uplode ethercatCNC3 config
This commit is contained in:
rabin-HE
145
linuxcnc/configs/ethercatCNC3/.clp
Normal file
145
linuxcnc/configs/ethercatCNC3/.clp
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@@ -0,0 +1,145 @@
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_FILES_CLASSICLADDER
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_FILE-rung_0.csv
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#VER=2.0
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#LABEL=
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#COMMENT=
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#PREVRUNG=0
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#NEXTRUNG=0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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_/FILE-rung_0.csv
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_FILE-arithmetic_expressions.csv
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#VER=2.0
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_/FILE-arithmetic_expressions.csv
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_FILE-timers_iec.csv
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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1,0,0
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_/FILE-timers_iec.csv
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_FILE-sequential.csv
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#VER=1.0
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_/FILE-sequential.csv
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_FILE-ioconf.csv
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#VER=1.0
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_/FILE-ioconf.csv
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_FILE-sections.csv
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#VER=1.0
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#NAME000=Prog1
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#NAME001=MAIN
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000,0,-1,0,0,0
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001,0,-1,1,2,0
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_/FILE-sections.csv
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_FILE-modbusioconf.csv
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#VER=1.0
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_/FILE-modbusioconf.csv
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_FILE-symbols.csv
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#VER=1.0
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_/FILE-symbols.csv
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_FILE-rung_1.csv
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#VER=2.0
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#LABEL=
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#COMMENT=
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#PREVRUNG=-1
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#NEXTRUNG=2
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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_/FILE-rung_1.csv
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_FILE-counters.csv
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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_/FILE-counters.csv
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_FILE-monostables.csv
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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_/FILE-monostables.csv
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_FILE-timers.csv
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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1,0
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_/FILE-timers.csv
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_FILE-rung_2.csv
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#VER=2.0
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#LABEL=
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#COMMENT=
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#PREVRUNG=1
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#NEXTRUNG=-1
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1-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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_/FILE-rung_2.csv
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_FILE-general.txt
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PERIODIC_REFRESH=50
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SIZE_NBR_RUNGS=100
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SIZE_NBR_BITS=20
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SIZE_NBR_WORDS=20
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SIZE_NBR_TIMERS=10
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SIZE_NBR_MONOSTABLES=10
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SIZE_NBR_COUNTERS=10
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SIZE_NBR_TIMERS_IEC=10
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SIZE_NBR_PHYS_INPUTS=15
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SIZE_NBR_PHYS_OUTPUTS=15
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SIZE_NBR_ARITHM_EXPR=100
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SIZE_NBR_SECTIONS=10
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SIZE_NBR_SYMBOLS=160
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_/FILE-general.txt
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_FILE-com_params.txt
