jepler/linuxcnc-rosh-laser
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Jeff Epler 2015-10-09 11:49:22 -05:00
commit 656b15ac47
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.gitignore vendored Normal file
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*.var
*.var.bak

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rosh.hal Normal file
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loadrt trivkins
loadrt motmod base_period_nsec=0 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_eth board_ip=192.168.1.121 config="num_stepgens=7"
loadrt estop_latch
setp hm2_7i92.0.gpio.027.is_output 1
setp hm2_7i92.0.stepgen.05.steplen 2000
setp hm2_7i92.0.stepgen.05.stepspace 2000
setp hm2_7i92.0.stepgen.05.dirhold 800
setp hm2_7i92.0.stepgen.05.dirsetup 800
setp hm2_7i92.0.stepgen.05.enable 1
setp hm2_7i92.0.stepgen.05.maxaccel 1000
setp hm2_7i92.0.stepgen.05.maxvel 300
setp hm2_7i92.0.stepgen.05.position-scale -53.33333
setp hm2_7i92.0.stepgen.06.steplen 2000
setp hm2_7i92.0.stepgen.06.stepspace 2000
setp hm2_7i92.0.stepgen.06.dirhold 800
setp hm2_7i92.0.stepgen.06.dirsetup 800
setp hm2_7i92.0.stepgen.06.enable 1
setp hm2_7i92.0.stepgen.06.maxaccel 1000
setp hm2_7i92.0.stepgen.06.maxvel 300
setp hm2_7i92.0.stepgen.06.position-scale 53.33333
net X axis.0.motor-pos-cmd => hm2_7i92.0.stepgen.05.position-cmd
net Y axis.1.motor-pos-cmd => hm2_7i92.0.stepgen.06.position-cmd
net Xfb axis.0.motor-pos-fb <= hm2_7i92.0.stepgen.05.position-fb
net Yfb axis.1.motor-pos-fb <= hm2_7i92.0.stepgen.06.position-fb
net Zloop axis.2.motor-pos-cmd axis.2.motor-pos-fb
setp hm2_7i92.0.pwmgen.01.scale 100
net LO motion.spindle-on => hm2_7i92.0.pwmgen.01.enable
net LP motion.analog-out-00 => hm2_7i92.0.pwmgen.01.value
addf hm2_7i92.0.read-request servo-thread
addf hm2_7i92.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf estop-latch.0 servo-thread
addf hm2_7i92.0.write servo-thread
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
# A basic estop loop that only includes the hostmot watchdog.
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_7i92.0.watchdog.has_bit => estop-latch.0.fault-in

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rosh.ini Normal file
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[EMC]
MACHINE = Rosh_laser
DEBUG = 0x7FFFFFFF
#DEBUG = 0
[DISPLAY]
DISPLAY = axis
CYCLE_TIME = .1
MAX_FEED_OVERRIDE = 3.0
MAX_SPINDLE_OVERRIDE = 2.0
MAX_LINEAR_VELOCITY = 200
DEFAULT_LINEAR_VELOCITY = 100
INCREMENTS = 1mm, 2mm, 5mm, 10mm
[TASK]
TASK = milltask
CYCLE_TIME = .001
[RS274NGC]
PARAMETER_FILE = rosh.var
[EMCMOT]
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.01
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[HAL]
HALFILE = rosh.hal
[TRAJ]
AXES = 3
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_VELOCITY=300
MAX_LINEAR_VELOCITY=300
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
BACKLASH = 0
FERROR = .1
MIN_FERROR = .01
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = 0
MIN_LIMIT = -.01
MAX_LIMIT = 36
[AXIS_1]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
BACKLASH = 0
FERROR = .1
MIN_FERROR = .01
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = 0
MIN_LIMIT = -.01
MAX_LIMIT = 36
[AXIS_2]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
BACKLASH = 0
FERROR = .1
MIN_FERROR = .01
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = 0
MIN_LIMIT = -36
MAX_LIMIT = .01
[EMCIO]
EMCIO = io
CYCLE_TIME = .1
TOOL_TABLE=rosh.tbl