.pwm_frequency 15500
|
||||
setp hm2_5i24.0.pwmgen.pdm_frequency 15500
|
||||
setp hm2_5i24.0.watchdog.timeout_ns 5000000
|
||||
loadrt pid names=pid.x,pid.y,pid.z,pid.s
|
||||
|
||||
addf hm2_5i24.0.read servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid.x.do-pid-calcs servo-thread
|
||||
addf pid.y.do-pid-calcs servo-thread
|
||||
addf pid.z.do-pid-calcs servo-thread
|
||||
addf pid.s.do-pid-calcs servo-thread
|
||||
addf hm2_5i24.0.write servo-thread
|
||||
# setp hm2_5i24.0.dpll.01.timer-us -50
|
||||
# stepgen setp hm2_5i24.0.stepgen.timer-number 1
|
||||
|
||||
# external output signals
|
||||
|
||||
# external input signals
|
||||
|
||||
#*******************
|
||||
# AXIS X JOINT 0
|
||||
#*******************
|
||||
|
||||
setp pid.x.Pgain [JOINT_0]P
|
||||
setp pid.x.Igain [JOINT_0]I
|
||||
setp pid.x.Dgain [JOINT_0]D
|
||||
setp pid.x.bias [JOINT_0]BIAS
|
||||
setp pid.x.FF0 [JOINT_0]FF0
|
||||
setp pid.x.FF1 [JOINT_0]FF1
|
||||
setp pid.x.FF2 [JOINT_0]FF2
|
||||
setp pid.x.deadband [JOINT_0]DEADBAND
|
||||
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.x.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.x.maxerror 0.000500
|
||||
|
||||
net x-index-enable => pid.x.index-enable
|
||||
net x-enable => pid.x.enable
|
||||
net x-pos-cmd => pid.x.command
|
||||
net x-pos-fb => pid.x.feedback
|
||||
net x-output <= pid.x.output
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
|
||||
setp hm2_5i24.0.pwmgen.00.offset-mode 1
|
||||
|
||||
net x-output => hm2_5i24.0.pwmgen.00.value
|
||||
net x-pos-cmd joint.0.motor-pos-cmd
|
||||
net x-enable joint.0.amp-enable-out => hm2_5i24.0.pwmgen.00.enable
|
||||
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
setp hm2_5i24.0.encoder.03.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.03.filter 1
|
||||
setp hm2_5i24.0.encoder.03.index-invert 0
|
||||
setp hm2_5i24.0.encoder.03.index-mask 0
|
||||
setp hm2_5i24.0.encoder.03.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.03.scale [JOINT_0]ENCODER_MTR_SCALE
|
||||
|
||||
net x-pos-fb <= hm2_5i24.0.encoder.03.position
|
||||
net x-vel-fb <= hm2_5i24.0.encoder.03.velocity
|
||||
net x-pos-fb => joint.0.motor-pos-fb
|
||||
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.03.index-enable
|
||||
net x-pos-rawcounts <= hm2_5i24.0.encoder.03.rawcounts
|
||||
|
||||
#net x-pos-mtr hm2_5i24.0.encoder.03.position
|
||||
#net x-vel-mtr hm2_5i24.0.encoder.03.velocity
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net x-home-sw => joint.0.home-sw-in
|
||||
net x-neg-limit => joint.0.neg-lim-sw-in
|
||||
net x-pos-limit => joint.0.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Y JOINT 1
|
||||
#*******************
|
||||
|
||||
setp pid.y.Pgain [JOINT_1]P
|
||||
setp pid.y.Igain [JOINT_1]I
|
||||
setp pid.y.Dgain [JOINT_1]D
|
||||
setp pid.y.bias [JOINT_1]BIAS
|
||||
setp pid.y.FF0 [JOINT_1]FF0
|
||||
setp pid.y.FF1 [JOINT_1]FF1
|
||||
setp pid.y.FF2 [JOINT_1]FF2
|
||||
setp pid.y.deadband [JOINT_1]DEADBAND
|
||||
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.y.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.y.maxerror 0.000500
|
||||
|
||||
net y-index-enable => pid.y.index-enable
|
||||
net y-enable => pid.y.enable
|
||||
net y-pos-cmd => pid.y.command
|
||||
net y-pos-fb => pid.y.feedback
|
||||
net y-output <= pid.y.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.dirsetup [JOINT_1]DIRSETUP
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.dirhold [JOINT_1]DIRHOLD
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.steplen [JOINT_1]STEPLEN
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.stepspace [JOINT_1]STEPSPACE
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.position-scale [JOINT_1]STEP_SCALE
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.step_type 0
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.control-type 1
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net y-pos-cmd <= joint.1.motor-pos-cmd
|
||||
net y-vel-cmd <= joint.1.vel-cmd
|
||||
# stepgen net y-output => hm2_5i24.0.stepgen.09.velocity-cmd
|
||||
# stepgen net y-pos-fb <= hm2_5i24.0.stepgen.09.position-fb
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-enable <= joint.1.amp-enable-out
|
||||
# stepgen net y-enable => hm2_5i24.0.stepgen.09.enable
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.01.index-mask 0
|
||||
setp hm2_5i24.0.encoder.01.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
|
||||
|
||||
net y-pos-fb <= hm2_5i24.0.encoder.01.position
|
||||
net y-vel-fb <= hm2_5i24.0.encoder.01.velocity
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-index-enable joint.1.index-enable <=> hm2_5i24.0.encoder.01.index-enable
|
||||
net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts
|
||||
|
||||
net y-pos-mtr hm2_5i24.0.encoder.04.position
|
||||
net y-vel-mtr hm2_5i24.0.encoder.04.velocity
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net y-home-sw => joint.1.home-sw-in
|
||||
net y-neg-limit => joint.1.neg-lim-sw-in
|
||||
net y-pos-limit => joint.1.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Z JOINT 2
|
||||
#*******************
|
||||
|
||||
setp pid.z.Pgain [JOINT_2]P
|
||||
setp pid.z.Igain [JOINT_2]I
|
||||
setp pid.z.Dgain [JOINT_2]D
|
||||
setp pid.z.bias [JOINT_2]BIAS
|
||||
setp pid.z.FF0 [JOINT_2]FF0
|
||||
setp pid.z.FF1 [JOINT_2]FF1
|
||||
setp pid.z.FF2 [JOINT_2]FF2
|
||||
setp pid.z.deadband [JOINT_2]DEADBAND
|
||||
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.z.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.z.maxerror 0.000500
|
||||
|
||||
net z-index-enable => pid.z.index-enable
|
||||
net z-enable => pid.z.enable
|
||||
net z-pos-cmd => pid.z.command
|
||||
net z-pos-fb => pid.z.feedback
|
||||
net z-output <= pid.z.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.dirsetup [JOINT_2]DIRSETUP
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.dirhold [JOINT_2]DIRHOLD
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.steplen [JOINT_2]STEPLEN
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.stepspace [JOINT_2]STEPSPACE
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.position-scale [JOINT_2]STEP_SCALE
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.step_type 0
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.control-type 1
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net z-pos-cmd <= joint.2.motor-pos-cmd
|
||||
net z-vel-cmd <= joint.2.vel-cmd
|
||||
# stepgen net z-output => hm2_5i24.0.stepgen.06.velocity-cmd
|
||||
# stepgen net z-pos-fb <= hm2_5i24.0.stepgen.06.position-fb
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-enable <= joint.2.amp-enable-out
|
||||
# stepgen net z-enable => hm2_5i24.0.stepgen.06.enable
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.02.index-mask 0
|
||||
setp hm2_5i24.0.encoder.02.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
|
||||
|
||||
net z-pos-fb <= hm2_5i24.0.encoder.02.position
|
||||
net z-vel-fb <= hm2_5i24.0.encoder.02.velocity
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.02.index-enable
|
||||
net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net z-home-sw => joint.2.home-sw-in
|
||||
net z-neg-limit => joint.2.neg-lim-sw-in
|
||||