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MODBUS_MASTER_SERIAL_PORT=
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MODBUS_MASTER_SERIAL_SPEED=9600
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MODBUS_MASTER_SERIAL_DATABITS=8
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MODBUS_MASTER_SERIAL_STOPBITS=1
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MODBUS_MASTER_SERIAL_PARITY=0
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MODBUS_ELEMENT_OFFSET=0
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MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
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MODBUS_MASTER_TIME_INTER_FRAME=100
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MODBUS_MASTER_TIME_OUT_RECEIPT=500
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MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
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MODBUS_DEBUG_LEVEL=0
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MODBUS_MAP_COIL_READ=0
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MODBUS_MAP_COIL_WRITE=0
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MODBUS_MAP_INPUT=0
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MODBUS_MAP_HOLDING=0
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MODBUS_MAP_REGISTER_READ=0
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MODBUS_MAP_REGISTER_WRITE=0
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_/FILE-com_params.txt
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_/FILES_CLASSICLADDER
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181
linuxcnc/configs/ethercatCNC3/CNC3-nopid.hal
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181
linuxcnc/configs/ethercatCNC3/CNC3-nopid.hal
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@@ -0,0 +1,181 @@
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# Generated by PNCconf at Sat Sep 10 10:10:56 2016
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# If you make changes to this file, they will be
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# overwritten when you run PNCconf again
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loadrt [KINS]KINEMATICS
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loadrt bitslice count=1 personality=24
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loadrt conv_s32_u32 count=1
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loadrt classicladder_rt
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#loadrt spindle count=1 #halui include spindle.0
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#autoconverted trivkins
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadusr -W lcec_conf ethercat-conf.xml
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loadusr classicladder --nogui CNC3LD.clp
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loadrt lcec
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loadrt cia402 count=4
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addf lcec.read-all servo-thread
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addf cia402.0.read-all servo-thread
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addf cia402.1.read-all servo-thread
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addf cia402.2.read-all servo-thread
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addf cia402.3.read-all servo-thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf cia402.0.write-all servo-thread
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addf cia402.1.write-all servo-thread
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addf cia402.2.write-all servo-thread
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addf cia402.3.write-all servo-thread
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addf lcec.write-all servo-thread
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addf bitslice.0 servo-thread
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addf conv-s32-u32.0 servo-thread
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addf classicladder.0.refresh servo-thread
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#*******************
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# AXIS X
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#*******************
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# --- joint signals for motion
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net x-pos-cmd <= joint.0.motor-pos-cmd
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net x-vel-cmd <= joint.0.vel-cmd
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net x-pos-fb <= joint.0.motor-pos-fb
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net x-enable <= joint.0.amp-enable-out
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# --- connect stepper driver to joint
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net x-pos-cmd => cia402.0.pos-cmd
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net x-pos-fb => cia402.0.pos-fb
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net x-enable => cia402.0.enable
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# --- ect60 settings
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setp cia402.0.csp-mode 1
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setp cia402.0.pos-scale 4000
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# --- from stepper(ethercat) to cia402
