Update WIRING.md

.claude/settings.local.json

@@ -13,7 +13,8 @@
       "WebFetch(domain:github.com)",
       "WebFetch(domain:raw.githubusercontent.com)",
       "WebFetch(domain:forum.linuxcnc.org)",
-      "WebFetch(domain:www.forum.linuxcnc.org)"
+      "WebFetch(domain:www.forum.linuxcnc.org)",
+      "Bash(file:*)"
     ]
   }
 }

CLAUDE.md

@@ -0,0 +1,47 @@
+# CLAUDE.md
+
+## Project
+LinuxCNC configuration and custom G-code macro library for a Lagun milling machine.
+
+## Structure
+- `configs/lagun_gmoccapy/` — machine config (INI, HAL, tool table, pendant)
+- `nc_files/subs/` — macro subroutines (auto-loaded via SUBROUTINE_PATH)
+- `nc_files/programs/` — standalone part programs
+- `nc_files/HEMA/`, `HEMS/`, `HEQJ/` — project-specific part programs
+- `nc_files/*.ngc` — older part programs (root level)
+- `datasheets/` — Mesa board PDFs
+
+## Key docs
+- `nc_files/MACROS.md` — macro API reference
+- `nc_files/OFFSETS.md` — work offsets, tool offsets, cutter comp quick reference
+- `nc_files/TOOLS.md` — deep dive on tool changes and GMOCCAPY interface
+- `configs/lagun_gmoccapy/README.md` — machine config, wiring, HAL, pendant mapping
+
+## Macro conventions
+- All macros in `nc_files/subs/` use lowercase filenames (LinuxCNC matches `o<name>` to `name.ngc`)
+- Mode bitmask is always the FIRST positional arg (#1) for macros that accept it
+- Z heights come from globals `#<_z_top>` and `#<_z_bot>`, not positional args
+- Tool diameter comes from `#5410` (built-in LinuxCNC param, requires T M6 G43 first)
+- Optional globals: `#<_z_clearance>`, `#<_rampang>`, `#<_stepover>`
+- M101/M102 enable/disable Z-axis CNC control (for manual quill operation)
+
+## When editing macros
+- Do not change functional behavior without asking — these run on a real mill
+- The `o<number>` labels (o1, o101, etc.) must be unique within each file
+- LinuxCNC G-code uses `[expressions]` for math, `#<name>` for named params, `#N` for positional args
+- `G90.1` = absolute arc centers (I/J), `G91.1` = incremental arc centers — check which mode each macro uses
+- Test calls should never appear after `endsub` (they execute on every load)
+
+## When editing caller programs
+- Programs set `#<_z_top>` and `#<_z_bot>` before macro calls
+- Mode arg is first: `o<pocket_circ> call [0] [x][y] [d] [fincut]`
+- Commented-out calls (`;o<...>`) should keep their format consistent with active calls
+
+## Machine details
+- 3-axis mill: X (+-24"), Y (+-12"), Z (-4" to +1")
+- Mesa 5i24 FPGA + 7i52 servo interface + 7i37-TA isolated I/O
+- Dual PID on X and Y (motor encoder + linear scale, outputs summed)
+- Z has special override mechanism (M101/M102 via logic AND gate)
+- GMOCCAPY GUI, XHC WHB04B-6 wireless pendant
+- Units: inches
+- Manual tool change (no ATC)

configs/lagun_gmoccapy/linuxcnc.var

@@ -27,9 +27,9 @@
 5218	0.000000
 5219	0.000000
 5220	1.000000
-5221	7.046981
+5221	-6.512164
-5222	0.266575
+5222	3.676288
-5223	-2.928337
+5223	-3.122360
 5224	0.000000
 5225	0.000000
 5226	0.000000

configs/lagun_gmoccapy/linuxcnc.var.bak

@@ -27,9 +27,9 @@
 5218	0.000000
 5219	0.000000
 5220	1.000000
-5221	7.046981
+5221	-6.512164
-5222	0.266575
+5222	3.676288
-5223	-2.928337
+5223	-3.122360
 5224	0.000000
 5225	0.000000
 5226	0.000000