net z-pos-limit => joint.2.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# SPINDLE
|
||||
#*******************
|
||||
|
||||
setp pid.s.Pgain [SPINDLE_0]P
|
||||
setp pid.s.Igain [SPINDLE_0]I
|
||||
setp pid.s.Dgain [SPINDLE_0]D
|
||||
setp pid.s.bias [SPINDLE_0]BIAS
|
||||
setp pid.s.FF0 [SPINDLE_0]FF0
|
||||
setp pid.s.FF1 [SPINDLE_0]FF1
|
||||
setp pid.s.FF2 [SPINDLE_0]FF2
|
||||
setp pid.s.deadband [SPINDLE_0]DEADBAND
|
||||
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
|
||||
setp pid.s.error-previous-target true
|
||||
|
||||
net spindle-index-enable => pid.s.index-enable
|
||||
net spindle-enable => pid.s.enable
|
||||
net spindle-vel-cmd-rpm => pid.s.command
|
||||
net spindle-vel-fb-rpm => pid.s.feedback
|
||||
net spindle-output <= pid.s.output
|
||||
|
||||
# ---setup spindle control signals---
|
||||
|
||||
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
|
||||
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
|
||||
net spindle-vel-cmd-rpm <= spindle.0.speed-out
|
||||
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
|
||||
net spindle-enable <= spindle.0.on
|
||||
net spindle-cw <= spindle.0.forward
|
||||
net spindle-ccw <= spindle.0.reverse
|
||||
net spindle-brake <= spindle.0.brake
|
||||
net spindle-revs => spindle.0.revs
|
||||
net spindle-at-speed => spindle.0.at-speed
|
||||
net spindle-vel-fb-rps => spindle.0.speed-in
|
||||
net spindle-index-enable <=> spindle.0.index-enable
|
||||
|
||||
# ---Setup spindle at speed signals---
|
||||
|
||||
sets spindle-at-speed true
|
||||
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
|
||||
# ---HALUI signals---
|
||||
|
||||
net axis-select-x halui.axis.x.select
|
||||
net jog-x-pos halui.axis.x.plus
|
||||
net jog-x-neg halui.axis.x.minus
|
||||
net jog-x-analog halui.axis.x.analog
|
||||
net x-is-homed halui.joint.0.is-homed
|
||||
net axis-select-y halui.axis.y.select
|
||||
net jog-y-pos halui.axis.y.plus
|
||||
net jog-y-neg halui.axis.y.minus
|
||||
net jog-y-analog halui.axis.y.analog
|
||||
net y-is-homed halui.joint.1.is-homed
|
||||
net axis-select-z halui.axis.z.select
|
||||
net jog-z-pos halui.axis.z.plus
|
||||
net jog-z-neg halui.axis.z.minus
|
||||
net jog-z-analog halui.axis.z.analog
|
||||
net z-is-homed halui.joint.2.is-homed
|
||||
net jog-selected-pos halui.axis.selected.plus
|
||||
net jog-selected-neg halui.axis.selected.minus
|
||||
net spindle-manual-cw halui.spindle.0.forward
|
||||
net spindle-manual-ccw halui.spindle.0.reverse
|
||||
net spindle-manual-stop halui.spindle.0.stop
|
||||
net machine-is-on halui.machine.is-on
|
||||
net jog-speed halui.axis.jog-speed
|
||||
net MDI-mode halui.mode.is-mdi
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
net coolant-mist <= iocontrol.0.coolant-mist
|
||||
net coolant-flood <= iocontrol.0.coolant-flood
|
||||
|
||||
# ---probe signal---
|
||||
|
||||
net probe-in => motion.probe-input
|
||||
|
||||
# ---motion control signals---
|
||||
|
||||
net in-position <= motion.in-position
|
||||
net machine-is-enabled <= motion.motion-enabled
|
||||
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
# ---manual tool change signals---
|
||||
|
||||
net tool-change-request <= iocontrol.0.tool-change
|
||||
net tool-change-confirmed => iocontrol.0.tool-changed
|
||||
net tool-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
# ---Use external manual tool change dialog---
|
||||
|
||||
loadusr -W hal_manualtoolchange
|
||||
net tool-change-request => hal_manualtoolchange.change
|
||||
net tool-change-confirmed <= hal_manualtoolchange.changed
|
||||
net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
218
configs/my_LinuxCNC_machine (copy 2)/my_LinuxCNC_machine.ini
Executable file
218
configs/my_LinuxCNC_machine (copy 2)/my_LinuxCNC_machine.ini
Executable file
@@ -0,0 +1,218 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = my_LinuxCNC_machine.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
P = 400
|
||||
I = 10
|
||||
D = 4
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 1
|
||||
ENCODER_SCALE = 5174.0
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# /5.4
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = 12.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
ENCODER_SCALE = 5084
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
ENCODER_SCALE = -9862
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
218
configs/my_LinuxCNC_machine (copy 2)/my_LinuxCNC_machine.ini.bak
Executable file
218
configs/my_LinuxCNC_machine (copy 2)/my_LinuxCNC_machine.ini.bak
Executable file
@@ -0,0 +1,218 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = my_LinuxCNC_machine.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
P = 400
|
||||
I = 10
|
||||
D = 4
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 1
|
||||
ENCODER_SCALE = 5174.0
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# /5.4
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = 12.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
ENCODER_SCALE = 5084
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
ENCODER_SCALE = -9862
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
2
configs/my_LinuxCNC_machine (copy 2)/shutdown.hal
Executable file
2
configs/my_LinuxCNC_machine (copy 2)/shutdown.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
4
configs/my_LinuxCNC_machine (copy 2)/tool.tbl
Executable file
4
configs/my_LinuxCNC_machine (copy 2)/tool.tbl
Executable file
@@ -0,0 +1,4 @@
|
||||
T1 P1 Z0.511 D0.125 ;1/8 end mill Sample Tool
|
||||
T2 P2 Z0.1 D0.0625 ;1/16 end mill Sample Tool
|
||||
T3 P3 Z1.273 D0.201 ;#7 tap drill Sample Tool
|
||||
T4 P4 Z0 D2 ; 2 inch mill Sample Tool
|
||||
5209
configs/my_LinuxCNC_machine.pncconf
Executable file
5209
configs/my_LinuxCNC_machine.pncconf
Executable file
File diff suppressed because it is too large
Load Diff
35
configs/my_LinuxCNC_machine/autosave.halscope
Executable file
35
configs/my_LinuxCNC_machine/autosave.halscope
Executable file
@@ -0,0 +1,35 @@
|
||||
THREAD servo-thread
|
||||
MAXCHAN 16
|
||||
HMULT 1
|
||||
HZOOM 3
|
||||
HPOS 4.873061e-01
|
||||
CHAN 3
|
||||
PIN pid.x.command
|
||||
VSCALE -1
|
||||
VPOS 0.627706
|
||||
VAC 0.000000e+00
|
||||
CHOFF
|
||||
CHAN 4
|
||||
PIN pid.x.feedback
|
||||
VSCALE -1
|
||||
VPOS 0.629149
|
||||
VAC 0.000000e+00
|
||||
CHOFF
|
||||
CHAN 5
|
||||
PIN pid.x.error
|
||||
VSCALE -8
|
||||
VPOS 0.456633
|
||||
VAC 0.000000e+00
|
||||
CHOFF
|
||||
CHAN 1
|
||||
PIN joint.0.error
|
||||
VSCALE 0
|
||||
VPOS 0.284271
|
||||
VOFF 0.000000e+00
|
||||
CHAN 2
|
||||
PIN joint.0.motor-pos-fb
|
||||
VSCALE 0
|
||||
VPOS 0.353535
|
||||
VOFF 0.000000e+00
|
||||
TMODE 0
|
||||
RMODE 0
|
||||
2
configs/my_LinuxCNC_machine/custom.hal
Executable file
2
configs/my_LinuxCNC_machine/custom.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/my_LinuxCNC_machine/custom_gvcp.hal
Executable file
2
configs/my_LinuxCNC_machine/custom_gvcp.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_gvcp HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
2
configs/my_LinuxCNC_machine/custom_postgui.hal
Executable file
2
configs/my_LinuxCNC_machine/custom_postgui.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your custom_postgui HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