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net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword
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net x-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
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net x-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
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net x-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity
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#net x-test1 <= lcec.0.0.test1
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# --- from cia402 to stepper(ethercat)
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net x-controlword cia402.0.controlword => lcec.0.0.cia-controlword
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net x-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
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net x-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position
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net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity
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#*******************
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# AXIS Y
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#*******************
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# --- joint signals for motion
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net y-pos-cmd <= joint.1.motor-pos-cmd
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net y-vel-cmd <= joint.1.vel-cmd
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net y-pos-fb <= joint.1.motor-pos-fb
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net y-enable <= joint.1.amp-enable-out
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# --- connect stepper driver to the joint
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net y-pos-cmd => cia402.1.pos-cmd
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net y-pos-fb => cia402.1.pos-fb
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net y-enable => cia402.1.enable
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# --- ect60 settings
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setp cia402.1.csp-mode 1
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setp cia402.1.pos-scale 4000
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# --- from servo(ethercat) to cia402
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net y-statusword lcec.0.1.cia-statusword => cia402.1.statusword
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net y-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display
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net y-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position
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net y-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity
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# --- from cia402 to servo(ethercat)
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net y-controlword cia402.1.controlword => lcec.0.1.cia-controlword
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net y-modes-of-operation cia402.1.opmode => lcec.0.1.opmode
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net y-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position
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net y-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.target-velocity
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#*******************
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# AXIS Z
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#*******************
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# --- joint signals for motion
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net z-pos-cmd <= joint.2.motor-pos-cmd
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net z-vel-cmd <= joint.2.vel-cmd
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net z-pos-fb <= joint.2.motor-pos-fb
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net z-enable <= joint.2.amp-enable-out
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# --- connect stepper driver to the joint
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net z-pos-cmd => cia402.2.pos-cmd
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net z-pos-fb => cia402.2.pos-fb
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net z-enable => cia402.2.enable
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# --- ect60 settings
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setp cia402.2.csp-mode 1
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setp cia402.2.pos-scale 4000
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# --- from servo(ethercat) to cia402
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net z-statusword lcec.0.2.cia-statusword => cia402.2.statusword
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net z-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display
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net z-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position
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net z-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity
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# --- from cia402 to servo(ethercat)
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net z-controlword cia402.2.controlword => lcec.0.2.cia-controlword
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net z-modes-of-operation cia402.2.opmode => lcec.0.2.opmode
