Added linuxcnc test config before video release
This commit is contained in:
Hakan Bastedt
70
linuxcnc/sim.gmoccapy.lathe_configs/hallib/README
Executable file
70
linuxcnc/sim.gmoccapy.lathe_configs/hallib/README
Executable file
@@ -0,0 +1,70 @@
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This directory contains halfiles (*.hal and *.tcl) that are available
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using the LinuxCNC halfile search path or by an explicit directive.
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The HALLIB_PATH is '.:HALLIB_DIR'
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The '.' specifies the directory containing the INI file.
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HALIB_DIR specifies this directory.
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The explicit directive uses a prefix (LIB:) to identify halfiles:
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[HAL]
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HALFILE = LIB:filename.[hal|tcl]
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The LinuxCNC startup script (linuxcnc) finds each halfile using the
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HALLIB_PATH unless the explicit directive is used.
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Also included in this directory are files associated with included
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system halfiles. For example, the button layout files
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(xhc-hb04-layout*.cfg) that are used with the halfile xhc-hb04.tcl.
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------------------------------------------------------------------------
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Hal files (*.hal) Notes
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----------------------- ---------------------------------------------
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axis_manualtoolchange.hal setup for using hal_manualtoolchange
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(for axis or other guis)
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core_sim.hal xyz simulator config
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core_servo.hal xyz servo (pid) config
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core_sim9.hal 9 axis (xyzabcuvw) simulation config
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core_stepper.hal xyz stepper config
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gantrysim.hal gantrykins config, 4 joints: X Y Y Z
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lathe.hal simulate spindle with encoder,sim_encoder
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locking_indexer.hal simulate locking rotary using timedelay comp
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wheeljogpins.tcl enable wheel jog pins for joints & axes
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moveoff_external.hal Simulate external control connections for
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a moveoff component
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servo_sim.hal simulate servo (pid) xyz using lowpass comp
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sim_spindle_encoder.hal simulate spindle with lowpass filter
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simulated-gantry-home.hal simulate gantry home switches (4 joints)
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simulated_home.hal simulate xyz home switches
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simulated_limits.hal simulate xyz limit switches
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tripodsim.hal simulated tripodkins system
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Haltcl Files (*.tcl) Notes
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----------------------- ---------------------------------------------
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basic_sim.tcl set up a sim config (arbitrary no. of axes)
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var_show.tcl show INI variables and context
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hookup_moveoff.tcl make connections for a moveoff component
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plasmac.tcl common connections for the plasmac component
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xhc-hb04.tcl Configuration builder for xhc-hb04 pendant
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xhc-hb04-layout1.cfg button layout 1 for xhc-hb04.tcl
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xhc-hb04-layout2.cfg button layout 2 for xhc-hb04.tcl
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halcheck.tcl Report: 1) functions without addf
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2) signals with no inputs
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3) signals with no output
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Haltcl libs (*_lib.tcl) Notes
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----------------------- ---------------------------------------------
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sim_lib.tcl simulator config procedures
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procs:
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core_sim (arbitrary axes)
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make-ddts (arbitrary axes)
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simulated_home (arbitrary axes)
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use_hal_manualtoolchange
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sim_spindle
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util_lib.tcl utility procedures
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procs:
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show_context (calling parms)
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show_ini (INI file settings)
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show_env (environmental vars)
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10
linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal
Executable file
10
linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal
Executable file
@@ -0,0 +1,10 @@
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loadusr -W hal_manualtoolchange
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# in case they were linked already
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unlinkp iocontrol.0.tool-change
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unlinkp iocontrol.0.tool-changed
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net tool-change hal_manualtoolchange.change iocontrol.0.tool-change
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net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
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net tool-prep-number hal_manualtoolchange.number iocontrol.0.tool-prep-number
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71
linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl
Executable file
71
linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl
Executable file
@@ -0,0 +1,71 @@
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# basic_sim.tcl
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#
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# Provide common hal components and connections for a simulated machine.
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# By default, the script makes and connects ddts, simulated_home,
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# spindle, and hal_manualtoolchange components.
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#
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# Options are available to
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# a) disable specific hal components and connections
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# b) save a halfile equivalent to the hal commands executed by
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# this script (and any prior executed hal commands)
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#
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# Coordinate letters and number_of_joints are determined from the usual
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# INI file settings.
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#
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# INI file usage:
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# [HAL]HALFILE = basic_sim.tcl [Options]
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# Options:
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# -no_make_ddts
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# -no_simulated_home
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# -no_use_hal_manualtoolchange
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# -no_sim_spindle
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#----------------------------------------------------------------------
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# Notes:
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# 1) ::env() is a global associative array of environmental variables
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# as exported by the main LinuxCNC script (linuxcnc)
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# 2) Settings from the INI file are available as global associative
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# arrays named: ::SECTION(varname)
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# example: ::EMCMOT(SERVO_PERIOD)
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# 3) procs are from sim_lib.tcl
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#begin-----------------------------------------------------------------
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source [file join $::env(HALLIB_DIR) sim_lib.tcl]
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set save_options {}
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if [catch {check_ini_items} msg] {
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puts "\nbasic_sim.tcl ERROR: $msg\n"
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exit 1
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}
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set axes [get_traj_coordinates]
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set number_of_joints $::KINS(JOINTS)
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set base_period 0 ;# 0 means no thread
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if [info exists ::EMCMOT(BASE_PERIOD)] {
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set base_period $::EMCMOT(BASE_PERIOD)
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}
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core_sim $axes \
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$number_of_joints \
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$::EMCMOT(SERVO_PERIOD) \
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$base_period \
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$::EMCMOT(EMCMOT)
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if {[lsearch -nocase $::argv -no_make_ddts] < 0} {
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make_ddts $number_of_joints
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}
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if {[lsearch -nocase $::argv -no_simulated_home] < 0} {
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simulated_home $number_of_joints
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}
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if {[lsearch -nocase $::argv -no_use_hal_manualtoolchange] < 0} {
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use_hal_manualtoolchange
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lappend save_options use_hal_manualtoolchange
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}
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if {[lsearch -nocase $::argv -no_sim_spindle] < 0} {
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sim_spindle
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}
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# make a halfile (inifilename_cmds.hal) with equivalent hal commands
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set savefilename \
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./[file rootname [file tail $::env(INI_FILE_NAME)]]_cmds.hal
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save_hal_cmds $savefilename $save_options
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240
linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl
Executable file
240
linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl
Executable file
@@ -0,0 +1,240 @@
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# check_config.tcl
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# Usage: tclsh path_to_this_file inifilename
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# if a check fails, print message and exit 1
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#
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# checks:
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# 1) mandatory items per ::mandatory_items list
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# 2) if trivkins, check consistency of [JOINT_] and [AXIS_]
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# MIN_LIMIT and MAX_LIMIT
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#----------------------------------------------------------------------
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set ::mandatory_items {KINS KINEMATICS
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KINS JOINTS
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}
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# Ref: src/emc/nml_intf/emccfg.h,src/emc/ini/inijoint.cc,src/emc/iniaxis.cc:
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set ::DEFAULT_AXIS_MAX_VELOCITY 1.0
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set ::DEFAULT_AXIS_MAX_ACCELERATION 1.0
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set ::DEFAULT_JOINT_MAX_VELOCITY 1.0
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set ::DEFAULT_JOINT_MAX_ACCELERATION 1.0
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# Ref: src/emc/ini/iniaxis.cc:
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set ::DEFAULT_AXIS_MIN_LIMIT -1e99
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set ::DEFAULT_AXIS_MAX_LIMIT +1e99
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#----------------------------------------------------------------------
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proc warnings msg {
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puts -nonewline "\n$::progname:\n"
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catch {puts ($::kins(module) kinematics) WARNING:"}
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foreach m $msg {puts " $m"}
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puts ""
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} ;# warnings
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proc err_exit msg {
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puts -nonewline "\n$::progname:\n"
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catch {puts ($::kins(module) kinematics) ERROR:"}
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foreach m $msg {puts " $m"}
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puts ""
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exit 1
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} ;# err_exit
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proc check_mandatory_items {} {
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foreach {section item} $::mandatory_items {
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if  ] {
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set section [string trim $section :]
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lappend emsg "Missing \[$section\]$item="
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}
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}
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if [info exists emsg] {
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err_exit $emsg
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}
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} ;# check_mandatory_items
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proc uniq {list_name} { ;# make list unique
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foreach item $list_name { set tmp($item) "" }
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return [array names tmp]
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} ;# uniq
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proc joints_for_trivkins {coords} {
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# ref: src/emc/kinematics/trivkins.c
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# order of coord letters determines assigned joint number
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if {"$coords" == ""} {set coords {X Y Z A B C U V W}}
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set i 0
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foreach a [string toupper $coords] {
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# assign to consecutive joints:
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lappend ::kins(jointidx,$a) $i
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incr i
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}
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} ;# joints_for_trivkins
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proc consistent_coords_for_trivkins {trivcoords} {
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set m {" " "" "\t" ""} ;# mapping to remove whitespace
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set trivcoords [string map $m $trivcoords]
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if {"$trivcoords" == "XYZABCUVW"} {
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return ;# unspecified trivkins coordinates
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# allows use of any coordinates
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}
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set trajcoords ""
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if [info exists ::TRAJ(COORDINATES)] {
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set trajcoords [string map $m [lindex $::TRAJ(COORDINATES) 0]]
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}
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if {[string toupper "$trivcoords"] != [string toupper "$trajcoords"]} {
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lappend ::wmsg "INCONSISTENT coordinates specifications:
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trivkins coordinates=$trivcoords
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\[TRAJ\]COORDINATES=$trajcoords"
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}
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} ;# consistent_coords_for_trivkins
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proc validate_identity_kins_limits {} {
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set emsg ""
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for {set j 0} {$j < $::KINS(JOINTS)} {incr j} {
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if {] } {
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lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_VELOCITY, default used: $::DEFAULT_JOINT_MAX_VELOCITY"
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}
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if {] } {
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lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_ACCELERATION, default used: $::DEFAULT_JOINT_MAX_ACCELERATION"
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}
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}
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foreach c [uniq $::kins(coordinates)] {
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# array test avoids superfluous messages when coordinates= not specified
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if [array exists ::AXIS_[set c]] {
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if {] } {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_VELOCITY, default used: $::DEFAULT_AXIS_MAX_VELOCITY"
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}
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if {] } {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_ACCELERATION, default used: $::DEFAULT_AXIS_MAX_ACCELERATION"
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}
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}
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set missing_axis_min_limit 0
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set missing_axis_max_limit 0
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if ] {
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set ::AXIS_[set c](MIN_LIMIT) $::DEFAULT_AXIS_MIN_LIMIT
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set missing_axis_min_limit 1
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}
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if ] {
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set ::AXIS_[set c](MAX_LIMIT) $::DEFAULT_AXIS_MAX_LIMIT
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set missing_axis_max_limit 1
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}
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foreach j $::kins(jointidx,$c) {
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if [info exists ::JOINT_[set j](MIN_LIMIT)] {
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set jlim [set ::JOINT_[set j](MIN_LIMIT)]
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set clim [set ::AXIS_[set c](MIN_LIMIT)]
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if {$jlim > $clim} {
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if $missing_axis_min_limit {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MIN_LIMIT, default used: $::DEFAULT_AXIS_MIN_LIMIT"
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}
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lappend emsg "\[JOINT_$j\]MIN_LIMIT > \[AXIS_$c\]MIN_LIMIT ($jlim > $clim)"
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}
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}
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if [info exists ::JOINT_[set j](MAX_LIMIT)] {
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set jlim [set ::JOINT_[set j](MAX_LIMIT)]
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set clim [set ::AXIS_[set c](MAX_LIMIT)]
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if {$jlim < $clim} {
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if $missing_axis_max_limit {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_LIMIT, default used: $::DEFAULT_AXIS_MAX_LIMIT"
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}
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lappend emsg "\[JOINT_$j\]MAX_LIMIT < \[AXIS_$c\]MAX_LIMIT ($jlim < $clim)"
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}
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}
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}
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}
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return $emsg
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} ;# validate_identity_kins_limits
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proc check_extrajoints {} {
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if ![info exists ::EMCMOT(EMCMOT)] return
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if {[string first motmod $::EMCMOT(EMCMOT)] <= 0} return
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set mot [split [lindex $::EMCMOT(EMCMOT) 0]]
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foreach item $mot {
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set pair [split $item =]
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set parm [lindex $pair 0]
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set val [lindex $pair 1]
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if {"$parm" == "num_extrajoints"} {
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set ::num_extrajoints $val
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}
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}
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if [info exists ::num_extrajoints] {
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lappend ::wmsg [format "Extra joints specified=%d\n \
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\[KINS\]JOINTS=%d must accommodate kinematic joints *plus* extra joints " \
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$::num_extrajoints $::KINS(JOINTS)]
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}
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} ;#check_extrajoints
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proc warn_for_multiple_ini_values {} {
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set sections [info globals]
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set sections_to_check {JOINT_ AXIS_}
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foreach section $sections {
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set enforce 0
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foreach csection $sections_to_check {
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if {[string first $csection $section"] >= 0} {
