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iptables-p
...
2.7
5201 changed files with 388677 additions and 1057269 deletions
74
.github/workflows/ci.yml
vendored
74
.github/workflows/ci.yml
vendored
|
|
@ -1,74 +0,0 @@
|
|||
name: Build CI
|
||||
|
||||
on:
|
||||
push:
|
||||
pull_request:
|
||||
release:
|
||||
types: [published]
|
||||
check_suite:
|
||||
types: [rerequested]
|
||||
|
||||
jobs:
|
||||
rip-and-test:
|
||||
runs-on: ubuntu-18.04
|
||||
steps:
|
||||
- name: Dump GitHub context
|
||||
env:
|
||||
GITHUB_CONTEXT: ${{ toJson(github) }}
|
||||
run: echo "$GITHUB_CONTEXT"
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- run: git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
|
||||
- name: Build RIP & test
|
||||
run: |
|
||||
./scripts/travis-install-build-deps.sh
|
||||
cd src
|
||||
./autogen.sh
|
||||
./configure --with-realtime=uspace --disable-check-runtime-deps
|
||||
make -O -j$((1+$(nproc))) default pycheck V=1
|
||||
# Note that the package build covers html docs
|
||||
../scripts/rip-environment runtests -p
|
||||
|
||||
htmldocs:
|
||||
runs-on: ubuntu-18.04
|
||||
steps:
|
||||
- name: Dump GitHub context
|
||||
env:
|
||||
GITHUB_CONTEXT: ${{ toJson(github) }}
|
||||
run: echo "$GITHUB_CONTEXT"
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- run: git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
|
||||
- name: Build HTML docmentation
|
||||
run: |
|
||||
./scripts/travis-install-build-deps.sh
|
||||
cd src
|
||||
./autogen.sh
|
||||
./configure --with-realtime=uspace --disable-check-runtime-deps --enable-build-documentation=html
|
||||
make -O -j$((1+$(nproc))) docs
|
||||
# Note that the package build covers html docs
|
||||
|
||||
package:
|
||||
runs-on: ubuntu-18.04
|
||||
steps:
|
||||
- name: Dump GitHub context
|
||||
env:
|
||||
GITHUB_CONTEXT: ${{ toJson(github) }}
|
||||
run: echo "$GITHUB_CONTEXT"
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- name: Build Debian package
|
||||
run: |
|
||||
set -x
|
||||
git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
|
||||
./scripts/travis-install-build-deps.sh
|
||||
debuild -uc -us -I -i -j$(nproc)
|
||||
sudo apt-get install ../*.deb
|
||||
./scripts/runtests -p tests/
|
||||
lintian --info --display-info --pedantic --display-experimental ../*.deb
|
||||
17
.gitignore
vendored
17
.gitignore
vendored
|
|
@ -13,24 +13,24 @@ build-stamp
|
|||
.tmp*
|
||||
# Ignore generated html files,
|
||||
/docs/src/*/*.html
|
||||
# docs/html/.gitignore is for the html directory
|
||||
# Except Gcode quick-ref cards (en,de,sp,fr) which are maintained by hand
|
||||
!docs/html/gcode*.html
|
||||
# Ignore all LyX files, we're done with them now.
|
||||
*.lyx
|
||||
debian/*.debhelper.log
|
||||
rtlib/Module.symvers
|
||||
share/*/*.desktop
|
||||
share/menus/CNC.menu
|
||||
share/desktop-directories/linuxcnc-cnc.directory
|
||||
share/desktop-directories/linuxcnc-ref.directory
|
||||
share/desktop-directories/linuxcnc-doc.directory
|
||||
share/desktop-directories/cnc.directory
|
||||
src/modules.order
|
||||
docs/html/drivers
|
||||
/configs/*/emc.nml
|
||||
!/configs/common/emc.nml
|
||||
/docs/src/source-highlight/local
|
||||
lib/python/gremlin.py
|
||||
lib/python/qt5_graphics.py
|
||||
lib/python/touchy
|
||||
configs/sim/gmoccapy/*.pref
|
||||
configs/sim/gmoccapy/gmoccapy_plasma/*.pref
|
||||
configs/sim/gmoccapy/gmoccapy-JA/*.pref
|
||||
# Miscellaneous generated files (Rob)
|
||||
cscope
|
||||
cscope.*
|
||||
|
|
@ -38,8 +38,5 @@ cscope.*
|
|||
oprofile*
|
||||
*.log
|
||||
position.txt
|
||||
# *.9
|
||||
*.9
|
||||
*.glade.h
|
||||
# Ignore test results
|
||||
*.result
|
||||
|
||||
|
|
|
|||
6
.travis.yml
Normal file
6
.travis.yml
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
sudo: required
|
||||
language: c++
|
||||
before_install: ./scripts/travis-install-build-deps.sh
|
||||
script: ./scripts/travis-build-test.sh
|
||||
notifications:
|
||||
email: false
|
||||
491
COPYING
491
COPYING
|
|
@ -1,12 +1,30 @@
|
|||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 2, June 1991
|
||||
****************************************************************
|
||||
|
||||
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Notice: Most of LinuxCNC is covered by the GNU General Public
|
||||
License. Some portions are covered by the GNU Lesser
|
||||
General Public License (mostly interface definitions).