22
configs/my_LinuxCNC_machine/halshow.preferences
Executable file
22
configs/my_LinuxCNC_machine/halshow.preferences
Executable file
@@ -0,0 +1,22 @@
|
||||
# Halshow settings
|
||||
# This file is generated automatically.
|
||||
wm geometry . 700x475+628+261
|
||||
placeFrames 0.3
|
||||
set ::ratio 0.3
|
||||
set ::old_w_leftf 160
|
||||
set ::watchlist {
|
||||
pin+axis.x.jog-scale
|
||||
pin+axis.x.pos-cmd
|
||||
pin+axis.x.teleop-pos-cmd
|
||||
pin+axis.x.kb-jog-active
|
||||
pin+axis.x.eoffset
|
||||
pin+axis.x.jog-counts
|
||||
pin+axisui.jog.x
|
||||
}
|
||||
set ::workmode showhal
|
||||
set ::watchInterval 100
|
||||
set ::col1_width 100
|
||||
set ::ffmts
|
||||
set ::ifmts
|
||||
set ::alwaysOnTop 0
|
||||
set ::autoSaveWatchlist 1
|
||||
119
configs/my_LinuxCNC_machine/linuxcnc.var
Executable file
119
configs/my_LinuxCNC_machine/linuxcnc.var
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/my_LinuxCNC_machine/linuxcnc.var.bak
Executable file
119
configs/my_LinuxCNC_machine/linuxcnc.var.bak
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
378
configs/my_LinuxCNC_machine/my_LinuxCNC_machine.hal
Executable file
378
configs/my_LinuxCNC_machine/my_LinuxCNC_machine.hal
Executable file
@@ -0,0 +1,378 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS base_thread_fp=1
|
||||
loadrt hostmot2
|
||||
loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
|
||||
loadrt sum2 count=6
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf sum2.3 servo-thread
|
||||
addf sum2.4 servo-thread
|
||||
addf sum2.5 servo-thread
|
||||
|
||||
setp hm2_5i24.0.pwmgen.pwm_frequency 15500
|
||||
setp hm2_5i24.0.pwmgen.pdm_frequency 15500
|
||||
setp hm2_5i24.0.watchdog.timeout_ns 5000000
|
||||
loadrt pid names=pid.x,pid.y,pid.z,pid.s,pid.xl,pid.yl
|
||||
|
||||
addf hm2_5i24.0.read servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid.x.do-pid-calcs servo-thread
|
||||
addf pid.xl.do-pid-calcs servo-thread
|
||||
addf pid.y.do-pid-calcs servo-thread
|
||||
addf pid.z.do-pid-calcs servo-thread
|
||||
addf pid.s.do-pid-calcs servo-thread
|
||||
addf hm2_5i24.0.write servo-thread
|
||||
# setp hm2_5i24.0.dpll.01.timer-us -50
|
||||
# stepgen setp hm2_5i24.0.stepgen.timer-number 1
|
||||
|
||||
# external output signals
|
||||
|
||||
# external input signals
|
||||
|
||||
#*******************
|
||||
# AXIS X JOINT 0
|
||||
#*******************
|
||||
|
||||
setp pid.x.Pgain [JOINT_0]P
|
||||
setp pid.x.Igain 0
|
||||
setp pid.x.Dgain [JOINT_0]D
|
||||
setp pid.x.bias [JOINT_0]BIAS
|
||||
setp pid.x.FF0 [JOINT_0]FF0
|
||||
setp pid.x.FF1 [JOINT_0]FF1
|
||||
setp pid.x.FF2 [JOINT_0]FF2
|
||||
setp pid.x.deadband [JOINT_0]DEADBAND
|
||||
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.x.error-previous-target true
|
||||
#setp pid.x.maxerror [JOINT_0]MAX_ERROR
|
||||
|
||||
net x-enable => pid.x.enable
|
||||
net x-pos-mtr => pid.x.feedback
|
||||
net x-output-mtr <= pid.x.output
|
||||
|
||||
|
||||
setp pid.xl.Pgain [JOINT_0]P_LIN
|
||||
setp pid.xl.Igain [JOINT_0]I_LIN
|
||||
setp pid.xl.Dgain [JOINT_0]D_LIN
|
||||
setp pid.xl.bias 0
|
||||
setp pid.xl.FF0 0
|
||||
setp pid.xl.FF1 0
|
||||
setp pid.xl.FF2 0
|
||||
setp pid.xl.deadband [JOINT_0]DEADBAND
|
||||
setp pid.xl.maxoutput [JOINT_0]MAX_OUTPUT_LINEAR
|
||||
setp pid.xl.error-previous-target true
|
||||
#setp pid.xl.maxerror [JOINT_0]MAX_ERROR_LINEAR
|
||||
|
||||
net x-enable => pid.xl.enable
|
||||
net x-pos-lin => pid.xl.feedback
|
||||
net x-output-lin <= pid.xl.output
|
||||
|
||||
#setp sum2.4.gain0 -1
|
||||
#setp sum2.4.gain1 -1
|
||||
|
||||
net x-output-lin => sum2.4.in0
|
||||
net x-output-mtr => sum2.4.in1
|
||||
net x-output <= sum2.4.out
|
||||
|
||||
|
||||
net x-pos-cmd <= joint.0.motor-pos-cmd
|
||||
net x-pos-cmd => pid.xl.command
|
||||
net x-pos-cmd => pid.x.command
|
||||
|
||||
# ---PWM Generator signals/setup---
|
||||
|
||||
setp hm2_5i24.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
|
||||
setp hm2_5i24.0.pwmgen.00.offset-mode 1
|
||||
|
||||
net x-output => hm2_5i24.0.pwmgen.00.value
|
||||
net x-enable joint.0.amp-enable-out => hm2_5i24.0.pwmgen.00.enable
|
||||
net x-pos-rawcounts <= hm2_5i24.0.encoder.00.rawcounts
|
||||
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
setp hm2_5i24.0.encoder.03.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.03.filter 1
|
||||
setp hm2_5i24.0.encoder.03.index-invert 0
|
||||
setp hm2_5i24.0.encoder.03.index-mask 0
|
||||
setp hm2_5i24.0.encoder.03.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.03.scale [JOINT_0]ENCODER_MTR_SCALE
|
||||
|
||||
setp hm2_5i24.0.encoder.00.counter-mode 0
|
||||
setp hm2_5i24.0.encoder.00.filter 1
|
||||
setp hm2_5i24.0.encoder.00.index-invert 0
|
||||
setp hm2_5i24.0.encoder.00.index-mask 0
|
||||
setp hm2_5i24.0.encoder.00.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.00.scale [JOINT_0]ENCODER_LIN_SCALE
|
||||
|
||||
net x-pos-mtr <= hm2_5i24.0.encoder.03.position
|
||||
net x-vel-mtr <= hm2_5i24.0.encoder.03.velocity
|
||||
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.03.index-enable
|
||||
#net x-pos-mtr => joint.0.motor-pos-fb
|
||||
|
||||
net x-pos-lin <= hm2_5i24.0.encoder.00.position
|
||||
net x-vel-lin <= hm2_5i24.0.encoder.00.velocity
|
||||
net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.00.index-enable
|
||||
net x-pos-lin => joint.0.motor-pos-fb
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net x-home-sw => joint.0.home-sw-in
|
||||
net x-neg-limit => joint.0.neg-lim-sw-in
|
||||
net x-pos-limit => joint.0.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Y JOINT 1
|
||||
#*******************
|
||||
|
||||
setp pid.y.Pgain [JOINT_1]P
|
||||
setp pid.y.Igain [JOINT_1]I
|
||||
setp pid.y.Dgain [JOINT_1]D
|
||||
setp pid.y.bias [JOINT_1]BIAS
|
||||
setp pid.y.FF0 [JOINT_1]FF0
|
||||
setp pid.y.FF1 [JOINT_1]FF1
|
||||
setp pid.y.FF2 [JOINT_1]FF2
|
||||
setp pid.y.deadband [JOINT_1]DEADBAND
|
||||
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.y.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.y.maxerror 0.000500
|
||||
|
||||
net y-index-enable => pid.y.index-enable
|
||||
net y-enable => pid.y.enable
|
||||
net y-pos-cmd => pid.y.command
|
||||
net y-pos-fb => pid.y.feedback
|
||||
net y-output <= pid.y.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.dirsetup [JOINT_1]DIRSETUP
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.dirhold [JOINT_1]DIRHOLD
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.steplen [JOINT_1]STEPLEN
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.stepspace [JOINT_1]STEPSPACE
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.position-scale [JOINT_1]STEP_SCALE
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.step_type 0
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.control-type 1
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
# stepgen #setp hm2_5i24.0.stepgen.09.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net y-pos-cmd <= joint.1.motor-pos-cmd
|
||||
net y-vel-cmd <= joint.1.vel-cmd
|
||||
# stepgen net y-output => hm2_5i24.0.stepgen.09.velocity-cmd
|
||||
# stepgen net y-pos-fb <= hm2_5i24.0.stepgen.09.position-fb
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-enable <= joint.1.amp-enable-out
|
||||
# stepgen net y-enable => hm2_5i24.0.stepgen.09.enable
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.01.index-mask 0
|
||||
setp hm2_5i24.0.encoder.01.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
|
||||
|
||||
net y-pos-fb <= hm2_5i24.0.encoder.01.position
|
||||
net y-vel-fb <= hm2_5i24.0.encoder.01.velocity
|
||||
net y-pos-fb => joint.1.motor-pos-fb
|
||||
net y-index-enable joint.1.index-enable <=> hm2_5i24.0.encoder.01.index-enable
|
||||
net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts
|
||||
|
||||
net y-pos-mtr hm2_5i24.0.encoder.04.position
|
||||
net y-vel-mtr hm2_5i24.0.encoder.04.velocity
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net y-home-sw => joint.1.home-sw-in
|
||||
net y-neg-limit => joint.1.neg-lim-sw-in
|
||||
net y-pos-limit => joint.1.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# AXIS Z JOINT 2
|
||||
#*******************
|
||||
|
||||
setp pid.z.Pgain [JOINT_2]P
|
||||
setp pid.z.Igain [JOINT_2]I
|
||||
setp pid.z.Dgain [JOINT_2]D
|
||||
setp pid.z.bias [JOINT_2]BIAS
|
||||
setp pid.z.FF0 [JOINT_2]FF0
|
||||
setp pid.z.FF1 [JOINT_2]FF1
|
||||
setp pid.z.FF2 [JOINT_2]FF2
|
||||
setp pid.z.deadband [JOINT_2]DEADBAND
|
||||
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.z.error-previous-target true
