diff --git a/linuxcnc/configs/ethercatCNC3/.clp b/linuxcnc/configs/ethercatCNC3/.clp new file mode 100644 index 0000000..983500d --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/.clp @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/CNC3-nopid.hal b/linuxcnc/configs/ethercatCNC3/CNC3-nopid.hal new file mode 100644 index 0000000..c09f35a --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/CNC3-nopid.hal @@ -0,0 +1,181 @@ +# Generated by PNCconf at Sat Sep 10 10:10:56 2016 +# If you make changes to this file, they will be +# overwritten when you run PNCconf again + +loadrt [KINS]KINEMATICS +loadrt bitslice count=1 personality=24 +loadrt conv_s32_u32 count=1 +loadrt classicladder_rt +#loadrt spindle count=1 #halui include spindle.0 +#autoconverted trivkins +loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS +loadusr -W lcec_conf ethercat-conf.xml +loadusr classicladder --nogui CNC3LD.clp +loadrt lcec +loadrt cia402 count=4 + +addf lcec.read-all servo-thread +addf cia402.0.read-all servo-thread +addf cia402.1.read-all servo-thread +addf cia402.2.read-all servo-thread +addf cia402.3.read-all servo-thread +addf motion-command-handler servo-thread +addf motion-controller servo-thread +addf cia402.0.write-all servo-thread +addf cia402.1.write-all servo-thread +addf cia402.2.write-all servo-thread +addf cia402.3.write-all servo-thread +addf lcec.write-all servo-thread +addf bitslice.0 servo-thread +addf conv-s32-u32.0 servo-thread +addf classicladder.0.refresh servo-thread + +#******************* +# AXIS X +#******************* + +# --- joint signals for motion + +net x-pos-cmd <= joint.0.motor-pos-cmd +net x-vel-cmd <= joint.0.vel-cmd +net x-pos-fb <= joint.0.motor-pos-fb +net x-enable <= joint.0.amp-enable-out + +# --- connect stepper driver to joint + +net x-pos-cmd => cia402.0.pos-cmd +net x-pos-fb => cia402.0.pos-fb +net x-enable => cia402.0.enable + +# --- ect60 settings + +setp cia402.0.csp-mode 1 +setp cia402.0.pos-scale 4000 + +# --- from stepper(ethercat) to cia402 + +net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword +net x-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display +net x-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position +net x-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity +#net x-test1 <= lcec.0.0.test1 + +# --- from cia402 to stepper(ethercat) + +net x-controlword cia402.0.controlword => lcec.0.0.cia-controlword +net x-modes-of-operation cia402.0.opmode => lcec.0.0.opmode +net x-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position +net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity + +#******************* +# AXIS Y +#******************* + +# --- joint signals for motion + +net y-pos-cmd <= joint.1.motor-pos-cmd +net y-vel-cmd <= joint.1.vel-cmd +net y-pos-fb <= joint.1.motor-pos-fb +net y-enable <= joint.1.amp-enable-out + +# --- connect stepper driver to the joint + +net y-pos-cmd => cia402.1.pos-cmd +net y-pos-fb => cia402.1.pos-fb +net y-enable => cia402.1.enable + +# --- ect60 settings + +setp cia402.1.csp-mode 1 +setp cia402.1.pos-scale 4000 + +# --- from servo(ethercat) to cia402 + +net y-statusword lcec.0.1.cia-statusword => cia402.1.statusword +net y-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display +net y-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position +net y-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity + +# --- from cia402 to servo(ethercat) + +net y-controlword cia402.1.controlword => lcec.0.1.cia-controlword +net y-modes-of-operation cia402.1.opmode => lcec.0.1.opmode +net y-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position +net y-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.target-velocity + +#******************* +# AXIS Z +#******************* + +# --- joint signals for motion + +net z-pos-cmd <= joint.2.motor-pos-cmd +net z-vel-cmd <= joint.2.vel-cmd +net z-pos-fb <= joint.2.motor-pos-fb +net z-enable <= joint.2.amp-enable-out + +# --- connect stepper driver to the joint + +net z-pos-cmd => cia402.2.pos-cmd +net z-pos-fb => cia402.2.pos-fb +net z-enable => cia402.2.enable + +# --- ect60 settings + +setp cia402.2.csp-mode 1 +setp cia402.2.pos-scale 4000 + +# --- from servo(ethercat) to cia402 + +net z-statusword lcec.0.2.cia-statusword => cia402.2.statusword +net z-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display +net z-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position +net z-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity + +# --- from cia402 to servo(ethercat) + +net z-controlword cia402.2.controlword => lcec.0.2.cia-controlword +net z-modes-of-operation cia402.2.opmode => lcec.0.2.opmode +net z-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position +net z-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity + +#******************* +# SPINDLE +#******************* + +# --- joint signals for motion + +net spindle-speed-cmd