configs/lagun_gmoccapy/my_LinuxCNC_machine.pref

@@ -75,6 +75,6 @@ show_preview_on_offset = False
 use_keyboard_shortcuts = True
 offset_axis_y = 0.0
 offset_axis_x = 0.0
-offset_axis_z = 0.0
+offset_axis_z = -0.003
-tool_in_spindle = 3
+tool_in_spindle = 5
 

docs/WIRING.md

@@ -0,0 +1,191 @@
+# HEPHAESTUS Wiring
+
+This is how I have my LinuxCNC machine wired. I put a linuxCNC box in place of a Southwestern Industries TRAK CNC II control box. I am reusing the TRAK drives, motors, and encoders. Eventually, I switched to using linear encoders instead of the TRAK encoders.
+
+| Mesa card | Role                            |
+| --------- | ------------------------------- |
+| 6i24-16   | FPGA card (PCIe host interface) |
+| 7i52S     | Servo interface daughter card   |
+| 7i37TA    | Isolated I/O daughter card      |
+
+![](pc_front.jpg)
+![](cbox_back.jpg)
+![](cbox_inside.jpg)
+
+# Encoders
+
+## TRAK Encoder Pinout
+
+The encoders for both motors and the standard TRAK encoders use the same Amphenol CPC connector.
+
+The encoders are differential 5V output. They might have an index pulse but I wasn't using it. The Z axis has the same pinout. Peak-peak voltage is 2.7V.
+
+| Pin | Signal   | Color (in PC) |
+| --- | -------- | ------------- |
+| 1   | B-       | White         |
+| 2   | 5V       | Red           |
+| 3   | B+       | Blue          |
+| 4   | N/C      |               |
+| 5   | N/C      |               |
+| 6   | N/C      |               |
+| 7   | N/C      |               |
+| 8   | N/C      |               |
+| 9   | GND/SHLD | Black         |
+| 10  | GND/SHLD | Black         |
+| 11  | GND/SHLD | Black         |
+| 12  | A-       | Yellow        |
+| 13  | GND      | Black         |
+| 14  | A+       | Green         |
+
+![](ampconns.jpg)
+
+## Linear Encoder Pinout (DB9)
+
+I switched to some linear encoders that have a D-sub connector. They are also 5V differential output, and nearly the same resolution, resulting in very easy switchover.
+
+| Pin | Signal | Color (in PC) |
+| --- | ------ | ------------- |
+| 1   | A-     | Yellow        |
+| 2   | GND    | Black         |
+| 3   | B-     | White         |
+| 4   | N/C    | N/C           |
+| 5   | Z-     | Tan           |
+| 6   | A+     | Green         |
+| 7   | 5V     | Red           |
+| 8   | B+     | Blue          |
+| 9   | Z+     | Maroon        |
+
+
+## DB37 Pinout
+
+The DB37 cable contains drive signals and motor encoder signals and connects to the TRAK drive box.
+
+*This pinout was determined by probing. I'm not sure what some of the pins do; some of the ??? pins might actually be an index pulse or something.*
+
+
+| Pin   | Signal     | Notes     |
+| ----- | ---------- | --------- |
+| 1-5   | ??? (N/C?) |           |
+| 6     | YB-        | Y Encoder |
+| 7     | YB+        | Y Encoder |
+| 8     | YA+        | Y Encoder |
+| 9     | YA-        | Y Encoder |
+| 10    | XB+        | X Encoder |
+| 11    | XB-        | X Encoder |
+| 12    | XA+        | X Encoder |
+| 13    | XA-        | X Encoder |
+| 14    | XENW       | X Enable  |
+| 15    | XENR       | X Enable  |
+| 16    | YENW       | Y Enable  |
+| 17    | YENR       | Y Enable  |
+| 18    | ZENW       | Z Enable  |
+| 19    | ZENR       | Z Enable  |
+| 20    | ??? (N/C?) |           |
+| 21    | 5V         |           |
+| 22    | 5V         |           |
+| 23    | GND        |           |
+| 24    | GND        |           |
+| 25    | 5V         |           |
+| 26    | 5V         |           |
+| 27    | GND        |           |
+| 28    | GND        |           |
+| 29    | 5V         |           |
+| 30    | 5V         |           |
+| 31-37 | GND        |           |
+
+# MESA Cards
+
+![](mesa_cards.jpg)
+
+## 7i37TA
+
+Three enables are used - one for the X and Y axes, one for the z axis, and one for the spindle. This allows the z axis to be disabled independently for manual drilling operations.
+
+Each works by connecting a pair of wires. Made = enabled.
