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This commit is contained in:
Hakan Bastedt
2024-12-06 07:49:54 +01:00
parent a653a3d94a
commit 1df85b5646
67 changed files with 362653 additions and 0 deletions
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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