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Hakan Bastedt
2024-12-06 07:49:54 +01:00
parent a653a3d94a
commit 1df85b5646
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3057
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/LatheMacro.svg Normal file
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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/README Normal file
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This folder contains a number of simulated lathe configs.
the "lathemacro" config offers a number of simple macros to perform
the most common lathe operations.
The GUI that controls the macros can be viewed by clicking the "Cycles"
tab top left of the graphical preview window.
There are two load-time options to control the tab behaviour:
1) norun will hide the action button, use this if you want to use only
a physical button (connected to gladevcp.cycle-start) to start the macros
(Strongly recommended, especially with Touchy)
2) notouch will allow keyboard editing of the spinboxes. Otherwise the
custom numeric keyboard will be shown.
An example loadrt line, as used here in the Gmoccapy demo is:
[DISPLAY]
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
The window will resize slowly if you grab the corner and move the mouse
inside the window. It's not as bad as it was, but still needs work.
You may need to click the unmaximise button in the toolbar to get a
window border to be able to use the resize handles.
Notes on the keyboard:
As well as the obvious functions and unit conversions, it can be used to
enter fractions. For example if you type 1.1/2 it will automatically
update to display 1.5000 and 16.17/64 will show 16.2656.
This can be used in a limited way to halve the onscreen value eg for
entering radius instead of diameter.
However it only works for whole numbers: 100/2 will become 50 but
3.14149/2 is interpreted as 3 and 14 thousand halves so won't work.
Notes on adding your own cycles:
Create a new G-code subroutine in the same format as the existing ones.
In Glade add a new tab to the 'tabs1' notebook and give it a name matching
the new cycle.
Edit the action button (inside an eventbox) to call the new G-code sub.
Rename the action button to match the tab name and append '.action' eg
MyCycle.action
Create new artwork. I used Fusion360, the models are here:
https://a360.co/3uFPZNv
and the drawings are here:
https://a360.co/3uFPZNv
Esport the drawing page as PDF and import into the lathemacro.svg file in
Inkscape. You will need to resize. Add your own arrows and annotations.
Save the new layer in a layer named "layerN" (lower case) where N is the
tab number, starting at zero. You will need to invoke the XML editor for
this (Shift-Cmd-X on Mac)
The entry boxes are positioned relative to a 1500 x 1000 image; the
original size of the SVG. So you can hover your mouse over the image in
Inkscape to determine the coordinates.
In the in the case of on-drawing controls the coordinates are entered as
an XML comment in the Tooltip for the control in x,y format (The surface speed,
tool and coolant do not need this, they are in a fixed table)
An example:
<!--300,711->Peck distance
Make sure the comment has "use markup" selected for the tooltip.
Also ensure that the control has the "show_keyb" function allocated for
the Widget->button_press event. If you copy-paste a tab and copy-paste
extra controls this should be automatic.
_All_ your new spinboxes will need their own new Adjustment, or they will
change value when you alter the original spinbox that they are a copy of.

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.hal Normal file
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# Generated by PNCconf at Sat Sep 10 10:10:56 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#*******************
# AXIS X
#*******************
# --- joint signals for motion
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
# --- connect stepper driver to joint
# 1/2 of stepper's p/rev 2000 => 1000
setp lcec.0.0.steps-per-mm-1 200
net x-pos-cmd => lcec.0.0.commanded-position-1
net x-pos-fb => lcec.0.0.actual-position-1
#net x-enable => lcec.0.0.enable
#*******************
# AXIS Z
#*******************
# --- joint signals for motion
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-pos-fb <= joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
# --- connect stepper driver to the joint
setp lcec.0.0.steps-per-mm-2 80
# 1/5 of drive's step/rev
net z-pos-cmd => lcec.0.0.commanded-position-2
net z-pos-fb => lcec.0.0.actual-position-2
# net z-enable => lcec.0.0.enable
#*********************
# E-STOP
#*********************
setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#setp lcec.0.0.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.0.enc-position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out
#net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.0.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.0.enc-index-latch-enable
net from_encoder metalmusings-encoder.0.index-status lcec.0.0.index-status
net spindle-index-enable metalmusings-encoder.0.index-c-enable
# ---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
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
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 joint-select-b halui.axis.z.select
net z-is-homed halui.joint.1.is-homed
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 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-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
addf lcec.write-all servo-thread

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.ini Normal file
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# This config file was created 2016-11-26 11:13:55.093594 by the update_ini script
# The original config files may be found in the /home/debian/linuxcnc/configs/Turner/Turner.old directory
# Generated by PNCconf at Fri Sep 9 22:31:33 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Turner
DEBUG = 0
[DISPLAY]
LATHE=1
DISPLAY = gmoccapy
BACK_TOOL_LATHE = 0
CYCLE_TIME = 150
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/debian/linuxcnc/configs/Turner/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 1800.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
#EMBED_TAB_NAME = Cycles
#EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
#EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
[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
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = .:../../nc_files/subs:nc_files:../../../nc2
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G7 M9 M5 G64 P0.005
FEATURES=12
USER_M_PATH = nc_files:.
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 2000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[HAL]
TWOPASS = true
HALUI = halui
HALFILE = Turner.hal
#HALFILE = custom_vfd.hal
HALFILE = custom.hal
#HALFILE = xhc-hb04.tcl
#HALFILE = monitor_xhc-hb04.tcl
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 20.0
MAX_LINEAR_VELOCITY = 40.00
DEFAULT_ACCELERATION = 400.0
MAX_ACCELERATION = 400.0
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2
#********************
# Axis X
#********************
[AXIS_X]
MIN_LIMIT = -106
MAX_LIMIT = 106
MAX_VELOCITY = 15.0
MAX_ACCELERATION = 400.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 400.0
MAX_OUTPUT = 0.0
MIN_LIMIT = -106
MAX_LIMIT = 106
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -560.0
MAX_LIMIT = 560.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 400.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 75.0
MAX_ACCELERATION = 400.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2400.0
OUTPUT_SCALE =5760
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2400
#ENCODER_SCALE = -4000
ENCODER_SCALE = 2000

