318 lines
7.3 KiB
INI
Executable File
318 lines
7.3 KiB
INI
Executable File
# Lagun milling machine configuration for GMOCCAPY GUI
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# Based on lagun config (PNCconf Fri Jul 26 13:18:08 2024)
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# Modified to use GMOCCAPY instead of AXIS
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# Using LinuxCNC version: Master (2.9)
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#
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# Hardware: Mesa 5i24 FPGA card (hm2_pci)
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# Axes: X, Y (dual encoder: motor + linear scale), Z (linear scale only)
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# Pendant: XHC WHB04B-6 wireless
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# Spindle: On/off relay (no speed control)
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# Units: Imperial (inches)
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# --- General EMC settings ---
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[EMC]
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MACHINE = my_LinuxCNC_machine
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DEBUG = 0
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VERSION = 1.1
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# --- GUI configuration ---
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[DISPLAY]
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DISPLAY = gmoccapy
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 2.000000
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MAX_SPINDLE_OVERRIDE = 1.000000
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MIN_SPINDLE_OVERRIDE = 0.500000
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
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# Jog increments available in the GUI (inches)
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INCREMENTS = 0.1000 0.0500 0.0100 0.0050 0.0010 0.0005 0.0001
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DEFAULT_LINEAR_VELOCITY = 3.0
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MAX_LINEAR_VELOCITY = 1.000000
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MIN_LINEAR_VELOCITY = 0.016670
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DEFAULT_ANGULAR_VELOCITY = 12.000000
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MAX_ANGULAR_VELOCITY = 180.000000
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MIN_ANGULAR_VELOCITY = 1.666667
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EDITOR = gedit
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GEOMETRY = xyz
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CYCLE_TIME = 100
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DEFAULT_SPINDLE_SPEED = 500
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# --- File type filters for loading programs ---
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python3
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# --- Task controller ---
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.010
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# --- G-code interpreter ---
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[RS274NGC]
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PARAMETER_FILE = linuxcnc.var
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# Startup: G20=inch, G40=cancel cutter comp, G90=absolute, G94=feed/min,
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# G97=RPM mode, G64 P0.001=path blending tolerance 0.001"
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RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
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# --- Motion controller ---
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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# 1ms servo period
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SERVO_PERIOD = 1000000
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# --- Mesa 5i24 FPGA card ---
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[HMOT]
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# **** This is for info only ****
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CARD0=hm2_5i24.0
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# --- HAL file loading order ---
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[HAL]
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HALUI = halui
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HALFILE = lagun.hal
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HALFILE = xhc-whb04b-6.hal
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POSTGUI_HALFILE = gmoccapy_postgui.hal
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SHUTDOWN = shutdown.hal
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# --- MDI commands for HALUI (pendant macro buttons) ---
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# Index 00: (unused, debug)
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# Index 01: Halve X coordinate (macro button 1)
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# Index 02: Halve Y coordinate (macro button 2)
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# Index 03: (unused, debug)
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# Index 04: (unused, debug)
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# Index 05: Zero X in current work offset (macro button 5)
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# Index 06: Zero Y in current work offset (macro button 6)
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# Index 07: Zero Z in current work offset (macro button 7)
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# Index 08-14: (unused, debug or reserved)
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[HALUI]
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MDI_COMMAND=(DEBUG,<1>)
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MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
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MDI_COMMAND=G10 L20 P0 Y[#<_y>/2.0]
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MDI_COMMAND=(DEBUG,<4>)
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MDI_COMMAND=(DEBUG,<5>)
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MDI_COMMAND=G10 L20 P0 X0
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MDI_COMMAND=G10 L20 P0 Y0
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MDI_COMMAND=G10 L20 P0 Z0
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MDI_COMMAND=(DEBUG,<5>)
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MDI_COMMAND=(DEBUG,<9>)
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MDI_COMMAND=(DEBUG,<10>)
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MDI_COMMAND=(DEBUG,<2>)
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MDI_COMMAND=(DEBUG,<12>)
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MDI_COMMAND=(DEBUG,<13>)
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MDI_COMMAND=(DEBUG,<14>)
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# --- Kinematics ---
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[KINS]
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JOINTS = 3
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KINEMATICS = trivkins coordinates=XYZ
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# --- Trajectory planner ---
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[TRAJ]
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COORDINATES = XYZ
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 3.0
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MAX_LINEAR_VELOCITY = 1.00
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# Allow motion without homing first
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NO_FORCE_HOMING = 1
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# --- I/O controller ---
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[EMCIO]
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EMCIO = io
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CYCLE_TIME = 0.100
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TOOL_TABLE = tool.tbl
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# Raise quill before tool change
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TOOL_CHANGE_QUILL_UP = 1
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#******************************************
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# X AXIS - Joint 0
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# Dual feedback: motor encoder (enc 03) + linear scale (enc 00)
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# PWM output: pwmgen.00
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# Enable relay: GPIO 046 (active low)
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#******************************************
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[AXIS_X]
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 30.0
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MIN_LIMIT = -24.0
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MAX_LIMIT = +24.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.0
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FERROR = 0.5
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MIN_FERROR = 0.2
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MAX_VELOCITY = 100.0
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MAX_ACCELERATION = 30.0
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# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
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# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
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# Motor encoder PID gains (velocity loop)
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P = 0
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I = 0
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D = 4
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FF0 = 0