spindle.0.speed-out => cia402.3.velocity-cmd +net spindle-speed-fb cia402.3.velocity-fb => spindle.0.speed-in +net spindle-on spindle.0.on => cia402.3.enable + +# --- ect60 settings + +setp cia402.3.csp-mode 0 +setp cia402.3.pos-scale 4000 +setp cia402.3.velo-scale 400 + +# --- from servo(ethercat) to cia402 + +net s-statusword lcec.0.3.cia-statusword => cia402.3.statusword +net s-opmode-display lcec.0.3.opmode-display => cia402.3.opmode-display +net s-drv-act-pos lcec.0.3.actual-position => cia402.3.drv-actual-position +net s-drv-act-velo lcec.0.3.actual-velocity => cia402.3.drv-actual-velocity + +# --- from cia402 to servo(ethercat) + +net s-controlword cia402.3.controlword => lcec.0.3.cia-controlword +net s-modes-of-operation cia402.3.opmode => lcec.0.3.opmode +net s-drv-target-pos cia402.3.drv-target-position => lcec.0.3.target-position +net s-drv-target-velo cia402.3.drv-target-velocity => lcec.0.3.target-velocity + +#********************* +# E-STOP +#********************* + +#setp iocontrol.0.emc-enable-in 1 +net lcec-z-stop <= lcec.0.2.z-estop +net lcec-z-stop => bitslice.0.in +net HE-estopbit bitslice.0.out-23 => iocontrol.0.emc-enable-in + + diff --git a/linuxcnc/configs/ethercatCNC3/CNC3.ini b/linuxcnc/configs/ethercatCNC3/CNC3.ini new file mode 100644 index 0000000..545b255 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/CNC3.ini @@ -0,0 +1,153 @@ +[EMC] +VERSION = 1.1 +MACHINE = LinuxCNC-HAL-CNC3 + DEBUG = 0 + +[DISPLAY] +# DISPLAY = axis + DISPLAY = gmoccapy + CYCLE_TIME = 0.100 + POSITION_OFFSET = RELATIVE + POSITION_FEEDBACK = ACTUAL + MAX_FEED_OVERRIDE = 1.2 + MAX_SPINDLE_OVERRIDE = 1.2 + PROGRAM_PREFIX = ../../nc_files/ + INTRO_GRAPHIC = linuxcnc.gif + INTRO_TIME = 1 + INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm + +[FILTER] + PROGRAM_EXTENSION = .png,.gif,.jpg,.txt,.TXT Grayscale Depth Image + PROGRAM_EXTENSION = .py Python Script + png = image-to-gcode + gif = image-to-gcode + jpg = image-to-gcode + py = python + +[RS274NGC] + PARAMETER_FILE = ethercat-CNC3.var + +[EMCMOT] + EMCMOT = motmod + COMM_TIMEOUT = 1.0 + BASE_PERIOD = 50000 + SERVO_PERIOD = 1000000 + +[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 diff --git a/linuxcnc/configs/ethercatCNC3/CNC3LD.clp b/linuxcnc/configs/ethercatCNC3/CNC3LD.clp new file mode 100644 index 0000000..983500d --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/CNC3LD.clp @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/LinuxCNC-HAL-CNC3.pref b/linuxcnc/configs/ethercatCNC3/LinuxCNC-HAL-CNC3.pref new file mode 100644 index 0000000..ba03686 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/LinuxCNC-HAL-CNC3.pref @@ -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 + diff --git a/linuxcnc/configs/ethercatCNC3/XYZ-callescope.halscope b/linuxcnc/configs/ethercatCNC3/XYZ-callescope.halscope new file mode 100644 index 0000000..7af5437 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/XYZ-callescope.halscope @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/autosave.halscope b/linuxcnc/configs/ethercatCNC3/autosave.halscope new file mode 100644 index 0000000..966c0be --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/autosave.halscope @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var b/linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var new file mode 100644 index 0000000..1472cf5 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var @@ -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 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+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 diff --git a/linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var.bak b/linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var.bak new file mode 100644 index 0000000..1472cf5 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/ethercat-CNC3.var.bak @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/ethercat-conf.xml b/linuxcnc/configs/ethercatCNC3/ethercat-conf.xml new file mode 100644 index 0000000..1c34cb0 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/ethercat-conf.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/linuxcnc/configs/ethercatCNC3/ethercat-lathe.var.bak b/linuxcnc/configs/ethercatCNC3/ethercat-lathe.var.bak new file mode 100644 index 0000000..f2f62c8 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/ethercat-lathe.var.bak @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/mpg-test.hal b/linuxcnc/configs/ethercatCNC3/mpg-test.hal new file mode 100644 index 0000000..797e1fb --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/mpg-test.hal @@ -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 diff --git a/linuxcnc/configs/ethercatCNC3/my.halshow b/linuxcnc/configs/ethercatCNC3/my.halshow new file mode 100644 index 0000000..05f3060 --- /dev/null +++ b/linuxcnc/configs/ethercatCNC3/my.halshow @@ -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