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.pref Normal file
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[DEFAULT]
dro_digits = 3
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
enable_dro = False
scale_jog_vel = 24.0
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 = 300.0
kbd_height = 250
view = y
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
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/debian
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
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 = False
show_dtg = False
view_tool_path = False
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = False
offset_axis_z = 150.0
diameter offset_axis_x = 0
offset_axis_x = 0.0

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/__pycache__/lathehandler.cpython-311.pyc Normal file
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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/autosave.halscope Normal file
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THREAD servo-thread
MAXCHAN 4
HMULT 1
HZOOM 1
HPOS 4,132653e-01
CHAN 1
PIN lcec.0.0.D1
VSCALE 1
VPOS 0,781382
VOFF 0,000000e+00
CHAN 2
PIN lcec.0.0.DiffT
VSCALE 0
VPOS 0,678420
VOFF 0,000000e+00
CHAN 3
PIN lcec.0.0.D3
VSCALE 1
VPOS 0,743300
VOFF 2,000000e+02
CHAN 4
PIN lcec.0.0.D4
VSCALE 5
VPOS 0,364679
VOFF 0,000000e+00
TMODE 1
RMODE 2

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/boring.ngc Normal file
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;boring
O<boring> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [-#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#23 - #13] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
(debug, Turning finish dia #1 start dia #14 start length #13 finish length #5 coolant #9)
O100 WHILE [#14 LT [#1 - #3]]
g0 X #14
#14=[#14 + #3]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G3 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 - #3]
O101 ELSE
G1 X[#14 + #24 - [#3 * 1.5]]
O101 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G3 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 - #3]
O102 ELSE
G1 X[#1 + #24 - #3]
O102 ENDIF
G0 Z #13
G0 X #1 ; For touch-off
M5 M9
G7
O<boring> endsub
M2

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/chamfer.ngc Normal file
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;chamfer
O<chamfer> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D1500 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 + #20]
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 + #8]
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<chamfer> endsub
m2
%

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/core_sim_lathe.hal Normal file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/core_sim_lathe_C.hal Normal file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

59
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/core_sim_lathe_CW.hal Normal file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net Wpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

4
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom.hal Normal file
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# Gamepad
loadusr -W hal_input -KRAL F310
# Resten är i custom_postgui.hal

74
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom_postgui.hal Normal file
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# Include your custom_postgui HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt or2 count=2
loadrt mux4 count=1
loadrt and2 count=4
loadrt oneshot count=1
addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf oneshot.0 servo-thread
setp mux4.0.in0 0
setp mux4.0.in1 25
setp mux4.0.in2 50
setp mux4.0.in3 1000
net remote-speed-slow or2.0.in0 <= input.0.btn-x
net remote-speed-medium or2.1.in0 <= input.0.btn-a
net remote-speed-fast or2.0.in1 <= input.0.btn-b
net remote-speed-fast or2.1.in1 <= input.0.btn-b
net joy-speed-1 mux4.0.sel0 <= or2.0.out
net joy-speed-2 mux4.0.sel1 <= or2.1.out
net jog-speed <= mux4.0.out
net jog-x-analog <= input.0.abs-y-position
net jog-z-analog <= input.0.abs-x-position
# Spindle start+manual and stop
net manual-mode-spindle-lock and2.3.in0 halui.mode.manual <= input.0.btn-mode
net spindle-safe-start and2.3.in1 <= input.0.btn-tr
net spindle-manual-cw <= and2.3.out
net spindle-manual-stop <= input.0.btn-tl
# E-stop
net estop halui.estop.activate <= input.0.btn-y
# net manual-mode halui.mode.manual <= input.0.btn-mode
# Start/pause/resume stop
setp oneshot.0.width 0.0011
setp oneshot.0.retriggerable 0
setp oneshot.0.rising 1
setp oneshot.0.falling 0
net program-is-idle halui.program.is-idle => and2.0.in0
net program-is-running halui.program.is-running => and2.1.in0
net program-is-paused halui.program.is-paused => and2.2.in0
net button-edge-trig input.0.btn-start => oneshot.0.in
net button-start oneshot.0.out => and2.0.in1 and2.1.in1 and2.2.in1
net program-start and2.0.out => halui.program.run halui.mode.auto
net program-pause and2.1.out => halui.program.pause
net program-resume and2.2.out => halui.program.resume
net program-stop input.0.btn-select => halui.program.stop
net spindle-at-speed gmoccapy.spindle_at_speed_led
net spindle-vel-fb-rpm => gmoccapy.spindle_feedback_bar
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

48
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom_vfd.hal Normal file
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# Include your custom HAL commands here
# Load the Huanyang VFD user component
loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
# motion.spindle-speed-in needs rev per second
loadrt scale names=scale.0,scale.1,scale.2
# scale.0 gearbox via M101-M106, M101 being lowest gear.
# scale.1 Inverted gear ratio
# scale.2 motion.spindle-speed.in in rev/sec
loadrt limit2 names=spindlemax
loadrt mult2 names=mult2.1
addf scale.0 servo-thread
addf scale.1 servo-thread
addf scale.2 servo-thread
addf mult2.1 servo-thread
addf spindlemax servo-thread
setp scale.0.gain 0.8846 # Start with fourth gear
setp scale.1.gain 1.13045
setp scale.2.gain 0.0166666667
setp mult2.1.in1 25.0
unlinkp spindle.0.forward
unlinkp spindle.0.reverse
unlinkp spindle.0.on
#unlinkp motion.spindle-at-speed
net spindle-fwd spindle.0.forward => spindle-vfd.spindle-forward
net spindle-reverse spindle.0.reverse => spindle-vfd.spindle-reverse
net spindle-on spindle.0.on => spindle-vfd.spindle-on
net spindle-at-speed <= spindle-vfd.spindle-at-speed
#net spindle-enable => spindle-vfd.enable
setp spindle-vfd.enable 1
# Prepare max limit rpm for spindle
net spindle-max-freq spindle-vfd.max-freq => mult2.1.in0
net spindle-max-rpm mult2.1.out => spindlemax.max # Max limit for motor rpm, like 67*25 = 1675
# Give speed to vfd, limited to max possible
unlinkp spindle.0.speed-out-abs
net spindle-speed-scale spindle.0.speed-out-abs => scale.1.in # Spindle rpm => Motor rpm
net spindle-speed-cmd-unlimited scale.1.out => spindlemax.in # Limit spindle rpm
net spindle-speed-cmd-limited spindlemax.out => spindle-vfd.speed-command # Feed to vfd
# Convert actual feed from rpm to rps, consider gear in use.
unlinkp spindle.0.speed-in
net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in # Motor rpm => Motor rps
net spindle-speed-gears scale.2.out => scale.0.in # Motor rps => spindle rps
net spindle-speed-in scale.0.out => spindle.0.speed-in