|
||||
# stepgen # This setting is to limit bogus stepgen
|
||||
# velocity corrections caused by position
|
||||
# feedback sample time jitter.
|
||||
setp pid.z.maxerror 0.000500
|
||||
|
||||
net z-index-enable => pid.z.index-enable
|
||||
net z-enable => pid.z.enable
|
||||
net z-pos-cmd => pid.z.command
|
||||
net z-pos-fb => pid.z.feedback
|
||||
net z-output <= pid.z.output
|
||||
|
||||
# Step Gen signals/setup
|
||||
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.dirsetup [JOINT_2]DIRSETUP
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.dirhold [JOINT_2]DIRHOLD
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.steplen [JOINT_2]STEPLEN
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.stepspace [JOINT_2]STEPSPACE
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.position-scale [JOINT_2]STEP_SCALE
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.step_type 0
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.control-type 1
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
# stepgen setp hm2_5i24.0.stepgen.06.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
|
||||
# ---closedloop stepper signals---
|
||||
|
||||
net z-pos-cmd <= joint.2.motor-pos-cmd
|
||||
net z-vel-cmd <= joint.2.vel-cmd
|
||||
# stepgen net z-output => hm2_5i24.0.stepgen.06.velocity-cmd
|
||||
# stepgen net z-pos-fb <= hm2_5i24.0.stepgen.06.position-fb
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-enable <= joint.2.amp-enable-out
|
||||
# stepgen net z-enable => hm2_5i24.0.stepgen.06.enable
|
||||
|
||||
# ---Encoder feedback signals/setup---
|
||||
|
||||
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
|
||||
setp hm2_5i24.0.encoder.02.index-mask 0
|
||||
setp hm2_5i24.0.encoder.02.index-mask-invert 0
|
||||
setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
|
||||
|
||||
net z-pos-fb <= hm2_5i24.0.encoder.02.position
|
||||
net z-vel-fb <= hm2_5i24.0.encoder.02.velocity
|
||||
net z-pos-fb => joint.2.motor-pos-fb
|
||||
net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.02.index-enable
|
||||
net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts
|
||||
|
||||
|
||||
# ---setup home / limit switch signals---
|
||||
|
||||
net z-home-sw => joint.2.home-sw-in
|
||||
net z-neg-limit => joint.2.neg-lim-sw-in
|
||||
net z-pos-limit => joint.2.pos-lim-sw-in
|
||||
|
||||
#*******************
|
||||
# SPINDLE
|
||||
#*******************
|
||||
|
||||
setp pid.s.Pgain [SPINDLE_0]P
|
||||
setp pid.s.Igain [SPINDLE_0]I
|
||||
setp pid.s.Dgain [SPINDLE_0]D
|
||||
setp pid.s.bias [SPINDLE_0]BIAS
|
||||
setp pid.s.FF0 [SPINDLE_0]FF0
|
||||
setp pid.s.FF1 [SPINDLE_0]FF1
|
||||
setp pid.s.FF2 [SPINDLE_0]FF2
|
||||
setp pid.s.deadband [SPINDLE_0]DEADBAND
|
||||
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
|
||||
setp pid.s.error-previous-target true
|
||||
|
||||
net spindle-index-enable => pid.s.index-enable
|
||||
net spindle-enable => pid.s.enable
|
||||
net spindle-vel-cmd-rpm => pid.s.command
|
||||
net spindle-vel-fb-rpm => pid.s.feedback
|
||||
net spindle-output <= pid.s.output
|
||||
|
||||
# ---setup spindle control signals---
|
||||
|
||||
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
|
||||
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
|
||||
net spindle-vel-cmd-rpm <= spindle.0.speed-out
|
||||
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
|
||||
net spindle-enable <= spindle.0.on
|
||||
net spindle-cw <= spindle.0.forward
|
||||
net spindle-ccw <= spindle.0.reverse
|
||||
net spindle-brake <= spindle.0.brake
|
||||
net spindle-revs => spindle.0.revs
|
||||
net spindle-at-speed => spindle.0.at-speed
|
||||
net spindle-vel-fb-rps => spindle.0.speed-in
|
||||
net spindle-index-enable <=> spindle.0.index-enable
|
||||
|
||||
# ---Setup spindle at speed signals---
|
||||
|
||||
sets spindle-at-speed true
|
||||
|
||||
|
||||
#******************************
|
||||
# connect miscellaneous signals
|
||||
#******************************
|
||||
|
||||
# ---HALUI signals---
|
||||
|
||||
net axis-select-x halui.axis.x.select
|
||||
net jog-x-pos halui.axis.x.plus
|
||||
net jog-x-neg halui.axis.x.minus
|
||||
net jog-x-analog halui.axis.x.analog
|
||||
net x-is-homed halui.joint.0.is-homed
|
||||
net axis-select-y halui.axis.y.select
|
||||
net jog-y-pos halui.axis.y.plus
|
||||
net jog-y-neg halui.axis.y.minus
|
||||
net jog-y-analog halui.axis.y.analog
|
||||
net y-is-homed halui.joint.1.is-homed
|
||||
net axis-select-z halui.axis.z.select
|
||||
net jog-z-pos halui.axis.z.plus
|
||||
net jog-z-neg halui.axis.z.minus
|
||||
net jog-z-analog halui.axis.z.analog
|
||||
net z-is-homed halui.joint.2.is-homed
|
||||
net jog-selected-pos halui.axis.selected.plus
|
||||
net jog-selected-neg halui.axis.selected.minus
|
||||
net spindle-manual-cw halui.spindle.0.forward
|
||||
net spindle-manual-ccw halui.spindle.0.reverse
|
||||
net spindle-manual-stop halui.spindle.0.stop
|
||||
net machine-is-on halui.machine.is-on
|
||||
net jog-speed halui.axis.jog-speed
|
||||
net MDI-mode halui.mode.is-mdi
|
||||
|
||||
# ---coolant signals---
|
||||
|
||||
net coolant-mist <= iocontrol.0.coolant-mist
|
||||
net coolant-flood <= iocontrol.0.coolant-flood
|
||||
|
||||
# ---probe signal---
|
||||
|
||||
net probe-in => motion.probe-input
|
||||
|
||||
# ---motion control signals---
|
||||
|
||||
net in-position <= motion.in-position
|
||||
net machine-is-enabled <= motion.motion-enabled
|
||||
|
||||
# ---digital in / out signals---
|
||||
|
||||
# ---estop signals---
|
||||
|
||||
net estop-out <= iocontrol.0.user-enable-out
|
||||
net estop-out => iocontrol.0.emc-enable-in
|
||||
|
||||
# ---manual tool change signals---
|
||||
|
||||
net tool-change-request <= iocontrol.0.tool-change
|
||||
net tool-change-confirmed => iocontrol.0.tool-changed
|
||||
net tool-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
# ---Use external manual tool change dialog---
|
||||
|
||||
loadusr -W hal_manualtoolchange
|
||||
net tool-change-request => hal_manualtoolchange.change
|
||||
net tool-change-confirmed <= hal_manualtoolchange.changed
|
||||
net tool-number => hal_manualtoolchange.number
|
||||
|
||||
# ---ignore tool prepare requests---
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
|
||||
225
configs/my_LinuxCNC_machine/my_LinuxCNC_machine.ini
Executable file
225
configs/my_LinuxCNC_machine/my_LinuxCNC_machine.ini
Executable file
@@ -0,0 +1,225 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = my_LinuxCNC_machine.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
P = 400
|
||||
I = 0
|
||||
D = 4
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
P_LIN = 400
|
||||
I_LIN = 2000
|
||||
D_LIN = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 100
|
||||
MAX_OUTPUT_LINEAR = 100
|
||||
|
||||
|
||||
|
||||
ENCODER_LIN_SCALE = 5174
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# /5.4
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = 12.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 10.0
|
||||
MIN_FERROR = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
ENCODER_SCALE = 5084
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
ENCODER_SCALE = -9862
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
225
configs/my_LinuxCNC_machine/my_LinuxCNC_machine.ini.bak
Executable file
225
configs/my_LinuxCNC_machine/my_LinuxCNC_machine.ini.bak
Executable file
@@ -0,0 +1,225 @@
|
||||
# Generated by PNCconf at Fri Jul 26 13:18:08 2024
|
||||
# Using LinuxCNC version: Master (2.9)
|
||||
# If you make changes to this file, they will be
|
||||
# overwritten when you run PNCconf again
|
||||
|
||||
[EMC]
|
||||
MACHINE = my_LinuxCNC_machine
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.000000
|
||||
MAX_SPINDLE_OVERRIDE = 1.000000
|
||||
MIN_SPINDLE_OVERRIDE = 0.500000
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 0.250000
|
||||
MAX_LINEAR_VELOCITY = 1.000000
|
||||
MIN_LINEAR_VELOCITY = 0.016670
|
||||
DEFAULT_ANGULAR_VELOCITY = 12.000000
|
||||
MAX_ANGULAR_VELOCITY = 180.000000
|
||||
MIN_ANGULAR_VELOCITY = 1.666667
|
||||
EDITOR = gedit
|
||||
GEOMETRY = xyz
|
||||
CYCLE_TIME = 100
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = linuxcnc.var
|
||||
RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HMOT]
|
||||
# **** This is for info only ****
|
||||
CARD0=hm2_5i24.0
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = my_LinuxCNC_machine.hal
|
||||
HALFILE = custom.hal
|
||||
POSTGUI_HALFILE = custom_postgui.hal
|
||||
SHUTDOWN = shutdown.hal
|
||||
|
||||
[HALUI]
|
||||
|
||||
[KINS]
|
||||
JOINTS = 3
|
||||
KINEMATICS = trivkins coordinates=XYZ
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZ
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.10
|
||||
MAX_LINEAR_VELOCITY = 1.00
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
#******************************************
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 100.0
|
||||
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.
|
||||
P = 400
|
||||
I = 0
|
||||
D = 4
|
||||
FF0 = 0
|
||||
FF1 = 0.6
|
||||
FF2 = 0
|
||||
P_LIN = 400
|
||||
I_LIN = 100
|
||||
D_LIN = 4
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 100
|
||||
MAX_OUTPUT_LINEAR = 100
|
||||
|
||||
|
||||
|
||||
ENCODER_LIN_SCALE = 5174
|
||||
ENCODER_MTR_SCALE = -27939.6
|
||||
# /5.4
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -12.0
|
||||
MAX_LIMIT = 12.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 2
|
||||
|
||||
OUTPUT_SCALE = 1
|
||||
OUTPUT_OFFSET = 0
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 10.0
|
||||
MIN_FERROR = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
ENCODER_SCALE = 5084
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -0.001
|
||||
MAX_LIMIT = 8.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 3
|
||||
#******************************************
|
||||
|
||||
#******************************************
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 30.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
FERROR = 0.5
|
||||
MIN_FERROR = 0.05
|
||||
MAX_VELOCITY = 1.0
|
||||
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.