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set enforce 1
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break
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}
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}
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if !$enforce continue
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foreach name [array names ::$section] {
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set gsection ::$section
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set val [set [set gsection]($name)]
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set len [llength $val]
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if {$len > 1} {
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lappend ::wmsg "Unexpected multiple values \[$section\]$name: $val"
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}
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}
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}
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} ;# warn_for_multiple_ini_values
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#----------------------------------------------------------------------
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# begin
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package require Linuxcnc ;# parse_ini
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set ::progname [file rootname [file tail [info script]]]
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set inifile [lindex $::argv 0]
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if ![file exists $inifile] {
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err_exit [list "No such file <$inifile>"]
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}
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if ![file readable $inifile] {
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err_exit [list "File not readable <$inifile>"]
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}
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parse_ini $inifile
|
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|
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check_mandatory_items
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set kins_kinematics [lindex $::KINS(KINEMATICS) end]
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set ::kins(module) [lindex $kins_kinematics 0]
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|
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# parameters specified as parm=value --> ::kins(parm)=value
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foreach item $kins_kinematics {
|
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if {[string first = $item] >= 0} {
|
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set l [split $item =]
|
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set ::kins([lindex $l 0]) [lindex $l 1]
|
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} else {
|
||||
if {"$item" != $::kins(module)} {
|
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puts "Unknown \[KINS\]KINEMATICS item: <$item>"
|
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}
|
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}
|
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}
|
||||
# coordinates --> ::kins(coordinates) (all if not specified)
|
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if [info exists ::kins(coordinates)] {
|
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set ::kins(coordinates) [split $::kins(coordinates) ""]
|
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set ::kins(coordinates) [string toupper $::kins(coordinates)]
|
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} else {
|
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set ::kins(coordinates) {X Y Z A B C U V W}
|
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}
|
||||
|
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# list of joints for each coord --> ::kins(jointidx,coordinateletter)
|
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switch $::kins(module) {
|
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trivkins {joints_for_trivkins $::kins(coordinates)}
|
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default {
|
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puts "$::progname: Unchecked: \[KINS\]KINEMATICS=$::KINS(KINEMATICS)"
|
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exit 0
|
||||
}
|
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}
|
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check_extrajoints
|
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|
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warn_for_multiple_ini_values
|
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#parray ::kins
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set emsg [validate_identity_kins_limits]
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consistent_coords_for_trivkins $::kins(coordinates)
|
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if [info exists ::wmsg] {warnings $::wmsg}
|
||||
|
||||
if {"$emsg" == ""} {exit 0}
|
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err_exit $emsg
|
||||
63
linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal
Executable file
63
linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal
Executable file
@@ -0,0 +1,63 @@
|
||||
# HAL config file to check vel/acc constraints
|
||||
#
|
||||
loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel
|
||||
|
||||
addf wcomp_xacc servo-thread
|
||||
addf wcomp_xvel servo-thread
|
||||
addf wcomp_yacc servo-thread
|
||||
addf wcomp_yvel servo-thread
|
||||
addf wcomp_zacc servo-thread
|
||||
addf wcomp_zvel servo-thread
|
||||
|
||||
net Xacc => wcomp_xacc.in
|
||||
net Xvel => wcomp_xvel.in
|
||||
net Yacc => wcomp_yacc.in
|
||||
net Yvel => wcomp_yvel.in
|
||||
net Zacc => wcomp_zacc.in
|
||||
net Zvel => wcomp_zvel.in
|
||||
|
||||
net acc-ok-x <= wcomp_xacc.out
|
||||
net vel-ok-x <= wcomp_xvel.out
|
||||
net acc-ok-y <= wcomp_yacc.out
|
||||
net vel-ok-y <= wcomp_yvel.out
|
||||
net acc-ok-z <= wcomp_zacc.out
|
||||
net vel-ok-z <= wcomp_zvel.out
|
||||
|
||||
setp wcomp_xacc.max 50.001
|
||||
setp wcomp_xacc.min -50.001
|
||||
setp wcomp_xvel.max 5.001
|
||||
setp wcomp_xvel.min -5.001
|
||||
setp wcomp_yacc.max 50.001
|
||||
setp wcomp_yacc.min -50.001
|
||||
setp wcomp_yvel.max 5.001
|
||||
setp wcomp_yvel.min -5.001
|
||||
setp wcomp_zacc.max 50.001
|
||||
setp wcomp_zacc.min -50.001
|
||||
setp wcomp_zvel.max 5.001
|
||||
setp wcomp_zvel.min -5.001
|
||||
|
||||
loadrt match8 names=match_all
|
||||
|
||||
addf match_all servo-thread
|
||||
|
||||
net acc-ok-x => match_all.a0
|
||||
setp match_all.b0 1
|
||||
net vel-ok-x => match_all.a1
|
||||
setp match_all.b1 1
|
||||
net acc-ok-y => match_all.a2
|
||||
setp match_all.b2 1
|
||||
net vel-ok-y => match_all.a3
|
||||
setp match_all.b3 1
|
||||
net acc-ok-z => match_all.a4
|
||||
setp match_all.b4 1
|
||||
net vel-ok-z => match_all.a5
|
||||
setp match_all.b5 1
|
||||
|
||||
setp match_all.a6 0
|
||||
setp match_all.a7 0
|
||||
setp match_all.b6 0
|
||||
setp match_all.b7 0
|
||||
|
||||
setp match_all.in 1
|
||||
|
||||
net constraints-ok <= match_all.out
|
||||
74
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal
Executable file
74
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal
Executable file
@@ -0,0 +1,74 @@
|
||||
# core HAL config file for servos
|
||||
|
||||
# first load the core RT modules that will be needed
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
# motion controller, get name and thread periods from INI file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
# PID module, for three PID loops
|
||||
loadrt pid num_chan=3
|
||||
|
||||
# hook functions to realtime thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid.0.do-pid-calcs servo-thread
|
||||
addf pid.1.do-pid-calcs servo-thread
|
||||
addf pid.2.do-pid-calcs servo-thread
|
||||
|
||||
# connect position feedback
|
||||
net Xpos-fb joint.0.motor-pos-fb => pid.0.feedback
|
||||
net Ypos-fb joint.1.motor-pos-fb => pid.1.feedback
|
||||
net Zpos-fb joint.2.motor-pos-fb => pid.2.feedback
|
||||
|
||||
# create PID to DAC output signals
|
||||
net Xoutput <= pid.0.output
|
||||
net Youtput <= pid.1.output
|
||||
net Zoutput <= pid.2.output
|
||||
|
||||
# set PID loop output limits to +/-1.00
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
|
||||
|
||||
# set PID loop gains from INI file
|
||||
|
||||
# the values below come from the INI
|
||||
setp pid.0.Pgain [JOINT_0]P
|
||||
setp pid.0.Igain [JOINT_0]I
|
||||
setp pid.0.Dgain [JOINT_0]D
|
||||
setp pid.0.bias [JOINT_0]BIAS
|
||||
setp pid.0.FF0 [JOINT_0]FF0
|
||||
setp pid.0.FF1 [JOINT_0]FF1
|
||||
setp pid.0.FF2 [JOINT_0]FF2
|
||||
# deadband should be just over 1 count
|
||||
setp pid.0.deadband [JOINT_0]DEADBAND
|
||||
|
||||
setp pid.1.Pgain [JOINT_1]P
|
||||
setp pid.1.Igain [JOINT_1]I
|
||||
setp pid.1.Dgain [JOINT_1]D
|
||||
setp pid.1.bias [JOINT_1]BIAS
|
||||
setp pid.1.FF0 [JOINT_1]FF0
|
||||
setp pid.1.FF1 [JOINT_1]FF1
|
||||
setp pid.1.FF2 [JOINT_1]FF2
|
||||
# deadband should be just over 1 count
|
||||
setp pid.1.deadband [JOINT_1]DEADBAND
|
||||
|
||||
setp pid.2.Pgain [JOINT_2]P
|
||||
setp pid.2.Igain [JOINT_2]I
|
||||
setp pid.2.Dgain [JOINT_2]D
|
||||
setp pid.2.bias [JOINT_2]BIAS
|
||||
setp pid.2.FF0 [JOINT_2]FF0
|
||||
setp pid.2.FF1 [JOINT_2]FF1
|
||||
setp pid.2.FF2 [JOINT_2]FF2
|
||||
# deadband should be just over 1 count
|
||||
setp pid.2.deadband [JOINT_2]DEADBAND
|
||||
|
||||
# position command signals
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
|
||||
|
||||
# joint enable signals
|
||||
net Xenable joint.0.amp-enable-out => pid.0.enable
|
||||
net Yenable joint.1.amp-enable-out => pid.1.enable
|
||||
net Zenable joint.2.amp-enable-out => pid.2.enable
|
||||
51
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim.hal
Executable file
51
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim.hal
Executable file
@@ -0,0 +1,51 @@
|
||||
# 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 Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
|
||||
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
|
||||
|
||||
# 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
|
||||
|
||||
67
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim9.hal
Executable file
67
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim9.hal
Executable file
@@ -0,0 +1,67 @@
|
||||
#!!! DECLINING USAGE use: HALFILE=LIB:basic_sim.tcl to automatically
|
||||
#!!! make the components and connections required for sim configs
|
||||
|
||||
# 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 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 Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
|
||||
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
|
||||
net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
|
||||
net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
|
||||
net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
|
||||
net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
|
||||
net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
|
||||
net Wpos joint.8.motor-pos-cmd => joint.8.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
|
||||
53
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_stepper.hal
Executable file
53
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_stepper.hal
Executable file
@@ -0,0 +1,53 @@
|
||||
# core HAL config file for steppers
|
||||
|
||||
# first load the core 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
|
||||
# stepper module, three step generators, all three using step/dir
|
||||
loadrt stepgen step_type=0,0,0
|
||||
|
||||
# hook functions to base thread (high speed thread for step generation)
|
||||
addf stepgen.make-pulses base-thread
|
||||
|
||||
# hook functions to servo thread
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
|
||||
|
||||
# connect position feedback from step generators
|
||||
# to motion module
|
||||
net Xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => stepgen.0.enable
|
||||
net Yen joint.1.amp-enable-out => stepgen.1.enable
|
||||
net Zen joint.2.amp-enable-out => stepgen.2.enable
|
||||
|
||||
# connect signals to step pulse generator outputs
|
||||
net Xstep <= stepgen.0.step
|
||||
net Xdir <= stepgen.0.dir
|
||||
net Ystep <= stepgen.1.step
|
||||
net Ydir <= stepgen.1.dir
|
||||
net Zstep <= stepgen.2.step
|
||||
net Zdir <= stepgen.2.dir
|
||||
|
||||
# set stepgen module scaling - get values from INI file
|
||||
setp stepgen.0.position-scale [JOINT_0]SCALE
|
||||
setp stepgen.1.position-scale [JOINT_1]SCALE
|
||||
setp stepgen.2.position-scale [JOINT_2]SCALE
|
||||
|
||||
# set stepgen module accel limits - get values from INI file
|
||||
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
|
||||
35
linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal
Executable file
35
linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal
Executable file
@@ -0,0 +1,35 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
show comp
|
||||
|
||||
# motion controller, get name and thread periods from INI file
|
||||
loadrt [EMCMOT]EMCMOT 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 J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
|
||||
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
|
||||
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
|
||||
net J3pos joint.3.motor-pos-cmd => joint.3.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
|
||||
|
||||
# amp control - these nets are not used, but are placeholders for
|
||||
# converting this sample config to actual machines
|
||||
net J0ena <= joint.0.amp-enable-out
|
||||
net J1ena <= joint.1.amp-enable-out
|
||||
net J2ena <= joint.2.amp-enable-out
|
||||
net J3ena <= joint.3.amp-enable-out
|
||||
|
||||
net J0flt => joint.0.amp-fault-in
|
||||
net J1flt => joint.1.amp-fault-in
|
||||
net J2flt => joint.2.amp-fault-in
|
||||
net J3flt => joint.3.amp-fault-in
|
||||
190
linuxcnc/sim.gmoccapy.lathe_configs/hallib/hal_procs_lib.tcl
Executable file
190
linuxcnc/sim.gmoccapy.lathe_configs/hallib/hal_procs_lib.tcl
Executable file
@@ -0,0 +1,190 @@
|
||||
# hal_procs_lib.tcl
|
||||
package require Hal ;# provides hal commands
|
||||
|
||||
proc pin_exists {name} {
|
||||
# return 1 if pin exists
|
||||
if { [lindex [hal list pin "$name"] 0] == "$name"} {return 1}
|
||||
return 0
|
||||
} ;# pin_exists
|
||||
|
||||
proc connection_info {result_name pinname } {
|
||||
# return 0 if pinname not found, else 1
|
||||
# result_name is associative array with details
|
||||
# owner type direction value separator signame
|
||||
upvar $result_name ay
|
||||
set ans [hal show pin $pinname]
|
||||
set lines [split $ans \n]
|
||||
set sig ""
|
||||
set sep ""
|
||||
set ct [scan [lindex $lines 2] "%s %s %s %s %s %s %s" \
|
||||
owner type dir val name sep sig]
|
||||
if {$ct <0} {
|
||||
return 0
|
||||
}
|
||||
set ay(owner) $owner
|
||||
set ay(type) $type
|
||||
set ay(direction) $dir
|
||||
set ay(value) $val
|
||||
set ay(separator) $sep
|
||||
set ay(signame) $sig
|
||||
return 1
|
||||
} ;# connection_info
|
||||
|
||||
proc is_connected {pinname {signame {} } } {
|
||||
# return is_input or is_output or is_io or not_connected
|
||||
# set signame to signal name if connected
|
||||
upvar $signame thesig
|
||||
set ans [hal show pin $pinname]
|
||||
set lines [split $ans \n]
|
||||
set thesig ""
|
||||
set sep ""
|
||||
set ct [scan [lindex $lines 2] "%s %s %s %s %s %s %s" \
|
||||
owner type dir val name sep thesig]
|
||||
if {$ct <0} {return not_connected}
|
||||
if {"$sep" == "<=="} {return is_input}
|
||||
if {"$sep" == "==>"} {return is_output}
|
||||
if {"$sep" == "<=>"} {return is_io}
|
||||
return "not_connected"
|
||||
} ;# is_connected
|
||||
|
||||
proc thread_info {ay_name} {
|
||||
# return details about threads in associative array ay_name
|
||||
# items for each $threadname:
|
||||
# ($threadname,$componentname) $threadname index for $componentname
|
||||
# ($threadname,fp) $threadname uses floatingpoint
|
||||
# ($threadname,period) $threadname period
|
||||
# ($threadname,index,last) $threadname last index used
|
||||
#
|
||||
# motion specific items:
|
||||
# (motion-command-handler,threadname) threadname
|
||||
# (motion-command-handler,index) index
|
||||
# (motion-controller,threadname) threadname
|
||||
# (motion-controller,index) index
|
||||
# other:
|
||||
# (threadnames) list of all threanames
|
||||
#
|
||||
# return string is $ay(motion-controller,threadname)
|
||||
|
||||
upvar $ay_name ay
|
||||
set ans [hal show thread]
|
||||
set lines [split $ans \n]
|
||||
set header_len 2
|
||||
set lines [lreplace $lines 0 [expr $header_len -1]]
|
||||
set lines [lreplace $lines end end]
|
||||
set remainder ""
|
||||
set ct 0
|
||||
foreach line $lines {
|
||||
catch {unset f1 f2 f3 f4}
|
||||
scan [lindex $lines $ct] \
|
||||
"%s %s %s %s" \
|
||||
f1 f2 f3 f4
|
||||
if ![info exists f3] {
|
||||
set index $f1; set compname $f2
|
||||
set ay($threadname,$compname) $index
|
||||
set ay($threadname,index,last) $index
|
||||
if {"$compname" == "motion-command-handler"} {
|
||||
set ay(motion-command-handler,threadname) $threadname
|
||||
set ay(motion-command-handler,index) $index
|
||||
}
|
||||
if {"$compname" == "motion-controller"} {
|
||||
set ay(motion-controller,threadname) $threadname
|
||||
set ay(motion-controller,index) $index
|
||||
}
|
||||
} else {
|
||||
set period $f1; set fp $f2; set threadname $f3
|
||||
lappend ay(threadnames) $threadname
|
||||
set ay($threadname,fp) $fp
|
||||
set ay($threadname,period) $period
|
||||
}
|
||||
incr ct
|
||||
}
|
||||
if [info exists ay(motion-controller,threadname)] {
|
||||
if [info exists ay(motion-command-handler,threadname)] {
|
||||
if { "$ay(motion-controller,threadname)" \
|
||||
!= "$ay(motion-command-handler,threadname)" \
|
||||
} {
|
||||
return -code error "thread_info: mot funcs on separate threads"
|
||||
if { $ay(motion-command-handler,index) \
|
||||
> $ay(motion-controller,index) \
|
||||
} {
|
||||
return -code error "thread_info: mot funcs OUT-OF-SEQUENCE"
|
||||
}
|
||||
}
|
||||
return $ay(motion-controller,threadname)
|
||||
} else {
|
||||
return -code error "thread_info: motion-controller not found"
|
||||
}
|
||||
}
|
||||
} ;# thread_info
|
||||
|
||||
proc get_netlist {inpins_name outpin_name iopins_name signame} {
|
||||
# input: signame
|
||||
# outputs:
|
||||
# inpins_name list of input pins for signame or ""
|
||||
# iopins_name list of io pins for signame or ""
|
||||
# outpin_name output pin for signame or ""
|
||||
upvar $inpins_name inpins
|
||||
upvar $iopins_name iopins
|
||||
upvar $outpin_name outpin
|
||||
|
||||
set inpins ""
|
||||
set iopins ""
|
||||
set outpin ""
|
||||
|
||||
set header_len 2
|
||||
set lines [split [hal show signal $signame] \n]
|
||||
set lines [lreplace $lines 0 [expr $header_len -1]]
|
||||
set lines [lreplace $lines end end]
|
||||
set ct 0
|
||||
foreach line $lines {set l($ct) [string trim $line];incr ct}
|
||||
set ct_max $ct
|
||||
set ct 0
|
||||
for {set ct 0} {$ct < $ct_max} {incr ct} {
|
||||
set v0 [lindex $l($ct) 0]
|
||||
set v1 [lindex $l($ct) 1]
|
||||
set v2 [lindex $l($ct) 2]
|
||||
switch $v0 {
|
||||
float -
|
||||
bit -
|
||||
u32 -
|
||||
s32 {set sname $v2} ;# set on 1st non-header line
|
||||
"==>" {}
|
||||
"<==" {}
|
||||
"<=>" {}
|
||||
* {return -code error "get_netlist: Unexpected <$line">}
|
||||
}
|
||||
if {"$signame"=="$sname"} {
|
||||
switch $v0 {
|
||||
"==>" {lappend inpins $v1}
|
||||
"<==" {lappend outpin $v1}
|
||||
"<=>" {lappend iopins $v1}
|
||||
}
|
||||
}
|
||||
}
|
||||
} ;# get_netlist
|
||||
|
||||
proc find_file_in_hallib_path {filename {inifile .}} {
|
||||
# find halfile using path HALLIB_PATH=.:HALLIB_DIR (see scripts/linuxcnc.in)
|
||||
set libtag LIB: ;# special prefix for explicit use of hallib file
|
||||
set halname [lindex $filename end]
|
||||
if {[string first "$libtag" $halname] == 0} {
|
||||
# explicit $libtag used
|
||||
set halname [string range $halname [string len $libtag] end]
|
||||
set usehalname [file join $::env(HALLIB_DIR) $halname]
|
||||
} else {
|
||||
if {[file pathtype $filename] == "absolute"} {
|
||||
set usehalname $filename
|
||||
} else {
|
||||
# relative file specifier (relative to INI file directory)
|
||||
set usehalname [file join [file dirname $inifile] $halname]
|
||||
if ![file readable $usehalname] {
|
||||
# use ::env(HALLIB_DIR)
|
||||
set usehalname [file join $::env(HALLIB_DIR) $halname]
|
||||
}
|
||||
}
|
||||
}
|
||||
if [file readable $usehalname] {
|
||||
return $usehalname
|
||||
}
|
||||
return -code error "find_file_in_hallib_path: cannot find: <$filename>"
|
||||
} ;# find_file_in_hallib_path
|
||||
171
linuxcnc/sim.gmoccapy.lathe_configs/hallib/halcheck.tcl
Executable file
171
linuxcnc/sim.gmoccapy.lathe_configs/hallib/halcheck.tcl
Executable file
@@ -0,0 +1,171 @@
|
||||
# halcheck.tcl: a halfile to report:
|
||||
# 1) functions with no addf (usually an error)
|
||||
# 2) signals with no inputs (not an error)
|
||||
# 3) signals with no output (not an error)
|
||||
#
|
||||
# Usage in INI file (must be the last HALFILE):
|
||||
# [HAL]
|
||||
# ...
|
||||
# HALFILE = LIB:halcheck.tcl
|
||||
#
|
||||
# Note: connections in a POSTGUI_HALFILE are not checked
|
||||
#
|
||||
|
||||
# config items:
|
||||
set ::popup 1 ;# default: enable popup (in addition to prints)
|
||||
set ::bigfont {Helvetica 12 bold} ;# {Family size weight}
|
||||
|
||||
#----------------------------------------------------------------------
|
||||
set ::prog halcheck
|
||||
|
||||
# test for ::argv items on halfile line (requires 2.7)
|
||||
if [info exists ::argv] {
|
||||
if {[lsearch $::argv nopopup] >= 0} {
|
||||
set ::popup 0 ;# disable popup
|
||||
}
|
||||
}
|
||||
|
||||
#----------------------------------------------------------------------
|
||||
proc gui_message { type items } {
|
||||
if { "$items" == "" } return
|
||||
# twopass processing uses built-ins only (no Tk)
|
||||
if {$::popup && [catch {package require Tk} msg]} {
|
||||
set ::popup 0
|
||||
}
|
||||
if { !$::popup } return
|
||||
if { ![winfo exists .b] } {
|
||||
wm title . "HAL checks"
|
||||
pack [button .b \
|
||||
-text Dismiss \
|
||||
-command {destroy .} \
|
||||
] -side bottom
|
||||
}
|
||||
set items [string map {" " \n} $items]
|
||||
switch $type {
|
||||
no_addfs {
|
||||
pack [label .noa1 \
|
||||
-text "Functions with no addf: " \
|
||||
-font $::bigfont \
|
||||
-relief ridge -bd 3 \
|
||||
] -side top -fill x -expand 1
|
||||
pack [label .noa2 \
|
||||
-text "$items" \
|
||||
-justify left \
|
||||
-anchor w \
|
||||
-relief sunken -bd 3 \
|
||||
] -side top -fill x -expand 1
|
||||
}
|
||||
no_inputs {
|
||||
pack [label .noi1 \
|
||||
-text "Signals with no inputs: " \
|
||||
-font $::bigfont \
|
||||
-relief ridge -bd 3 \
|
||||
] -side top -fill x -expand 1
|
||||
pack [label .noi2 \
|
||||
-text "$items" \
|
||||
-justify left \
|
||||
-anchor w \
|
||||
-relief sunken -bd 3 \
|
||||
] -side top -fill x -expand 1
|
||||
}
|
||||
no_output {
|
||||
pack [label .noo1 \
|
||||
-text "Signals with no output: " \
|
||||
-font $::bigfont \
|
||||
-relief ridge -bd 3 \
|
||||
] -side top -fill x -expand 1
|
||||
pack [label .noo2 \
|
||||
-text "$items" \
|
||||
-justify left \
|
||||
-anchor w \
|
||||
-relief sunken -bd 3 \
|
||||
] -side top -fill x -expand 1
|
||||
}
|
||||
}
|
||||
} ;# gui_message
|
||||
|
||||
proc check_function_usage {} {
|
||||
set ans [hal show function]
|
||||
set lines [split $ans \n]
|
||||
set header_len 2
|
||||
set lines [lreplace $lines 0 [expr $header_len -1]]
|
||||
set lines [lreplace $lines end end]
|
||||
set ct 0
|
||||
set no_addfs ""
|
||||
foreach line $lines {
|
||||
catch {unset f1 f2 f3 f4}
|
||||
scan [lindex $lines $ct] \
|
||||
"%s %s %s %s %s %s" \
|
||||
owner codeaddr arg fp users name
|
||||
if {"$users" == 0} {
|
||||
puts "$::prog: Functions with no addf: $name"
|
||||
lappend no_addfs $name
|
||||
}
|
||||
incr ct
|
||||
}
|
||||
gui_message no_addfs $no_addfs
|
||||
} ;# check_function_usage
|
||||
|
||||
proc check_signal_usage {} {
|
||||
set ans [hal show signal]
|
||||
set lines [split $ans \n]
|
||||
set header_len 2
|
||||
set lines [lreplace $lines 0 [expr $header_len -1]]
|
||||
set lines [lreplace $lines end end]
|
||||
set ct 0
|
||||
foreach line $lines {
|
||||
set howmany [scan $line "%s%s%s" fld1 fld2 fld3]
|
||||
if {$howmany == 3} {
|
||||
set signame $fld3
|
||||
set ::SIG($signame,type) $fld1
|
||||
set ::SIG($signame,value) $fld2
|
||||
set ::SIG($signame,inputs) ""
|
||||
set ::SIG($signame,output) ""
|
||||
set ::SIG($signame,ios) ""
|
||||
continue
|
||||
}
|
||||
switch $fld1 {
|
||||
"==>" {lappend ::SIG($signame,inputs) $fld2}
|
||||
"<==" {lappend ::SIG($signame,output) $fld2}
|
||||
"<=>" {lappend ::SIG($signame,ios) $fld2}
|
||||
default {return -code error "check-signal_usage: unrecognized <$line>"}
|
||||
}
|
||||
incr ct
|
||||
}
|
||||
set no_inputs ""
|
||||
foreach iname [array names ::SIG *,inputs] {
|
||||
set signame [lindex [split $iname ,] 0]
|
||||
if {$::SIG($iname) == ""} {
|
||||
set msg "$::prog: Signal: $signame <$::SIG($signame,value)> NO inputs"
|
||||
if {$::SIG($signame,ios) != ""} {
|
||||
set msg "$msg (i/o:$::SIG($signame,ios))"
|
||||
} else {
|
||||
lappend no_inputs $signame
|
||||
}
|
||||
puts "$msg"
|
||||
}
|
||||
}
|
||||
set no_output ""
|
||||
foreach oname [array names ::SIG *,output] {
|
||||
set signame [lindex [split $oname ,] 0]
|
||||
if {$::SIG($oname) == ""} {
|
||||
set msg "$::prog: Signal: $signame <$::SIG($signame,value)> NO output"
|
||||
if {$::SIG($signame,ios) != ""} {
|
||||
set msg "$msg (i/o:$::SIG($signame,ios))"
|
||||
} else {
|
||||
lappend no_output $signame
|
||||
}
|
||||
puts "$msg"
