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Thaddeus-Maximus
2026-04-03 15:58:58 -05:00
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6
configs/lagun_gmoccapy/gmoccapy_postgui.hal Executable file
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# 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

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configs/lagun_gmoccapy/lagun.hal Executable file
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# 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

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configs/lagun_gmoccapy/lagun_gmoccapy.ini Executable file
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# 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
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configs/lagun_gmoccapy/linuxcnc.var.bak Normal file
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80
configs/lagun_gmoccapy/my_LinuxCNC_machine.pref Normal file
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[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
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# 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
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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
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# ######################################################################
# 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