49
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/drilling.ngc Normal file
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;drilling
; Use T = 0 for tailstock drilling, then this just sets speed
O<drilling> SUB
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
#10 = [#2 * 1000 / [ #1 * 3.141592]]
(debug, #10)
O90 IF [#7 GT 0.5]
M8
O90 ENDIF
O100 IF [#6 LT 0.5]
G97 M3 S#10
O<drilling> RETURN
O100 ENDIF
M6 T#6 G43
G0 X0
O83 IF [#5 GT 0] ; Pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G83 R#<_z> Q#5 Z#4
M5 M9 G18
O<drilling> RETURN
O83 ENDIF
O82 IF [1]; not pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G82 R#<_z> P0.5 Z#4
M5 M9 G18
O82 ENDIF
O<drilling> ENDSUB
O<drilling> call [10] [100] [0.03] [0] [2] [0] [1]
M2

59
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/ethercat-conf.xml Normal file
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<masters>
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
<slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="commanded-position-1" halType="float-ieee"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="7002" subIdx="00" bitLen="32" halPin="commanded-position-2" halType="float-ieee"/>
</pdo>
<pdo idx="1603">
<pdoEntry idx="7003" subIdx="00" bitLen="16" halPin="steps-per-mm-1" halType="s32"/>
</pdo>
<pdo idx="1604">
<pdoEntry idx="7004" subIdx="00" bitLen="16" halPin="steps-per-mm-2" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
</pdo>
<pdo idx="1a02">
<pdoEntry idx="6002" subIdx="00" bitLen="16" halPin="DiffT" halType="u32"/>
</pdo>
<pdo idx="1a03">
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
</pdo>
<pdo idx="1a04">
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
</pdo>
<pdo idx="1a05">
<pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="actual-position-1" halType="float-ieee"/>
</pdo>
<pdo idx="1a06">
<pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="actual-position-2" halType="float-ieee"/>
</pdo>
<pdo idx="1a07">
<pdoEntry idx="6007" subIdx="00" bitLen="16" halPin="D1" halType="s32"/>
</pdo>
<pdo idx="1a08">
<pdoEntry idx="6008" subIdx="00" bitLen="16" halPin="D2" halType="s32"/>
</pdo>
<pdo idx="1a09">
<pdoEntry idx="6009" subIdx="00" bitLen="16" halPin="D3" halType="s32"/>
</pdo>
<pdo idx="1a0a">
<pdoEntry idx="600a" subIdx="00" bitLen="16" halPin="D4" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/ethercat-conf.xml.org Normal file
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<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL2008"/>
<slave idx="3" type="EL5101"/>
<slave idx="4" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="b8 0b"/></sdoConfig> <!-- Max motor current (3.0A) -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Open loop -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<slave idx="5" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="68 10"/></sdoConfig> <!-- Max motor current (4.2A) -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Open loop -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<slave idx="6" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-pos-scale" halType="s32"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
</pdo>
<pdo idx="1a02">
<pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/>
</pdo>
<pdo idx="1a03">
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
</pdo>
<pdo idx="1a04">
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/facing.ngc Normal file
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;Facing
O<facing> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#7 G43
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
O10 IF [#6 NE 0]
(MSG, Angled facing isn't supported yet)
O10 ENDIF
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D2500 S#2 ; Constant Surface Speed Mode
M3
g95 F#4 ; Feed-Per-Rev Mode
g4p1 ; Wait to reach speed
O200 WHILE [#13 GT #5 + #3]
#13=[#13-#3]
G1 Z#13
G1 X#1
G0 Z[#13+#3]
G0 X#14
G0 Z#13
O200 ENDWHILE
G1 Z#5
G1 X#1
G0 Z[#13+#3]
G0 X[#14+#3]
G0 Z#5 ; For touch-off
M5 M9
O<facing> endsub
M2

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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/gmoccapy_lathe.pref Normal file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = 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/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
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
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True
tool_in_spindle = 3
diameter offset_axis_x = 0
offset_axis_x = 0.0
offset_axis_z = 0.0
offset_axis_r = 50.0
radius offset_axis_x = 0
use_toolmeasurement = False
kbd_height = 250
icon_theme = None
hide_tooltips = False
hide_titlebar = False
audio_enabled = True

72
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/gmoccapy_lathe_c.pref Normal file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = 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/emcmesa
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
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

23
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/gmoccapy_postgui.hal Normal file
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###################################################################
# moccapy_postgui.hal file from Norbert Schechner #
###################################################################
loadrt abs names=abs_spindle_feedback
addf abs_spindle_feedback servo-thread
net spindle-speed-limited => abs_spindle_feedback.in
net spindle-abs abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar
net spindle-at-speed gmoccapy.spindle_at_speed_led
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

32
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/grooving.ngc Normal file
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;grooving
O<grooving> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#4 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
G96 D1500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#3 ; Feed-Per-Rev Mode
O90 IF [#5 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
G1 F#3 X#1
G0 X#14
M5 M9
G7
O<grooving> endsub
M2