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FF1 = 0.6
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FF2 = 0
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# Linear scale PID gains (position correction loop)
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P_LIN = 300
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I_LIN = 500
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D_LIN = 0
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BIAS = 0
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DEADBAND = 0.0005
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MAX_OUTPUT = 0
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# Encoder scales (counts per inch)
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ENCODER_LIN_SCALE = -5080.0
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ENCODER_MTR_SCALE = -27939.6
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# 5.4 is the ratio between linear and motor scales, roughly
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# these are in nanoseconds
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DIRSETUP = 10000
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DIRHOLD = 10000
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STEPLEN = 5000
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STEPSPACE = 5000
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STEP_SCALE = 200.0
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MIN_LIMIT = -24.0
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MAX_LIMIT = +24.0
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HOME_OFFSET = 0.0
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HOME_SEQUENCE = 2
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OUTPUT_SCALE = 1
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OUTPUT_OFFSET = 0
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#******************************************
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# Y AXIS - Joint 1
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# Dual feedback: motor encoder (enc 04) + linear scale (enc 01)
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# PWM output: pwmgen.02
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# Enable relay: (shares Z-axis GPIO 044 line)
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#******************************************
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[AXIS_Y]
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 30.0
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MIN_LIMIT = -12.0
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MAX_LIMIT = +12.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.0
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FERROR = 0.5
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MIN_FERROR = 0.2
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MAX_VELOCITY = 100.0
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MAX_ACCELERATION = 30.0
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# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
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# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
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# Motor encoder PID gains (velocity loop)
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P = 0
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I = 0
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D = 5
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FF0 = 0
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FF1 = 0.6
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FF2 = 0
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# Linear scale PID gains (position correction loop)
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P_LIN = 350
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I_LIN = 500
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D_LIN = 0
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BIAS = 0
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DEADBAND = 0
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MAX_OUTPUT = 1
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# Encoder scales (counts per inch)
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ENCODER_LIN_SCALE = -5080.0
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ENCODER_MTR_SCALE = 27453.6
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# these are in nanoseconds
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DIRSETUP = 10000
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DIRHOLD = 10000
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STEPLEN = 5000
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STEPSPACE = 5000
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STEP_SCALE = 200.0
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MIN_LIMIT = -12
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MAX_LIMIT = +12
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HOME_OFFSET = 0.0
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HOME_SEQUENCE = 3
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# Negative scale inverts direction
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OUTPUT_SCALE = -1
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OUTPUT_OFFSET = 0
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#******************************************
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#******************************************
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# Z AXIS - Joint 2
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# Single feedback: linear scale only (enc 02), no motor encoder
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# PWM output: pwmgen.04
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# Enable relay: GPIO 044 (active low), gated by z-override AND logic
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# z-override allows M101/M102 to disable CNC Z for manual quill use
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#******************************************
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[AXIS_Z]
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 30.0
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MIN_LIMIT = -4.0
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MAX_LIMIT = 1.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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FERROR = 0.5
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# SETTING MIN_FERROR TO 100 ALLOWS Z AXIS TO DO WHATEVER. IDEALLY ITS 0.2
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# This is a workaround: when z-override disables the Z servo, the quill
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# can be moved manually and would trip a normal following error limit.
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MIN_FERROR = 100
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 30.0
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# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
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# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
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STEPGEN_MAXVEL = 1.25
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STEPGEN_MAXACCEL = 37.50
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# Linear scale PID gains (single loop, no motor encoder on Z)
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P = 200
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I = 300
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D = 2
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FF0 = 0
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FF1 = 1
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FF2 = 0
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BIAS = 0
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DEADBAND = 0
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MAX_OUTPUT = 0
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# these are in nanoseconds
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DIRSETUP = 10000
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DIRHOLD = 10000
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STEPLEN = 5000
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STEPSPACE = 5000
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STEP_SCALE = 200.0
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MIN_LIMIT = -4.0
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MAX_LIMIT = +1.0
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HOME_OFFSET = 0.0
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HOME_SEQUENCE = 1
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# Negative scale inverts direction
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OUTPUT_SCALE = -1
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OUTPUT_OFFSET = 0
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# Encoder scale (counts per inch)
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ENCODER_LIN_SCALE = -10075
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#******************************************
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# --- Spindle PID (not actively used; relay on/off only) ---
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[SPINDLE_0]
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P = 0
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I = 0
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D = 0
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FF0 = 1
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FF1 = 0
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FF2 = 0
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BIAS = 0
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DEADBAND = 0
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MAX_OUTPUT = 2000
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