|
||||
Both licenses are included in their entirety below.
|
||||
|
||||
Much of LinuxCNC is derived from the Enhanced Machine Controller, a
|
||||
work of Fred Proctor, Tom Kramer, Will Shackleford, and others.
|
||||
That work was originally released into the public domain. It was
|
||||
used as the basis of LinuxCNC, but received extensive modifications.
|
||||
LinuxCNC is NOT public domain. Anyone wishing to use the public
|
||||
domain code in a way that is not compatible with the (L)GPL must
|
||||
locate the original the Enhanced Machine Controller code - they may
|
||||
NOT use LinuxCNC.
|
||||
|
||||
******************************************************************
|
||||
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 2, June 1991
|
||||
|
||||
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
|
||||
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
|
|
@ -15,7 +33,7 @@ software--to make sure the software is free for all its users. This
|
|||
General Public License applies to most of the Free Software
|
||||
Foundation's software and to any other program whose authors commit to
|
||||
using it. (Some other Free Software Foundation software is covered by
|
||||
the GNU Lesser General Public License instead.) You can apply it to
|
||||
the GNU Library General Public License instead.) You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
|
|
@ -55,8 +73,8 @@ patent must be licensed for everyone's free use or not licensed at all.
|
|||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License applies to any program or other work which contains
|
||||
|
|
@ -110,7 +128,7 @@ above, provided that you also meet all of these conditions:
|
|||
License. (Exception: if the Program itself is interactive but
|
||||
does not normally print such an announcement, your work based on
|
||||
the Program is not required to print an announcement.)
|
||||
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Program,
|
||||
and can be reasonably considered independent and separate works in
|
||||
|
|
@ -168,7 +186,7 @@ access to copy from a designated place, then offering equivalent
|
|||
access to copy the source code from the same place counts as
|
||||
distribution of the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
|
||||
4. You may not copy, modify, sublicense, or distribute the Program
|
||||
except as expressly provided under this License. Any attempt
|
||||
otherwise to copy, modify, sublicense or distribute the Program is
|
||||
|
|
@ -225,7 +243,7 @@ impose that choice.
|
|||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
|
||||
8. If the distribution and/or use of the Program is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Program under this License
|
||||
|
|
@ -255,7 +273,7 @@ make exceptions for this. Our decision will be guided by the two goals
|
|||
of preserving the free status of all derivatives of our free software and
|
||||
of promoting the sharing and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
NO WARRANTY
|
||||
|
||||
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
||||
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
|
||||
|
|
@ -277,9 +295,9 @@ YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
|||
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
|
|
@ -303,16 +321,17 @@ the "copyright" line and a pointer to where the full notice is found.
|
|||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License along
|
||||
with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program is interactive, make it output a short notice like this
|
||||
when it starts in an interactive mode:
|
||||
|
||||
Gnomovision version 69, Copyright (C) year name of author
|
||||
Gnomovision version 69, Copyright (C) year name of author
|
||||
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
|
@ -335,5 +354,437 @@ necessary. Here is a sample; alter the names:
|
|||
This General Public License does not permit incorporating your program into
|
||||
proprietary programs. If your program is a subroutine library, you may
|
||||
consider it more useful to permit linking proprietary applications with the
|
||||
library. If this is what you want to do, use the GNU Lesser General
|
||||
library. If this is what you want to do, use the GNU Library General
|
||||
Public License instead of this License.