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net z-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position
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net z-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity
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#*******************
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# SPINDLE
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#*******************
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# --- joint signals for motion
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net spindle-speed-cmd spindle.0.speed-out => cia402.3.velocity-cmd
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net spindle-speed-fb cia402.3.velocity-fb => spindle.0.speed-in
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net spindle-on spindle.0.on => cia402.3.enable
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# --- ect60 settings
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||||
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setp cia402.3.csp-mode 0
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setp cia402.3.pos-scale 4000
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setp cia402.3.velo-scale 400
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# --- from servo(ethercat) to cia402
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||||
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net s-statusword lcec.0.3.cia-statusword => cia402.3.statusword
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net s-opmode-display lcec.0.3.opmode-display => cia402.3.opmode-display
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||||
net s-drv-act-pos lcec.0.3.actual-position => cia402.3.drv-actual-position
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||||
net s-drv-act-velo lcec.0.3.actual-velocity => cia402.3.drv-actual-velocity
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||||
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||||
# --- from cia402 to servo(ethercat)
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||||
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||||
net s-controlword cia402.3.controlword => lcec.0.3.cia-controlword
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||||
net s-modes-of-operation cia402.3.opmode => lcec.0.3.opmode
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||||
net s-drv-target-pos cia402.3.drv-target-position => lcec.0.3.target-position
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||||
net s-drv-target-velo cia402.3.drv-target-velocity => lcec.0.3.target-velocity
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||||
#*********************
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||||
# E-STOP
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||||
#*********************
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||||
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#setp iocontrol.0.emc-enable-in 1
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||||
net lcec-z-stop <= lcec.0.2.z-estop
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net lcec-z-stop => bitslice.0.in
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||||
net HE-estopbit bitslice.0.out-23 => iocontrol.0.emc-enable-in
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||||
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||||
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||||
153
linuxcnc/configs/ethercatCNC3/CNC3.ini
Normal file
153
linuxcnc/configs/ethercatCNC3/CNC3.ini
Normal file
@@ -0,0 +1,153 @@
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[EMC]
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||||
VERSION = 1.1
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||||
MACHINE = LinuxCNC-HAL-CNC3
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||||
DEBUG = 0
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||||
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||||
[DISPLAY]
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||||
# DISPLAY = axis
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DISPLAY = gmoccapy
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CYCLE_TIME = 0.100
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||||
POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 1.2
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MAX_SPINDLE_OVERRIDE = 1.2
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||||
PROGRAM_PREFIX = ../../nc_files/
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||||
INTRO_GRAPHIC = linuxcnc.gif
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||||
INTRO_TIME = 1
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||||
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
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||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg,.txt,.TXT Grayscale Depth Image
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||||
PROGRAM_EXTENSION = .py Python Script
|
||||
png = image-to-gcode
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||||
gif = image-to-gcode
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||||
jpg = image-to-gcode
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||||
py = python
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||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = ethercat-CNC3.var