22
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/halshow.preferences Normal file
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# Halshow settings
# This file is generated automatically.
wm geometry . 700x475+1121+46
placeFrames 0.3
set ::ratio 0.3
set ::old_w_leftf 160
set ::watchlist {
pin+lcec.0.0.DiffT
pin+lcec.0.0.D1
pin+lcec.0.0.D2
pin+lcec.0.0.D3
pin+lcec.0.0.D4
pin+lcec.0.0.commanded-position-2
pin+lcec.0.0.actual-position-2
}
set ::workmode watchhal
set ::watchInterval 100
set ::col1_width 100
set ::ffmts
set ::ifmts
set ::alwaysOnTop 0
set ::autoSaveWatchlist 1

159
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe.ini Normal file
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# 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 = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[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 = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 100
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = 250
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

74
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe.pref Normal file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
gremlin_view = rbt_view_y2
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
use_screen2 = False
gtk_theme = Follow System Theme
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 = p
mouse_btn_mode = 4
hide_cursor = 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/emcmesa
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
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

5
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe.tbl Normal file
View File

@@ -0,0 +1,5 @@
T1 P1 X-12.0 Y0.0 Z-25.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I26.0 J86.0 Q2.0 ;60 Grad vorn
T2 P2 X-10.356 Y0.0 Z12.123 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I50.0 J85.0 Q2.0 ;35 Grad vorn
T3 P3 X1.123 Y0.0 Z25.456 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I-80.0 J-25.0 Q3.0 ;55 Grad vorn
T4 P4 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I94.0 J154.0 Q1.0 ;60 Grad Rück
T5 P5 X5.737 Y0.0 Z12.2399 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q6.0 ;Einstichstahl

182
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_C.ini Normal file
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# 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 = 1.1
MACHINE = lathe_c
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[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 = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe_C.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZC
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

210
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_CW.ini Normal file
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# 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 = 1.1
MACHINE = lathe_cw
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[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 = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe_CW.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z C W
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZCW
JOINTS = 4
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_W]
MIN_LIMIT = -200.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 66
MAX_ACCELERATION = 150.0
[JOINT_3]
TYPE = LINEAR
MAX_VELOCITY = 66
MAX_ACCELERATION = 150.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -200.0
MAX_LIMIT = 0.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

160
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_backtool.ini Normal file
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# 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 = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 1
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[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 = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

73
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_c.pref Normal file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
reload_tool = True
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
mouse_btn_mode = 4
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rotation of Z
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
unlock_way = no
grid_size = 1.0
view = y2
gremlin_view = rbt_view_y
tool_in_spindle = 0
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
hide_cursor = False
jump_to_dir = /home/emcmesa
blockdel = False
opstop = False
run_from_line = run
show_preview_on_offset = True
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True

72
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_cw.pref Normal file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y2
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = 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/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
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
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True
tool_in_spindle = 2

160
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_imperial.ini Normal file
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# 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 = 1.1
MACHINE = lathe_imperial
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 0.4 inch, 0.04 inch , 0.004 inch, 0.0004 inch
[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 = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G20 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.001
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.6
MAX_LINEAR_VELOCITY = 10
POSITION_FILE = position.txt
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -2.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 4
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 400.0
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -3.0
MAX_LIMIT = 400.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -4
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos
# Sections for display options ------------------------------------------------

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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 6.0
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = 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/emcmesa
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
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 4
toggle_readout = True
view = y

165
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe_macros.ini Normal file
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# 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 = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
EMBED_TAB_NAME = Cycles
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
[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 = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros:./
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
#POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