|
||||
}
|
||||
}
|
||||
foreach iname [array names ::SIG *,ios] {
|
||||
if { $::SIG($iname) == ""} {unset ::SIG($iname)}
|
||||
}
|
||||
gui_message no_inputs $no_inputs
|
||||
gui_message no_output $no_output
|
||||
} ;# check_signal_usage
|
||||
|
||||
#----------------------------------------------------------------------
|
||||
# begin
|
||||
check_function_usage
|
||||
check_signal_usage
|
||||
316
linuxcnc/sim.gmoccapy.lathe_configs/hallib/hookup_moveoff.tcl
Executable file
316
linuxcnc/sim.gmoccapy.lathe_configs/hallib/hookup_moveoff.tcl
Executable file
@@ -0,0 +1,316 @@
|
||||
# hallib procs:
|
||||
source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
|
||||
#
|
||||
# hookup_moveoff.tcl -- HALFILE to:
|
||||
# 1) disconnect initial pos-cmd and pos-fb pin connections
|
||||
# 2) loadrt the moveoff component with name=mv
|
||||
# 3) addf the moveoff component functions in required sequence
|
||||
# 4) reconnect the pos-cmd and pos-fb pins to use the component
|
||||
#
|
||||
# Support for demo type INI files where the pos-cmd and pos-fb pins are
|
||||
# 'shortcircuit' connected together is included.
|
||||
#
|
||||
# The moveoff component may be initialized with settings from the INI file
|
||||
#
|
||||
# Usage:
|
||||
# 1) Specify this file in the INI file as [HAL]HALFILE
|
||||
# Its position must follow halfiles that connect the pos-cmd and
|
||||
# pos-fb pins.
|
||||
# [HAL]
|
||||
# ...
|
||||
# HALFILE = hookup_moveoff.tcl
|
||||
# ...
|
||||
#
|
||||
# 2) Include INI file entries for moveoff component settings:
|
||||
# [MOVEOFF]
|
||||
# EPSILON =
|
||||
# WAYPOINT_SAMPLE_SECS =
|
||||
# WAYPOINT_THRESHOLD =
|
||||
# BACKTRACK_ENABLE =
|
||||
#
|
||||
# If these settings are not found in the INI file, the moveoff
|
||||
# component defaults will be used.
|
||||
#
|
||||
# 3) Include INI file entries for the per-joint settings
|
||||
# [MOVEOFF_n]
|
||||
# MAX_VELOCITY =
|
||||
# MAX_ACCELERATION =
|
||||
# MAX_LIMIT =
|
||||
# MIN_LIMIT =
|
||||
#
|
||||
# If settings are not found in the INI file, the items
|
||||
# [JOINT_n]
|
||||
# MAX_VELOCITY =
|
||||
# MAX_ACCELERATION =
|
||||
# MAX_LIMIT =
|
||||
# MIN_LIMIT =
|
||||
# are used. If these are not defined, the moveoff component
|
||||
# defaults are used.
|
||||
#
|
||||
# To use the (optional) demonstration gui named moveoff_gui,
|
||||
# include an INI entry:
|
||||
#
|
||||
# [APPLICATIONS]
|
||||
# APP = moveoff_gui option1 option2 ...
|
||||
#
|
||||
# For available options, Use:
|
||||
# $ moveoff_gui --help
|
||||
#
|
||||
# The moveoff_gui will provide a display and control for
|
||||
# enabling offsetting if the pin mv.move-enable is not connected
|
||||
# when moveoff_gui is started.
|
||||
#
|
||||
# If the mv.move-enable pin is connected when moveoff_gui
|
||||
# is started, then it will provide a display but no control.
|
||||
# This mode supports hal connections for a jog wheel or other
|
||||
# methods of controlling the offset input pins (mv.offset-M)
|
||||
|
||||
#-----------------------------------------------------------------------
|
||||
# Copyright: 2014
|
||||
# Authors: Dewey Garrett <dgarrett@panix.com>
|
||||
#
|
||||
# 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
#-----------------------------------------------------------------------
|
||||
|
||||
proc do_hal {args} {
|
||||
if {[info exists ::noexecute] && $::noexecute} {
|
||||
puts "((do_hal))$args"
|
||||
} else {
|
||||
if {$::HU(verbose)} {puts do_hal:$args}
|
||||
eval hal $args
|
||||
}
|
||||
} ;# do_hal
|
||||
|
||||
proc setup_pinnames {} {
|
||||
# Note: works for standard names but a custom proc is needed
|
||||
# here if the Hal alias command is used on the names
|
||||
|
||||
# Identify JOINT_n stanzas
|
||||
for {set a 0} {$a < 9} {incr a} {
|
||||
if [info exists ::JOINT_[set a](TYPE)] {
|
||||
lappend ::HU(axes) $a
|
||||
set ::HU(highest_joint_num) $a
|
||||
}
|
||||
}
|
||||
foreach a $::HU(axes) {
|
||||
set ::HU($a,pos,pinname) joint.${a}.motor-pos-cmd
|
||||
set ::HU($a,fb,pinname) joint.${a}.motor-pos-fb
|
||||
}
|
||||
} ;# setup_pinnames
|
||||
|
||||
proc install_moveoff {} {
|
||||
# note expected name for moveoff_gui is $::m
|
||||
set pnumber [expr 1 + $::HU(highest_joint_num)]
|
||||
do_hal loadrt moveoff personality=$pnumber names=$::m
|
||||
|
||||
set mot_thread $::HU(motion-controller,threadname)
|
||||
|
||||
if [info exists ::HU($mot_thread,motion-controller)] {
|
||||
set write_index [expr 1 + $::HU($mot_thread,motion-controller)]
|
||||
} else {
|
||||
set write_index [expr 1 + $::HU($mot_thread,index,last)]
|
||||
}
|
||||
do_hal addf $::m.write-outputs $mot_thread $write_index
|
||||
|
||||
if [info exists ::HU($mot_thread,motion-command-handler)] {
|
||||
if {1 == $::HU($mot_thread,motion-command-handler) } {
|
||||
set read_index 1
|
||||
} else {
|
||||
set read_index [expr -1 + $::HU($mot_thread,motion-command-handler)]
|
||||
}
|
||||
} else {
|
||||
set read_index 1
|
||||
}
|
||||
do_hal addf $::m.read-inputs $mot_thread $read_index
|
||||
} ;# install_moveoff
|
||||
|
||||
proc disconnect_pos_from_motion {a} {
|
||||
set pinname $::HU($a,pos,pinname)
|
||||
set inpins {}; set outpin {}
|
||||
if [connection_info tmp $pinname] {
|
||||
if {$tmp(signame) != ""} {
|
||||
get_netlist inpins outpin iopins $tmp(signame)
|
||||
set ::HU($a,pos,signame) $tmp(signame)
|
||||
set ::HU($a,pos,inputs) $inpins
|
||||
set ::HU($a,pos,output) $outpin
|
||||
}
|
||||
} else {
|
||||
return -code error "<$pinname> not connected as expected"
|
||||
}
|
||||
do_hal unlinkp $pinname
|
||||
} ;# disconnect_pos_from_motion
|
||||
|
||||
proc disconnect_fb_to_motion {a} {
|
||||
set pinname $::HU($a,fb,pinname)
|
||||
set inpins {}; set outpin {}
|
||||
if [connection_info tmp $pinname] {
|
||||
if {$tmp(signame) != ""} {
|
||||
get_netlist inpins outpin iopins $tmp(signame)
|
||||
set ::HU($a,fb,signame) $tmp(signame)
|
||||
set ::HU($a,fb,inputs) $inpins
|
||||
set ::HU($a,fb,output) $outpin
|
||||
}
|
||||
} else {
|
||||
return -code error "<$pinname> not connected as expected"
|
||||
}
|
||||
do_hal unlinkp $pinname
|
||||
} ;# disconnect_fb_to_motion
|
||||
|
||||
proc check_for_short_circuit {a} {
|
||||
if {$::HU($a,fb,signame) == $::HU($a,pos,signame)} {
|
||||
set ::HU($a,shortcircuit) 1
|
||||
} else {
|
||||
set ::HU($a,shortcircuit) 0
|
||||
}
|
||||
} ;# check_for_short_circuit
|
||||
|
||||
proc new_connect_pos_to_moveoff {a} {
|
||||
do_hal delsig $::HU($a,pos,signame)
|
||||
do_hal net hu:pos-$a <= $::HU($a,pos,pinname)
|
||||
do_hal net hu:pos-$a => $::m.pos-$a
|
||||
} ;# new_connect_pos_to_moveoff
|
||||
|
||||
proc new_connect_plus_offset {a} {
|
||||
if $::HU($a,shortcircuit) return
|
||||
do_hal net hu:plus-$a <= $::m.pos-plusoffset-$a
|
||||
foreach in_pinname $::HU($a,pos,inputs) {
|
||||
if {"$in_pinname" == "$::HU($a,fb,pinname)"} continue
|
||||
do_hal unlinkp $in_pinname
|
||||
do_hal net hu:plus-$a => $in_pinname
|
||||
}
|
||||
} ;# new_connect_plus_offset
|
||||
|
||||
proc new_connect_minus_offset {a} {
|
||||
do_hal net hu:minus-$a <= $::m.fb-minusoffset-$a
|
||||
do_hal net hu:minus-$a => $::HU($a,fb,pinname)
|
||||
} ;# new_connect_plus_offset
|
||||
|
||||
proc new_connect_fb_to_moveoff {a} {
|
||||
if $::HU($a,shortcircuit) return
|
||||
do_hal delsig $::HU($a,fb,signame)
|
||||
do_hal net hu:fb-$a => $::m.fb-$a
|
||||
do_hal net hu:fb-$a <= $::HU($a,fb,output)
|
||||
foreach in_pinname $::HU($a,fb,inputs) {
|
||||
if {"$in_pinname" == "$::HU($a,fb,pinname)"} continue
|
||||
do_hal unlinkp $in_pinname
|
||||
do_hal net hu:fb-$a => $in_pinname
|
||||
}
|
||||
} ;# new_connect_fb_to_moveoff
|
||||
|
||||
proc reconnect_short_circuit {a} {
|
||||
do_hal net hu:shortcircuit-$a <= $::m.pos-plusoffset-$a
|
||||
do_hal net hu:shortcircuit-$a => $::m.fb-$a
|
||||
foreach in_pinname $::HU($a,pos,inputs) {
|
||||
if {"$in_pinname" == "$::HU($a,fb,pinname)"} {continue}
|
||||
do_hal unlinkp $in_pinname
|
||||
do_hal net hu:shortcircuit-$a => $in_pinname
|
||||
}
|
||||
} ;# reconnect_short_circuit
|
||||
|
||||
proc set_moveoff_inputs {a} {
|
||||
foreach {pin ininame} { offset-vel MAX_VELOCITY \
|
||||
offset-accel MAX_ACCELERATION \
|
||||
offset-max MAX_LIMIT \
|
||||
offset-min MIN_LIMIT \
|
||||
} {
|
||||
if [info exists ::MOVEOFF_[set a]($ininame)] {
|
||||
set ::HU($a,$pin) [set ::MOVEOFF_[set a]($ininame)]
|
||||
# lindex is used in case there are duplicate entries
|
||||
set ::HU($a,$pin) [lindex $::HU($a,$pin) end]
|
||||
} elseif { [info exists ::JOINT_[set a]($ininame)] } {
|
||||
set ::HU($a,$pin) [set ::JOINT_[set a]($ininame)]
|
||||
# lindex is used in case there are duplicate entries
|
||||
set ::HU($a,$pin) [lindex $::HU($a,$pin) end]
|
||||
puts "hookup_moveoff.tcl:use \[JOINT_$a\]$ininame=$::HU($a,$pin)"
|
||||
}
|
||||
if [info exists ::HU($a,$pin)] {
|
||||
do_hal setp $::m.$pin-$a $::HU($a,$pin)
|
||||
}
|
||||
}
|
||||
} ;# set_moveoff_inputs
|
||||
|
||||
proc set_moveoff_parms {} {
|
||||
foreach {pin ininame} { epsilon EPSILON \
|
||||
waypoint-sample-secs WAYPOINT_SAMPLE_SECS \
|
||||
waypoint-threshold WAYPOINT_THRESHOLD \
|
||||
backtrack-enable BACKTRACK_ENABLE \
|
||||
} {
|
||||
if {[info exists ::MOVEOFF($ininame)]} {
|
||||
# lindex is used in case there are duplicate entries
|
||||
set ::HU($pin) [lindex $::MOVEOFF($ininame) end]
|
||||
do_hal setp $::m.$pin $::HU($pin)
|
||||
}
|
||||
}
|
||||
} ;# set_moveoff_parms
|
||||
|
||||
proc set_moveoff_controls {} {
|
||||
return
|
||||
# provision for future offset control connections
|
||||
} ;# set_moveoff_controls
|
||||
|
||||
# begin-----------------------------------------------------------------
|
||||
|
||||
set ::m mv ;# moveoff component name
|
||||
#(must agree with the (optionaL) gui moveoff_gui)
|
||||
|
||||
# debugging items
|
||||
set ::HU(verbose) 0
|
||||
set ::noexecute 0
|
||||
|
||||
# Provision for twopass compatibility
|
||||
# (::tp is the namespace for [HAL]TWOPASS processing)
|
||||
if [namespace exists ::tp] {
|
||||
set passno [::tp::passnumber]
|
||||
if {$passno == 0} {
|
||||
# With twopass processing, the initial pass0 only collects
|
||||
# loadrt and loadusr commands with no execution.
|
||||
# So the checks etc herein cannot work until pass1
|
||||
# Note that this file only uses loadrt once for the moveoff
|
||||
# component so it manages its loadrt exclusively
|
||||
puts "hookup_moveoff.tcl: twopass active, pass $passno skipped"
|
||||
return
|
||||
} else {
|
||||
puts "hookup_moveoff.tcl: twopass active, pass $passno active"
|
||||
}
|
||||
}
|
||||
|
||||
if [catch {
|
||||
set ::HU(cmd) "thread_info ::HU"; eval $::HU(cmd)
|
||||
set ::HU(cmd) setup_pinnames; eval $::HU(cmd)
|
||||
set ::HU(cmd) install_moveoff; eval $::HU(cmd)
|
||||
foreach a $::HU(axes) {
|
||||
set ::HU(cmd) "disconnect_pos_from_motion $a"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "disconnect_fb_to_motion $a"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "check_for_short_circuit $a"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "new_connect_pos_to_moveoff $a"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "new_connect_plus_offset $a"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "new_connect_minus_offset $a"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "new_connect_fb_to_moveoff $a"; eval $::HU(cmd)
|
||||
if $::HU($a,shortcircuit) {
|
||||
set ::HU(cmd) "reconnect_short_circuit $a "; eval $::HU(cmd)
|
||||
}
|
||||
set ::HU(cmd) "set_moveoff_inputs $a"; eval $::HU(cmd)
|
||||
}
|
||||
set ::HU(cmd) "set_moveoff_parms"; eval $::HU(cmd)
|
||||
set ::HU(cmd) "set_moveoff_controls"; eval $::HU(cmd)
|
||||
if $::HU(verbose) {parray ::HU}
|
||||
} msg ] {
|
||||
puts "\n\n$::argv0 $::argv"
|
||||
parray ::HU
|
||||
catch {puts filename=$filename}
|
||||
puts "\n failing cmd=$::HU(cmd)"
|
||||
puts msg=<$msg>
|
||||
return -code error
|
||||
}
|
||||
69
linuxcnc/sim.gmoccapy.lathe_configs/hallib/lathe.hal
Executable file
69
linuxcnc/sim.gmoccapy.lathe_configs/hallib/lathe.hal
Executable 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 500.0 # 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 120