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||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
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||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 50000
|
||||
SERVO_PERIOD = 1000000
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||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = CNC3-nopid.hal
|
||||
#MPG
|
||||
HALFILE = mpg-test.hal
|
||||
|
||||
[HALUI]
|
||||
MDI_COMMAND=(debug,macro0) # this one is for numbering but not used by pendant (need 1 to 16)
|
||||
MDI_COMMAND=(debug,macro1)
|
||||
MDI_COMMAND=(debug,macro2)
|
||||
MDI_COMMAND=(debug,macro3)
|
||||
MDI_COMMAND=(debug,macro4)
|
||||
MDI_COMMAND=(debug,macro5)
|
||||
MDI_COMMAND=(debug,macro6)
|
||||
MDI_COMMAND=(debug,macro7)
|
||||
MDI_COMMAND=(debug,macro8)
|
||||
MDI_COMMAND=(debug,macro9)
|
||||
MDI_COMMAND=(debug,macro10)
|
||||
MDI_COMMAND=(debug,macro11)
|
||||
MDI_COMMAND=(debug,macro12)
|
||||
MDI_COMMAND=(debug,macro13)
|
||||
MDI_COMMAND=(debug,macro14)
|
||||
MDI_COMMAND=(debug,macro15)
|
||||
MDI_COMMAND=(debug,macro16)
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z
|
||||
# SPINDLES = 1 #HE-add error
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 100
|
||||
MAX_LINEAR_VELOCITY = 12.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 500.0
|
||||
NO_FORCE_HOMING = 1
|
||||
AUTO_HOME = X Y Z
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=xyz
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10000.0
|
||||
MAX_LIMIT = 10000.0
|
||||
MAX_VELOCITY = 12
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
FERROR = 1.0
|
||||
MIN_FERROR = 0.9
|
||||
MAX_VELOCITY = 12.0
|
||||
MAX_ACCELERATION = 500.0
|
||||
MIN_LIMIT = -10000.0
|
||||
MAX_LIMIT = 10000.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_USE_INDEX = NO
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10000.0
|
||||
MAX_LIMIT = 10000.0
|
||||
MAX_VELOCITY = 12
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
FERROR = 1.0
|
||||
MIN_FERROR = 0.9
|
||||
MAX_VELOCITY = 12.0
|
||||
MAX_ACCELERATION = 500.0
|
||||
MIN_LIMIT = -10000.0
|
||||
MAX_LIMIT = 10000.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_USE_INDEX = NO
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10000.0
|
||||
MAX_LIMIT = 10000.0
|
||||
MAX_VELOCITY = 12
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
FERROR = 1.0
|
||||
MIN_FERROR = 0.9
|
||||
MAX_VELOCITY = 12.0
|
||||
MAX_ACCELERATION = 500.0
|
||||
MIN_LIMIT = -10000.0
|
||||
MAX_LIMIT = 10000.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_USE_INDEX = NO
|
||||
|
||||
[EMCIO]
|
||||
EMCIO = io
|
||||
CYCLE_TIME = 0.100
|
||||
TOOL_TABLE = tool.tbl #keyigai
|
||||
TOOL_CHANGE_POSITION = 0 0 2
|
||||
TOOL_CHANGE_WITH_SPINDLE_ON = 1
|
||||
|
||||
#[SPINDLE_0]
|
||||
# MAX_VELOCITY = 100
|
||||
# MIN_VELOCITY = 10
|
||||
# MAX_REVERSE_VELOCITY = 100
|
||||
# MIN_REVERSE_VELOCITY = 10
|
||||
# MAX_VELOCITY = 50
|
||||
# MAX_ACCELERATION = 50
|
||||
145
linuxcnc/configs/ethercatCNC3/CNC3LD.clp
Normal file
145
linuxcnc/configs/ethercatCNC3/CNC3LD.clp
Normal file
@@ -0,0 +1,145 @@
|
||||
_FILES_CLASSICLADDER
|
||||
_FILE-rung_0.csv
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=0
|
||||
#NEXTRUNG=0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_0.csv
|
||||
_FILE-arithmetic_expressions.csv
|
||||
#VER=2.0
|
||||
_/FILE-arithmetic_expressions.csv
|
||||
_FILE-timers_iec.csv
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
1,0,0
|
||||
_/FILE-timers_iec.csv
|
||||
_FILE-sequential.csv
|
||||
#VER=1.0
|
||||
_/FILE-sequential.csv
|
||||
_FILE-ioconf.csv
|
||||
#VER=1.0
|
||||
_/FILE-ioconf.csv
|
||||
_FILE-sections.csv
|
||||
#VER=1.0
|
||||
#NAME000=Prog1
|
||||
#NAME001=MAIN
|
||||
000,0,-1,0,0,0
|
||||
001,0,-1,1,2,0
|
||||
_/FILE-sections.csv
|
||||
_FILE-modbusioconf.csv
|
||||
#VER=1.0
|
||||
_/FILE-modbusioconf.csv
|
||||
_FILE-symbols.csv
|
||||
#VER=1.0
|
||||
_/FILE-symbols.csv
|
||||
_FILE-rung_1.csv
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=-1
|
||||
#NEXTRUNG=2
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_1.csv
|
||||
_FILE-counters.csv
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
0
|
||||
_/FILE-counters.csv
|
||||
_FILE-monostables.csv
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
_/FILE-monostables.csv
|
||||
_FILE-timers.csv
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
1,0
|
||||
_/FILE-timers.csv
|
||||
_FILE-rung_2.csv
|
||||
#VER=2.0
|
||||
#LABEL=
|
||||
#COMMENT=
|
||||
#PREVRUNG=1
|
||||
#NEXTRUNG=-1
|
||||
1-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
|
||||
_/FILE-rung_2.csv
|
||||
_FILE-general.txt
|
||||
PERIODIC_REFRESH=50
|
||||
SIZE_NBR_RUNGS=100
|
||||
SIZE_NBR_BITS=20
|
||||
SIZE_NBR_WORDS=20
|
||||
SIZE_NBR_TIMERS=10
|
||||
SIZE_NBR_MONOSTABLES=10
|
||||
SIZE_NBR_COUNTERS=10
|
||||
SIZE_NBR_TIMERS_IEC=10
|
||||
SIZE_NBR_PHYS_INPUTS=15
|
||||
SIZE_NBR_PHYS_OUTPUTS=15
|
||||
SIZE_NBR_ARITHM_EXPR=100
|
||||
SIZE_NBR_SECTIONS=10
|
||||
SIZE_NBR_SYMBOLS=160
|
||||
_/FILE-general.txt
|
||||
_FILE-com_params.txt
|
||||
MODBUS_MASTER_SERIAL_PORT=
|
||||
MODBUS_MASTER_SERIAL_SPEED=9600
|
||||
MODBUS_MASTER_SERIAL_DATABITS=8
|
||||
MODBUS_MASTER_SERIAL_STOPBITS=1
|
||||
MODBUS_MASTER_SERIAL_PARITY=0
|
||||
MODBUS_ELEMENT_OFFSET=0
|
||||
MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
|
||||
MODBUS_MASTER_TIME_INTER_FRAME=100
|
||||
MODBUS_MASTER_TIME_OUT_RECEIPT=500
|
||||
MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
|
||||
MODBUS_DEBUG_LEVEL=0