|
||||
STEPGEN_MAXVEL = 1.25
|
||||
STEPGEN_MAXACCEL = 37.50
|
||||
P = 1000
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 0
|
||||
FF1 = 1
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 0
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 10000
|
||||
DIRHOLD = 10000
|
||||
STEPLEN = 5000
|
||||
STEPSPACE = 5000
|
||||
STEP_SCALE = 200.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 0.001
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
ENCODER_SCALE = -9862
|
||||
#******************************************
|
||||
|
||||
[SPINDLE_0]
|
||||
P = 0
|
||||
I = 0
|
||||
D = 0
|
||||
FF0 = 1
|
||||
FF1 = 0
|
||||
FF2 = 0
|
||||
BIAS = 0
|
||||
DEADBAND = 0
|
||||
MAX_OUTPUT = 2000
|
||||
2
configs/my_LinuxCNC_machine/shutdown.hal
Executable file
2
configs/my_LinuxCNC_machine/shutdown.hal
Executable file
@@ -0,0 +1,2 @@
|
||||
# Include your shutdown HAL commands here
|
||||
# This file will not be overwritten when you run PNCconf again
|
||||
4
configs/my_LinuxCNC_machine/tool.tbl
Executable file
4
configs/my_LinuxCNC_machine/tool.tbl
Executable file
@@ -0,0 +1,4 @@
|
||||
T1 P1 Z0.511 D0.125 ;1/8 end mill Sample Tool
|
||||
T2 P2 Z0.1 D0.0625 ;1/16 end mill Sample Tool
|
||||
T3 P3 Z1.273 D0.201 ;#7 tap drill Sample Tool
|
||||
T4 P4 Z0 D2 ; 2 inch mill Sample Tool
|
||||
19
configs/sim.axis.ngcgui/README
Executable file
19
configs/sim.axis.ngcgui/README
Executable file
@@ -0,0 +1,19 @@
|
||||
ngcgui -- Create tabs in the axis gui for subroutines.
|
||||
|
||||
pyngcgui -- python, gladevcp implementation of ngcgui that can be embedded in guis like touchy, gscreen gmoccapy
|
||||
|
||||
In the packaged version of LinuxCNC, ngcgui_lib is created as a symbolic link to a system directory owned by root:
|
||||
|
||||
/usr/share/linuxcnc/ncfiles/ngcgui_lib
|
||||
|
||||
This library is not ordinarily changed by the user. To modify a library .ngc file, copy the .ngc file to the [DISPLAY]PROGRAM_PREFIX directory or to a directory that is included in the path specified by [RS274NGC]SUBROUTINE_PATH and (optionally) change the filename.
|
||||
|
||||
The search path for LinuxCNC and ngcgui is:
|
||||
[DISPLAY]PROGRAM_PREFIX
|
||||
|
||||
followed in order by all the colon (:) separated directories listed in:
|
||||
[RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
The search for subroutine files uses the first file found with a matching name.
|
||||
|
||||
See the examples and the documentation for configuring ngcgui in the startup ini file.
|
||||
21
configs/sim.axis.ngcgui/README_es
Executable file
21
configs/sim.axis.ngcgui/README_es
Executable file
@@ -0,0 +1,21 @@
|
||||
ngcgui -- Crea pestañas en el gui Axis para las subrutinas.
|
||||
|
||||
pyngcgui -- implementación de ngcgui python, gladevcp que se puede incrustar en guis como gmoccapy, touchy, gscreen
|
||||
|
||||
En la versión empaquetada de LinuxCNC, ngcgui_lib se crea como un enlace simbólico a un directorio del sistema propiedad root:
|
||||
|
||||
/usr/share/linuxcnc/ncfiles/ngcgui_lib
|
||||
|
||||
Esta biblioteca normalmente no es cambiada por el usuario. Para modificar un archivo .ngc de la biblioteca,
|
||||
copie el archivo .ngc en el directorio [DISPLAY]PROGRAM_PREFIX o en un directorio que esté incluido en la
|
||||
ruta especificada por [RS274NGC]SUBROUTINE_PATH y (opcionalmente) cambie el nombre del archivo.
|
||||
|
||||
La ruta de búsqueda para LinuxCNC y ngcgui es:
|
||||
[DISPLAY]PROGRAM_PREFIX
|
||||
|
||||
Seguido en orden por todos los directorios listados separados por dos puntos (:) en:
|
||||
[RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
La búsqueda de archivos de subrutinas utiliza el primer archivo encontrado con un nombre coincidente.
|
||||
|
||||
Consulte los ejemplos y la documentación para configurar ngcgui en el archivo ini de arranque.
|
||||
14
configs/sim.axis.ngcgui/axis_resize.py
Executable file
14
configs/sim.axis.ngcgui/axis_resize.py
Executable file
@@ -0,0 +1,14 @@
|
||||
# user command file to increase default axis gui size
|
||||
|
||||
# invoke with the ini file item:
|
||||
# [DISPLAY]USER_COMMAND_FILE = axis_resize.py
|
||||
|
||||
maxgeo=root_window.tk.call("wm","maxsize",".")
|
||||
|
||||
# custom size (to accommodate bigger gladevcp panels)
|
||||
newsize = '800' + 'x' + '680'
|
||||
# for fullsize: uncomment this
|
||||
# newsize=fullsize
|
||||
|
||||
root_window.tk.call("wm","geometry",".",newsize)
|
||||
|
||||
31
configs/sim.axis.ngcgui/fullscreen.py
Executable file
31
configs/sim.axis.ngcgui/fullscreen.py
Executable file
@@ -0,0 +1,31 @@
|
||||
#-----------------------------------------------------------------------
|
||||
# Copyright: 2013
|
||||
# Author: Dewey Garrett <dgarrett@panix.com>
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
#-----------------------------------------------------------------------
|
||||
|
||||
|
||||
# Expand to fullscreen
|
||||
# for axis gui, include ini item:
|
||||
# Usage (in ini file):
|
||||
# [DISPLAY]USER_COMMAND_FILE = fullscreen.py
|
||||
|
||||
maxgeo=root_window.tk.call("wm","maxsize",".")
|
||||
if type(maxgeo) is type(''):
|
||||
fullsize=maxgeo.split(' ')[0] + 'x' + maxgeo.split(' ')[1]
|
||||
else:
|
||||
fullsize=str(maxgeo[0]) + 'x' + str(maxgeo[1])
|
||||
root_window.tk.call("wm","geometry",".",fullsize)
|
||||
18
configs/sim.axis.ngcgui/gremlin_view.ui
Executable file
18
configs/sim.axis.ngcgui/gremlin_view.ui
Executable file
@@ -0,0 +1,18 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<interface>
|
||||
<object class="GtkWindow" id="window1">
|
||||
<property name="can_focus">False</property>
|
||||
<child>
|
||||
<object class="HAL_GremlinPlus" id="hal_gremlin_plus1">
|
||||
<property name="visible">True</property>
|
||||
<property name="can_focus">False</property>
|
||||
<property name="label_xalign">0</property>
|
||||
<property name="shadow_type">none</property>
|
||||
<property name="debug">False</property>
|
||||
<property name="width">-1</property>
|
||||
<property name="height">-1</property>
|
||||
<property name="glade_file">default</property>
|
||||
</object>
|
||||
</child>
|
||||
</object>
|
||||
</interface>
|
||||
10
configs/sim.axis.ngcgui/lathe.tbl
Executable file
10
configs/sim.axis.ngcgui/lathe.tbl
Executable file
@@ -0,0 +1,10 @@
|
||||
T1 P1 D0.100000 Z+0.100000 I+95.000000 J+155.000000 Q1 ;
|
||||
T2 P2 D0.100000 I+85.000000 J+25.000000 Q2 ;
|
||||
T3 P3 D0.100000 I+275.000000 J+335.000000 Q3 ;
|
||||
T4 P4 D0.100000 I+265.000000 J+205.000000 Q4 ;
|
||||
T5 P5 D0.100000 I+210.000000 J+150.000000 Q5 ;
|
||||
T6 P6 D0.100000 X+0.500000 Z+0.500000 I+120.000000 J+60.000000 Q6 ;
|
||||
T7 P7 D0.100000 I-30.000000 J+30.000000 Q7 ;
|
||||
T8 P8 D0.100000 I+240.000000 J+300.000000 Q8 ;
|
||||
T9 P9 D0.100000 Q9 ;
|
||||
T10 P10 D0. ; demo zero diameter
|
||||
161
configs/sim.axis.ngcgui/ngcgui.ini
Executable file
161
configs/sim.axis.ngcgui/ngcgui.ini
Executable file
@@ -0,0 +1,161 @@
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = Ngcgui-demo
|
||||
DEBUG = 0
|
||||
|
||||
[DISPLAY]
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# Ngcgui must precede Ngcguittt
|
||||
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
|
||||
# for startup NGCGUI_PREAMBLE, NGCGUI_SUBFILE, NGCGUI_POSTAMBLE, TTT_PREAMBLE
|
||||
# items, specifly:
|
||||
# a) absolute filename (start with /)
|
||||
# b) relative filename: search directories specified by
|
||||
# [DISPLAY]PROGRAM_PREFIX and [RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = qpocket.ngc
|
||||
NGCGUI_SUBFILE = qpex.ngc
|
||||
NGCGUI_SUBFILE = arc2.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
# specify "" for a custom tab page
|
||||
NGCGUI_SUBFILE = ""
|
||||
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
# nom2 -- no m2 terminator (use %)
|
||||
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
|
||||
DISPLAY = axis
|
||||
CYCLE_TIME = 0.100
|
||||
HELP_FILE = doc/help.txt
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.0
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
DEFAULT_LINEAR_VELOCITY = .25
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 1
|
||||
EDITOR = gedit
|
||||
# use tooltable columns for diam and z only:
|
||||
TOOL_EDITOR = tooledit diam z
|
||||
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.2
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = sim.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 2