217
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathehandler.py Executable file
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#!/usr/bin/env python3
# vim: sts=4 sw=4 et
# This is a component of EMC
# savestate.py copyright 2013 Andy Pugh
# based on code from
# probe.py Copyright 2010 Michael Haberler
#
#
# 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
import os,sys
from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
import hal
import hal_glib
import glib
import linuxcnc
import cairo
import signal
import re
import gi
gi.require_version('Rsvg', '2.0')
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk
from gi.repository import Gdk
from gi.repository import GObject
from gi.repository import Pango
from gi.repository import Rsvg
from gi.repository import GdkPixbuf
debug = 0
notouch = 0
norun = 0
class HandlerClass:
active = False
tab_num = 0
def on_expose(self,nb,data=None):
tab_num = nb.get_current_page()
tab = nb.get_nth_page(tab_num)
alloc = tab.get_allocation()
x, y, w, h = (alloc.x, alloc.y, alloc.width, alloc.height)
pixbuf = self.svg.get_pixbuf_sub(f'#layer{tab_num}').scale_simple(w-10, h-10, GdkPixbuf.InterpType.BILINEAR)
im = self.builder.get_object(f'Image{tab_num}')
im.set_from_pixbuf(pixbuf)
for c in im.get_parent().get_children():
if c.get_has_tooltip():
m = re.findall(r'<!--(\d+),(\d+)-->', c.get_tooltip_markup())
if len(m) > 0:
x1 = int(m[0][0]); y1 = int(m[0][1])
c.set_margin_left(max(0, w * x1/1500))
c.set_margin_top(max(0, h * y1/1000))
# decide if our window is active to mask the cycle-start hardware button
# FIXME: This is probably not as reliable as one might wish.
def event(self,w,event):
if w.is_active():
if w.has_toplevel_focus() :
self.active = True
else:
self.active = False
# Capture notify events
def on_map_event(self, widget, data=None):
top = widget.get_toplevel()
top.connect('notify', self.event)
def on_destroy(self,obj,data=None):
self.ini.save_state(self)
def on_restore_defaults(self,button,data=None):
'''
example callback for 'Reset to defaults' button
currently unused
'''
self.ini.create_default_ini()
self.ini.restore_state(self)
def __init__(self, halcomp,builder,useropts):
self.halcomp = halcomp
self.builder = builder
self.ini_filename = 'savestate.sav'
self.defaults = { IniFile.vars: dict(),
IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(),
hal_only=False,output_only = True))
}
self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
self.ini.restore_state(self)
# A pin to use a physical switch to start the cycle
self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN))
self.cycle_start.connect('value-changed', self.cycle_pin)
# This catches the signal from Touchy to say that the tab is exposed
t = self.builder.get_object('macrobox')
t.connect('map-event',self.on_map_event)
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
self.cmd = linuxcnc.command()
# This connects the expose event to re-draw and scale the SVG frames
t = self.builder.get_object('tabs1')
t.connect_after("draw", self.on_expose)
t.connect("destroy", Gtk.main_quit)
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
self.svg = Rsvg.Handle().new_from_file('LatheMacro.svg')
self.active = True
# handle Useropts
if norun:
for c in range(0,6):
print(c)
print( f'tab{c}.action')
self.builder.get_object(f'tab{c}.action').set_visible(False)
def show_keyb(self, obj, data=None):
if notouch: return False
self.active_ctrl = obj
self.keyb = self.builder.get_object('keyboard')
self.entry = self.builder.get_object('entry1')
self.entry.modify_font(Pango.FontDescription("courier 42"))
self.entry.set_text("")
resp = self.keyb.run()
return True
def keyb_prev_click(self, obj, data=None):
self.entry.set_text(self.active_ctrl.get_text())
def keyb_number_click(self, obj, data=None):
data = self.entry.get_text()
data = data + obj.get_label()
if any( x in data for x in [ '/2', '/4', '/8', '/16', '/32', '/64', '/128']):
v = [0] + [float(x) for x in data.replace('/','.').split('.')]
data = f'{v[-3] + v[-2]/v[-1]:6.7}'
self.entry.set_text(data)
def keyb_pm_click(self, obj, data=None):
data = self.entry.get_text()
if data[0] == '-':
data = data[1:]
else:
data = '-' + data
self.entry.set_text(data)
def keyb_convert_click(self, obj, data=None):
v = float(self.entry.get_text())
op = obj.get_label()
if op == 'in->mm':
self.entry.set_text(f'{v * 25.4:6.4}')
elif op == 'mm->in':
self.entry.set_text(f'{v / 25.4:6.4}')
elif op == 'tpi->pitch':
self.entry.set_text(f'{25.4 / v:6.4}')
elif op == 'pitch->tpi':
self.entry.set_text(f'{25.4 / v:6.4}')
def keyb_del_click(self, obj, data=None):
data = self.entry.get_text()
data = data[:-1]
self.entry.set_text(data)
def keyb_clear_click(self, obj, data=None):
self.entry.set_text('')
def keyb_cancel_click(self, obj, data=None):
self.keyb.hide()
def keyb_ok_click(self, obj, data=None):
if self.entry.get_text() != '':
self.active_ctrl.set_value(float(self.entry.get_text()))
self.keyb.hide()
def set_alpha(self, obj, data = None):
cr = obj.get_property('window').cairo_create()
cr.set_source_rgba(1.0, 1.0, 1.0, 0.0)
def cycle_pin(self, pin, data = None):
if pin.get() == 0:
return
if self.active:
nb = self.builder.get_object('tabs1')
print('current tab', nb.get_current_page())
c = self.builder.get_object(f"tab{nb.get_current_page()}.action")
if c is not None:
self.cmd.abort()
self.cmd.mode(linuxcnc.MODE_MDI)
self.cmd.wait_complete()
c.emit('clicked')
print(c.get_name(), "clicked")
def testing(self, obj, data = None):
print('event', data)
def get_handlers(halcomp,builder,useropts):
global debug
for cmd in useropts:
print(cmd)
exec(cmd, globals())
set_debug(debug)
return [HandlerClass(halcomp,builder,useropts)]

2937
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathemacro.ui Normal file
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119
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/linuxcnc.var Normal file
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5161 0.000000
5162 0.000000
5163 0.000000
5164 0.000000
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5210 0.000000
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5217 0.000000
5218 0.000000
5219 0.000000
5220 1.000000
5221 0.000000
5222 0.000000
5223 -138.733334
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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5301 0.000000
5302 0.000000
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5310 0.000000
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5362 0.000000
5363 0.000000
5364 0.000000
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5366 0.000000
5367 0.000000
5368 0.000000
5369 0.000000
5370 0.000000
5381 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

14
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/metalmusings_encoder.comp Normal file
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@@ -0,0 +1,14 @@
component metalmusings_encoder;
pin io bit index-c-enable;
pin in u32 index-status;
pin out u32 index-latch-enable;
function _;
license "GPL";
;;
//main function
FUNCTION(_) {
index_latch_enable = index_c_enable;
index_c_enable = index_status;
}

6
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M101 Executable file
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@@ -0,0 +1,6 @@
#!/bin/bash
R=0.1923
MAXRPM=380
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M102 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.3189
MAXRPM=630
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M103 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.4638
MAXRPM=920
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M104 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.8846
MAXRPM=1770
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M105 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=1.4672
MAXRPM=2930
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M106 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=2.1334
MAXRPM=4260
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

10
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M111 Executable file
View File

@@ -0,0 +1,10 @@
%
(1)
#1 = 0
o100 while [#1 LT 10]
G0 X-200 Z-200
G0 X200 Z200
#1 = [#1+1]
o100 endwhile
M2
%

16
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/position.txt Normal file
View File

@@ -0,0 +1,16 @@
0.55999995357589616
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000

3
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/postgui_call_list.hal Normal file
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@@ -0,0 +1,3 @@
# These files are loaded post GUI, in the order they appear
source custom_postgui.hal

76
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/radius.ngc Normal file
View File

@@ -0,0 +1,76 @@
;radius
O<radius> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D2400 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; Front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g3 x#1 z[#5 - #20] K[-#20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g3 x#1 z[#5 - #8] K[-#8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g2 x#1 z[#5 - #20] K[-#20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g2 x#1 z[#5 - #8] K[-#8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g2 x#1 z[#5 + #20] K#20
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g2 x#1 z[#5 + #8] K#8
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<radius> endsub
m2
%