|
||||
# 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 480
|
||||
|
||||
# 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
|
||||
11
linuxcnc/sim.gmoccapy.lathe_configs/hallib/locking_indexer.hal
Executable file
11
linuxcnc/sim.gmoccapy.lathe_configs/hallib/locking_indexer.hal
Executable file
@@ -0,0 +1,11 @@
|
||||
# simulate a locking rotary axis B
|
||||
|
||||
loadrt timedelay names=timedelay_unlock
|
||||
addf timedelay_unlock servo-thread
|
||||
|
||||
net B-unlock joint.4.unlock => timedelay_unlock.in
|
||||
net B-is-unlocked timedelay_unlock.out => joint.4.is-unlocked
|
||||
|
||||
setp timedelay_unlock.on-delay 0.75
|
||||
setp timedelay_unlock.off-delay 0.5
|
||||
|
||||
28
linuxcnc/sim.gmoccapy.lathe_configs/hallib/moveoff_external.hal
Executable file
28
linuxcnc/sim.gmoccapy.lathe_configs/hallib/moveoff_external.hal
Executable file
@@ -0,0 +1,28 @@
|
||||
# moveoff_external.hal (for use with moveoff_gui)
|
||||
|
||||
# This halfile demonstrates how a connection to
|
||||
# mv.move-enable
|
||||
# allows moveoff_gui to interface with other connections that control:
|
||||
# mv.move-enable
|
||||
# mv.offset-in-M
|
||||
|
||||
# This halfile should follow halfiles which loadrt the moveoff component
|
||||
#-----------------------------------------------------------------------
|
||||
|
||||
# Overall enable for the component:
|
||||
# 0 ==> external control of mv.move-enable required
|
||||
setp mv.move-enable 0
|
||||
|
||||
# When the mv.move-enable pin is connected to a signal, moveoff_gui
|
||||
# will provide display but no controls.
|
||||
# An external app must connect the mv.move-enable pin to control:
|
||||
net external_enable mv.move-enable
|
||||
|
||||
# An external app must connect to the mv.offset-in-M pins to control:
|
||||
net external_offset_0 mv.offset-in-0
|
||||
net external_offset_1 mv.offset-in-1
|
||||
net external_offset_2 mv.offset-in-2
|
||||
|
||||
# An external app may optionally connect the mv.backtrack-enable pin
|
||||
# to manage backtracking:
|
||||
net external_backtrack_en mv.backtrack-enable
|
||||
79
linuxcnc/sim.gmoccapy.lathe_configs/hallib/plasmac.tcl
Executable file
79
linuxcnc/sim.gmoccapy.lathe_configs/hallib/plasmac.tcl
Executable file
@@ -0,0 +1,79 @@
|
||||
|
||||
# ***** THIS FILE IS USED ONLY BY CONFIGS THAT HAVE BEEN MIGRATED FROM A PLASMAC CONFIGURATION *****
|
||||
|
||||
# common connections for the plasmac component
|
||||
|
||||
# PLASMAC COMPONENT ##########################################################
|
||||
loadrt plasmac
|
||||
addf plasmac servo-thread
|
||||
|
||||
# COMPONENT INPUTS ###########################################################
|
||||
net plasmac:axis-x-position axis.x.pos-cmd => plasmac.axis-x-position
|
||||
net plasmac:axis-y-position axis.y.pos-cmd => plasmac.axis-y-position
|
||||
net plasmac:current-velocity motion.current-vel => plasmac.current-velocity
|
||||
net plasmac:cutting-start spindle.0.on => plasmac.cutting-start
|
||||
net plasmac:feed-override halui.feed-override.value => plasmac.feed-override
|
||||
net plasmac:feed-reduction motion.analog-out-03 => plasmac.feed-reduction
|
||||
net plasmac:feed-upm motion.feed-upm => plasmac.feed-upm
|
||||
net plasmac:homed motion.is-all-homed => plasmac.homed
|
||||
net plasmac:ignore-arc-ok-0 motion.digital-out-01 => plasmac.ignore-arc-ok-0
|
||||
net plasmac:motion-type motion.motion-type => plasmac.motion-type
|
||||
net plasmac:offsets-active motion.eoffset-active => plasmac.offsets-active
|
||||
net plasmac:program-is-idle halui.program.is-idle => plasmac.program-is-idle
|
||||
net plasmac:program-is-paused halui.program.is-paused => plasmac.program-is-paused
|
||||
net plasmac:program-is-running halui.program.is-running => plasmac.program-is-running
|
||||
net plasmac:thc-disable motion.digital-out-02 => plasmac.thc-disable
|
||||
net plasmac:torch-off motion.digital-out-03 => plasmac.torch-off
|
||||
net plasmac:units-per-mm halui.machine.units-per-mm => plasmac.units-per-mm
|
||||
net plasmac:x-offset-current axis.x.eoffset => plasmac.x-offset-current
|
||||
net plasmac:y-offset-current axis.y.eoffset => plasmac.y-offset-current
|
||||
net plasmac:z-offset-current axis.z.eoffset => plasmac.z-offset-current
|
||||
|
||||
# use existing machine-is-on signal from pncconf if it exists
|
||||
if {[hal list sig machine-is-on] != {}} {
|
||||
net machine-is-on => plasmac.machine-is-on
|
||||
} else {
|
||||
net machine-is-on halui.machine.is-on => plasmac.machine-is-on
|
||||
}
|
||||
|
||||
# if no new dbounce then use old debounce component for legacy plasmac conversions
|
||||
if {[hal list pin db_float.out] != {}} {
|
||||
net plasmac:arc-ok db_arc-ok.out => plasmac.arc-ok-in
|
||||
net plasmac:breakaway-switch-out db_breakaway.out => plasmac.breakaway
|
||||
net plasmac:float-switch-out db_float.out => plasmac.float-switch
|
||||
net plasmac:ohmic-probe-out db_ohmic.out => plasmac.ohmic-probe
|
||||
} else {
|
||||
net plasmac:breakaway-switch-out debounce.0.1.out => plasmac.breakaway
|
||||
net plasmac:float-switch-out debounce.0.0.out => plasmac.float-switch
|
||||
net plasmac:ohmic-probe-out debounce.0.2.out => plasmac.ohmic-probe
|
||||
}
|
||||
|
||||
# COMPONENT OUTPUTS ##########################################################
|
||||
net plasmac:adaptive-feed plasmac.adaptive-feed => motion.adaptive-feed
|
||||
net plasmac:cutting-stop halui.spindle.0.stop => plasmac.cutting-stop
|
||||
net plasmac:feed-hold plasmac.feed-hold => motion.feed-hold
|
||||
net plasmac:jog-inhibit plasmac.jog-inhibit => motion.jog-inhibit motion.jog-stop
|
||||
net plasmac:offset-scale plasmac.offset-scale => axis.x.eoffset-scale axis.y.eoffset-scale axis.z.eoffset-scale
|
||||
net plasmac:program-pause plasmac.program-pause => halui.program.pause
|
||||
net plasmac:program-resume plasmac.program-resume => halui.program.resume
|
||||
net plasmac:program-run plasmac.program-run => halui.program.run
|
||||
net plasmac:program-stop plasmac.program-stop => halui.program.stop
|
||||
net plasmac:torch-on plasmac.torch-on
|
||||
net plasmac:x-offset-counts plasmac.x-offset-counts => axis.x.eoffset-counts
|
||||
net plasmac:y-offset-counts plasmac.y-offset-counts => axis.y.eoffset-counts
|
||||
net plasmac:xy-offset-enable plasmac.xy-offset-enable => axis.x.eoffset-enable axis.y.eoffset-enable
|
||||
net plasmac:z-offset-counts plasmac.z-offset-counts => axis.z.eoffset-counts
|
||||
net plasmac:z-offset-enable plasmac.z-offset-enable => axis.z.eoffset-enable
|
||||
|
||||
# multiple spindles
|
||||
if [info exists ::TRAJ(SPINDLES)] {
|
||||
set num_spindles [lindex $::TRAJ(SPINDLES) 0]
|
||||
if {$num_spindles > 1} {net plasmac:scribe-start spindle.1.on => plasmac.scribe-start}
|
||||
if {$num_spindles > 2} {net plasmac:spotting-start spindle.2.on => plasmac.spotting-start}
|
||||
}
|
||||
|
||||
# powermax serial communications
|
||||
# for qtplasmac
|
||||
if [info exists ::QTPLASMAC(PM_PORT)] {loadusr -Wn pmx485 pmx485 [lindex $::QTPLASMAC(PM_PORT) 0]}
|
||||
# for plasmac
|
||||
if [info exists ::PLASMAC(PM_PORT)] {loadusr -Wn pmx485 plasmac/pmx485.py [lindex $::PLASMAC(PM_PORT) 0]}
|
||||
51
linuxcnc/sim.gmoccapy.lathe_configs/hallib/qtplasmac_comp.hal
Executable file
51
linuxcnc/sim.gmoccapy.lathe_configs/hallib/qtplasmac_comp.hal
Executable file
@@ -0,0 +1,51 @@
|
||||
|
||||
# ***** plasmac component connections for a QtPlasmaC configuration *****
|
||||
|
||||
# do not make any changes to this file, it may be overwritten by future updates
|
||||
# make all customizations in custom.hal or custom_postgui.hal
|
||||
|
||||
# ---PLASMAC COMPONENT INPUTS---
|
||||
net plasmac:arc-ok db_arc-ok.out => plasmac.arc-ok-in
|
||||
net plasmac:axis-x-position axis.x.pos-cmd => plasmac.axis-x-position
|
||||
net plasmac:axis-y-position axis.y.pos-cmd => plasmac.axis-y-position
|
||||
net plasmac:breakaway-switch-out db_breakaway.out => plasmac.breakaway
|
||||
net plasmac:current-velocity motion.current-vel => plasmac.current-velocity
|
||||
net plasmac:cutting-start spindle.0.on => plasmac.cutting-start
|
||||
net plasmac:cutting-stop halui.spindle.0.stop => plasmac.cutting-stop
|
||||
net plasmac:feed-override halui.feed-override.value => plasmac.feed-override
|
||||
net plasmac:feed-reduction motion.analog-out-03 => plasmac.feed-reduction
|
||||
net plasmac:float-switch-out db_float.out => plasmac.float-switch
|
||||
net plasmac:feed-upm motion.feed-upm => plasmac.feed-upm
|
||||
net plasmac:homed motion.is-all-homed => plasmac.homed
|
||||
net plasmac:ignore-arc-ok-0 motion.digital-out-01 => plasmac.ignore-arc-ok-0
|
||||
net machine-is-on halui.machine.is-on => plasmac.machine-is-on
|
||||
net plasmac:motion-type motion.motion-type => plasmac.motion-type
|
||||
net plasmac:offsets-active motion.eoffset-active => plasmac.offsets-active
|
||||
net plasmac:ohmic-probe-out db_ohmic.out => plasmac.ohmic-probe
|
||||
net plasmac:program-is-idle halui.program.is-idle => plasmac.program-is-idle
|
||||
net plasmac:program-is-paused halui.program.is-paused => plasmac.program-is-paused
|
||||
net plasmac:program-is-running halui.program.is-running => plasmac.program-is-running
|
||||
net plasmac:scribe-start spindle.1.on => plasmac.scribe-start
|
||||
net plasmac:spotting-start spindle.2.on => plasmac.spotting-start
|
||||
net plasmac:thc-disable motion.digital-out-02 => plasmac.thc-disable
|
||||
net plasmac:torch-off motion.digital-out-03 => plasmac.torch-off
|
||||
net plasmac:units-per-mm halui.machine.units-per-mm => plasmac.units-per-mm
|
||||
net plasmac:x-offset-current axis.x.eoffset => plasmac.x-offset-current
|
||||
net plasmac:y-offset-current axis.y.eoffset => plasmac.y-offset-current
|
||||
net plasmac:z-offset-current axis.z.eoffset => plasmac.z-offset-current
|
||||
|
||||
# ---PLASMAC COMPONENT OUTPUTS---
|
||||
net plasmac:adaptive-feed plasmac.adaptive-feed => motion.adaptive-feed
|
||||
net plasmac:feed-hold plasmac.feed-hold => motion.feed-hold
|
||||
net plasmac:jog-inhibit plasmac.jog-inhibit => motion.jog-inhibit motion.jog-stop
|
||||
net plasmac:offset-scale plasmac.offset-scale => axis.x.eoffset-scale axis.y.eoffset-scale axis.z.eoffset-scale
|
||||
net plasmac:program-pause plasmac.program-pause => halui.program.pause
|
||||
net plasmac:program-resume plasmac.program-resume => halui.program.resume
|
||||
net plasmac:program-run plasmac.program-run => halui.program.run
|
||||
net plasmac:program-stop plasmac.program-stop => halui.program.stop
|
||||
net plasmac:torch-on plasmac.torch-on
|
||||
net plasmac:x-offset-counts plasmac.x-offset-counts => axis.x.eoffset-counts
|
||||
net plasmac:y-offset-counts plasmac.y-offset-counts => axis.y.eoffset-counts
|
||||
net plasmac:xy-offset-enable plasmac.xy-offset-enable => axis.x.eoffset-enable axis.y.eoffset-enable
|
||||
net plasmac:z-offset-counts plasmac.z-offset-counts => axis.z.eoffset-counts
|
||||
net plasmac:z-offset-enable plasmac.z-offset-enable => axis.z.eoffset-enable
|
||||
285
linuxcnc/sim.gmoccapy.lathe_configs/hallib/servo_sim.hal
Executable file
285
linuxcnc/sim.gmoccapy.lathe_configs/hallib/servo_sim.hal
Executable file
@@ -0,0 +1,285 @@
|
||||
# HAL config file for simulated servo machine
|
||||
|
||||
# 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
|
||||
# PID module, for three PID loops
|
||||
loadrt pid names=pid_x,pid_y,pid_z
|
||||
# 6 differentiators (for velocity and accel sigs)
|
||||
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
|
||||
# three scale blocks (to simulate motor and leadscrew scaling)
|
||||
loadrt scale names=scale_x,scale_y,scale_z
|
||||
# three lowpass filters (to simulate motor inertia), and nine
|
||||
loadrt lowpass names=lowpass_x,lowpass_y,lowpass_z
|
||||
# window comparators (to simulate limit and home switches)
|
||||
loadrt wcomp names=wcomp_xneg,wcomp_xpos,wcomp_xhome,wcomp_yneg,wcomp_ypos,wcomp_yhome,wcomp_zneg,wcomp_zpos,wcomp_zhome
|
||||
|
||||
# simulated encoders
|
||||
loadrt sim_encoder names=sim_encoder_px,sim_encoder_py,sim_encoder_pz
|
||||
# software encoder counters, 3 for feedback, 3 for actual axis pos
|
||||
loadrt encoder names=encoder_px,encoder_py,encoder_pz,encoder_x,encoder_y,encoder_z
|
||||
# add encoder counter and simulator functions to high speed thread
|
||||
addf sim-encoder.make-pulses base-thread
|
||||
addf encoder.update-counters base-thread
|
||||
|
||||
# add all required functions to servo thread
|
||||
addf encoder.capture-position servo-thread
|
||||
addf wcomp_xneg servo-thread
|
||||
addf wcomp_xpos servo-thread
|
||||
addf wcomp_xhome servo-thread
|
||||
addf wcomp_yneg servo-thread
|
||||
addf wcomp_ypos servo-thread
|
||||
addf wcomp_yhome servo-thread
|
||||
addf wcomp_zneg servo-thread
|
||||
addf wcomp_zpos servo-thread
|
||||
addf wcomp_zhome servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf pid_x.do-pid-calcs servo-thread
|
||||
addf pid_y.do-pid-calcs servo-thread
|
||||
addf pid_z.do-pid-calcs servo-thread
|
||||
addf scale_x servo-thread
|
||||
addf scale_y servo-thread
|
||||
addf scale_z servo-thread
|
||||
addf lowpass_x servo-thread
|
||||
addf lowpass_y servo-thread
|
||||
addf lowpass_z servo-thread
|
||||
addf sim-encoder.update-speed 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
|
||||
|
||||
# get position feedback from encoder module
|
||||
# connect position feedback to PID loop and motion module
|
||||
net Xpos-fb encoder_px.position => pid_x.feedback joint.0.motor-pos-fb
|
||||
net Ypos-fb encoder_py.position => pid_y.feedback joint.1.motor-pos-fb
|
||||
net Zpos-fb encoder_pz.position => pid_z.feedback joint.2.motor-pos-fb
|
||||
|
||||
# set position feedback scaling
|
||||
setp encoder_px.position-scale [JOINT_0]INPUT_SCALE
|
||||
setp encoder_py.position-scale [JOINT_1]INPUT_SCALE
|
||||
setp encoder_pz.position-scale [JOINT_2]INPUT_SCALE
|
||||
|
||||
# connect encoder index-enables for homing on index
|
||||
net Xindex-enable encoder_px.index-enable <=> joint.0.index-enable pid_x.index-enable