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
1
configs/sim.axis.ngcgui/ngcgui.txt
Executable file
1
configs/sim.axis.ngcgui/ngcgui.txt
Executable file
@@ -0,0 +1 @@
|
||||
ngcgui -- comprehensive example
|
||||
174
configs/sim.axis.ngcgui/ngcgui_cmds.hal
Executable file
174
configs/sim.axis.ngcgui/ngcgui_cmds.hal
Executable file
@@ -0,0 +1,174 @@
|
||||
# Sat Aug 03 09:34:55 CDT 2024
|
||||
#
|
||||
# This file: ./ngcgui_cmds.hal
|
||||
# Created by: /usr/share/linuxcnc/hallib/basic_sim.tcl
|
||||
# With options:
|
||||
# From inifile: /home/linuxcnc/linuxcnc/configs/sim.axis.ngcgui/ngcgui.ini
|
||||
# Halfiles: LIB:basic_sim.tcl
|
||||
#
|
||||
# This file contains the hal commands produced by basic_sim.tcl
|
||||
# (and any hal commands executed prior to its execution).
|
||||
# ------------------------------------------------------------------
|
||||
# To use ./ngcgui_cmds.hal in the original inifile (or a copy of it),
|
||||
# edit to change:
|
||||
# [HAL]
|
||||
# HALFILE = LIB:basic_sim.tcl parameters
|
||||
# to:
|
||||
# [HAL]
|
||||
# HALFILE = ./ngcgui_cmds.hal
|
||||
#
|
||||
# Notes:
|
||||
# 1) Inifile Variables substitutions specified in the inifile
|
||||
# and interpreted by halcmd are automatically substituted
|
||||
# in the created halfile (./ngcgui_cmds.hal).
|
||||
# 2) Input pins connected to a signal with no writer are
|
||||
# not included in the setp listings herein so must be added
|
||||
# manually
|
||||
#
|
||||
|
||||
# user space components
|
||||
loadusr -W hal_manualtoolchange
|
||||
|
||||
# components
|
||||
#preloaded module: loadrt tpmod
|
||||
#preloaded module: loadrt homemod
|
||||
loadrt trivkins
|
||||
loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=3
|
||||
#loadrt __servo-thread (not loaded by loadrt, no args saved)
|
||||
loadrt pid names=J0_pid,J1_pid,J2_pid
|
||||
loadrt mux2 names=J0_mux,J1_mux,J2_mux
|
||||
loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel
|
||||
loadrt hypot names=hyp_xy,hyp_xyz
|
||||
loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch
|
||||
loadrt sim_spindle names=sim_spindle
|
||||
loadrt limit2 names=limit_speed
|
||||
loadrt lowpass names=spindle_mass
|
||||
loadrt near names=near_speed
|
||||
loadrt scale names=rpm_rps
|
||||
# pin aliases
|
||||
# param aliases
|
||||
# signals
|
||||
# nets
|
||||
net J0:acc J0_accel.out
|
||||
net J0:enable joint.0.amp-enable-out => J0_pid.enable
|
||||
net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
|
||||
net J0:on-pos J0_pid.output => J0_mux.in1
|
||||
net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
|
||||
net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
|
||||
net J0:vel J0_vel.out => J0_accel.in hyp_xy.in0 hyp_xyz.in0
|
||||
net J1:acc J1_accel.out
|
||||
net J1:enable joint.1.amp-enable-out => J1_pid.enable
|
||||
net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
|
||||
net J1:on-pos J1_pid.output => J1_mux.in1
|
||||
net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
|
||||
net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
|
||||
net J1:vel J1_vel.out => J1_accel.in hyp_xy.in1 hyp_xyz.in1
|
||||
net J2:acc J2_accel.out
|
||||
net J2:enable joint.2.amp-enable-out => J2_pid.enable
|
||||
net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
|
||||
net J2:on-pos J2_pid.output => J2_mux.in1
|
||||
net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
|
||||
net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
|
||||
net J2:vel J2_vel.out => J2_accel.in hyp_xyz.in2
|
||||
net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
|
||||
net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel
|
||||
net spindle-at-speed near_speed.out => spindle.0.at-speed
|
||||
net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
|
||||
net spindle-orient spindle.0.orient => spindle.0.is-oriented
|
||||
net spindle-pos sim_spindle.position-fb => spindle.0.revs
|
||||
net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
|
||||
net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
|
||||
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
|
||||
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
|
||||
net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
|
||||
net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
|
||||
net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
|
||||
net xy:vel hyp_xy.out
|
||||
net xyz:vel hyp_xyz.out
|
||||
# parameter values
|
||||
setp J0_accel.tmax 0
|
||||
setp J0_mux.tmax 0
|
||||
setp J0_pid.do-pid-calcs.tmax 0
|
||||
setp J0_switch.tmax 0
|
||||
setp J0_vel.tmax 0
|
||||
setp J1_accel.tmax 0
|
||||
setp J1_mux.tmax 0
|
||||
setp J1_pid.do-pid-calcs.tmax 0
|
||||
setp J1_switch.tmax 0
|
||||
setp J1_vel.tmax 0
|
||||
setp J2_accel.tmax 0
|
||||
setp J2_mux.tmax 0
|
||||
setp J2_pid.do-pid-calcs.tmax 0
|
||||
setp J2_switch.tmax 0
|
||||
setp J2_vel.tmax 0
|
||||
setp hyp_xy.tmax 0
|
||||
setp hyp_xyz.tmax 0
|
||||
setp limit_speed.tmax 0
|
||||
setp motion-command-handler.tmax 0
|
||||
setp motion-controller.tmax 0
|
||||
setp near_speed.difference 10
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.tmax 0
|
||||
setp rpm_rps.tmax 0
|
||||
setp servo-thread.tmax 0
|
||||
setp sim_spindle.scale 0.01666667
|
||||
setp sim_spindle.tmax 0
|
||||
setp spindle_mass.gain 0.07
|
||||
setp spindle_mass.tmax 0
|
||||
# realtime thread/function links
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf J0_pid.do-pid-calcs servo-thread
|
||||
addf J1_pid.do-pid-calcs servo-thread
|
||||
addf J2_pid.do-pid-calcs servo-thread
|
||||
addf J0_mux servo-thread
|
||||
addf J1_mux servo-thread
|
||||
addf J2_mux servo-thread
|
||||
addf J0_vel servo-thread
|
||||
addf J0_accel servo-thread
|
||||
addf J1_vel servo-thread
|
||||
addf J1_accel servo-thread
|
||||
addf J2_vel servo-thread
|
||||
addf J2_accel servo-thread
|
||||
addf hyp_xy servo-thread
|
||||
addf hyp_xyz servo-thread
|
||||
addf J0_switch servo-thread
|
||||
addf J1_switch servo-thread
|
||||
addf J2_switch servo-thread
|
||||
addf limit_speed servo-thread
|
||||
addf spindle_mass servo-thread
|
||||
addf rpm_rps servo-thread
|
||||
addf near_speed servo-thread
|
||||
addf sim_spindle servo-thread
|
||||
|
||||
# setp commands for unconnected input pins
|
||||
setp J0_pid.FF0 1.0
|
||||
setp J0_pid.Pgain 0
|
||||
setp J0_pid.Dgain 0
|
||||
setp J0_pid.Igain 0
|
||||
setp J0_pid.FF1 0
|
||||
setp J0_pid.FF2 0
|
||||
setp J1_pid.FF0 1.0
|
||||
setp J1_pid.Pgain 0
|
||||
setp J1_pid.Dgain 0
|
||||
setp J1_pid.Igain 0
|
||||
setp J1_pid.FF1 0
|
||||
setp J1_pid.FF2 0
|
||||
setp J2_pid.FF0 1.0
|
||||
setp J2_pid.Pgain 0
|
||||
setp J2_pid.Dgain 0
|
||||
setp J2_pid.Igain 0
|
||||
setp J2_pid.FF1 0
|
||||
setp J2_pid.FF2 0
|
||||
setp J0_switch.hysteresis 0.05
|
||||
setp J0_switch.home-pos 0.10
|
||||
setp J1_switch.hysteresis 0.05
|
||||
setp J1_switch.home-pos 0.10
|
||||
setp J2_switch.hysteresis 0.05
|
||||
setp J2_switch.home-pos 0.10
|
||||
setp sim_spindle.scale 0.01666667
|
||||
setp limit_speed.maxv 5000.0
|
||||
setp spindle_mass.gain .07
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.difference 10
|
||||
1
configs/sim.axis.ngcgui/ngcgui_es.txt
Executable file
1
configs/sim.axis.ngcgui/ngcgui_es.txt
Executable file
@@ -0,0 +1 @@
|
||||
ngcgui -- ejemplo completo
|
||||
163
configs/sim.axis.ngcgui/ngcgui_gcmc.ini
Executable file
163
configs/sim.axis.ngcgui/ngcgui_gcmc.ini
Executable file
@@ -0,0 +1,163 @@
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = Ngcgui-gcmc-demo
|
||||
DEBUG = 0
|
||||
|
||||
[DISPLAY]
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
TKPKG = Ngcgui 1.0
|
||||
TKPKG = Ngcguittt 1.0
|
||||
# Ngcgui must precede Ngcguittt
|
||||
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
|
||||
# for startup NGCGUI_PREAMBLE, NGCGUI_SUBFILE, NGCGUI_POSTAMBLE, TTT_PREAMBLE
|
||||
# items, specifly:
|
||||
# a) absolute filename (start with /)
|
||||
# b) relative filename: search directories specified by
|
||||
# [DISPLAY]PROGRAM_PREFIX and [RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_SUBFILE = rectangle.gcmc
|
||||
NGCGUI_SUBFILE = drill.gcmc
|
||||
NGCGUI_SUBFILE = involute-gear.gcmc
|
||||
NGCGUI_SUBFILE = trochoid-path.gcmc
|
||||
NGCGUI_SUBFILE = cpocket.gcmc
|
||||
NGCGUI_SUBFILE = star.gcmc
|
||||
NGCGUI_SUBFILE = wheels.gcmc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
# specify "" for a custom tab page
|
||||
NGCGUI_SUBFILE = ""