|
||||
|
||||
******************************************************************************
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
[This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your freedom to
|
||||
share and change it. By contrast, the GNU General Public Licenses are
|
||||
intended to guarantee your freedom to share and change free software--to
|
||||
make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some specially
|
||||
designated software packages--typically libraries--of the Free Software
|
||||
Foundation and other authors who decide to use it. You can use it too, but
|
||||
we suggest you first think carefully about whether this license or the
|
||||
ordinary General Public License is the better strategy to use in any
|
||||
particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
this service if you wish); that you receive source code or can get it
|
||||
if you want it; that you can change the software and use pieces of it
|
||||
in new free programs; and that you are informed that you can do these
|
||||
things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
distributors to deny you these rights or to ask you to surrender these
|
||||
rights. These restrictions translate to certain responsibilities for
|
||||
you if you distribute copies of the library or if you modify it.
|
||||
|
||||
For example, if you distribute copies of the library, whether gratis or
|
||||
for a fee, you must give the recipients all the rights that we gave you.
|
||||
You must make sure that they, too, receive or can get the source code.
|
||||
If you link other code with the library, you must provide complete object
|
||||
files to the recipients, so that they can relink them with the library
|
||||
after making changes to the library and recompiling it. And you must show
|
||||
them these terms so they know their rights.
|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
permission to copy, distribute and/or modify the library.
|
||||
|
||||
To protect each distributor, we want to make it very clear that there is
|
||||
no warranty for the free library. Also, if the library is modified by
|
||||
someone else and passed on, the recipients should know that what they
|
||||
have is not the original version, so that the original author's reputation
|
||||
will not be affected by problems that might be introduced by others.
|
||||
|
||||
Finally, software patents pose a constant threat to the existence of any
|
||||
free program. We wish to make sure that a company cannot effectively
|
||||
restrict the users of a free program by obtaining a restrictive license
|
||||
from a patent holder. Therefore, we insist that any patent license
|
||||
obtained for a version of the library must be consistent with the full
|
||||
freedom of use specified in this license.
|
||||
|
||||
Most GNU software, including some libraries, is covered by the ordinary
|
||||
GNU General Public License. This license, the GNU Lesser General Public
|
||||
License, applies to certain designated libraries, and is quite different
|
||||
from the ordinary General Public License. We use this license for certain
|
||||
libraries in order to permit linking those libraries into non-free programs.
|
||||
|
||||
When a program is linked with a library, whether statically or using a
|
||||
shared library, the combination of the two is legally speaking a combined
|
||||
work, a derivative of the original library. The ordinary General Public
|
||||
License therefore permits such linking only if the entire combination fits
|
||||
its criteria of freedom. The Lesser General Public License permits more lax
|
||||
criteria for linking other code with the library.
|
||||
|
||||
We call this license the "Lesser" General Public License because it does
|
||||
Less to protect the user's freedom than the ordinary General Public License.
|
||||
It also provides other free software developers Less of an advantage over
|
||||
competing non-free programs. These disadvantages are the reason we use the
|
||||
ordinary General Public License for many libraries. However, the Lesser
|
||||
license provides advantages in certain special circumstances.
|
||||
|
||||
For example, on rare occasions, there may be a special need to encourage
|
||||
the widest possible use of a certain library, so that it becomes a de-facto
|
||||
standard. To achieve this, non-free programs must be allowed to use the
|
||||
library. A more frequent case is that a free library does the same job as
|
||||
widely used non-free libraries. In this case, there is little to gain by
|
||||
limiting the free library to free software only, so we use the Lesser
|
||||
General Public License.
|
||||
|
||||
In other cases, permission to use a particular library in non-free programs
|
||||
enables a greater number of people to use a large body of free software.
|
||||
For example, permission to use the GNU C Library in non-free programs
|
||||
enables many more people to use the whole GNU operating system, as well
|
||||
as its variant, the GNU/Linux operating system.
|
||||
|
||||
Although the Lesser General Public License is Less protective of the users'
|
||||
freedom, it does ensure that the user of a program that is linked with the
|
||||
Library has the freedom and the wherewithal to run that program using a
|
||||
modified version of the Library.
|
||||
|
||||
The precise terms and conditions for copying, distribution and modification
|
||||
follow. Pay close attention to the difference between a "work based on the
|
||||
library" and a "work that uses the library". The former contains code derived
|
||||
from the library, whereas the latter must be combined with the library in
|
||||
order to run.