|
||||
net Yindex-enable encoder_py.index-enable <=> joint.1.index-enable
|
||||
net Zindex-enable encoder_pz.index-enable <=> joint.2.index-enable
|
||||
|
||||
# connect position commands from motion controller to PID input
|
||||
net Xpos-cmd <= joint.0.motor-pos-cmd => pid_x.command
|
||||
net Ypos-cmd <= joint.1.motor-pos-cmd => pid_y.command
|
||||
net Zpos-cmd <= joint.2.motor-pos-cmd => pid_z.command
|
||||
|
||||
# connect motion controller enables to PID blocks
|
||||
net Xenable joint.0.amp-enable-out => pid_x.enable
|
||||
net Yenable joint.1.amp-enable-out => pid_y.enable
|
||||
net Zenable joint.2.amp-enable-out => pid_z.enable
|
||||
|
||||
# connect PID loops to scale blocks that translate to motor revs per sec
|
||||
net Xoutput pid_x.output => scale_x.in
|
||||
net Youtput pid_y.output => scale_y.in
|
||||
net Zoutput pid_z.output => scale_z.in
|
||||
|
||||
# set scaling, number of motor revs needed to
|
||||
# travel one inch
|
||||
setp scale_x.gain [JOINT_0]DRIVE_RATIO
|
||||
setp scale_y.gain [JOINT_1]DRIVE_RATIO
|
||||
setp scale_z.gain [JOINT_2]DRIVE_RATIO
|
||||
|
||||
# motor speed command sigs come from scale blocks
|
||||
# motor speed commands go thru lowpass filters
|
||||
# to simulate motor inertia
|
||||
net Xmtr-cmd scale_x.out => lowpass_x.in
|
||||
net Ymtr-cmd scale_y.out => lowpass_y.in
|
||||
net Zmtr-cmd scale_z.out => lowpass_z.in
|
||||
|
||||
# set "inertia" here, probably by trial and error
|
||||
setp lowpass_x.gain 0.1
|
||||
setp lowpass_y.gain 0.1
|
||||
setp lowpass_z.gain 0.1
|
||||
|
||||
# "actual" motor speed signals
|
||||
# output of lowpass is simulated motor speed
|
||||
# speed goes to simulated encoders
|
||||
net Xmtr-spd lowpass_x.out => sim_encoder_px.speed
|
||||
net Ymtr-spd lowpass_y.out => sim_encoder_py.speed
|
||||
net Zmtr-spd lowpass_z.out => sim_encoder_pz.speed
|
||||
|
||||
# set simulated encoder scaling
|
||||
setp sim_encoder_px.ppr [JOINT_0]MOTOR_PPR
|
||||
setp sim_encoder_py.ppr [JOINT_1]MOTOR_PPR
|
||||
setp sim_encoder_pz.ppr [JOINT_2]MOTOR_PPR
|
||||
|
||||
# simulated encoder output signals
|
||||
# connect them up
|
||||
net XphA sim_encoder_px.phase-A => encoder_px.phase-A
|
||||
net XphB sim_encoder_px.phase-B => encoder_px.phase-B
|
||||
net XphZ sim_encoder_px.phase-Z => encoder_px.phase-Z
|
||||
net YphA sim_encoder_py.phase-A => encoder_py.phase-A
|
||||
net YphB sim_encoder_py.phase-B => encoder_py.phase-B
|
||||
net YphZ sim_encoder_py.phase-Z => encoder_py.phase-Z
|
||||
net ZphA sim_encoder_pz.phase-A => encoder_pz.phase-A
|
||||
net ZphB sim_encoder_pz.phase-B => encoder_pz.phase-B
|
||||
net ZphZ sim_encoder_pz.phase-Z => encoder_pz.phase-Z
|
||||
|
||||
# set PID loop output limits to max velocity
|
||||
setp pid_x.maxoutput [JOINT_0]MAX_VELOCITY
|
||||
setp pid_y.maxoutput [JOINT_1]MAX_VELOCITY
|
||||
setp pid_z.maxoutput [JOINT_2]MAX_VELOCITY
|
||||
|
||||
# set PID loop gains
|
||||
# NOTE: eventually these will be non-zero values as
|
||||
# needed to tune the performance of each axis. The
|
||||
# initial values shown here are extremely conservative
|
||||
# to prevent unexpected behavior. After this file
|
||||
# has been "executed" by halcmd, the gains can be
|
||||
# interactively adjusted using commands like
|
||||
# "halcmd setp pid.<channel>.Pgain <value>"
|
||||
# Once the axis has been tuned to your satisfaction,
|
||||
# do "halcmd show param | grep pid" to get a listing
|
||||
# of the tuning parameters, and enter those values here.
|
||||
|
||||
# the values below come from the INI
|
||||
setp pid_x.Pgain [JOINT_0]PGAIN
|
||||
setp pid_x.Igain [JOINT_0]IGAIN
|
||||
setp pid_x.Dgain [JOINT_0]DGAIN
|
||||
setp pid_x.bias [JOINT_0]BIAS
|
||||
setp pid_x.FF0 [JOINT_0]FF0
|
||||
setp pid_x.FF1 [JOINT_0]FF1
|
||||
setp pid_x.FF2 [JOINT_0]FF2
|
||||
# deadband should be just over 1 count
|
||||
setp pid_x.deadband [JOINT_0]DEADBAND
|
||||
|
||||
setp pid_y.Pgain [JOINT_1]PGAIN
|
||||
setp pid_y.Igain [JOINT_1]IGAIN
|
||||
setp pid_y.Dgain [JOINT_1]DGAIN
|
||||
setp pid_y.bias [JOINT_1]BIAS
|
||||
setp pid_y.FF0 [JOINT_1]FF0
|
||||
setp pid_y.FF1 [JOINT_1]FF1
|
||||
setp pid_y.FF2 [JOINT_1]FF2
|
||||
# deadband should be just over 1 count
|
||||
setp pid_y.deadband [JOINT_1]DEADBAND
|
||||
|
||||
setp pid_z.Pgain [JOINT_2]PGAIN
|
||||
setp pid_z.Igain [JOINT_2]IGAIN
|
||||
setp pid_z.Dgain [JOINT_2]DGAIN
|
||||
setp pid_z.bias [JOINT_2]BIAS
|
||||
setp pid_z.FF0 [JOINT_2]FF0
|
||||
setp pid_z.FF1 [JOINT_2]FF1
|
||||
setp pid_z.FF2 [JOINT_2]FF2
|
||||
# deadband should be just over 1 count
|
||||
setp pid_z.deadband [JOINT_2]DEADBAND
|
||||
|
||||
# send the position commands thru differentiators to
|
||||
# generate velocity and accel signals
|
||||
net Xvel ddt_x.out => ddt_xv.in
|
||||
net Xacc <= ddt_xv.out
|
||||
net Yvel ddt_y.out => ddt_yv.in
|
||||
net Yacc <= ddt_yv.out
|
||||
net Zvel ddt_z.out => ddt_zv.in
|
||||
net Zacc <= ddt_zv.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 xflt => joint.0.amp-fault-in
|
||||
net yflt => joint.1.amp-fault-in
|
||||
net zflt => joint.2.amp-fault-in
|
||||
|
||||
# a second set of encoder counters keeps track of position
|
||||
net XphA => encoder_x.phase-A
|
||||
net XphB => encoder_x.phase-B
|
||||
net YphA => encoder_y.phase-A
|
||||
net YphB => encoder_y.phase-B
|
||||
net ZphA => encoder_z.phase-A
|
||||
net ZphB => encoder_z.phase-B
|
||||
|
||||
setp encoder_x.position-scale [JOINT_0]INPUT_SCALE
|
||||
setp encoder_y.position-scale [JOINT_1]INPUT_SCALE
|
||||
setp encoder_z.position-scale [JOINT_2]INPUT_SCALE
|
||||
|
||||
# connect "actual" position from encoders
|
||||
# to window comparators
|
||||
net Xaxis-pos encoder_x.position => wcomp_xneg.in wcomp_xpos.in wcomp_xhome.in
|
||||
net Yaxis-pos encoder_y.position => wcomp_yneg.in wcomp_ypos.in wcomp_yhome.in
|
||||
net Zaxis-pos encoder_z.position => wcomp_zneg.in wcomp_zpos.in wcomp_zhome.in
|
||||
|
||||
# connect simulated switch outputs to motion controller
|
||||
net Xminlim wcomp_xneg.out => joint.0.neg-lim-sw-in
|
||||
net Xmaxlim wcomp_xpos.out => joint.0.pos-lim-sw-in
|
||||
net Xhome wcomp_xhome.out => joint.0.home-sw-in
|
||||
|
||||
net Yminlim wcomp_yneg.out => joint.1.neg-lim-sw-in
|
||||
net Ymaxlim wcomp_ypos.out => joint.1.pos-lim-sw-in
|
||||
net Yhome wcomp_yhome.out => joint.1.home-sw-in
|
||||
|
||||
net Zminlim wcomp_zneg.out => joint.2.neg-lim-sw-in
|
||||
net Zmaxlim wcomp_zpos.out => joint.2.pos-lim-sw-in
|
||||
net Zhome wcomp_zhome.out => joint.2.home-sw-in
|
||||
|
||||
# configure the points at which the simulated switches trip
|
||||
# X axis first
|
||||
# min limit switch
|
||||
setp wcomp_xneg.max [JOINT_0]MIN_HARD_LIMIT
|
||||
setp wcomp_xneg.min [JOINT_0]MIN_HARD_LIMIT_RELEASE
|
||||
# max limit switch
|
||||
setp wcomp_xpos.min [JOINT_0]MAX_HARD_LIMIT
|
||||
setp wcomp_xpos.max [JOINT_0]MAX_HARD_LIMIT_RELEASE
|
||||
# home switch
|
||||
setp wcomp_xhome.min [JOINT_0]HOME_SW_MIN
|
||||
setp wcomp_xhome.max [JOINT_0]HOME_SW_MAX
|
||||
|
||||
# Y axis
|
||||
# min limit switch
|
||||
setp wcomp_yneg.max [JOINT_1]MIN_HARD_LIMIT
|
||||
setp wcomp_yneg.min [JOINT_1]MIN_HARD_LIMIT_RELEASE
|
||||
# max limit switch
|
||||
setp wcomp_ypos.min [JOINT_1]MAX_HARD_LIMIT
|
||||
setp wcomp_ypos.max [JOINT_1]MAX_HARD_LIMIT_RELEASE
|
||||
# home switch
|
||||
setp wcomp_yhome.min [JOINT_1]HOME_SW_MIN
|
||||
setp wcomp_yhome.max [JOINT_1]HOME_SW_MAX
|
||||
|
||||
# Z axis
|
||||
# min limit switch
|
||||
setp wcomp_zneg.max [JOINT_2]MIN_HARD_LIMIT
|
||||
setp wcomp_zneg.min [JOINT_2]MIN_HARD_LIMIT_RELEASE
|
||||
# max limit switch
|
||||
setp wcomp_zpos.min [JOINT_2]MAX_HARD_LIMIT
|
||||
setp wcomp_zpos.max [JOINT_2]MAX_HARD_LIMIT_RELEASE
|
||||
# home switch
|
||||
setp wcomp_zhome.min [JOINT_2]HOME_SW_MIN
|
||||
setp wcomp_zhome.max [JOINT_2]HOME_SW_MAX
|
||||
|
||||
# Configure fake probing
|
||||
loadrt sphereprobe names=sphereprobe
|
||||
|
||||
addf sphereprobe base-thread 2
|
||||
|
||||
setp sphereprobe.cx -2811 # this is where it ends up after homing
|
||||
setp sphereprobe.cz -6000 # this is where it ends up after homing
|
||||
setp sphereprobe.r 5000 # 5/6 inch
|
||||
net px encoder_px.rawcounts => sphereprobe.px
|
||||
net py encoder_py.rawcounts => sphereprobe.py
|
||||
net pz encoder_pz.rawcounts => sphereprobe.pz
|
||||
net probe-out sphereprobe.probe-out => motion.probe-input
|
||||
net probe-out => encoder_px.latch-input encoder_py.latch-input
|
||||
net probe-out => encoder_pz.latch-input
|
||||
|
||||
setp encoder_px.latch-rising 1
|
||||
setp encoder_px.latch-falling 1
|
||||
setp encoder_py.latch-rising 1
|
||||
setp encoder_py.latch-falling 1
|
||||
setp encoder_pz.latch-rising 1
|
||||
setp encoder_pz.latch-falling 1
|
||||
43
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_ldelta.hal
Executable file
43
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_ldelta.hal
Executable file
@@ -0,0 +1,43 @@
|
||||
# core HAL config file for simulation
|
||||
|
||||
# first load all the RT modules that will be needed
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
#loadrt lineardeltakins
|
||||
# motion controller, get name and thread periods from INI file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
|
||||
loadusr -W lineardelta MIN_JOINT=-420
|
||||
|
||||
# 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 J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb lineardelta.joint0
|
||||
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb lineardelta.joint1
|
||||
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb lineardelta.joint2
|
||||
net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
|
||||
|
||||
net L lineardeltakins.L => lineardelta.L
|
||||
net R lineardeltakins.R => lineardelta.R
|
||||
|
||||
sets L 269
|
||||
sets R 130.25
|
||||
|
||||
# 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
|
||||
|
||||
498
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_lib.tcl
Executable file
498
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_lib.tcl
Executable file
@@ -0,0 +1,498 @@
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# sim_lib.tcl: haltcl procs for sim configurations
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#----------------------------------------------------------------------
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# Notes (Joints-Axes):
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# 1) if ::KINS(KINEMATICS) exists:
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# loadrt the kins using any included parameters
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# example: for inifile item:
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# [KINS]KINEMATICS = trivkins coordinates=XZ kinstype=BOTH
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# use:
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# loadrt trivkins coordinates=xz kinstype=BOTH
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# else:
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# loadrt trivkins
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#
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# 2) NB: If $::KINS(KINEMATICS) specifies coordinates=, the
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# coordinates must agree with ::TRAJ(COORDINATES)
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#
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# 3) if known kins (trivkins) and xyz, make hypotenuse velocity
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# pins for xy,xyz
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#----------------------------------------------------------------------
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proc indices_for_trivkins {axes} {
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# ref: src/emc/kinematics/trivkins.c
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if {"$axes" == ""} {set axes {x y z a b c u v w}}
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set i 0
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foreach a [string tolower $axes] {
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# assign to consecutive joints:
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set ::SIM_LIB(jointidx,$a) $i
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incr i
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}
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} ;# indices_for_trivkins
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proc get_traj_coordinates {} {
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# initraj.cc: coordinates may be with or without spaces X Z or XZ
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# convert either form to list like {x z}
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set coordinates [lindex $::TRAJ(COORDINATES) 0]
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set coordinates [string map {" " "" "\t" ""} $coordinates]
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set coordinates [split $coordinates ""]
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return [string tolower $coordinates]
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} ;# get_traj_coordinates
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proc check_ini_items {} {
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foreach {section item} {KINS KINEMATICS
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KINS JOINTS
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TRAJ COORDINATES
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} {
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if ![info exists ::${section}($item)] {
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return -code error "Missing inifile item: \[$section\]$item"
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}
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}
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if { [info exists ::DISPLAY(LATHE)]
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&& [lsearch $::KINS(KINEMATICS) trivkins] >= 0
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} {
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# reject historical lathe config using default trivkins coordinates (all)
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if {[string first "=" $::KINS(KINEMATICS)] < 0} {
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set msg "trivkins lathe config must specify coordinates= "
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set msg "$msg\n(typically use \[KINS]KINEMATICS trivkins coordinates=XZ)"
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return -code error "$msg"
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}
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}
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set n_extrajoints 0
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if [info exists ::EMCMOT(EMCMOT)] {
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set mot [split [lindex $::EMCMOT(EMCMOT) 0]]
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if {[string first motmod $mot] >= 0} {
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foreach item $mot {
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if {[string first num_extrajoints= $item] < 0} continue
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set n_extrajoints [lindex [split $item =] end]
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} ;# foreach
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}
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}
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set kins [split [lindex $::KINS(KINEMATICS) 0]]
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if {[string first trivkins $kins] >= 0} {
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foreach item $kins {
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if {[string first coordinates= $item] < 0} continue
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set tcoords [lindex [split $item =] end]
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set len_tcoords [string len $tcoords]
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set expected_joints [expr $len_tcoords + $n_extrajoints]
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if {$expected_joints != $::KINS(JOINTS)} {
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set m "\ncheck_ini_items: WARNING:\n"
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set m "$m trivkins coordinates=$tcoords specifies $len_tcoords joints\n"
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set m "$m trivkins extrajoints=$n_extrajoints\n"
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set m "$m trivkins totaljoints=$expected_joints\n"
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set m "$m !!! but \[KINS\]JOINTS=$::KINS(JOINTS)\n"
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puts stderr $m
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}
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} ;# foreach
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}
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return
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} ;# check_ini_items
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proc setup_kins {axes} {
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if ![info exists ::KINS(KINEMATICS)] {
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puts stderr "setup_kins: NO \[KINS\]KINEMATICS, trying default trivkins"
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loadrt trivkins
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return
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}
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set kins_kinematics [lindex $::KINS(KINEMATICS) end]
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set cmd "loadrt $kins_kinematics" ;# may include parms
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set kins_module [lindex $kins_kinematics 0]
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puts stderr "setup_kins: cmd=$cmd"
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if [catch {eval $cmd} msg] {
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puts stderr "\nmsg=$msg\n"
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}
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# set up axis indices for known kins
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switch $kins_module {
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trivkins {indices_for_trivkins $axes}
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default {
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puts stderr "setup_kins: unknown \[KINS\]KINEMATICS=<$::KINS(KINEMATICS)>"
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}
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}
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} ;# setup_kins
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proc core_sim {axes
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number_of_joints
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servo_period
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{base_period 0}
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{emcmot motmod}
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} {
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# adapted as haltcl proc from core_sim.hal
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# note: with default emcmot==motmot,
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# thread will not be added for (default) base_pariod == 0
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setup_kins $axes
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if {"$emcmot" == "motmod"} {
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if [catch {loadrt $emcmot \
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base_period_nsec=$base_period \
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servo_period_nsec=$servo_period \
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num_joints=$number_of_joints} msg
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] {
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# typ: too many joints attempted
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puts stderr "\n"
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puts stderr "core_sim: loadrt $emcmot FAIL"
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puts stderr " msg=$msg\n"
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exit 1
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}
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} else {
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# known special case with additional parameter:
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# unlock_joint_mask=0xNN
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# num_extrajoints=n
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set module [split [lindex $emcmot 0]]
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set modname [lindex $module 0]
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set modparm [lreplace $module 0 0]