|
||||
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
# nom2 -- no m2 terminator (use %)
|
||||
|
||||
# example for gcmc includes: separate dirnames with colons:
|
||||
# GCMC_INCLUDE_PATH = dir1:dir2:...
|
||||
GCMC_INCLUDE_PATH = ../../nc_files/gcmc_lib
|
||||
|
||||
TTT = truetype-tracer
|
||||
TTT_PREAMBLE = in_std.ngc
|
||||
|
||||
DISPLAY = axis
|
||||
CYCLE_TIME = 0.100
|
||||
HELP_FILE = doc/help.txt
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.0
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
DEFAULT_LINEAR_VELOCITY = .25
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 1
|
||||
EDITOR = gedit
|
||||
# use tooltable columns for diam and z only:
|
||||
TOOL_EDITOR = tooledit diam z
|
||||
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/gcmc_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
NO_FORCE_HOMING = 1
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.2
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = sim.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 2
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
15
configs/sim.axis.ngcgui/ngcgui_gcmc.txt
Executable file
15
configs/sim.axis.ngcgui/ngcgui_gcmc.txt
Executable file
@@ -0,0 +1,15 @@
|
||||
ngcgui embedded as axis tab
|
||||
|
||||
with support for .gcmc (G-Code Meta Compiler) files
|
||||
|
||||
The .ngc and .gcmc files can be intermixed with
|
||||
ini file lines like:
|
||||
|
||||
NGCGUI_SUBFILE = drill.gcmc
|
||||
NGCGUI_SUBFILE = wheels.gcmc
|
||||
NGCGUI_SUBFILE = star.gcmc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
|
||||
See the ini file for example details
|
||||
|
||||
15
configs/sim.axis.ngcgui/ngcgui_gcmc_es.txt
Executable file
15
configs/sim.axis.ngcgui/ngcgui_gcmc_es.txt
Executable file
@@ -0,0 +1,15 @@
|
||||
ngcgui incrustado como pestaña de Axis
|
||||
|
||||
con soporte para archivos .gcmc (G-Code Meta Compiler)
|
||||
|
||||
Los archivos .ngc y .gcmc se pueden mezclar con
|
||||
líneas de archivo ini como:
|
||||
|
||||
NGCGUI_SUBFILE = drill.gcmc
|
||||
NGCGUI_SUBFILE = wheels.gcmc
|
||||
NGCGUI_SUBFILE = star.gcmc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = ""
|
||||
|
||||
Ver el archivo ini para detalles de ejemplo
|
||||
|
||||
131
configs/sim.axis.ngcgui/ngcgui_lathe.ini
Executable file
131
configs/sim.axis.ngcgui/ngcgui_lathe.ini
Executable file
@@ -0,0 +1,131 @@
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = ngcgui-lathe
|
||||
|
||||
[DISPLAY]
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
TKPKG = Ngcgui 1.0
|
||||
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
|
||||
# for startup NGCGUI_PREAMBLE, NGCGUI_SUBFILE, NGCGUI_POSTAMBLE, TTT_PREAMBLE
|
||||
# items, specifly:
|
||||
# a) absolute filename (start with /)
|
||||
# b) relative filename: search directories specified by
|
||||
# [DISPLAY]PROGRAM_PREFIX and [RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
NGCGUI_PREAMBLE = lathe_std.ngc
|
||||
NGCGUI_SUBFILE = id.ngc
|
||||
NGCGUI_SUBFILE = od.ngc
|
||||
NGCGUI_SUBFILE = taper-od.ngc
|
||||
NGCGUI_SUBFILE = g76base.ngc
|
||||
NGCGUI_SUBFILE = g76diam.ngc
|
||||
# specify "" for a custom tab page
|
||||
NGCGUI_SUBFILE = ""
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
# nom2 -- no m2 terminator (use %)
|
||||
|
||||
DISPLAY = axis
|
||||
LATHE = 1
|
||||
EDITOR = gedit
|
||||
# use tooltable columns for: diam front back orien
|
||||
TOOL_EDITOR = tooledit diam front back orien
|
||||
CYCLE_TIME = 0.100
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim-lathe.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib/lathe:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.0
|
||||
MAX_LINEAR_VELOCITY = 3.333334
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = lathe.tbl
|
||||
TOOL_CHANGE_POSITION = 1 0 1
|
||||
TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=xz
|
||||
JOINTS = 2
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 3.333334
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 3.333334
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 3.333334
|
||||
MAX_ACCELERATION = 20.0
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 5.0
|
||||
HOME_LATCH_VEL = 1.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 3.333334
|
||||
MAX_ACCELERATION = 20.0
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 5.0
|
||||
HOME_LATCH_VEL = 1.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
1
configs/sim.axis.ngcgui/ngcgui_lathe.txt
Executable file
1
configs/sim.axis.ngcgui/ngcgui_lathe.txt
Executable file
@@ -0,0 +1 @@
|
||||
ngcgui example with lathe subroutines
|
||||
1
configs/sim.axis.ngcgui/ngcgui_lathe_es.txt
Executable file
1
configs/sim.axis.ngcgui/ngcgui_lathe_es.txt
Executable file
@@ -0,0 +1 @@
|
||||
Ejemplo ngcgui con subrutinas para torno
|
||||
149
configs/sim.axis.ngcgui/ngcgui_simple.ini
Executable file
149
configs/sim.axis.ngcgui/ngcgui_simple.ini
Executable file
@@ -0,0 +1,149 @@
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = Ngcgui-demo
|
||||
DEBUG = 0
|
||||
|
||||
[DISPLAY]
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
# Note: TKPKG (one or more) specifies tcl/tk apps to embed in axis tab pages
|
||||
|
||||
TKPKG = Ngcgui 1.0
|
||||
|
||||
# for startup NGCGUI_PREAMBLE, NGCGUI_SUBFILE, NGCGUI_POSTAMBLE, TTT_PREAMBLE
|
||||
# items, specifly:
|
||||
# a) absolute filename (start with /)
|
||||
# b) relative filename: search directories specified by
|
||||
# [DISPLAY]PROGRAM_PREFIX and [RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
NGCGUI_OPTIONS = nonew noremove
|
||||
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
# nom2 -- no m2 terminator (use %)
|
||||
|
||||
DISPLAY = axis
|
||||
CYCLE_TIME = 0.100
|
||||
HELP_FILE = doc/help.txt
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.0
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
DEFAULT_LINEAR_VELOCITY = .25
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 1
|
||||
EDITOR = gedit
|
||||
TOOL_EDITOR = tooledit
|
||||
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
#NO_FORCE_HOMING = 1
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.2
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = sim.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 2
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
1
configs/sim.axis.ngcgui/ngcgui_simple.txt
Executable file
1
configs/sim.axis.ngcgui/ngcgui_simple.txt
Executable file
@@ -0,0 +1 @@
|
||||
ngcgui -- simple example subroutines
|
||||
1
configs/sim.axis.ngcgui/ngcgui_simple_es.txt
Executable file
1
configs/sim.axis.ngcgui/ngcgui_simple_es.txt
Executable file
@@ -0,0 +1 @@
|
||||
ngcgui -- ejemplo simple de subrutinas
|
||||
162
configs/sim.axis.ngcgui/pyngcgui_axis.ini
Executable file
162
configs/sim.axis.ngcgui/pyngcgui_axis.ini
Executable file
@@ -0,0 +1,162 @@
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = pyngcgui-axis demo
|
||||
DEBUG = 0
|
||||
|
||||
[DISPLAY]
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
|
||||
USER_COMMAND_FILE = ./fullscreen.py
|
||||
EMBED_TAB_NAME = Pyngcgui
|
||||
EMBED_TAB_COMMAND = gladevcp -x {XID} pyngcgui_axis.ui
|
||||
|
||||
EMBED_TAB_NAME = Gremlinview
|
||||
EMBED_TAB_COMMAND = gladevcp -x {XID} gremlin_view.ui
|
||||
|
||||
NGCGUI_FONT = Helvetica -12 normal
|
||||
|
||||
# for startup NGCGUI_PREAMBLE, NGCGUI_SUBFILE, NGCGUI_POSTAMBLE
|
||||
# items, specifly:
|
||||
# a) absolute filename (start with /)
|
||||
# b) relative filename: search directories specified by
|
||||
# [DISPLAY]PROGRAM_PREFIX and [RS274NGC]SUBROUTINE_PATH
|
||||
|
||||
NGCGUI_PREAMBLE = in_std.ngc
|
||||
NGCGUI_SUBFILE = simp.ngc
|
||||
NGCGUI_SUBFILE = db25.ngc
|
||||
NGCGUI_SUBFILE = gosper.ngc
|
||||
NGCGUI_SUBFILE = xyz.ngc
|
||||
NGCGUI_SUBFILE = iquad.ngc
|
||||
NGCGUI_SUBFILE = qpocket.ngc
|
||||
NGCGUI_SUBFILE = arc2.ngc
|
||||
NGCGUI_SUBFILE = ihex.ngc
|
||||
# specify "" for a custom tab page
|
||||
NGCGUI_SUBFILE = ""
|
||||
|
||||
NGCGUI_OPTIONS =
|
||||
#NGCGUI_OPTIONS = opt1 opt2 ...