|
||||
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other program
|
||||
which contains a notice placed by the copyright holder or other authorized
|
||||
party saying it may be distributed under the terms of this Lesser General
|
||||
Public License (also called "this License"). Each licensee is addressed as
|
||||
"you".
|
||||
|
||||
A "library" means a collection of software functions and/or data prepared
|
||||
so as to be conveniently linked with application programs (which use some
|
||||
of those functions and data) to form executables.
|
||||
|
||||
The "Library", below, refers to any such software library or work which
|
||||
has been distributed under these terms. A "work based on the Library"
|
||||
means either the Library or any derivative work under copyright law:
|
||||
that is to say, a work containing the Library or a portion of it, either
|
||||
verbatim or with modifications and/or translated straightforwardly into
|
||||
another language. (Hereinafter, translation is included without limitation
|
||||
in the term "modification".)
|
||||
|
||||
"Source code" for a work means the preferred form of the work for making
|
||||
modifications to it. For a library, complete source code means all the
|
||||
source code for all modules it contains, plus any associated interface
|
||||
definition files, plus the scripts used to control compilation and
|
||||
installation of the library.
|
||||
|
||||
Activities other than copying, distribution and modification are not covered
|
||||
by this License; they are outside its scope. The act of running a program
|
||||
using the Library is not restricted, and output from such a program is
|
||||
covered only if its contents constitute a work based on the Library
|
||||
(independent of the use of the Library in a tool for writing it). Whether
|
||||
that is true depends on what the Library does and what the program that
|
||||
uses the Library does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Library's complete
|
||||
source code as you receive it, in any medium, provided that you conspicuously
|
||||
and appropriately publish on each copy an appropriate copyright notice and
|
||||
disclaimer of warranty; keep intact all the notices that refer to this
|
||||
License and to the absence of any warranty; and distribute a copy of this
|
||||
License along with the Library.
|
||||
|
||||
You may charge a fee for the physical act of transferring a copy, and
|
||||
you may at your option offer warranty protection in exchange for a fee.
|
||||
|
||||
2. You may modify your copy or copies of the Library or any portion of it,
|
||||
thus forming a work based on the Library, and copy and distribute such
|
||||
modifications or work under the terms of Section 1 above, provided that
|
||||
you also meet all of these conditions:
|
||||
|
||||
a) The modified work must itself be a software library.
|
||||
b) You must cause the files modified to carry prominent notices stating
|
||||
that you changed the files and the date of any change.
|
||||
c) You must cause the whole of the work to be licensed at no charge
|
||||
to all third parties under the terms of this License.
|
||||
d) If a facility in the modified Library refers to a function or a
|
||||
table of data to be supplied by an application program that uses the
|
||||
facility, other than as an argument passed when the facility is invoked,
|
||||
then you must make a good faith effort to ensure that, in the event an
|
||||
application does not supply such function or table, the facility still
|
||||
operates, and performs whatever part of its purpose remains meaningful.
|
||||
|
||||
(For example, a function in a library to compute square roots has a
|
||||
purpose that is entirely well-defined independent of the application.
|
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|
|||
790
COPYING.more
790
COPYING.more
|
|
@ -1,790 +0,0 @@
|
|||
****************************************************************
|
||||
|
||||
Notice: Most of LinuxCNC is covered by the GNU General Public
|
||||
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|
||||
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|
||||
Both licenses are included in their entirety below.
|
||||
|
||||
Much of LinuxCNC is derived from the Enhanced Machine Controller, a
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
******************************************************************
|
||||
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 2, June 1991
|
||||
|
||||
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
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||||
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|
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Everyone is permitted to copy and distribute verbatim copies
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Preamble
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||||
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|
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|
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||||
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||||
1 and 2 above on a medium customarily used for software interchange; or,
|
||||
|
||||
b) Accompany it with a written offer, valid for at least three
|
||||
years, to give any third party, for a charge no more than your
|
||||
cost of physically performing source distribution, a complete
|
||||
machine-readable copy of the corresponding source code, to be
|
||||
distributed under the terms of Sections 1 and 2 above on a medium
|
||||
customarily used for software interchange; or,
|
||||
|
||||
c) Accompany it with the information you received as to the offer
|
||||
to distribute corresponding source code. (This alternative is
|
||||
allowed only for noncommercial distribution and only if you
|
||||
received the program in object code or executable form with such
|
||||
an offer, in accord with Subsection b above.)