71
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/savestate.sav Normal file
View File

@@ -0,0 +1,71 @@
# generated by gladevcp.persistence.create_default_ini() on Tue Jul 12 01:49:47 2022
[ini]
signature = a9fe768b61bb9201e86d89ad226616650f20e7ac
version = 1
[vars]
[widgets]
chamfer.fi = False
chamfer.fo = False
turn.rad = 3.0
groove.coolant = True
turn.z = 120.0
turn.x = 15.0
drill.dia = 10.0
radius.x = 0.0
radius.z = 0.0
thread.pitch = 1.0
turn.feed = 0.15
thread.x = 6.0
bore.rad = 0.0
radius.coolant = False
radius.bo = False
thread.z = 0.0
face.coolant = False
drill.peck = 2.0
face.cut = 2.8999999999999977
radius.rad = 1.0
thread.internal = False
face.sf = 0.0
bore.sf = 100.0
turn.tool = 1.0
face.feed = 0.15
chamfer.tool = 1.0
chamfer.bo = True
groove.sf = 100.0
thread.tool = 5.0
groove.feed = 0.03
bore.feed = 0.15
radius.sf = 100.0
chamfer.x = 0.0
chamfer.z = 0.0
thread.external = True
turn.coolant = True
face.z = 0.0
bore.x = 0.0
bore.z = 0.0
groove.x = 0.0
face.tool = 1.0
face.x = 0.0
chamfer.size = 1.0
turn.cut = 1.0
drill.coolant = True
chamfer.sf = 100.0
bore.tool = 1.0
groove.tool = 4.0
face.angle = 0.0
bore.coolant = True
drill.feed = 0.020000000000000004
drill.z = 0.0
turn.sf = 60.0
thread.sf = 60.0
radius.fo = False
turn.angle = 0.0
thread.coolant = False
bore.cut = 1.0
radius.fi = True
drill.tool = 3.0
drill.sf = 100.0
radius.tool = 1.0
bore.angle = 0.0
chamfer.coolant = False
# last update by gladevcp.persistence.save_state() on Wed Mar 20 16:28:06 2024

2
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/shutdown.hal Normal file
View File

@@ -0,0 +1,2 @@
# Include your shutdown HAL commands here
# This file will not be overwritten when you run PNCconf again

119
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/sim.var Normal file
View 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
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5308 0.000000
5309 0.000000
5310 0.000000
5321 0.000000
5322 0.000000
5323 0.000000
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5325 0.000000
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5330 0.000000
5341 0.000000
5342 0.000000
5343 0.000000
5344 0.000000
5345 0.000000
5346 0.000000
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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

21
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/simulated_home_lathe.hal Normal file
View File

@@ -0,0 +1,21 @@
loadrt comp names=comp_x,comp_z
addf comp_x servo-thread
addf comp_z servo-thread
net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in

21
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/simulated_home_lathe_CW.hal Normal file
View File

@@ -0,0 +1,21 @@
loadrt comp names=comp_x,comp_z
addf comp_x servo-thread
addf comp_z servo-thread
net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in

69
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/spindle_sim.hal Normal file
View File

@@ -0,0 +1,69 @@
# counting the spindle encoder in software
loadrt encoder names=encoder_0
# simulate the encoder
loadrt sim_encoder names=sim_encoder_0
loadrt limit2 names=limit_speed
addf limit_speed servo-thread
#######################################################
# Beginning of threading related stuff
#######################################################
# spindle speed control
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
net spindle-speed-limited limit_speed.out => sim_encoder_0.speed
# simulate spindle mass
setp limit_speed.maxv 3000.0 # rpm/second
# spindle encoder
# connect encoder signals to encoder counter
net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
# assume 120 ppr = 480 counts/rev for the spindle
setp sim_encoder_0.ppr 12
# iocontrol output is in rpm, but sim-encoder speed is rps
setp sim_encoder_0.scale 60
# scale encoder output to read in revolutions
# (that way thread pitches can be straightforward,
# a 20 tpi thread would multiply the encoder output
# by 1/20, etc)
setp encoder_0.position-scale 48
# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
# report our revolution count to the motion controller
net spindle-pos encoder_0.position => spindle.0.revs
# for spindle velocity estimate
loadrt lowpass names=lowpass_velocity
loadrt scale names=scale_to_rpm
net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in spindle.0.speed-in
net spindle-rpm-filtered scale_to_rpm.out
setp scale_to_rpm.gain 60
setp lowpass_velocity.gain .07
addf lowpass_velocity servo-thread
addf scale_to_rpm servo-thread
# for at-speed detection
loadrt near names=near_speed
addf near_speed servo-thread
setp near_speed.scale 1.1
setp near_speed.difference 10
net spindle-speed-cmd => near_speed.in1
net spindle-rpm-filtered => near_speed.in2
net spindle-at-speed near_speed.out spindle.0.at-speed
net spindle-fwd <= spindle.0.forward
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
addf sim-encoder.make-pulses base-thread
addf encoder.update-counters base-thread

59
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/threading.ngc Normal file
View File

@@ -0,0 +1,59 @@
;threading
O<threading> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#3 G43
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D200 S#2 ; Constant Surface Speed Mode
M3
g95 F0.25 ; Feed-Per-Rev Mode
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
;Threading
O51 IF [#6 GT 0.5]
#<OD> = [#1]
#<ID> = [#1 - 1.3 * #4]
;g1X [#<ID> - 1] ;thread truncation
;g0 Z #13
;g1 X #<ID>
;g1 Z #5
G0 X[#<ID> - 1]
g0 Z #13
#3 = [#4 * 1.3]
(debug, INTERNAL Threading thread dia-#1 start-#13 finish-#5 Pitch-#4 Depth-#3)
g1X [#<ID> - 1]
g76 p#4 z#5 i1 j1 k#3 h3 r1.5 q29.5 e0 l0
O51 ELSE
#<OD> = [#1 - 0.108 * #4]
#<ID> = [#1 - 1.0825 * #4]
(debug, EXTERNAL Threading OD = #<OD> ID = #<ID>)
#3 = [#4 * 1.0825]
g1X [#<OD> + 1] ;final thread truncation
g0 z#13
g1 X #<OD>
g1 Z #5
G0 X[#<OD> +1]
G0 Z #13
g76 p#4 z#5 i-1 j1 k#3 h3 r1.5 q29.5 e0 l0
O51 ENDIF
G0 Z #13
m5 M9
O<threading> endsub
M2

