?
This commit is contained in:
Thaddeus-Maximus
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
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||||
MAXCHAN 16
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||||
HMULT 1
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||||
HZOOM 1
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||||
HPOS 5.000000e-01
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||||
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
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||||
# 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
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||||
# 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 @@
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||||
# Halshow settings
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||||
# This file is generated automatically.
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||||
wm geometry . 700x475+610+302
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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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||||
}
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||||
set ::workmode settings
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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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||||
119
configs/my_LinuxCNC_machine (copy 1)/linuxcnc.var
Executable file
119
configs/my_LinuxCNC_machine (copy 1)/linuxcnc.var
Executable file
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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 @@
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5350 0.000000
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5362 0.000000
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5366 0.000000
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5386 0.000000
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5389 0.000000
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5390 0.000000
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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 @@
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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
|
||||
|
||||
loadrt [KINS]KINEMATICS
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||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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||||
loadrt hostmot2
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||||
loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
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||||
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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.z,pid.s
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||||
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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.y.do-pid-calcs servo-thread
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||||
addf pid.z.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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||||
# setp hm2_5i24.0.dpll.01.timer-us -50
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||||
# 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
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||||
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
|
||||
Reference in New Issue
Block a user