|
||||
|
||||
The source code for a work means the preferred form of the work for
|
||||
making modifications to it. For an executable work, complete source
|
||||
code means all the source code for all modules it contains, plus any
|
||||
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|
||||
control compilation and installation of the executable. However, as a
|
||||
special exception, the source code distributed need not include
|
||||
anything that is normally distributed (in either source or binary
|
||||
form) with the major components (compiler, kernel, and so on) of the
|
||||
operating system on which the executable runs, unless that component
|
||||
itself accompanies the executable.
|
||||
|
||||
If distribution of executable or object code is made by offering
|
||||
access to copy from a designated place, then offering equivalent
|
||||
access to copy the source code from the same place counts as
|
||||
distribution of the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
4. You may not copy, modify, sublicense, or distribute the Program
|
||||
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|
||||
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|
||||
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|
||||
However, parties who have received copies, or rights, from you under
|
||||
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|
||||
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|
||||
|
||||
5. You are not required to accept this License, since you have not
|
||||
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|
||||
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|
||||
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|
||||
modifying or distributing the Program (or any work based on the
|
||||
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|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Program or works based on it.
|
||||
|
||||
6. Each time you redistribute the Program (or any work based on the
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
You are not responsible for enforcing compliance by third parties to
|
||||
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|
||||
|
||||
7. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Program at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Program by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Program.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under
|
||||
any particular circumstance, the balance of the section is intended to
|
||||
apply and the section as a whole is intended to apply in other
|
||||
circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
8. If the distribution and/or use of the Program is restricted in
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
the limitation as if written in the body of this License.
|
||||
|
||||
9. The Free Software Foundation may publish revised and/or new versions
|
||||
of the General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Program
|
||||
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|
||||
later version", you have the option of following the terms and conditions
|
||||
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|
||||
Software Foundation. If the Program does not specify a version number of
|
||||
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|
||||
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|
||||
|
||||
10. If you wish to incorporate parts of the Program into other free
|
||||
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|
||||
to ask for permission. For software which is copyrighted by the Free
|
||||
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|
||||
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|
||||
of preserving the free status of all derivatives of our free software and
|
||||
of promoting the sharing and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
||||
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
|
||||
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
|
||||
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
|
||||
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
|
||||
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
|
||||
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
|
||||
REPAIR OR CORRECTION.
|
||||
|
||||
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
|
||||
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
|
||||
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
|
||||
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
|
||||
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
|
||||
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
||||
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This program is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program is interactive, make it output a short notice like this
|
||||
when it starts in an interactive mode:
|
||||
|
||||
Gnomovision version 69, Copyright (C) year name of author
|
||||
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, the commands you use may
|
||||
be called something other than `show w' and `show c'; they could even be
|
||||
mouse-clicks or menu items--whatever suits your program.
|
||||
|
||||
You should also get your employer (if you work as a programmer) or your
|
||||
school, if any, to sign a "copyright disclaimer" for the program, if
|
||||
necessary. Here is a sample; alter the names:
|
||||
|
||||
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
|
||||
`Gnomovision' (which makes passes at compilers) written by James Hacker.
|
||||
|
||||
<signature of Ty Coon>, 1 April 1989
|
||||
Ty Coon, President of Vice
|
||||
|
||||
This General Public License does not permit incorporating your program into
|
||||
proprietary programs. If your program is a subroutine library, you may
|
||||
consider it more useful to permit linking proprietary applications with the
|
||||
library. If this is what you want to do, use the GNU Library General
|
||||
Public License instead of this License.
|
||||
|
||||
******************************************************************************
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
[This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your freedom to
|
||||
share and change it. By contrast, the GNU General Public Licenses are
|
||||
intended to guarantee your freedom to share and change free software--to
|
||||
make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some specially
|
||||
designated software packages--typically libraries--of the Free Software
|
||||
Foundation and other authors who decide to use it. You can use it too, but
|
||||
we suggest you first think carefully about whether this license or the
|
||||
ordinary General Public License is the better strategy to use in any
|
||||
particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
this service if you wish); that you receive source code or can get it
|
||||
if you want it; that you can change the software and use pieces of it
|
||||
in new free programs; and that you are informed that you can do these
|
||||
things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
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|
||||
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|
||||
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|
||||
|
||||
For example, if you distribute copies of the library, whether gratis or
|
||||
for a fee, you must give the recipients all the rights that we gave you.