19
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/tool.tbl Normal file
View File

@@ -0,0 +1,19 @@
T1 P1 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;# rh turning
T2 P2 X-25.3242 Y0.0 Z15.924 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I80.0 J20.0 Q3.0 ;
T3 P3 X-15.4825 Y0.0 Z258.6854 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D3.0 I90.0 J90.0 Q6.0 ;
T4 P4 X-0.5336 Y0.0 Z54.9583 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I87.0 J40.0 Q2.0 ;
T5 P5 X-15.0582 Y0.0 Z117.9963 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I60.0 J200.0 Q5.0 ;
T6 P6 X2.6969 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.5 I120.0 J70.0 Q6.0 ;# threading
T7 P7 X-8.408 Y0.0 Z13.7459 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.8 I107.5 J77.5 Q6.0 ;# vcmt110304
T8 P8 X-11.16 Y0.0 Z-31.05 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I200.0 J300.0 Q8.0 ;
T9 P9 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q9.0 ;
T10 P10 X-0.07 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T11 P11 X-23.0718 Y0.0 Z-3.7292 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T12 P12 X-1.8392 Y0.0 Z-3.8279 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T13 P13 X-10.8533 Y0.0 Z-6.2652 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T14 P14 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I300.0 J200.0 Q4.0 ;
T15 P15 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I200.0 J200.0 Q5.0 ;
T16 P16 X-15.13 Y0.0 Z14.91 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I100.0 J60.0 Q6.0 ;
T17 P17 X-15.14 Y0.0 Z5.992 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I-30.0 J30.0 Q7.0 ;
T18 P18 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I200.0 J300.0 Q8.0 ;
T19 P19 X29.7817 Y0.0 Z-21.8231 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;

66
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/turning.ngc Normal file
View File

@@ -0,0 +1,66 @@
;Turning
O<turning> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#13 - #23] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
O100 WHILE [#14 GT [#1 + #3 / 2]]
g0 X #14
#14=[#14-#3 / 2]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G2 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 + #3/2]
O101 ELSE
G1 X[#14 + #24 + [#3 * .6]]
O101 ENDIF
O104 IF [#7 LT 0]
G0 X#14
O104 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G2 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 + #3]
O102 ELSE
G1 X[#1 + #24 + #3]
O102 ENDIF
O106 IF [#7 LT 0]
G0 X#14
O106 ENDIF
M9
G0 Z #13
G0 X #1 ; For touch-off
M5
G7
O<turning> endsub
M2

199
Cards/EaserCAT-2000/linuxcnc/Turner.hal Normal file
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@@ -0,0 +1,199 @@
# Generated by PNCconf at Sat Sep 10 10:10:56 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=2
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#*******************
# AXIS X
#*******************
# --- joint signals for motion
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
# --- connect stepper driver to joint
net x-pos-cmd => cia402.0.pos-cmd
net x-pos-fb => cia402.0.pos-fb
net x-enable => cia402.0.enable
# --- ect60 settings
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 5000
# --- from stepper(ethercat) to cia402
net x-statusword lcec.0.4.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.4.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.4.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo lcec.0.4.actual-velocity => cia402.0.drv-actual-velocity
# --- from cia402 to stepper(ethercat)
net x-controlword cia402.0.controlword => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.4.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.4.target-position
net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.4.target-velocity
#*******************
# AXIS Z
#*******************
# --- joint signals for motion
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-pos-fb <= joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
# --- connect stepper driver to the joint
net z-pos-cmd => cia402.1.pos-cmd
net z-pos-fb => cia402.1.pos-fb
net z-enable => cia402.1.enable
# --- ect60 settings
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
# --- from servo(ethercat) to cia402
net z-statusword lcec.0.5.cia-statusword => cia402.1.statusword
net z-opmode-display lcec.0.5.opmode-display => cia402.1.opmode-display
net z-drv-act-pos lcec.0.5.actual-position => cia402.1.drv-actual-position
net z-drv-act-velo lcec.0.5.actual-velocity => cia402.1.drv-actual-velocity
# --- from cia402 to servo(ethercat)
net z-controlword cia402.1.controlword => lcec.0.5.cia-controlword
net z-modes-of-operation cia402.1.opmode => lcec.0.5.opmode
net z-drv-target-pos cia402.1.drv-target-position => lcec.0.5.target-position
net z-drv-target-velo cia402.1.drv-target-velocity => lcec.0.5.target-velocity
#*********************
# E-STOP
#*********************
setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.6.enc-position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out
net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.6.enc-index-latch-enable
net from_encoder metalmusings-encoder.0.index-status lcec.0.6.index-status
net spindle-index-enable metalmusings-encoder.0.index-c-enable
# ---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
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
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 joint-select-b halui.axis.z.select
net z-is-homed halui.joint.1.is-homed
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 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-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf lcec.write-all servo-thread