|
||||
# opt items:
|
||||
# nonew -- disallow making new tab page
|
||||
# noremove -- disallow removing any tab page
|
||||
# noauto -- no autosend (makeFile, then manually send)
|
||||
# noiframe -- no internal image, image on separate toplevel
|
||||
# nom2 -- no m2 terminator (use %)
|
||||
|
||||
DISPLAY = axis
|
||||
CYCLE_TIME = 0.100
|
||||
HELP_FILE = doc/help.txt
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
MAX_FEED_OVERRIDE = 2.0
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
DEFAULT_LINEAR_VELOCITY = .25
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 1
|
||||
EDITOR = gedit
|
||||
# use tooltable columns for diam and z only:
|
||||
TOOL_EDITOR = tooledit diam z
|
||||
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
|
||||
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.2
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = sim.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 2
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -400.0
|
||||
MAX_LIMIT = 400.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -800.0
|
||||
MAX_LIMIT = 100.0
|
||||
HOME = 0.0
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
5
configs/sim.axis.ngcgui/pyngcgui_axis.txt
Executable file
5
configs/sim.axis.ngcgui/pyngcgui_axis.txt
Executable file
@@ -0,0 +1,5 @@
|
||||
pyngcgui_axis
|
||||
|
||||
Demonstrates pyngcgui as gladevcp app in axis gui
|
||||
|
||||
The original ngcgui may be better integrated in the axis gui
|
||||
23
configs/sim.axis.ngcgui/pyngcgui_axis.ui
Executable file
23
configs/sim.axis.ngcgui/pyngcgui_axis.ui
Executable file
@@ -0,0 +1,23 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<interface>
|
||||
<object class="GtkWindow" id="window1">
|
||||
<property name="can_focus">False</property>
|
||||
<property name="resizable">False</property>
|
||||
<property name="default_width">712</property>
|
||||
<property name="default_height">200</property>
|
||||
<child>
|
||||
<object class="PyNgcGui" id="pyngcgui1">
|
||||
<property name="visible">True</property>
|
||||
<property name="can_focus">False</property>
|
||||
<property name="label_xalign">0</property>
|
||||
<property name="shadow_type">none</property>
|
||||
<property name="use_keyboard">False</property>
|
||||
<property name="debug">False</property>
|
||||
<property name="verbose">False</property>
|
||||
<property name="send_function_name">send_to_axis</property>
|
||||
<property name="send_to_dir"></property>
|
||||
<property name="control_font_name"></property>
|
||||
</object>
|
||||
</child>
|
||||
</object>
|
||||
</interface>
|
||||
5
configs/sim.axis.ngcgui/pyngcgui_axis_es.txt
Executable file
5
configs/sim.axis.ngcgui/pyngcgui_axis_es.txt
Executable file
@@ -0,0 +1,5 @@
|
||||
pyngcgui_axis
|
||||
|
||||
Demuestra pyngcgui como aplicación gladevcp en gui Axis
|
||||
|
||||
El ngcgui original puede integrarse mejor en la interfaz Axis
|
||||
23
configs/sim.axis.ngcgui/pyngcgui_popupkeyboard.ui
Executable file
23
configs/sim.axis.ngcgui/pyngcgui_popupkeyboard.ui
Executable file
@@ -0,0 +1,23 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<interface>
|
||||
<object class="GtkWindow" id="window1">
|
||||
<property name="can_focus">False</property>
|
||||
<property name="resizable">False</property>
|
||||
<property name="default_width">712</property>
|
||||
<property name="default_height">200</property>
|
||||
<child>
|
||||
<object class="PyNgcGui" id="pyngcgui1">
|
||||
<property name="visible">True</property>
|
||||
<property name="can_focus">False</property>
|
||||
<property name="label_xalign">0</property>
|
||||
<property name="shadow_type">none</property>
|
||||
<property name="use_keyboard">True</property>
|
||||
<property name="debug">False</property>
|
||||
<property name="verbose">False</property>
|
||||
<property name="send_function_name">default_send</property>
|
||||
<property name="send_to_dir"></property>
|
||||
<property name="control_font_name"></property>
|
||||
</object>
|
||||
</child>
|
||||
</object>
|
||||
</interface>
|
||||
4
configs/sim.axis.ngcgui/sim.tbl
Executable file
4
configs/sim.axis.ngcgui/sim.tbl
Executable file
@@ -0,0 +1,4 @@
|
||||
T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
|
||||
T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
|
||||
T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
|
||||
T98876 P543 Z+0.100000 ;big tool number
|
||||
119
configs/sim.axis.ngcgui/sim.var
Executable file
119
configs/sim.axis.ngcgui/sim.var
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
configs/sim.axis.ngcgui/sim.var.bak
Executable file
119
configs/sim.axis.ngcgui/sim.var.bak
Executable file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
24
configs/sim.axis/README
Executable file
24
configs/sim.axis/README
Executable file
@@ -0,0 +1,24 @@
|
||||
Axis is a modern, GL-based interface coded in python
|
||||
|
||||
The principal Axis gui sim ini files:
|
||||
|
||||
axis.ini basic demo (in)
|
||||
axis_9axis.ini 9 axes
|
||||
axis_mm.ini basic demo (mm)
|
||||
canterp.ini demo for a non-gcode interpreter
|
||||
histogram_demo.ini hal-histogram examples
|
||||
historical_lathe.ini configured with 3 joints (XYZ with Y unused)
|
||||
ini_hal_demo.ini ini hal pins demo
|
||||
lathe.ini lathe demo
|
||||
ldelta.ini linear delta robot
|
||||
ldelta_demo.ini linear delta with jog guis
|
||||
minimal_xyz.ini minimal set of config items
|
||||
profile_axis.ini profiling
|
||||
random_tc.ini random tool changer
|
||||
rdelta.ini rotary delta robot
|
||||
|
||||
Select one of these if you have no functional machine but want to edit some basic configuration stuff or play with one of the LinuxCNC displays.
|
||||
|
||||
Additional configurations are provided in subdirectories.
|
||||
|
||||
These configurations demonstrate LinuxCNC functionality using the axis gui as the interface. (The functionality demonstrated may be available in other guis also)
|
||||
33
configs/sim.axis/README_es
Executable file
33
configs/sim.axis/README_es
Executable file
@@ -0,0 +1,33 @@
|
||||
Axis es una moderna interfaz basada en GL y codificada en Python
|
||||
|
||||
Archivos ini principales de Axis gui sim:
|
||||
|
||||
axis.ini demo básica (in).
|
||||
axis_9axis.ini 9 ejes.
|
||||
axis_mm.ini demo básica (mm).
|
||||
canterp.ini demo de intérprete
|
||||
no-gcode.
|
||||
gantry.ini demo pórtico.
|
||||
gantry_mm.ini demo pórtico (mm).
|
||||
histogram_demo.ini ejemplos
|
||||
hal-histogram.
|
||||
historical_lathe.ini torno, 3 articula-
|
||||
-ciones (XYZ, con Y
|
||||
sin usar).
|
||||
ini_hal_demo.ini demo ini pines hal.
|
||||
lathe.ini demo torno.
|
||||
ldelta.ini robot delta lineal.
|
||||
ldelta_demo.ini robot delta lineal
|
||||
con gui para jog.
|
||||
minimal_xyz.ini conjunto mínimo de
|
||||
configuración.
|
||||
profile_axis.ini perfil.
|
||||
random_tc.ini cambiador aleatorio.
|
||||
de herramientas.
|
||||
rdelta.ini robot delta rotativo.
|
||||
|
||||
Seleccione uno de estos si no tiene una máquina funcional pero desea editar algunas cosas de configuración básica o jugar con una de las pantallas de LinuxCNC.
|
||||
|
||||
Se proporcionan configuraciones adicionales en los subdirectorios.
|
||||
|
||||
Estas configuraciones demuestran la funcionalidad de LinuxCNC utilizando la interfaz Axis. (La funcionalidad demostrada puede estar disponible tambien en otras guis)
|
||||
229
configs/sim.axis/axis.ini
Executable file
229
configs/sim.axis/axis.ini
Executable file
@@ -0,0 +1,229 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
|
||||
# Version of this INI file
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = LinuxCNC-HAL-SIM-AXIS
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# Sections for display options ------------------------------------------------
|
||||
[DISPLAY]
|
||||
|
||||
# Name of display program, e.g., axis
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
|
||||
MAX_LINEAR_VELOCITY = 5
|
||||
DEFAULT_LINEAR_VELOCITY = .25
|
||||
DEFAULT_SPINDLE_SPEED = 200
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
#EDITOR = geany
|
||||
TOOL_EDITOR = tooledit
|
||||
|
||||
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python3
|
||||
|
||||
# Task controller section -----------------------------------------------------
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = sim.var
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
|
||||
BASE_PERIOD = 0
|
||||
# Servo task period, in nano-seconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = sim.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 0
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
#
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
HALFILE = core_sim.hal
|
||||
HALFILE = sim_spindle_encoder.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
HALFILE = simulated_home.hal
|
||||
HALFILE = check_xyz_constraints.hal
|
||||
HALFILE = cooling.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
# Single file that is executed after the GUI has started. Only supported by
|
||||
# AXIS at this time (only AXIS creates a HAL component of its own)
|
||||
#POSTGUI_HALFILE = test_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
MAX_LINEAR_VELOCITY = 4
|
||||
DEFAULT_LINEAR_ACCELERATION = 100
|
||||
MAX_LINEAR_ACCELERATION = 100
|
||||
POSITION_FILE = position.txt
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
# Axes sections ---------------
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
MIN_LIMIT = -8.0
|
||||
MAX_LIMIT = 0.12
|
||||
|
||||
# Joints sections -------------
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 50.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 50.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 5
|
||||
MAX_ACCELERATION = 50.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -8.0
|
||||
|
||||
# Normally the Z max should be 0.000!
|
||||
# The only reason it's greater than 0 here is so that the splash screen
|
||||
# gcode will run.
|
||||
MAX_LIMIT = 0.12
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user