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if [catch {eval loadrt $modname $modparm \
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base_period_nsec=$base_period \
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servo_period_nsec=$servo_period \
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num_joints=$number_of_joints} msg
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] {
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puts stderr "\n"
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puts stderr "core_sim:unhandled emcmot<$emcmot>"
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puts stderr " modname=$modname"
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puts stderr " modparm=$modparm"
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puts stderr " msg=$msg\n"
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exit 1
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}
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}
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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set pid_names ""
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set mux_names ""
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for {set jno 0} {$jno < $number_of_joints} {incr jno} {
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set pid_names "${pid_names},J${jno}_pid"
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set mux_names "${mux_names},J${jno}_mux"
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}
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set pid_names [string trimleft $pid_names ,]
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set mux_names [string trimleft $mux_names ,]
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loadrt pid names=$pid_names
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loadrt mux2 names=$mux_names
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# pid components
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# The pid comp is used as a pass-thru device (FF0=1,all other gains=0)
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# to emulate the connectivity of a servo system
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# (e.g., no short-circuit connection of motor-pos-cmd to motor-pos-fb)
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foreach cname [split $pid_names ,] {
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addf ${cname}.do-pid-calcs servo-thread
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# FF0 == 1 for pass-thru, all others 0
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do_setp ${cname}.FF0 1.0
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foreach pin {Pgain Dgain Igain FF1 FF2} { do_setp ${cname}.$pin 0 }
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}
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# mux components
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# The mux comp is used as a sample-hold to simulate a machine
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# with encoders that measure output position when power
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# is not applied to the motors or controllers
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foreach cname [split $mux_names ,] {
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addf $cname servo-thread
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}
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# signal connections:
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net estop:loop <= iocontrol.0.user-enable-out
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net estop:loop => iocontrol.0.emc-enable-in
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net tool:prep-loop <= iocontrol.0.tool-prepare
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net tool:prep-loop => iocontrol.0.tool-prepared
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net tool:change-loop <= iocontrol.0.tool-change
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net tool:change-loop => iocontrol.0.tool-changed
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net sample:enable <= motion.motion-enabled
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for {set jno 0} {$jno < $number_of_joints} {incr jno} {
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net sample:enable => J${jno}_mux.sel
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net J${jno}:enable <= joint.$jno.amp-enable-out
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net J${jno}:enable => J${jno}_pid.enable
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net J${jno}:pos-cmd <= joint.$jno.motor-pos-cmd
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net J${jno}:pos-cmd => J${jno}_pid.command
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net J${jno}:on-pos <= J${jno}_pid.output
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net J${jno}:on-pos => J${jno}_mux.in1 ;# pass thru when motion-enabled
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net J${jno}:pos-fb <= J${jno}_mux.out
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net J${jno}:pos-fb => J${jno}_mux.in0 ;# hold position when !motion-enabled
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net J${jno}:pos-fb => joint.$jno.motor-pos-fb
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}
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} ;# core_sim
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proc make_ddts {number_of_joints} {
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# make vel,accel ddts and signals for all joints
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# if xyz, make hypotenuse xy,xyz vels
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set ddt_names ""
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set ddt_ct 0
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for {set jno 0} {$jno < $number_of_joints} {incr jno} {
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incr ddt_ct 2
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set ddt_names "${ddt_names},J${jno}_vel,J${jno}_accel"
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}
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set ddt_names [string trimleft $ddt_names ,]
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loadrt ddt names=$ddt_names
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foreach cname [split $ddt_names ,] {
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addf $cname servo-thread
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}
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# joint vel,accel signal connections:
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set ddt_ct 0
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for {set jno 0} {$jno < $number_of_joints} {incr jno} {
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incr ddt_ct 2
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net J${jno}:pos-fb => J${jno}_vel.in ;# net presumed to exist
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net J${jno}:vel <= J${jno}_vel.out
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net J${jno}:vel => J${jno}_accel.in
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net J${jno}:acc <= J${jno}_accel.out
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}
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set has_xyz 1
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foreach letter {x y z} {
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if ![info exists ::SIM_LIB(jointidx,$letter)] {
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set has_xyz 0
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break
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}
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}
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if $has_xyz {
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loadrt hypot names=hyp_xy,hyp_xyz ;# vector velocities
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addf hyp_xy servo-thread
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addf hyp_xyz servo-thread
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net J$::SIM_LIB(jointidx,x):vel <= J$::SIM_LIB(jointidx,x)_vel.out
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net J$::SIM_LIB(jointidx,x):vel => hyp_xy.in0
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net J$::SIM_LIB(jointidx,x):vel => hyp_xyz.in0
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net J$::SIM_LIB(jointidx,y):vel <= J$::SIM_LIB(jointidx,y)_vel.out
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net J$::SIM_LIB(jointidx,y):vel => hyp_xy.in1
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net J$::SIM_LIB(jointidx,y):vel => hyp_xyz.in1
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net J$::SIM_LIB(jointidx,z):vel <= J$::SIM_LIB(jointidx,z)_vel.out
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net J$::SIM_LIB(jointidx,z):vel => hyp_xyz.in2
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net xy:vel => hyp_xy.out
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net xyz:vel <= hyp_xyz.out
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}
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} ;# make_ddts
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proc use_hal_manualtoolchange {} {
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# adapted as haltcl proc from axis_manualtoolchange.hal
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loadusr -W hal_manualtoolchange
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# disconnect if previously connected:
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unlinkp iocontrol.0.tool-change
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unlinkp iocontrol.0.tool-changed
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# remove signal with no connections:
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delsig tool:change-loop
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net tool:change <= iocontrol.0.tool-change
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net tool:change => hal_manualtoolchange.change
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net tool:changed <= hal_manualtoolchange.changed
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net tool:changed => iocontrol.0.tool-changed
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net tool:prep-number <= hal_manualtoolchange.number
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net tool:prep-number => iocontrol.0.tool-prep-number
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} ;# use_hal_manualtoolchange
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proc simulated_home {number_of_joints} {
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# uses sim_home_switch component
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set switch_names ""
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for {set jno 0} {$jno < $number_of_joints} {incr jno} {
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set switch_names "${switch_names},J${jno}_switch"
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}
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set switch_names [string trimleft $switch_names ,]
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loadrt sim_home_switch names=$switch_names
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foreach cname [split $switch_names ,] {
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addf $cname servo-thread
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}
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for {set jno 0} {$jno < $number_of_joints} {incr jno} {
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# add pin to pre-existing signal:
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net J${jno}:pos-fb => J${jno}_switch.cur-pos
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net J${jno}:homesw <= J${jno}_switch.home-sw
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net J${jno}:homesw => joint.$jno.home-sw-in
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# set sim_home_switch .hysteresis,.home-pos pins
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# according to traj units and joint type
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if ] {
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# use component defaults
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||||
} else {
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if {"[set ::JOINT_[set jno](TYPE)]" == "ANGULAR"} {
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# use component defaults
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||||
} else {
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||||
if ![info exists ::TRAJ(LINEAR_UNITS)] {
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||||
# use component defaults
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||||
} else {
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||||
switch $::TRAJ(LINEAR_UNITS) {
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||||
in - inch - imperial {
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||||
do_setp J${jno}_switch.hysteresis 0.05
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||||
do_setp J${jno}_switch.home-pos 0.10
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||||
}
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||||
default { # use component default }
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||||
}
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||||
}
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||||
if { [info exists ::JOINT_[set jno](HOME_SEARCH_VEL)]
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||||
&& [set ::JOINT_[set jno](HOME_SEARCH_VEL)] < 0} {
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||||
do_setp J${jno}_switch.home-pos -[getp J${jno}_switch.home-pos]
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||||
}
|
||||
}
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||||
} ;# type
|
||||
if [info exists ::JOINT_[set jno](HOME_USE_INDEX)] {
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||||
if [set ::JOINT_[set jno](HOME_USE_INDEX)] {
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||||
# Note: use default for joint.${jno}.index-delay-ms
|
||||
net J${jno}:index-enable <= joint.${jno}.index-enable
|
||||
net J${jno}:index-enable => J${jno}_switch.index-enable
|
||||
}
|
||||
}
|
||||
} ;# for
|
||||
} ;# simulated_home
|
||||
|
||||
proc sim_spindle {} {
|
||||
# adapted as haltcl proc from sim_spindle_encoder.hal
|
||||
# simulated spindle encoder (for spindle-synced moves)
|
||||
loadrt sim_spindle names=sim_spindle
|
||||
do_setp sim_spindle.scale 0.01666667
|
||||
|
||||
loadrt limit2 names=limit_speed
|
||||
loadrt lowpass names=spindle_mass
|
||||
loadrt near names=near_speed
|
||||
loadrt scale names=rpm_rps
|
||||
|
||||
setp rpm_rps.gain .0167
|
||||
|
||||
# this limit doesn't make any sense to me:
|
||||
do_setp limit_speed.maxv 5000.0 ;# rpm/second
|
||||
|
||||
# encoder reset control
|
||||
# hook up motion controller's sync output
|
||||
net spindle-index-enable <=> spindle.0.index-enable
|
||||
net spindle-index-enable <=> sim_spindle.index-enable
|
||||
|
||||
# report our revolution count to the motion controller
|
||||
net spindle-pos <= sim_spindle.position-fb
|
||||
net spindle-pos => spindle.0.revs
|
||||
|
||||
# simulate spindle mass
|
||||
do_setp spindle_mass.gain .07
|
||||
|
||||
# spindle speed control
|
||||
net spindle-speed-cmd <= spindle.0.speed-out
|
||||
net spindle-speed-cmd => limit_speed.in
|
||||
net spindle-speed-cmd => near_speed.in1
|
||||
|
||||
net spindle-speed-limited <= limit_speed.out
|
||||
net spindle-speed-limited => sim_spindle.velocity-cmd
|
||||
net spindle-speed-limited => spindle_mass.in
|
||||
|
||||
# for spindle velocity estimate
|
||||
net spindle-rpm-filtered <= spindle_mass.out
|
||||
net spindle-rpm-filtered rpm_rps.in
|
||||
net spindle-rps-filtered rpm_rps.out spindle.0.speed-in
|
||||
net spindle-rpm-filtered => near_speed.in2
|
||||
|
||||
# at-speed detection
|
||||
do_setp near_speed.scale 1.1
|
||||
do_setp near_speed.difference 10
|
||||
|
||||
net spindle-at-speed <= near_speed.out
|
||||
net spindle-at-speed => spindle.0.at-speed
|
||||
|
||||
net spindle-orient <= spindle.0.orient
|
||||
net spindle-orient <= spindle.0.is-oriented
|
||||
|
||||
addf limit_speed servo-thread
|
||||
addf spindle_mass servo-thread
|
||||
addf rpm_rps servo-thread
|
||||
addf near_speed servo-thread
|
||||
addf sim_spindle servo-thread
|
||||
} ;# sim_spindle
|
||||
|
||||
proc save_hal_cmds {savefilename {options ""} } {
|
||||
set tmpfile /tmp/save_hal_cmds_tmp
|
||||
set date [clock format [clock seconds]]
|
||||
set script [info script]
|
||||
set save_arg all ;# suffices if only basic_sim in use
|
||||
if {[llength $::HAL(HALFILE)] > 1} {
|
||||
set save_arg allu ;# do *all* unconnected pins including
|
||||
;# pins from other HALFILEs
|
||||
}
|
||||
set fd [open $savefilename w] ;# overwrite any existing file
|
||||
puts $fd "# $date
|
||||
#
|
||||
# This file: $savefilename
|
||||
# Created by: $script
|
||||
# With options: $::argv
|
||||
# From inifile: $::env(INI_FILE_NAME)
|
||||
# Halfiles: $::HAL(HALFILE)
|
||||
#
|
||||
# This file contains the hal commands produced by [file tail $script]
|
||||
# (and any hal commands executed prior to its execution).
|
||||
# ------------------------------------------------------------------
|
||||
# To use $savefilename in the original inifile (or a copy of it),
|
||||
# edit to change:
|
||||
# \[HAL\]
|
||||
# HALFILE = LIB:basic_sim.tcl parameters
|
||||
# to:
|
||||
# \[HAL\]
|
||||
# HALFILE = $savefilename
|
||||
#
|
||||
# Notes:
|
||||
# 1) Inifile Variables substitutions specified in the inifile
|
||||
# and interpreted by halcmd are automatically substituted
|
||||
# in the created halfile ($savefilename).
|
||||
# 2) Input pins connected to a signal with no writer are
|
||||
# not included in the setp listings herein so must be added
|
||||
# manually
|
||||
#
|
||||
"
|
||||
if {[lsearch $options use_hal_manualtoolchange] >= 0} {
|
||||
puts $fd "# user space components"
|
||||
puts $fd "loadusr -W hal_manualtoolchange"
|
||||
puts $fd ""
|
||||
}
|
||||
|
||||
hal save $save_arg $tmpfile
|
||||
|
||||
set ftmp [open $tmpfile r]
|
||||
set gave_msg 0
|
||||
set setp_fmt "%-3s %-30s %s"
|
||||
while {![eof $ftmp]} {
|
||||
gets $ftmp line
|
||||
if {([string first "unconnected pin values" $line] >0) && !$gave_msg} {
|
||||
set gave_msg 1
|
||||
puts $fd "# Note: ALL unconnected pins follow"
|
||||
puts $fd "# (includes pins using default with no explicit setp command)"
|
||||
} else {
|
||||
scan $line "%s %s %s" cmd arg1 remainder
|
||||
switch $cmd {
|
||||
setp {puts $fd [format $setp_fmt $cmd $arg1 $remainder]}
|
||||
loadrt {
|
||||
if { [string first tpmod [list $line]] >= 0
|
||||
|| [string first homemod [list $line]] >= 0
|
||||
} {
|
||||
puts $fd "#preloaded module: $line"
|
||||
} else {
|
||||
puts $fd $line
|
||||
}
|
||||
}
|
||||
default {puts $fd $line}
|
||||
}
|
||||
}
|
||||
} ;# while
|
||||
close $ftmp
|
||||
file delete $tmpfile
|
||||
if {("$save_arg" != "allu") && [info exists ::SIM_LIB(setp_list)]} {
|
||||
puts $fd "# setp commands for unconnected input pins"
|
||||
foreach {pname value} $::SIM_LIB(setp_list) {
|
||||
puts $fd [format $setp_fmt setp $pname $value]
|
||||
}
|
||||
}
|
||||
close $fd
|
||||
} ;# save_hal_cmds
|
||||
|
||||
proc do_setp {pname value} {
|
||||
setp $pname $value
|
||||
lappend ::SIM_LIB(setp_list) $pname $value
|
||||
} ;# do_setp
|
||||
42
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_rdelta.hal
Executable file
42
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_rdelta.hal
Executable file
@@ -0,0 +1,42 @@
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
|
||||
loadusr -W rotarydelta
|
||||
|
||||
# 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 J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
|
||||
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
|
||||
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
|
||||
|
||||
net J3pos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
|
||||
net J4pos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
|
||||
net J5pos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
|
||||
net J6pos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
|
||||
net J7pos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
|
||||
net J8pos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
|
||||
|
||||
net J0cmd joint.0.pos-cmd => rotarydelta.joint0
|
||||
net J1cmd joint.1.pos-cmd => rotarydelta.joint1
|
||||
net J2cmd joint.2.pos-cmd => rotarydelta.joint2
|
||||
|
||||
net pfr rotarydeltakins.platformradius => rotarydelta.pfr
|
||||
net tl rotarydeltakins.thighlength => rotarydelta.tl
|
||||
net sl rotarydeltakins.shinlength => rotarydelta.sl
|
||||
net fr rotarydeltakins.footradius => rotarydelta.fr
|
||||
|
||||
sets pfr 10
|
||||
sets tl 10
|
||||
sets sl 18
|
||||
sets fr 5
|
||||
|
||||
# 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
|
||||
45