|
||||
You must make sure that they, too, receive or can get the source code.
|
||||
If you link other code with the library, you must provide complete object
|
||||
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|
||||
after making changes to the library and recompiling it. And you must show
|
||||
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|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
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|
||||
|
||||
To protect each distributor, we want to make it very clear that there is
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
Finally, software patents pose a constant threat to the existence of any
|
||||
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|
||||
restrict the users of a free program by obtaining a restrictive license
|
||||
from a patent holder. Therefore, we insist that any patent license
|
||||
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|
||||
freedom of use specified in this license.
|
||||
|
||||
Most GNU software, including some libraries, is covered by the ordinary
|
||||
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|
||||
License, applies to certain designated libraries, and is quite different
|
||||
from the ordinary General Public License. We use this license for certain
|
||||
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|
||||
|
||||
When a program is linked with a library, whether statically or using a
|
||||
shared library, the combination of the two is legally speaking a combined
|
||||
work, a derivative of the original library. The ordinary General Public
|
||||
License therefore permits such linking only if the entire combination fits
|
||||
its criteria of freedom. The Lesser General Public License permits more lax
|
||||
criteria for linking other code with the library.
|
||||
|
||||
We call this license the "Lesser" General Public License because it does
|
||||
Less to protect the user's freedom than the ordinary General Public License.
|
||||
It also provides other free software developers Less of an advantage over
|
||||
competing non-free programs. These disadvantages are the reason we use the
|
||||
ordinary General Public License for many libraries. However, the Lesser
|
||||
license provides advantages in certain special circumstances.
|
||||
|
||||
For example, on rare occasions, there may be a special need to encourage
|
||||
the widest possible use of a certain library, so that it becomes a de-facto
|
||||
standard. To achieve this, non-free programs must be allowed to use the
|
||||
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|
||||
widely used non-free libraries. In this case, there is little to gain by
|
||||
limiting the free library to free software only, so we use the Lesser
|
||||
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|
||||
|
||||
In other cases, permission to use a particular library in non-free programs
|
||||
enables a greater number of people to use a large body of free software.
|
||||
For example, permission to use the GNU C Library in non-free programs
|
||||
enables many more people to use the whole GNU operating system, as well
|
||||
as its variant, the GNU/Linux operating system.
|
||||
|
||||
Although the Lesser General Public License is Less protective of the users'
|
||||
freedom, it does ensure that the user of a program that is linked with the
|
||||
Library has the freedom and the wherewithal to run that program using a
|
||||
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|
||||
|
||||
The precise terms and conditions for copying, distribution and modification
|
||||
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|
||||
library" and a "work that uses the library". The former contains code derived
|
||||
from the library, whereas the latter must be combined with the library in
|
||||
order to run.
|
||||
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other program
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
A "library" means a collection of software functions and/or data prepared
|
||||
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|
||||
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|
||||
|
||||
The "Library", below, refers to any such software library or work which
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
|
||||
"Source code" for a work means the preferred form of the work for making
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
Activities other than copying, distribution and modification are not covered
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
1. You may copy and distribute verbatim copies of the Library's complete
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
|
||||
You may charge a fee for the physical act of transferring a copy, and
|
||||
you may at your option offer warranty protection in exchange for a fee.
|
||||
|
||||
2. You may modify your copy or copies of the Library or any portion of it,
|
||||
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|
||||
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|
||||
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|
||||
|
||||
a) The modified work must itself be a software library.
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
then you must make a good faith effort to ensure that, in the event an
|
||||
application does not supply such function or table, the facility still
|
||||
operates, and performs whatever part of its purpose remains meaningful.
|
||||
|
||||
(For example, a function in a library to compute square roots has a
|
||||
purpose that is entirely well-defined independent of the application.
|
||||
Therefore, Subsection 2d requires that any application-supplied function
|
||||
or table used by this function must be optional: if the application does
|
||||
not supply it, the square root function must still compute square roots.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If identifiable
|
||||
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|
||||
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|
||||
and its terms, do not apply to those sections when you distribute them as
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest your
|
||||
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|
||||
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|
||||
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||||
|
||||
In addition, mere aggregation of another work not based on the Library with
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||||
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|
||||
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|
||||
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|
||||
|
||||
3. You may opt to apply the terms of the ordinary GNU General Public License
|
||||
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|
||||
alter all the notices that refer to this License, so that they refer to the
|
||||
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|
||||
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|
||||
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|
||||
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||||
|
||||
Once this change is made in a given copy, it is irreversible for that copy,
|
||||
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|
||||
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|
||||
|
||||
This option is useful when you wish to copy part of the code of the Library
|
||||
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||||
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||||
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||||
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||||
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|
||||
corresponding machine-readable source code, which must be distributed under
|
||||
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|
||||
interchange.