|
||||
MODBUS_MAP_COIL_READ=0
|
||||
MODBUS_MAP_COIL_WRITE=0
|
||||
MODBUS_MAP_INPUT=0
|
||||
MODBUS_MAP_HOLDING=0
|
||||
MODBUS_MAP_REGISTER_READ=0
|
||||
MODBUS_MAP_REGISTER_WRITE=0
|
||||
_/FILE-com_params.txt
|
||||
_/FILES_CLASSICLADDER
|
||||
73
linuxcnc/configs/ethercatCNC3/LinuxCNC-HAL-CNC3.pref
Normal file
73
linuxcnc/configs/ethercatCNC3/LinuxCNC-HAL-CNC3.pref
Normal file
@@ -0,0 +1,73 @@
|
||||
[DEFAULT]
|
||||
dro_digits = 3
|
||||
dro_size = 28
|
||||
abs_color = #0000FF
|
||||
rel_color = #000000
|
||||
dtg_color = #FFFF00
|
||||
homed_color = #00FF00
|
||||
unhomed_color = #FF0000
|
||||
enable_dro = False
|
||||
scale_jog_vel = 7.2
|
||||
scale_spindle_override = 1
|
||||
scale_feed_override = 1
|
||||
scale_rapid_override = 1
|
||||
spindle_bar_min = 0.0
|
||||
spindle_bar_max = 6000.0
|
||||
turtle_jog_factor = 20
|
||||
hide_turtle_jog_button = False
|
||||
unlock_code = 123
|
||||
toggle_readout = True
|
||||
spindle_start_rpm = 100.0
|
||||
blockheight = 0.0
|
||||
open_file = /home/pi/linuxcnc/nc_files/O001.ngc
|
||||
screen1 = window
|
||||
x_pos = 0.0
|
||||
y_pos = 30
|
||||
width = 979
|
||||
height = 750
|
||||
use_toolmeasurement = False
|
||||
gtk_theme = Industrial
|
||||
grid_size = 0.5
|
||||
view = p
|
||||
mouse_btn_mode = 0
|
||||
hide_cursor = False
|
||||
hide_tooltips = False
|
||||
system_name_tool = Tool
|
||||
system_name_g5x = G5x
|
||||
system_name_rot = Rot
|
||||
system_name_g92 = G92
|
||||
system_name_g54 = G54
|
||||
system_name_g55 = G55
|
||||
system_name_g56 = G56
|
||||
system_name_g57 = G57
|
||||
system_name_g58 = G58
|
||||
system_name_g59 = G59
|
||||
system_name_g59.1 = G59.1
|
||||
system_name_g59.2 = G59.2
|
||||
system_name_g59.3 = G59.3
|
||||
jump_to_dir = /home/pi
|
||||
show_keyboard_on_offset = False
|
||||
show_keyboard_on_tooledit = False
|
||||
show_keyboard_on_edit = False
|
||||
show_keyboard_on_mdi = False
|
||||
x_pos_popup = 45.0
|
||||
y_pos_popup = 55
|
||||
width_popup = 250.0
|
||||
max_messages = 10
|
||||
message_font = sans 10
|
||||
use_frames = True
|
||||
reload_tool = False
|
||||
blockdel = False
|
||||
show_offsets = True
|
||||
show_dtg = True
|
||||
view_tool_path = False
|
||||
view_dimension = True
|
||||
run_from_line = no_run
|
||||
unlock_way = no
|
||||
show_preview_on_offset = False
|
||||
use_keyboard_shortcuts = False
|
||||
tool_in_spindle = 0
|
||||
offset_axis_x = 1.0
|
||||
offset_axis_y = 0.0
|
||||
offset_axis_z = 0.0
|
||||
|
||||
22
linuxcnc/configs/ethercatCNC3/XYZ-callescope.halscope
Normal file
22
linuxcnc/configs/ethercatCNC3/XYZ-callescope.halscope
Normal file
@@ -0,0 +1,22 @@
|
||||
THREAD servo-thread
|
||||
MAXCHAN 4
|
||||
HMULT 1
|
||||
HZOOM 2
|
||||
HPOS 2.418605e-01
|
||||
CHAN 2
|
||||
SIG y-drv-act-velo
|
||||
VSCALE 14
|
||||
VPOS 0.403694
|
||||
VOFF 0.000000e+00
|
||||
CHAN 3
|
||||
SIG z-drv-act-velo
|
||||
VSCALE 14
|
||||
VPOS 0.500000
|
||||
VOFF 0.000000e+00
|
||||
CHAN 1
|
||||
SIG x-drv-act-velo
|
||||
VSCALE 14
|
||||
VPOS 0.757256
|
||||
VOFF 0.000000e+00
|
||||
TMODE 0
|
||||
RMODE 0
|
||||
22
linuxcnc/configs/ethercatCNC3/autosave.halscope
Normal file
22
linuxcnc/configs/ethercatCNC3/autosave.halscope
Normal file
@@ -0,0 +1,22 @@
|
||||
THREAD servo-thread
|
||||
MAXCHAN 4
|
||||
HMULT 1
|
||||
HZOOM 2
|
||||
HPOS 2.418605e-01
|
||||
CHAN 1
|
||||
SIG x-drv-act-velo
|
||||
VSCALE 14
|
||||
VPOS 0.757256
|
||||
VOFF 0.000000e+00
|
||||
CHAN 2
|
||||
SIG y-drv-act-velo
|
||||
VSCALE 12
|
||||
VPOS 0.403694
|
||||
VOFF 0.000000e+00
|
||||
CHAN 3
|
||||
SIG z-drv-act-velo
|
||||
VSCALE 14
|
||||
VPOS 0.500000
|
||||
VOFF 0.000000e+00
|
||||
TMODE 0
|
||||
RMODE 0
|
||||
119
linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var
Normal file
119
linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 54.547999
|
||||
5222 4.000000
|
||||
5223 -0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 95.378250
|
||||
5242 -10.000000
|
||||
5243 -50.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
119
linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var.bak
Normal file
119
linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var.bak
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 54.547999
|
||||
5222 4.000000
|
||||
5223 -0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 95.378250
|
||||
5242 -10.000000
|
||||
5243 -50.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
92
linuxcnc/configs/ethercatCNC3/ethercat-conf.xml
Normal file
92
linuxcnc/configs/ethercatCNC3/ethercat-conf.xml
Normal file
@@ -0,0 +1,92 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<masters>
|
||||
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
|
||||
<slave idx="0" type="generic" vid="00000a88" pid="0A880012" configPdos="true">
|
||||
<syncManager idx="2" dir="out">
|
||||
<pdo idx="1600">
|
||||
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
|
||||
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
|
||||
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
|
||||
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<syncManager idx="3" dir="in">
|
||||
<pdo idx="1a00">
|
||||
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
|
||||
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
|
||||
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
|
||||
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
|
||||
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32" />
|
||||
<pdoEntry idx="6067" subIdx="00" bitLen="32" halPin="some-name" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000"/>