199
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/Turner.hal Executable file
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# Generated by PNCconf at Sat Sep 10 10:10:56 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=2
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#*******************
# AXIS X
#*******************
# --- joint signals for motion
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
# --- connect stepper driver to joint
net x-pos-cmd => cia402.0.pos-cmd
net x-pos-fb => cia402.0.pos-fb
net x-enable => cia402.0.enable
# --- ect60 settings
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 5000
# --- from stepper(ethercat) to cia402
net x-statusword lcec.0.4.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.4.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.4.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo lcec.0.4.actual-velocity => cia402.0.drv-actual-velocity
# --- from cia402 to stepper(ethercat)
net x-controlword cia402.0.controlword => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.4.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.4.target-position
net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.4.target-velocity
#*******************
# AXIS Z
#*******************
# --- joint signals for motion
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-pos-fb <= joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
# --- connect stepper driver to the joint
net z-pos-cmd => cia402.1.pos-cmd
net z-pos-fb => cia402.1.pos-fb
net z-enable => cia402.1.enable
# --- ect60 settings
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
# --- from servo(ethercat) to cia402
net z-statusword lcec.0.5.cia-statusword => cia402.1.statusword
net z-opmode-display lcec.0.5.opmode-display => cia402.1.opmode-display
net z-drv-act-pos lcec.0.5.actual-position => cia402.1.drv-actual-position
net z-drv-act-velo lcec.0.5.actual-velocity => cia402.1.drv-actual-velocity
# --- from cia402 to servo(ethercat)
net z-controlword cia402.1.controlword => lcec.0.5.cia-controlword
net z-modes-of-operation cia402.1.opmode => lcec.0.5.opmode
net z-drv-target-pos cia402.1.drv-target-position => lcec.0.5.target-position
net z-drv-target-velo cia402.1.drv-target-velocity => lcec.0.5.target-velocity
#*********************
# E-STOP
#*********************
setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.6.enc-position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out
#net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.6.enc-index-latch-enable
net from_encoder metalmusings-encoder.0.index-status lcec.0.6.index-status
net spindle-index-enable metalmusings-encoder.0.index-c-enable
# ---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
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
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 joint-select-b halui.axis.z.select
net z-is-homed halui.joint.1.is-homed
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 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-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf lcec.write-all servo-thread

161
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/Turner.ini Executable file
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# This config file was created 2016-11-26 11:13:55.093594 by the update_ini script
# The original config files may be found in the /home/debian/linuxcnc/configs/Turner/Turner.old directory
# Generated by PNCconf at Fri Sep 9 22:31:33 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Turner
DEBUG = 0
[DISPLAY]
LATHE=1
DISPLAY = gmoccapy
BACK_TOOL_LATHE = 0
CYCLE_TIME = 200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/debian/linuxcnc/configs/Turner/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 1800.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
EMBED_TAB_NAME = Cycles
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
[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
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = .:../../nc_files/subs:nc_files:../../../nc2
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G7 M9 M5 G64 P0.005
FEATURES=12
USER_M_PATH = nc_files:.
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[HAL]
TWOPASS = true
HALUI = halui
HALFILE = Turner.hal
HALFILE = custom.hal
#HALFILE = xhc-hb04.tcl
#HALFILE = monitor_xhc-hb04.tcl
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 20.0
MAX_LINEAR_VELOCITY = 40.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2
#********************
# Axis X
#********************
[AXIS_X]
MIN_LIMIT = -106
MAX_LIMIT = 106
MAX_VELOCITY = 15.0
MAX_ACCELERATION = 500.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 500.0
MAX_OUTPUT = 0.0
MIN_LIMIT = -106
MAX_LIMIT = 106
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -560.0
MAX_LIMIT = 560.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1000.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 75.0
MAX_ACCELERATION = 1000.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2400.0
OUTPUT_SCALE =5760
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2400
#ENCODER_SCALE = -4000
ENCODER_SCALE = 2000

72
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/Turner.pref Executable file
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[DEFAULT]
dro_digits = 3
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
enable_dro = False
scale_jog_vel = 24.0
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 = 300.0
kbd_height = 250
view = y
blockheight = 0.0
reload_tool = False
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
use_toolmeasurement = False
gtk_theme = Follow System Theme
icon_theme = classic
grid_size = 1.0
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/debian
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = 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 = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
show_keyboard_on_file_selection = False

2572
Cards/EaserCAT-4000-THCAD-Reader/Kicad/THCAD-reader-input.kicad_sch Executable file
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File diff suppressed because it is too large Load Diff

45359
Cards/EaserCAT-4000-THCAD-Reader/Kicad/THCAD-reader.kicad_pcb Executable file
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File diff suppressed because it is too large Load Diff

602
Cards/EaserCAT-4000-THCAD-Reader/Kicad/THCAD-reader.kicad_pro Executable file
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{
"board": {
"3dviewports": [],
"design_settings": {
"defaults": {
"apply_defaults_to_fp_fields": false,
"apply_defaults_to_fp_shapes": false,
"apply_defaults_to_fp_text": false,
"board_outline_line_width": 0.1,
"copper_line_width": 0.2,
"copper_text_italic": false,
"copper_text_size_h": 1.5,
"copper_text_size_v": 1.5,
"copper_text_thickness": 0.3,
"copper_text_upright": false,
"courtyard_line_width": 0.05,
"dimension_precision": 4,
"dimension_units": 3,
"dimensions": {
"arrow_length": 1270000,
"extension_offset": 500000,
"keep_text_aligned": true,
"suppress_zeroes": false,
"text_position": 0,
"units_format": 1
},
"fab_line_width": 0.1,
"fab_text_italic": false,
"fab_text_size_h": 1.0,
"fab_text_size_v": 1.0,
"fab_text_thickness": 0.15,
"fab_text_upright": false,
"other_line_width": 0.15,
"other_text_italic": false,
"other_text_size_h": 1.0,
"other_text_size_v": 1.0,
"other_text_thickness": 0.15,
"other_text_upright": false,
"pads": {
"drill": 3.5,
"height": 3.5,
"width": 3.5
},
"silk_line_width": 0.15,
"silk_text_italic": false,
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179
Cards/EaserCAT-4000-THCAD-Reader/Kicad/THCAD-reader.kicad_sch Executable file
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303663
Cards/EaserCAT-4000-THCAD-Reader/Kicad/THCAD-reader.wrl Executable file
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