+
+The spindle only has enable; direction and speed is manually controlled.
+
+A custom `M101` and `M102` g code enables/disables the z-axis.
+
+| Enable  | 7i37TA Pin | 6i24-16 Pin | Wire Color             |
+| ------- | ---------- | ----------- | ---------------------- |
+| XY      | OUT6+      | 46          | White & Green to black |
+| Z       | OUT4+      | 44          | Red to black           |
+| Spindle | OUT3+      | 41          | White to Green         |
+
+## 7i52S
+
+#### Encoder connector
+(This is for connector 0; carries over to channels 0-4 as well)
+
+*Five encoder inputs are used - x, y, and z each use one without index pulse, and x and y have a secondary linear encoder that does use the index pulse*
+
+*Sometimes the A-channels and B-channels are flipped, at least color-wise.*
+
+| Pin | Signal | Function | Wire Color |
+| --- | ------ | -------- | ---------- | 
+| 1   | QA0    | A+       | Green      |
+| 2   | /QA0   | A-       | Yellow     |
+| 3   | GND    | GND      | Black      |
+| 4   | QB0    | B+       | Blue       |
+| 5   | /QB0   | B-       | White      |
+| 6   | +5V    | 5V       | Red        |
+| 7   | IDX0   | I+       | Maroon     |
+| 8   | /IDX0  | I-       | Tan        |
+
+#### Differential Output Connector
+
+*Three differential outputs are used - one for each x, y, and z*
+
+| Pin | Signal | Function | Color |
+| --- | ------ | -------- | ----- |
+| 1   | GND    |          | N/C   |
+| 2   | GND    |          | N/C   |
+| 3   | TX0A   | TXA+     | White |
+| 4   | /TX0A  | TXA-     | Green |
+| 5   | TX0B   |          | N/C   |
+| 6   | /TX0B  |          | N/C   |
+| 7   | +5V    |          | N/C   |
+| 8   | +5V    |          | N/C   |
+
+#### HAL Channel assignments
+
+| Axis     | Encoder ch   | PWM ch      | Notes                     |
+| -------- | ------------ | ----------- | ------------------------- |
+| X linear | `encoder.00` | —           | Joint position feedback   |
+| Y linear | `encoder.01` | —           | Joint position feedback   |
+| Z linear | `encoder.02` | —           | Joint position feedback   |
+| X motor  | `encoder.03` | —           | Velocity/damping feedback |
+| Y motor  | `encoder.04` | —           | Velocity/damping feedback |
+| Z motor  | (none)       | —           | No dual loop on Z         |
+| X drive  | —            | `pwmgen.00` | Differential PWM out      |
+| Y drive  | —            | `pwmgen.02` | Differential PWM out      |
+| Z drive  | —            | `pwmgen.04` | Differential PWM out      |
+
+## Servo Drive Config
+
+### PWM
+
+- Carrier: **15.5 kHz** (`hm2_5i24.0.pwmgen.pwm_frequency 15500`)
+- `output-type 1` (PWM + Direction pins)
+- `offset-mode 1` → locked anti-phase / bipolar single-signal: duty cycle directly encodes signed command
+- `scale = OUTPUT_SCALE`: X = +1, Y = -1, Z = -1 (sign flips drive polarity to match wiring)
+- peak-peak voltage of 3.3V from the TRAK CNC II control
+
+
+When the enable line is deasserted the pwmgen output is forced off (not 50%), so the amp sees a distinct disabled state vs. "commanded zero". You can hear the drives hum/whine at the 50% state.
+
+My notes say that setting duty cycle to 0 or 100% cause the drive to disable. I'm not sure if this is the case or not. I don't know exactly what the functional band of the PWM is.
+
+### Enable
+
+Enable lines are switched by 7i37TA isolated MOSFET outputs (`OBITn+`/`OBITn-`). Per the 7i37 manual, a **low** FPGA pin turns the MOSFET **on**. HAL sets `invert_output true` on the enable GPIOs, so HAL `enable=TRUE` → FPGA-low → MOSFET on → contact **closed**.
+
+| HAL enable | FPGA pin | MOSFET | Contact | Drive    |
+| ---------- | -------- | ------ | ------- | -------- |
+| TRUE       | LOW      | ON     | made    | enabled  |
+| FALSE      | HIGH     | OFF    | broken  | disabled |
+
+Fail-safe: cable cut, 5 V loss, or hm2 unconfigured all leave the MOSFET off → contact open → drive disabled.
+
+![](cbox_bottom.jpg)