|
||||
<watchdog divider="2498" intervals="10000"/>
|
||||
</slave>
|
||||
<slave idx="1" type="generic" vid="00000a88" pid="0A880012" configPdos="true">
|
||||
<syncManager idx="2" dir="out">
|
||||
<pdo idx="1600">
|
||||
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
|
||||
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
|
||||
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
|
||||
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<syncManager idx="3" dir="in">
|
||||
<pdo idx="1a00">
|
||||
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
|
||||
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
|
||||
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
|
||||
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
|
||||
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32" />
|
||||
<pdoEntry idx="6067" subIdx="00" bitLen="32" halPin="some-name" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000"/>
|
||||
<watchdog divider="2498" intervals="10000"/>
|
||||
</slave>
|
||||
<slave idx="2" type="generic" vid="00000a88" pid="0A880012" configPdos="true">
|
||||
<syncManager idx="2" dir="out">
|
||||
<pdo idx="1600">
|
||||
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
|
||||
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
|
||||
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
|
||||
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<syncManager idx="3" dir="in">
|
||||
<pdo idx="1a00">
|
||||
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
|
||||
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
|
||||
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
|
||||
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
|
||||
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32" />
|
||||
<pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="z-estop" halType="u32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000"/>
|
||||
<watchdog divider="2498" intervals="10000"/>
|
||||
</slave>
|
||||
<slave idx="3" type="generic" vid="00000a88" pid="0A880012" configPdos="true">
|
||||
<syncManager idx="2" dir="out">
|
||||
<pdo idx="1600">
|
||||
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
|
||||
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
|
||||
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
|
||||
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<syncManager idx="3" dir="in">
|
||||
<pdo idx="1a00">
|
||||
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
|
||||
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
|
||||
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
|
||||
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
|
||||
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32" />
|
||||
</pdo>
|
||||
</syncManager>
|
||||
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000"/>
|
||||
<watchdog divider="2498" intervals="10000"/>
|
||||
</slave>
|
||||
</master>
|
||||
</masters>
|
||||
119
linuxcnc/configs/ethercatCNC3/ethercat-lathe.var.bak
Normal file
119
linuxcnc/configs/ethercatCNC3/ethercat-lathe.var.bak
Normal file
@@ -0,0 +1,119 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 20.574000
|
||||
5222 0.000000
|
||||
5223 28.854000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 40.512000
|
||||
5242 0.000000
|
||||
5243 21.432000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
102
linuxcnc/configs/ethercatCNC3/mpg-test.hal
Normal file
102
linuxcnc/configs/ethercatCNC3/mpg-test.hal
Normal file
@@ -0,0 +1,102 @@
|
||||
# ######################################################################
|
||||
# load pendant components
|
||||
# ######################################################################
|
||||
loadusr -W xhc-whb04b-6 -Hf
|
||||
|
||||
######################################################################
|
||||
# pendant signal configuration
|
||||
# ######################################################################
|
||||
|
||||
# On/Off signals
|
||||
net machine.is-on halui.machine.is-on whb.halui.machine.is-on
|
||||
net pdnt.machine.on whb.halui.machine.on halui.machine.on
|
||||
net pdnt.machine.off whb.halui.machine.off halui.machine.off
|
||||
|
||||
# machine mode related signals
|
||||
net pdnt.mode.auto whb.halui.mode.auto halui.mode.auto
|
||||
net pdnt.mode.manual whb.halui.mode.manual halui.mode.manual
|
||||
net pdnt.mode.mdi whb.halui.mode.mdi halui.mode.mdi
|
||||
net pdnt.mode.joint whb.halui.mode.joint halui.mode.joint
|
||||
net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop
|
||||
net pdnt.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
|
||||
net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
|
||||
net pdnt.mode.is-mdi halui.mode.is-mdi whb.halui.mode.is-mdi
|
||||
net pdnt.mode.is-joint halui.mode.is-joint whb.halui.mode.is-joint
|
||||
net pdnt.mode.is-teleop halui.mode.is-teleop whb.halui.mode.is-teleop
|
||||
|
||||
# "selected axis" signals
|
||||
net pdnt.axis.X.select whb.halui.axis.x.select halui.axis.x.select
|
||||
net pdnt.axis.y.select whb.halui.axis.y.select halui.axis.y.select
|
||||
net pdnt.axis.Z.select whb.halui.axis.z.select halui.axis.z.select
|
||||
|
||||
net pdnt.axis.x.jog-scale whb.axis.x.jog-scale axis.x.jog-scale
|
||||
net pdnt.axis.y.jog-scale whb.axis.y.jog-scale axis.y.jog-scale
|
||||
net pdnt.axis.z.jog-scale whb.axis.z.jog-scale axis.z.jog-scale
|
||||
|
||||
net pdnt.axis.x.jog-counts whb.axis.x.jog-counts axis.x.jog-counts