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_spindle_encoder.hal
Executable file
45
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_spindle_encoder.hal
Executable file
@@ -0,0 +1,45 @@
|
||||
# simulated spindle encoder (for spindle-synced moves)
|
||||
loadrt sim_spindle names=sim_spindle
|
||||
setp sim_spindle.scale 0.01666667
|
||||
loadrt limit2 names=limit_speed
|
||||
loadrt lowpass names=spindle_mass
|
||||
loadrt near names=near_speed
|
||||
loadrt scale names=rpm_rps
|
||||
|
||||
setp rpm_rps.gain .0167
|
||||
|
||||
# this limit doesn't make any sense to me:
|
||||
setp limit_speed.maxv 5000.0 # rpm/second
|
||||
|
||||
# encoder reset control
|
||||
# hook up motion controller's sync output
|
||||
net spindle-index-enable spindle.0.index-enable <=> sim_spindle.index-enable
|
||||
|
||||
# report our revolution count to the motion controller
|
||||
net spindle-pos sim_spindle.position-fb => spindle.0.revs
|
||||
|
||||
# simulate spindle mass
|
||||
setp spindle_mass.gain .07
|
||||
|
||||
# spindle speed control
|
||||
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
|
||||
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
|
||||
|
||||
# for spindle velocity estimate
|
||||
net spindle-rpm-filtered spindle_mass.out near_speed.in2
|
||||
net spindle-rpm-filtered rpm_rps.in
|
||||
net spindle-rps-filtered rpm_rps.out spindle.0.speed-in
|
||||
|
||||
# at-speed detection
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.difference 10
|
||||
|
||||
net spindle-speed-cmd => near_speed.in1
|
||||
net spindle-at-speed near_speed.out spindle.0.at-speed
|
||||
|
||||
addf limit_speed servo-thread
|
||||
addf spindle_mass servo-thread
|
||||
addf rpm_rps servo-thread
|
||||
addf near_speed servo-thread
|
||||
addf sim_spindle servo-thread
|
||||
|
||||
47
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated-gantry-home.hal
Executable file
47
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated-gantry-home.hal
Executable file
@@ -0,0 +1,47 @@
|
||||
|
||||
loadrt comp names=comp_j0,comp_j1,comp_j2,comp_j3
|
||||
loadrt or2 names=or_homesws
|
||||
|
||||
# Joint 0 = X axis, home switch is on negative end
|
||||
# Joint 1 = Y1 axis, home switch is on negative end
|
||||
# Joint 2 = Z axis, home switch is on positive end
|
||||
# Joint 3 = Y2 axis, home switch is on negative end
|
||||
net J0homeswpos => comp_j0.in1
|
||||
net J1homeswpos => comp_j1.in1
|
||||
net J2homeswpos => comp_j2.in0
|
||||
net J3homeswpos => comp_j3.in1
|
||||
|
||||
sets J0homeswpos -0.1
|
||||
sets J1homeswpos -0.1
|
||||
sets J2homeswpos 0.1
|
||||
sets J3homeswpos -0.1
|
||||
|
||||
net J0pos => comp_j0.in0
|
||||
net J1pos => comp_j1.in0
|
||||
net J2pos => comp_j2.in1
|
||||
net J3pos => comp_j3.in0
|
||||
|
||||
setp comp_j0.hyst .02
|
||||
setp comp_j1.hyst .02
|
||||
setp comp_j2.hyst .02
|
||||
setp comp_j3.hyst .02
|
||||
|
||||
# the X and Z joints share a home switch
|
||||
# the Y joints each have their own home switches
|
||||
net J0homesw <= comp_j0.out
|
||||
net J1homesw <= comp_j1.out => joint.1.home-sw-in
|
||||
net J2homesw <= comp_j2.out
|
||||
net J3homesw <= comp_j3.out => joint.3.home-sw-in
|
||||
|
||||
net J0homesw => or_homesws.in0
|
||||
net J2homesw => or_homesws.in1
|
||||
net J0.J1homesw or_homesws.out => joint.0.home-sw-in joint.2.home-sw-in
|
||||
|
||||
|
||||
addf comp_j0 servo-thread
|
||||
addf comp_j1 servo-thread
|
||||
addf comp_j2 servo-thread
|
||||
addf comp_j3 servo-thread
|
||||
|
||||
addf or_homesws servo-thread
|
||||
|
||||
32
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_home.hal
Executable file
32
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_home.hal
Executable file
@@ -0,0 +1,32 @@
|
||||
loadrt or2 names=or2_0
|
||||
loadrt comp names=comp_x,comp_y,comp_z
|
||||
|
||||
net Xhomeswpos => comp_x.in0
|
||||
net Yhomeswpos => comp_y.in0
|
||||
net Zhomeswpos => comp_z.in0
|
||||
|
||||
sets Xhomeswpos 1
|
||||
sets Yhomeswpos .5
|
||||
sets Zhomeswpos 2
|
||||
|
||||
net Xpos => comp_x.in1
|
||||
net Ypos => comp_y.in1
|
||||
net Zpos => comp_z.in1
|
||||
|
||||
setp comp_x.hyst .02
|
||||
setp comp_y.hyst .02
|
||||
setp comp_z.hyst .02
|
||||
|
||||
net Xhomesw <= comp_x.out
|
||||
net Yhomesw <= comp_y.out => joint.1.home-sw-in
|
||||
net Zhomesw <= comp_z.out
|
||||
|
||||
net Xhomesw => or2_0.in0
|
||||
net Zhomesw => or2_0.in1
|
||||
net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
|
||||
|
||||
addf comp_x servo-thread
|
||||
addf comp_y servo-thread
|
||||
addf comp_z servo-thread
|
||||
|
||||
addf or2_0 servo-thread
|
||||
76
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_limits.hal
Executable file
76
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_limits.hal
Executable file
@@ -0,0 +1,76 @@
|
||||
# HAL config file to simulate limit switches using window comparators
|
||||
#
|
||||
# first install nine comparators
|
||||
loadrt wcomp names=wcomp_xmin,wcomp_xmax,wcomp_xhome,wcomp_ymin,wcomp_ymax,wcomp_yhome,wcomp_zmin,wcomp_zmax,wcomp_zhome
|
||||
|
||||
# add comparators to servo thread so they will be evaluated
|
||||
# every servo period
|
||||
addf wcomp_xmin servo-thread
|
||||
addf wcomp_xmax servo-thread
|
||||
addf wcomp_xhome servo-thread
|
||||
addf wcomp_ymin servo-thread
|
||||
addf wcomp_ymax servo-thread
|
||||
addf wcomp_yhome servo-thread
|
||||
addf wcomp_zmin servo-thread
|
||||
addf wcomp_zmax servo-thread
|
||||
addf wcomp_zhome servo-thread
|
||||
|
||||
# connect position feedback from step generators
|
||||
# to window comparators
|
||||
net Xpos-fb => wcomp_xmin.in
|
||||
net Xpos-fb => wcomp_xmax.in
|
||||
net Xpos-fb => wcomp_xhome.in
|
||||
net Ypos-fb => wcomp_ymin.in
|
||||
net Ypos-fb => wcomp_ymax.in
|
||||
net Ypos-fb => wcomp_yhome.in
|
||||
net Zpos-fb => wcomp_zmin.in
|
||||
net Zpos-fb => wcomp_zmax.in
|
||||
net Zpos-fb => wcomp_zhome.in
|
||||
|
||||
# connect simulated switch outputs to motion controller
|
||||
net Xminlim wcomp_xmin.out => joint.0.neg-lim-sw-in
|
||||
net Xmaxlim wcomp_xmax.out => joint.0.pos-lim-sw-in
|
||||
net Xhome wcomp_xhome.out => joint.0.home-sw-in
|
||||
|
||||
net Yminlim wcomp_ymin.out => joint.1.neg-lim-sw-in
|
||||
net Ymaxlim wcomp_ymax.out => joint.1.pos-lim-sw-in
|
||||
net Yhome wcomp_yhome.out => joint.1.home-sw-in
|
||||
|
||||
net Zminlim wcomp_zmin.out => joint.2.neg-lim-sw-in
|
||||
net Zmaxlim wcomp_zmax.out => joint.2.pos-lim-sw-in
|
||||
net Zhome wcomp_zhome.out => joint.2.home-sw-in
|
||||
|
||||
# configure the points at which the simulated switches trip
|
||||
# X axis first
|
||||
# set min limit switch to trip at -10.2, release at -1000
|
||||
setp wcomp_xmin.max -10.2
|
||||
setp wcomp_xmin.min -1000
|
||||
# set max limit switch to trip at +10.2, release at +10.21
|
||||
setp wcomp_xmax.min 10.20
|
||||
setp wcomp_xmax.max 10.21
|
||||
# set home switch to trip at 9.5 and release at 9.75
|
||||
setp wcomp_xhome.min 9.5
|
||||
setp wcomp_xhome.max 9.75
|
||||
|
||||
# Y axis
|
||||
# set min limit switch to trip at -10.2, release at -1000
|
||||
setp wcomp_ymin.max -10.2
|
||||
setp wcomp_ymin.min -1000
|
||||
# set max limit switch to trip at +10.2, release at +10.21
|
||||
setp wcomp_ymax.min 10.20
|
||||
setp wcomp_ymax.max 10.21
|
||||
# set home switch to trip at 9.5 and release at 9.75
|
||||
setp wcomp_yhome.min 9.5
|
||||
setp wcomp_yhome.max 9.75
|
||||
|
||||
# Z axis
|
||||
# set min limit switch to trip at -2.1, release at -1000
|
||||
setp wcomp_zmin.max -2.1
|
||||
setp wcomp_zmin.min -1000
|
||||
# set max limit switch to trip at +4.05,release at +5
|
||||
setp wcomp_zmax.min 4.05
|
||||
setp wcomp_zmax.max 5
|
||||
# set home switch to trip at 3.9 and release at 4.1
|
||||
setp wcomp_zhome.min 3.9
|
||||
setp wcomp_zhome.max 4.1
|
||||
|
||||
55
linuxcnc/sim.gmoccapy.lathe_configs/hallib/tripodsim.hal
Executable file
55
linuxcnc/sim.gmoccapy.lathe_configs/hallib/tripodsim.hal
Executable file
@@ -0,0 +1,55 @@
|
||||
# core HAL config file for simulation
|
||||
|
||||
# first load all the RT modules that will be needed
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
setp tripodkins.Bx 10
|
||||
setp tripodkins.Cx 5
|
||||
setp tripodkins.Cy 7.071
|
||||
|
||||
# motion controller, get name and thread periods from INI file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
|
||||
# 6 differentiators (for velocity and accel sigs)
|
||||
loadrt ddt names=ddt_j0,ddt_j1,ddt_j2,ddt_j0v,ddt_j1v,ddt_j2v
|
||||
|
||||
# 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_j0 servo-thread
|
||||
addf ddt_j0v servo-thread
|
||||
addf ddt_j1 servo-thread
|
||||
addf ddt_j1v servo-thread
|
||||
addf ddt_j2 servo-thread
|
||||
addf ddt_j2v servo-thread
|
||||
|
||||
# create HAL signals for position commands from motion module
|
||||
# loop position commands back to motion module feedback
|
||||
net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_j0.in
|
||||
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_j1.in
|
||||
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_j2.in
|
||||
|
||||
# send the position commands thru differentiators to
|
||||
# generate velocity and accel signals
|
||||
net J0vel ddt_j0.out => ddt_j0v.in
|
||||
net J0acc <= ddt_j0v.out
|
||||
net J1vel ddt_j1.out => ddt_j1v.in
|
||||
net J1acc <= ddt_j1v.out
|
||||
net J2vel ddt_j2.out => ddt_j2v.in
|
||||
net J2acc <= ddt_j2v.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
|
||||
|
||||
# amp control
|
||||
net J0ena <= joint.0.amp-enable-out
|
||||
net J1ena <= joint.1.amp-enable-out
|
||||
net J2ena <= joint.2.amp-enable-out
|
||||
|
||||
net J0flt => joint.0.amp-fault-in
|
||||
net J1flt => joint.1.amp-fault-in
|
||||
net J2flt => joint.2.amp-fault-in
|
||||
62
linuxcnc/sim.gmoccapy.lathe_configs/hallib/util_lib.tcl
Executable file
62
linuxcnc/sim.gmoccapy.lathe_configs/hallib/util_lib.tcl
Executable file
@@ -0,0 +1,62 @@
|
||||
# util_lib.tcl -- utilities
|
||||
|
||||
set ::util_lib_quiet 0
|
||||
# ::tp is the namespace for [HAL]TWOPASS processing
|
||||
# quiet irrelevant messages in pass0
|
||||
if { [namespace exists ::tp] \
|
||||
&& ([::tp::passnumber] == 0) } { set ::util_lib_quiet 1 }
|
||||
|
||||
proc show_context {} {
|
||||
if { $::util_lib_quiet } { return }
|
||||
set pname show_context
|
||||
puts "$pname: argv0=$::argv0"
|
||||
puts "$pname: argv=$::argv"
|
||||
foreach arg $::argv {
|
||||
puts "$pname: arg=$arg"
|
||||
}
|
||||
puts "$pname: INI_FILE_NAME=$::env(INI_FILE_NAME)"
|
||||
} ;# show_context
|
||||
|
||||
proc show_ini {} {
|
||||
if { $::util_lib_quiet } { return }
|
||||
set vars [uplevel #0 {info vars}]
|
||||
set exclude_list {TP auto_index tcl_platform env}
|
||||
foreach v $vars {
|
||||
if { [lsearch $exclude_list $v] >= 0 } {continue}
|
||||
set vg ::$v
|
||||
if [array exists $vg] {
|
||||
parray $vg
|
||||
}
|
||||
}
|
||||
} ;# show_ini_info
|
||||
|
||||
proc show_env {} {
|
||||
parray ::env
|
||||
} ;# show_env
|
||||
|
||||
proc joint_number_for_axis {axis_letter} {
|
||||
# For JOINTS_AXES:
|
||||
# Apply rule for known kins with KINEMATICS_IDENTITY
|
||||
set kinematics [lindex $::env(KINS_KINEMATICS) 0]
|
||||
set coordinates $::env(TRAJ_COORDINATES)
|
||||
if {[ string first " " $coordinates] < 0} {
|
||||
set coordinates [split $coordinates ""]
|
||||
}
|
||||
set coordinates [string toupper $coordinates]
|
||||
set axis_letter [string toupper $axis_letter]
|
||||
|
||||
# rules for known kinematics types
|
||||
switch $kinematics {
|
||||
trivkins {set joint_number [lsearch $coordinates $axis_letter]}
|
||||
default {return -code error \
|
||||
"joint_number_for_axis: <$axis_letter> unavailable for kinematics:\
|
||||
<$::env(KINS_KINEMATICS)>"
|
||||
}
|
||||
}
|
||||
#puts stderr "kins=$kinematics coords=$coordinates a=$axis_letter j=$joint_number"
|
||||
if { $joint_number < 0} {
|
||||
return -code error \
|
||||
"joint_number_for_axis <$axis_letter> not in $::env(TRAJ_COORDINATES)"
|
||||
}
|
||||
return $joint_number
|
||||
} ;# joint_number_for_axis
|
||||
14
linuxcnc/sim.gmoccapy.lathe_configs/hallib/var_show.tcl
Executable file
14
linuxcnc/sim.gmoccapy.lathe_configs/hallib/var_show.tcl
Executable file
@@ -0,0 +1,14 @@
|
||||
# var_show.tcl
|
||||
|
||||
# this halfile can be used to show context and
|
||||
# INI variable arrays available to tcl halfiles
|
||||
# example: [HAL]LIB:var_show.tcl arg1 arg2
|
||||
|
||||
#begin-----------------------------------------------------------------
|
||||
source [file join $::env(HALLIB_DIR) util_lib.tcl]
|
||||
|
||||
show_ini
|
||||
show_context
|
||||
|
||||
puts ::argv=$::argv
|
||||
puts ::arglen=[llength $::argv]
|
||||
20
linuxcnc/sim.gmoccapy.lathe_configs/hallib/wheeljogpins.tcl
Executable file
20
linuxcnc/sim.gmoccapy.lathe_configs/hallib/wheeljogpins.tcl
Executable file
@@ -0,0 +1,20 @@
|
||||
# tcl file to enable jog pins
|
||||
# for all axis letters
|
||||
# for up to 9 joints
|
||||
# errors are ignored
|
||||
# scale defaults to 1, use ::argv otherwise for all
|
||||
|
||||
set scalevalue 1 ;# default
|
||||
if {[llength $::argv] == 1} {
|
||||
set scalevalue $::argv
|
||||
}
|
||||
catch {
|
||||
foreach l {x y z a b c u v w} {
|
||||
setp axis.$l.jog-enable 1
|
||||
setp axis.$l.jog-scale $::scalevalue
|
||||
}
|
||||
for {set i 0} {$i < 9} {incr i} {
|
||||
setp joint.$i.jog-enable 1
|
||||
setp joint.$i.jog-scale $::scalevalue
|
||||
}
|
||||
}
|
||||
17
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout1.cfg
Executable file
17
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout1.cfg
Executable file
@@ -0,0 +1,17 @@
|
||||
[XHC-HB04]
|
||||
BUTTON=01:button-stop
|
||||
BUTTON=02:button-start-pause
|
||||
BUTTON=03:button-rewind
|
||||
BUTTON=04:button-safe-z
|
||||
BUTTON=05:button-home
|
||||
BUTTON=06:button-x2
|
||||
BUTTON=07:button-y2
|
||||
BUTTON=08:button-probe-z
|
||||
BUTTON=09:button-x0
|
||||
BUTTON=0A:button-y0
|
||||
BUTTON=0B:button-z0
|
||||
BUTTON=0C:button-goto-zero
|
||||
BUTTON=0D:button-step
|
||||
BUTTON=0E:button-mode
|
||||
BUTTON=0F:button-spindle
|
||||
BUTTON=17:button-reset
|
||||
19
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout2.cfg
Executable file
19
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout2.cfg
Executable file
@@ -0,0 +1,19 @@
|
||||
[XHC-HB04]
|
||||
BUTTON=01:button-goto-zero
|
||||
BUTTON=02:button-start-pause
|
||||
BUTTON=03:button-rewind
|
||||
BUTTON=04:button-probe-z
|
||||
BUTTON=05:button-macro-3
|
||||
BUTTON=06:button-half
|
||||
BUTTON=07:button-zero
|
||||
BUTTON=08:button-safe-z
|
||||
BUTTON=09:button-home
|
||||
BUTTON=0A:button-macro-1
|
||||
BUTTON=0B:button-macro-2
|
||||
BUTTON=0C:button-spindle
|
||||
BUTTON=0D:button-step
|
||||
BUTTON=0E:button-mode
|
||||
BUTTON=0F:button-macro-6
|
||||
BUTTON=10:button-macro-7
|
||||
BUTTON=16:button-stop
|
||||
BUTTON=17:button-reset
|
||||
594
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl
Executable file
594
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl
Executable file
@@ -0,0 +1,594 @@
|
||||
# xhc-hb04.tcl: HALFILE for xhc-hb04 pendant
|
||||
|
||||
# library procs:
|
||||
source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
|
||||
source [file join $::env(HALLIB_DIR) util_lib.tcl]
|
||||
|
||||
# Usage:
|
||||
# In INI file, include:
|
||||
# [HAL]
|
||||
# HALFILE = existing halfiles
|
||||
# ...
|
||||
# HALFILE = xhc-hb04.tcl
|
||||
#
|
||||
# [XHC_HB04_CONFIG]
|
||||
# layout = 2 (required: 1|2 are supported)
|
||||
# coords = x y z a (up to 4 unique letters from x y z a b c u v w)
|
||||
# coefs = 1 1 1 1 (optional, filter coefs, 0 < coef < 1, not usually reqd)
|
||||
# scales = 1 1 1 1 (optional)
|
||||
# mpg_accels = 50 75 30 75 (optional, less than axis max accel)
|
||||
# threadname = servo-thread (optional)
|
||||
# sequence = 1 (optional: 1|2)
|
||||
# jogmode = normal (optional: normal|vnormal)
|
||||
# require_pendant = yes (optional: yes|no)
|
||||
# inch_or_mm = in (optional: in|mm, default is mm)
|
||||
|
||||
# [XHC_HB04_BUTTONS]
|
||||
# name = pin (connect button to hal pin)
|
||||
# name = "" (no connect button)
|
||||
# special cases:
|
||||
# start-pause = std_start_pause (for usual behavior)
|
||||
# step = xhc-hb04.stepsize-up (for usual behavior)
|
||||
# (see INI files for more exanples)
|
||||
|
||||
# Notes:
|
||||
# 1) the 'start-pause' pin can be set to "std_start_pause" to
|
||||
# implement default behavior
|
||||
# 2) the 'step' pin is normally connected to xhc-hb04.stepsize-up
|
||||
# 3) non-root access to the usb device requires an additional
|
||||
# udev rule. Typically, create /etc/udev/rules.d/90-xhc.rules:
|
||||
# SYSFS{idProduct}=="eb70", SYSFS{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
|
||||
# or (for ubuntu12 and up):
|
||||
# ATTR{idProduct}=="eb70", ATTR{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
|
||||
# 4) For jogmode==vnormal (man motion -- see joint.N.jog-vel-mode),
|
||||
# the max movement is limited by the machine velocity and acceleration limits
|
||||
# such that delta_x = 0.5 * vmax**2/accelmx
|
||||
# so for sim example:
|
||||
# inch: vmax= 1.2 accelmax= 20 delta_x=0.036
|
||||
# mm: vmax=30.48 acclemax=508 delta_x=0.9144
|
||||
# Typically:
|
||||
# (-s1) sequence 1 (1,10,100,1000) is ok for mm-based machines
|
||||
# (-s2) sequence 2 (1,5,10,20) is ok for inch-based machines
|
||||
#
|
||||
# 5) updated for joints_axes: support only configs with known kins
|
||||
# and they must be KINEMATICS_IDENTITY (trivkins)
|
||||
# a) connect axis.L.jog-counts to joint.N.jog-counts
|
||||
# axis.L.jog-scale to joint.L.jog-scale
|
||||
# c) use [AXIS_N]MAX_ACCELERATION for both axis.L, joint.N
|
||||
|
||||
#-----------------------------------------------------------------------
|
||||
# Copyright: 2014-16
|
||||
# Author: Dewey Garrett <dgarrett@panix.com>
|
||||
#
|
||||
# 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
#-----------------------------------------------------------------------
|
||||
|
||||
proc is_uniq {list_name} {
|
||||
set tmp(xxxxxxxx) "" ;# make an array first
|
||||
foreach item $list_name {
|
||||
if {[array names tmp $item] == $item} {
|
||||
return 0 ;# not unique
|
||||
}
|
||||
set tmp($item) $item
|
||||
}
|
||||
return 1 ;# unique
|
||||
} ;# is_uniq
|
||||
|
||||
proc connect_pins {} {
|
||||
foreach bname [lsort [array names ::XHC_HB04_BUTTONS]] {
|
||||
set thepin $::XHC_HB04_BUTTONS($bname)
|
||||
set thepin [lindex $thepin 0]
|
||||
|
||||
if {"$thepin" == "\"\""} {
|
||||
#puts stderr "$::progname: no pin defined for <$bname>"
|
||||
continue
|
||||
}
|
||||
# this pin is can specify std behavior
|
||||
if { ([string tolower $bname] == "start-pause")
|
||||
&& ([string tolower $thepin] == "std_start_pause")
|
||||
} {
|
||||
std_start_pause_button
|
||||
puts stderr "$::progname: using std_start_pause_button"
|
||||
continue
|
||||
}
|
||||
# these are warnings in the INI file examples but aren't real pins
|
||||
if {[string tolower "$thepin"] == "caution"} {
|
||||
puts stderr "$::progname: skipping button $bname marked <$thepin>"
|
||||
continue
|
||||
}
|
||||
set fullbname xhc-hb04.button-$bname
|
||||
if !$::xhc_hb04_quiet {
|
||||
if ![pin_exists $fullbname] {
|
||||
puts stderr "$::progname: !!! <$fullbname> pin does not exist, continuing"
|
||||
continue
|
||||
}
|
||||
if ![pin_exists $thepin] {
|
||||
puts stderr "$::progname: !!! <$thepin> target pin does not exist, continuing"
|
||||
continue
|
||||
}
|
||||
}
|
||||
|
||||
makenet pendant:$bname <= $fullbname => $thepin
|
||||
}
|
||||
} ;# connect_pins
|
||||
|
||||
proc wheel_setup {jogmode} {
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
|
||||
set idx 0
|
||||
foreach g $::XHC_HB04_CONFIG(mpg_accels) {
|
||||
set g1 $g
|
||||
if {$g < 0} {
|
||||
set g [expr -1 * $g]
|
||||
puts stderr "$::progname: mpg_accel #$idx must be positive was:$g1, is:$g"
|
||||
}
|
||||
set ::XHC_HB04_CONFIG(accel,$idx) [format %f $g] ;# ensure floatingpt
|
||||
incr idx
|
||||
}
|
||||
}
|
||||
|
||||
# defaults if not in INI file:
|
||||
set ::XHC_HB04_CONFIG(coef,0) 1.0
|
||||
set ::XHC_HB04_CONFIG(coef,1) 1.0
|
||||
set ::XHC_HB04_CONFIG(coef,2) 1.0
|
||||
set ::XHC_HB04_CONFIG(coef,3) 1.0
|
||||
if [info exists ::XHC_HB04_CONFIG(coefs)] {
|
||||
set idx 0
|
||||
foreach g $::XHC_HB04_CONFIG(coefs) {
|
||||
set g1 $g
|
||||
if {$g < 0} {
|
||||
set g [expr -1 * $g]
|
||||
puts stderr "$::progname: coef #$idx must be positive was:$g1, is:$g"
|
||||
}
|
||||
if {$g > 1} {
|
||||
set g .5
|
||||
puts stderr "$::progname: coef #$idx must < 1 coef was:$g1, is:$g"
|
||||
}
|
||||
set ::XHC_HB04_CONFIG(coef,$idx) $g
|
||||
incr idx
|
||||
}
|
||||
}
|
||||
# defaults if not in INI file:
|
||||
set ::XHC_HB04_CONFIG(scale,0) 1.0
|
||||
set ::XHC_HB04_CONFIG(scale,1) 1.0
|
||||
set ::XHC_HB04_CONFIG(scale,2) 1.0
|
||||
set ::XHC_HB04_CONFIG(scale,3) 1.0
|
||||
if [info exists ::XHC_HB04_CONFIG(scales)] {
|
||||
set idx 0
|
||||
foreach g $::XHC_HB04_CONFIG(scales) {
|
||||
set ::XHC_HB04_CONFIG(scale,$idx) $g
|
||||
incr idx
|
||||
}
|
||||
}
|
||||
|
||||
# to support fractional scales:
|
||||
# divide the xhc-hb04.jog.scale by $kvalue
|
||||
# and
|
||||
# multiply the pendant_util.scale$idx by $kvalue
|
||||
# to manipulate the integer (s32) joint.N.jog-counts
|
||||
|
||||
set kvalue 100.0; # allow fractional scales (.1, .01)