nc_files/THF-AIRPANEL.ngc

@@ -0,0 +1,18 @@
+#<_z_clearance> = 0.500
+
+M03 ; Start spindle
+F10 ; Feed
+
+#<_z_top> = 0.25
+#<_z_bot> = 0.0
+
+#<d> = 0.5
+o<frame_circ> call [+4] [1.25][-4.025] [#<d>]
+o<frame_circ> call [+4] [4.00][-4.025] [#<d>]
+o<frame_circ> call [+4] [4.00][-1.805] [#<d>]
+
+o<frame_rect> call [+4+8] [-.175][.175] [5.425][-4.425]
+
+M05 ; Stop Spindle
+M30 ; End Program
+%

nc_files/subs/frame_circ.ngc

@@ -4,8 +4,8 @@
 ; Requires tool loaded (uses #5410 for diameter)
 ; Optional global:  #<_z_clearance>
 o<frame_circ> sub
-	; o<frame_circ> call [mode] [x][y] [diameter] [fincut]
+	(o<frame_circ> call [mode] [x][y] [diameter] [fincut])
-	; #1=mode #2=x #3=y #4=diameter #5=fincut
+	(#1=mode #2=x #3=y #4=diameter #5=fincut)
 
 	#<M_CONVENTIONAL> = [FIX[#1/1] MOD 2 EQ 1]
 	#<M_OUTSIDE>      = [FIX[#1/8] MOD 2 EQ 1]

nc_files/subs/frame_rect.ngc

@@ -4,8 +4,8 @@
 ; Requires tool loaded (uses #5410 for diameter)
 ; Optional global:  #<_z_clearance>
 o<frame_rect> sub
-	; o<frame_rect> call [mode] [x1][y1] [x2][y2] [radius]
+	(o<frame_rect> call [mode] [x1][y1] [x2][y2] [radius])
-	; #1=mode #2=x1 #3=y1 #4=x2 #5=y2 #6=radius
+	(#1=mode #2=x1 #3=y1 #4=x2 #5=y2 #6=radius)
 
 	#<M_CONVENTIONAL> = [FIX[#1/1] MOD 2 EQ 1]
 	#<M_OUTSIDE>      = [FIX[#1/8] MOD 2 EQ 1]

readme.md

@@ -1,5 +1,7 @@
 # Lagun Mill - LinuxCNC
 
+For wiring - see [docs/WIRING.md](docs/WIRING.md).
+
 ## Docs
 
 - [nc_files/MACROS.md](nc_files/MACROS.md) — macro subroutine reference (drill, pocket, frame, slot, bore, polygon)