|
||||
net pdnt.axis.y.jog-counts whb.axis.y.jog-counts axis.y.jog-counts
|
||||
net pdnt.axis.z.jog-counts whb.axis.z.jog-counts axis.z.jog-counts
|
||||
|
||||
net pdnt.axis.x.jog-enable whb.axis.x.jog-enable axis.x.jog-enable
|
||||
net pdnt.axis.y.jog-enable whb.axis.y.jog-enable axis.y.jog-enable
|
||||
net pdnt.axis.z.jog-enable whb.axis.z.jog-enable axis.z.jog-enable
|
||||
|
||||
net pdnt.axis.x.jog-vel-mode whb.axis.x.jog-vel-mode axis.x.jog-vel-mode
|
||||
net pdnt.axis.y.jog-vel-mode whb.axis.y.jog-vel-mode axis.y.jog-vel-mode
|
||||
net pdnt.axis.z.jog-vel-mode whb.axis.z.jog-vel-mode axis.z.jog-vel-mode
|
||||
|
||||
# program related signals
|
||||
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
|
||||
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused
|
||||
net pdnt.program-is-running whb.halui.program.is-running halui.program.is-running
|
||||
net pdnt.program.resume whb.halui.program.resume halui.program.resume
|
||||
net pdnt.program.pause whb.halui.program.pause halui.program.pause
|
||||
net pdnt.program.run whb.halui.program.run halui.program.run
|
||||
net pdnt.program.stop whb.halui.program.stop halui.program.stop
|
||||
|
||||
# axis position related signals feedback
|
||||
net pdnt.axis.x.pos-feedback halui.axis.x.pos-feedback whb.halui.axis.x.pos-feedback
|
||||
net pdnt.axis.y.pos-feedback halui.axis.y.pos-feedback whb.halui.axis.y.pos-feedback
|
||||
net pdnt.axis.z.pos-feedback halui.axis.z.pos-feedback whb.halui.axis.z.pos-feedback
|
||||
|
||||
# axis position related signals relative
|
||||
net pdnt.axis.x.pos-relative halui.axis.x.pos-relative whb.halui.axis.x.pos-relative
|
||||
net pdnt.axis.y.pos-relative halui.axis.y.pos-relative whb.halui.axis.y.pos-relative
|
||||
net pdnt.axis.z.pos-relative halui.axis.z.pos-relative whb.halui.axis.z.pos-relative
|
||||
|
||||
# spindle related signals
|
||||
net pdnt.spindle-speed-abs whb.halui.spindle-speed-cmd spindle.0.speed-out-abs # speed cmd from motion in rpm absolue
|
||||
|
||||
# spindle speed override signals
|
||||
net pdnt.spindle-override.scale whb.halui.spindle-override.scale halui.spindle.0.override.scale # needed for both spindle+/- and spindleoverride+/- button
|
||||
net pdnt.spindle.override.value halui.spindle.0.override.value whb.halui.spindle-override.value # GUI feed rate related signals
|
||||
net pdnt.spindle.override.increase whb.halui.spindle-override.increase halui.spindle.0.override.increase
|
||||
net pdnt.spindle.override.decrease whb.halui.spindle-override.decrease halui.spindle.0.override.decrease
|
||||
|
||||
# take feed override min/max values from/to the GUI
|
||||
net pdnt.feed-override.value halui.feed-override.value whb.halui.feed-override.value # GUI feed rate related signals
|
||||
net pdnt.feed-override.increase whb.halui.feed-override.increase halui.feed-override.increase
|
||||
net pdnt.feed-override.decrease whb.halui.feed-override.decrease halui.feed-override.decrease
|
||||
|
||||
# GUI feed rate related signals can be used when program is running moving GUI slider
|
||||
net pdnt.feed-override.scale whb.halui.feed-override.scale halui.feed-override.scale # needed for both FeedOverride+/- and rotary knob button
|
||||
net pdnt.max-velocity.value whb.halui.max-velocity.value halui.max-velocity.value # needed for Mpg mode : button feed position% * max-velocity = Mpg feedrate
|
||||
|
||||
# macro buttons to MDI commands #HE-.ini blank
|
||||
net pdnt.macro-1 whb.button.macro-1 halui.mdi-command-01 # use MDI command from main.ini
|
||||
net pdnt.macro-2 whb.button.macro-2 halui.mdi-command-02 # use MDI command from main.ini or used for Hardcoded lube on/off
|
||||
net pdnt.reserved.for.spindle+ whb.button.macro-3 # Hardcoded for spindle+ whb.halui.spindle.increase
|
||||
net pdnt.reserved.for.spindle- whb.button.macro-4 # Hardcoded for spindle- whb.halui.spindle.decrease
|
||||
net pdnt.macro-5 whb.button.macro-5 halui.mdi-command-05 # use MDI command from main.ini
|
||||
net pdnt.macro-6 whb.button.macro-6 halui.mdi-command-06 # use MDI command from main.ini
|
||||
net pdnt.macro-7 whb.button.macro-7 halui.mdi-command-07 # use MDI command from main.ini
|
||||
net pdnt.reserved.for.spindle.dir whb.button.macro-8 # Hardcoded for spindle direction inside pendant
|
||||
net pdnt.macro-9 whb.button.macro-9 halui.mdi-command-09 # use MDI command from main.ini
|
||||
net pdnt.reserved.for.ABS-REL whb.button.macro-10 # Hardcoded for swap Dro Relative/Absolue
|
||||
net pdnt.macro-14 whb.button.macro-14 halui.mdi-command-14 # use MDI command from main.ini
|
||||
net pdnt.reserved.for.flood whb.button.macro-15 # Hardcoded for halui.flood on/off
|
||||
net pdnt.reserved.for.mist whb.button.macro-16 # Hardcoded for halui.mist on/off
|
||||
|
||||
net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11 # use MDI command from main.ini
|
||||
net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12 # use MDI command from main.ini
|
||||
net pdnt.macro.13 whb.button.macro-13 halui.mdi-command-13 # use MDI command from main.ini
|
||||
1
linuxcnc/configs/ethercatCNC3/my.halshow
Normal file
1
linuxcnc/configs/ethercatCNC3/my.halshow
Normal file
@@ -0,0 +1 @@
|
||||
pin+cia402.3.drv-actual-position pin+cia402.3.drv-actual-velocity pin+spindle.0.at-speed pin+spindle.0.brake pin+spindle.0.forward pin+spindle.0.speed-cmd-rps pin+spindle.0.speed-in pin+spindle.0.speed-out-abs pin+cia402.3.drv-target-velocity pin+cia402.3.drv-target-position
|
||||
Reference in New Issue
Block a user