|
||||
# Note: larger values not advised as the
|
||||
# jog-counts are type s32 (~ +/-2e9)
|
||||
setp pendant_util.k $kvalue
|
||||
|
||||
makenet pendant:jog-prescale <= xhc-hb04.jog.scale
|
||||
makenet pendant:jog-prescale => pendant_util.divide-by-k-in
|
||||
|
||||
makenet pendant:jog-scale <= pendant_util.divide-by-k-out
|
||||
# pendant:jog-scale connects to each:
|
||||
# and axis.$coord.jog-scale
|
||||
# joint.$jnum.jog-scale (if applicable)
|
||||
|
||||
makenet pendant:wheel-counts <= xhc-hb04.jog.counts
|
||||
makenet pendant:wheel-counts-neg <= xhc-hb04.jog.counts-neg
|
||||
|
||||
set anames {x y z a}
|
||||
set available_idx {0 1 2 3}
|
||||
# The pendant has fixed labels and displays for letters: x y z a
|
||||
# and xhc-hb04.cc hardcodes pin names for these letters: x y z a
|
||||
# Herein: Use label corresponding to coord if possible.
|
||||
# Otherwise, use next available label. When this occurs,
|
||||
# pin names will be a little confusing but the signal names will
|
||||
# align correctly.
|
||||
#
|
||||
# With this method, any coord (xyzabcuvw) can be controlled by
|
||||
# the wheel (providing it exists)
|
||||
#
|
||||
set unassigned_coords {}
|
||||
|
||||
foreach coord $::XHC_HB04_CONFIG(coords) {
|
||||
set i [lsearch $anames $coord]
|
||||
if {$i >= 0} {
|
||||
set i [lsearch $available_idx $i]
|
||||
# use idx corresponding to coord
|
||||
set use_idx($coord) [lindex $available_idx $i]
|
||||
set available_idx [lreplace $available_idx $i $i]
|
||||
} else {
|
||||
lappend unassigned_coords $coord
|
||||
}
|
||||
}
|
||||
foreach coord $unassigned_coords {
|
||||
# use next available_idx
|
||||
set use_idx($coord) [lindex $available_idx 0]
|
||||
set available_idx [lreplace $available_idx 0 0]
|
||||
}
|
||||
|
||||
set mapmsg ""
|
||||
foreach coord $::XHC_HB04_CONFIG(coords) {
|
||||
if [catch {set jnum [joint_number_for_axis $coord]} msg] {
|
||||
puts stderr "$::progname: $msg"
|
||||
set has_jnum 0
|
||||
} else {
|
||||
set has_jnum 1
|
||||
}
|
||||
set use_lbl($coord) [lindex $anames $use_idx($coord)]
|
||||
set idx $use_idx($coord)
|
||||
if {"$use_lbl($coord)" != "$coord"} {
|
||||
set mapmsg "$mapmsg\
|
||||
coord: $coord is mapped to pendant switch/display:\
|
||||
$use_lbl($coord) index: $idx\n"
|
||||
}
|
||||
setp pendant_util.coef$idx $::XHC_HB04_CONFIG(coef,$idx)
|
||||
setp pendant_util.scale$idx [expr $kvalue * $::XHC_HB04_CONFIG(scale,$idx)]
|
||||
|
||||
set acoord [lindex $anames $idx]
|
||||
# accommodate existing signames for halui outpins:
|
||||
makenet [existing_outpin_signame halui.axis.$coord.pos-feedback pendant:pos-$coord] \
|
||||
<= halui.axis.$coord.pos-feedback \
|
||||
=> xhc-hb04.$acoord.pos-absolute
|
||||
|
||||
makenet [existing_outpin_signame halui.axis.$coord.pos-relative pendant:pos-rel-$coord] \
|
||||
<= halui.axis.$coord.pos-relative \
|
||||
=> xhc-hb04.$acoord.pos-relative
|
||||
|
||||
makenet pendant:jog-scale => axis.$coord.jog-scale
|
||||
|
||||
makenet pendant:wheel-counts => pendant_util.in$idx
|
||||
makenet pendant:wheel-counts-$coord-filtered <= pendant_util.out$idx \
|
||||
=> axis.$coord.jog-counts
|
||||
|
||||
|
||||
set COORD [string toupper $coord]
|
||||
makenet pendant:jog-$coord <= xhc-hb04.jog.enable-$acoord \
|
||||
=> axis.$coord.jog-enable
|
||||
switch $jogmode {
|
||||
vnormal {
|
||||
setp axis.$coord.jog-vel-mode 1
|
||||
}
|
||||
}
|
||||
|
||||
set afraction 1.0 ;# default
|
||||
# Only calculate an afraction IF we have specified mpg_accels in the INI file
|
||||
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
|
||||
if [catch {
|
||||
set afraction [expr $::XHC_HB04_CONFIG(accel,$idx)\
|
||||
/[set ::AXIS_[set COORD](MAX_ACCELERATION)] ]
|
||||
} msg] {
|
||||
err_exit "<$msg>\n\nMissing INI setting: \[AXIS_$COORD\]MAX_ACCELERATION"
|
||||
}
|
||||
}
|
||||
setp axis.$coord.jog-accel-fraction $afraction
|
||||
|
||||
# connect for joint pins if known (trivkins)
|
||||
if $has_jnum {
|
||||
if ![pin_exists joint.$jnum.jog-scale] {
|
||||
err_exit "Not configured for coords = $::XHC_HB04_CONFIG(coords),\
|
||||
missing joint.$jnum.* pins"
|
||||
}
|
||||
makenet pendant:jog-scale => joint.$jnum.jog-scale
|
||||
makenet pendant:wheel-counts-$coord-filtered => joint.$jnum.jog-counts
|
||||
if [catch {set std_accel [set ::JOINT_[set jnum](MAX_ACCELERATION)]} msg] {
|
||||
err_exit "Error: missing \[JOINT_[set jnum]\]MAX_ACCELERATION"
|
||||
}
|
||||
if { [set ::JOINT_[set jnum](MAX_ACCELERATION)]
|
||||
!= [set ::AXIS_[set COORD](MAX_ACCELERATION)] } {
|
||||
puts stderr "$::progname: Warning accel values differ:"
|
||||
puts stderr " \[JOINT_[set jnum]\]MAX_ACCELERATION=[set ::JOINT_[set jnum](MAX_ACCELERATION)]"
|
||||
puts stderr " \[AXIS_[set COORD]\]MAX_ACCELERATION=[set ::AXIS_[set COORD](MAX_ACCELERATION)]"
|
||||
}
|
||||
makenet pendant:jog-$coord => joint.$jnum.jog-enable
|
||||
|
||||
set jfraction 1.0 ;# default
|
||||
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
|
||||
if [catch {
|
||||
set jfraction [expr $::XHC_HB04_CONFIG(accel,$idx)\
|
||||
/[set ::JOINT_[set jnum](MAX_ACCELERATION)] ]
|
||||
} msg] {
|
||||
err_exit "<$msg>\n\nMissing INI setting: \[JOINT_$jnum\]MAX_ACCELERATION"
|
||||
}
|
||||
}
|
||||
setp joint.$jnum.jog-accel-fraction $jfraction
|
||||
|
||||
switch $jogmode {
|
||||
vnormal {
|
||||
setp joint.$jnum.jog-vel-mode 1
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} ;# for coord
|
||||
if {"$mapmsg" != ""} {
|
||||
puts "\n$::progname:\n$mapmsg"
|
||||
}
|
||||
|
||||
setp halui.feed-override.scale 0.01
|
||||
makenet pendant:wheel-counts => halui.feed-override.counts
|
||||
|
||||
setp halui.spindle.0.override.scale 0.01
|
||||
makenet pendant:wheel-counts => halui.spindle.0.override.counts
|
||||
|
||||
makenet pendant:feed-override-enable => halui.feed-override.count-enable \
|
||||
<= xhc-hb04.jog.enable-feed-override
|
||||
|
||||
makenet pendant:spindle-override-enable => halui.spindle.0.override.count-enable \
|
||||
<= xhc-hb04.jog.enable-spindle-override
|
||||
|
||||
|
||||
# accommodate existing signames for motion outpins
|
||||
makenet [existing_outpin_signame motion.current-vel pendant:feed-value] \
|
||||
<= motion.current-vel \
|
||||
=> xhc-hb04.feed-value
|
||||
|
||||
makenet [existing_outpin_signame spindle.0.speed-out-rps-abs pendant:spindle-rps] \
|
||||
<= spindle.0.speed-out-rps-abs \
|
||||
=> xhc-hb04.spindle-rps
|
||||
|
||||
# accommodate existing signames for halui outpins:
|
||||
makenet [existing_outpin_signame halui.max-velocity.value pendant:jog-speed] \
|
||||
<= halui.max-velocity.value
|
||||
|
||||
makenet [existing_outpin_signame halui.feed-overide.value pendant:feed-override] \
|
||||
<= halui.feed-override.value \
|
||||
=> xhc-hb04.feed-override
|
||||
|
||||
makenet [existing_outpin_signame halui.spindle.0.override.value pendant:spindle-override] \
|
||||
<= halui.spindle.0.override.value \
|
||||
=> xhc-hb04.spindle-override
|
||||
|
||||
} ;# wheel_setup
|
||||
|
||||
proc existing_outpin_signame {pinname newsigname} {
|
||||
# return existing outpin signame if it exists, else newsigname
|
||||
set answer [is_connected $pinname signame]
|
||||
switch $answer {
|
||||
not_connected {return $newsigname}
|
||||
is_output {puts "$::progname: Using existing outpin signame: $signame"
|
||||
return "$signame"
|
||||
}
|
||||
default {return -code error \
|
||||
"existing_outpin_signame:UNEXPECTED $answer"
|
||||
}
|
||||
}
|
||||
} ;# existing_outpin_signame
|
||||
|
||||
proc std_start_pause_button {} {
|
||||
# hardcoded setup for button-start-pause
|
||||
makenet pendant:start-or-pause <= xhc-hb04.button-start-pause \
|
||||
=> pendant_util.start-or-pause
|
||||
|
||||
makenet pendant:program-resume <= pendant_util.resume \
|
||||
=> halui.program.resume
|
||||
makenet pendant:program-pause <= pendant_util.pause \
|
||||
=> halui.program.pause
|
||||
makenet pendant:program-run <= pendant_util.run \
|
||||
=> halui.program.run \
|
||||
=> halui.mode.auto
|
||||
|
||||
# accommodate existing signames for halui outpins:
|
||||
makenet [existing_outpin_signame halui.program.is-idle pendant:is-idle] \
|
||||
<= halui.program.is-idle \
|
||||
=> pendant_util.is-idle
|
||||
|
||||
makenet [existing_outpin_signame halui.program.is-paused pendant:is-paused] \
|
||||
<= halui.program.is-paused \
|
||||
=> pendant_util.is-paused
|
||||
|
||||
makenet [existing_outpin_signame halui.program.is-running pendant:is-running] \
|
||||
<= halui.program.is-running \
|
||||
=> pendant_util.is-running
|
||||
} ;# std_start_pause_button
|
||||
|
||||
proc popup_msg {msg} {
|
||||
puts stderr "$msg"
|
||||
if [catch {package require Tk
|
||||
wm withdraw .
|
||||
tk_messageBox \
|
||||
-title "$::progname" \
|
||||
-type ok \
|
||||
-message "$msg"
|
||||
destroy .
|
||||
} msg] {
|
||||
puts stderr "$msg"
|
||||
}
|
||||
} ;# popup_msg
|
||||
|
||||
proc err_exit {msg} {
|
||||
popup_msg $msg
|
||||
puts stderr "\n$::progname: $msg\n"
|
||||
exit 1
|
||||
} ;# err_exit
|
||||
|
||||
proc makenet {args} {
|
||||
if [catch {eval net $args} msg] {
|
||||
if ![info exists ::makenet_msg] {
|
||||
set ::makenet_msg \
|
||||
"Failed to make some required connections"
|
||||
}
|
||||
set sig "Signal: <[lindex $args 0]>:"
|
||||
set ::makenet_msg "$::makenet_msg\n\n$sig\n$msg"
|
||||
}
|
||||
} ;# makenet
|
||||
|
||||
# begin------------------------------------------------------------------------
|
||||
set ::progname "xhc-hb04.tcl"
|
||||
|
||||
set ::xhc_hb04_quiet 0
|
||||
# ::tp is the namespace for [HAL]TWOPASS processing
|
||||
if { [namespace exists ::tp] && ([::tp::passnumber] == 0) } {
|
||||
set ::xhc_hb04_quiet 1
|
||||
puts "$::progname: suppressing messages in twopass pass0"
|
||||
}
|
||||
|
||||
set libtag "LIB:"
|
||||
set cfg ${libtag}xhc-hb04-layout2.cfg ;# default
|
||||
|
||||
if ![info exists ::HAL(HALUI)] {
|
||||
err_exit "\[HAL\]HALUI is not set"
|
||||
}
|
||||
if {[array names ::XHC_HB04_CONFIG] == ""} {
|
||||
err_exit "Missing stanza: \[XHC_HB04_CONFIG\]"
|
||||
}
|
||||
if {[array names ::XHC_HB04_BUTTONS] == ""} {
|
||||
err_exit "Missing stanza: \[XHC_HB04_BUTTONS\]"
|
||||
}
|
||||
|
||||
foreach name [array names ::XHC_HB04_CONFIG] {
|
||||
set ::XHC_HB04_CONFIG($name) [string trim $::XHC_HB04_CONFIG($name) "{}"]
|
||||
}
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(layout)] {
|
||||
switch ${::XHC_HB04_CONFIG(layout)} {
|
||||
1 {set cfg ${libtag}xhc-hb04-layout1.cfg}
|
||||
2 {set cfg ${libtag}xhc-hb04-layout2.cfg}
|
||||
default {
|
||||
set msg "Nonstandard layout:<$::XHC_HB04_CONFIG(layout)>"
|
||||
set cfg $::XHC_HB04_CONFIG(layout)
|
||||
set msg "$msg\ntrying: $cfg"
|
||||
popup_msg "$msg"
|
||||
# keep going
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# .cfg files use same search path as halfiles
|
||||
set cfg [find_file_in_hallib_path $cfg]
|
||||
|
||||
if ![file exists $cfg] {
|
||||
set msg "Cannot find file: <$cfg>\nCannot configure pendant\n"
|
||||
set msg "$msg\nContinuing without xhc-hb04"
|
||||
popup_msg "$msg"
|
||||
return ;# not an exit
|
||||
}
|
||||
|
||||
# handle keywords with either upper or lower case
|
||||
foreach name [array names ::XHC_HB04_CONFIG] {
|
||||
set lname [string tolower $name]
|
||||
set uname [string toupper $name]
|
||||
if ![info exists ::XHC_HB04_CONFIG($uname)] {
|
||||
continue
|
||||
} else {
|
||||
if { [info exists ::XHC_HB04_CONFIG($lname)]
|
||||
&& "$::XHC_HB04_CONFIG($lname)" != "$::XHC_HB04_CONFIG($uname)"} {
|
||||
puts "duplicated item: \[XHC_HB04_CONFIG\]$uname = $::XHC_HB04_CONFIG($uname)"
|
||||
puts "superseded with: \[XHC_HB04_CONFIG\]$lname = $::XHC_HB04_CONFIG($lname)"
|
||||
unset ::XHC_HB04_CONFIG($uname)
|
||||
}
|
||||
}
|
||||
}
|
||||
foreach name [array names ::XHC_HB04_BUTTONS] {
|
||||
set lname [string tolower $name]
|
||||
set uname [string toupper $name]
|
||||
if ![info exists ::XHC_HB04_BUTTONS($uname)] {
|
||||
continue
|
||||
} else {
|
||||
if { [info exists ::XHC_HB04_BUTTONS($lname)]
|
||||
&& "$::XHC_HB04_BUTTONS($lname)" != "$::XHC_HB04_BUTTONS($uname)"} {
|
||||
puts "duplicated item: \[XHC_HB04_BUTTONS\]$uname = $::XHC_HB04_BUTTONS($uname)"
|
||||
puts "superseded with: \[XHC_HB04_BUTTONS\]$lname = $::XHC_HB04_BUTTONS($lname)"
|
||||
unset ::XHC_HB04_BUTTONS($uname)
|
||||
}
|
||||
}
|
||||
}
|
||||
# require_pendant==yes: use -x, dont create pins unless connected
|
||||
# require_pendant==no: create pins if not connected
|
||||
if ![info exists ::XHC_HB04_CONFIG(require_pendant)] {
|
||||
set ::XHC_HB04_CONFIG(require_pendant) yes ;# default
|
||||
}
|
||||
set dashx -x
|
||||
switch $::XHC_HB04_CONFIG(require_pendant) {
|
||||
no {set dashx ""}
|
||||
}
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(sequence)] {
|
||||
set dashs "-s $::XHC_HB04_CONFIG(sequence)"
|
||||
} else {
|
||||
set dashs ""
|
||||
}
|
||||
|
||||
set cmd "loadusr -W xhc-hb04 $dashx $dashs -I $cfg -H"
|
||||
if [catch {eval $cmd} msg] {
|
||||
set msg "\n$::progname: loadusr xhc-hb04:\n<$msg>\n\n"
|
||||
set msg "$msg Is it plugged in?\n\n"
|
||||
set msg "$msg Are permissions correct?\n\n"
|
||||
set msg "$msg Continuing without xhc-hb04\n"
|
||||
set msg "$msg \nFailing cmd:\n$cmd"
|
||||
popup_msg "$msg"
|
||||
return ;# not an exit
|
||||
}
|
||||
|
||||
if ![info exists ::XHC_HB04_CONFIG(inch_or_mm)] {
|
||||
set ::XHC_HB04_CONFIG(inch_or_mm) mm
|
||||
}
|
||||
switch -glob $::XHC_HB04_CONFIG(inch_or_mm) {
|
||||
in* {setp xhc-hb04.inch-icon 1}
|
||||
default {}
|
||||
}
|
||||
|
||||
if ![info exists ::XHC_HB04_CONFIG(jogmode)] {
|
||||
set ::XHC_HB04_CONFIG(jogmode) normal ;# default
|
||||
}
|
||||
|
||||
set jogmode $::XHC_HB04_CONFIG(jogmode)
|
||||
switch $jogmode {
|
||||
normal {}
|
||||
vnormal {}
|
||||
default {
|
||||
set ::XHC_HB04_CONFIG(jogmode) normal
|
||||
set msg "Unkknown jogmode <$jogmode>"
|
||||
set msg "$msg Using $::XHC_HB04_CONFIG(jogmode)"
|
||||
popup_msg "$msg"
|
||||
}
|
||||
}
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(coords)] {
|
||||
if ![is_uniq $::XHC_HB04_CONFIG(coords)] {
|
||||
err_exit "coords must be unique, not: <$::XHC_HB04_CONFIG(coords)>"
|
||||
}
|
||||
if {[llength $::XHC_HB04_CONFIG(coords)] > 4} {
|
||||
err_exit "max no.of coords is 4 <$::XHC_HB04_CONFIG(coords)>"
|
||||
}
|
||||
} else {
|
||||
set ::XHC_HB04_CONFIG(coords) {x y z a} ;# default
|
||||
}
|
||||
|
||||
if ![info exists ::XHC_HB04_CONFIG(threadname)] {
|
||||
set ::XHC_HB04_CONFIG(threadname) "servo-thread" ;# default
|
||||
}
|
||||
loadrt xhc_hb04_util names=pendant_util
|
||||
addf pendant_util $::XHC_HB04_CONFIG(threadname)
|
||||
|
||||
# If twopass, do not call procs in pass0 that test pin
|
||||
# connections since components not yet loaded
|
||||
if { ![namespace exists ::tp] || ([::tp::passnumber] != 0) } {
|
||||
connect_pins ;# per INI file items: [XHC_HB04_BUTTONS]buttonname=pin
|
||||
wheel_setup $::XHC_HB04_CONFIG(jogmode)
|
||||
# jog wheel per INI file items:
|
||||
# [XHC_HB04_CONFIG]coords,coefs,scales
|
||||
}
|
||||
if [info exists ::makenet_msg] {
|
||||
popup_msg $::makenet_msg
|
||||
}
|
||||
#parray ::XHC_HB04_CONFIG
|
||||
Reference in New Issue
Block a user