|
||||
|
||||
If distribution of object code is made by offering access to copy from a
|
||||
designated place, then offering equivalent access to copy the source code
|
||||
from the same place satisfies the requirement to distribute the source
|
||||
code, even though third parties are not compelled to copy the source
|
||||
along with the object code.
|
||||
|
||||
5. A program that contains no derivative of any portion of the Library,
|
||||
but is designed to work with the Library by being compiled or linked with
|
||||
it, is called a "work that uses the Library". Such a work, in isolation,
|
||||
is not a derivative work of the Library, and therefore falls outside the
|
||||
scope of this License.
|
||||
|
||||
However, linking a "work that uses the Library" with the Library creates
|
||||
an executable that is a derivative of the Library (because it contains
|
||||
portions of the Library), rather than a "work that uses the library".
|
||||
The executable is therefore covered by this License. Section 6 states
|
||||
terms for distribution of such executables.
|
||||
|
||||
When a "work that uses the Library" uses material from a header file
|
||||
that is part of the Library, the object code for the work may be a
|
||||
derivative work of the Library even though the source code is not.
|
||||
Whether this is true is especially significant if the work can be
|
||||
linked without the Library, or if the work is itself a library.
|
||||
The threshold for this to be true is not precisely defined by law.
|
||||
|
||||
If such an object file uses only numerical parameters, data structure
|
||||
layouts and accessors, and small macros and small inline functions
|
||||
(ten lines or less in length), then the use of the object file is
|
||||
unrestricted, regardless of whether it is legally a derivative work.
|
||||
(Executables containing this object code plus portions of the Library
|
||||
will still fall under Section 6.)
|
||||
|
||||
Otherwise, if the work is a derivative of the Library, you may
|
||||
distribute the object code for the work under the terms of Section 6.
|
||||
Any executables containing that work also fall under Section 6, whether
|
||||
or not they are linked directly with the Library itself.
|
||||
|
||||
6. As an exception to the Sections above, you may also combine or link
|
||||
a "work that uses the Library" with the Library to produce a work
|
||||
containing portions of the Library, and distribute that work under
|
||||
terms of your choice, provided that the terms permit modification of
|
||||
the work for the customer's own use and reverse engineering for
|
||||
debugging such modifications.
|
||||
|
||||
You must give prominent notice with each copy of the work that the
|
||||
Library is used in it and that the Library and its use are covered
|
||||
by this License. You must supply a copy of this License. If the work
|
||||
during execution displays copyright notices, you must include the
|
||||
copyright notice for the Library among them, as well as a reference
|
||||
directing the user to the copy of this License. Also, you must do
|
||||
one of these things:
|
||||
|
||||
a) Accompany the work with the complete corresponding machine-readable
|
||||
source code for the Library including whatever changes were used in the
|
||||
work (which must be distributed under Sections 1 and 2 above); and, if
|
||||
the work is an executable linked with the Library, with the complete
|
||||
machine-readable "work that uses the Library", as object code and/or
|
||||
source code, so that the user can modify the Library and then relink
|
||||
to produce a modified executable containing the modified Library. (It
|
||||
is understood that the user who changes the contents of definitions
|
||||
files in the Library will not necessarily be able to recompile the
|
||||
application to use the modified definitions.)
|
||||
b) Use a suitable shared library mechanism for linking with the Library.
|
||||
A suitable mechanism is one that (1) uses at run time a copy of the
|
||||
library already present on the user's computer system, rather than
|
||||
copying library functions into the executable, and (2) will operate
|
||||
properly with a modified version of the library, if the user installs
|
||||
one, as long as the modified version is interface-compatible with the
|
||||
version that the work was made with.
|
||||
c) Accompany the work with a written offer, valid for at least three
|
||||
years, to give the same user the materials specified in Subsection 6a,
|
||||
above, for a charge no more than the cost of performing this distribution.
|
||||
d) If distribution of the work is made by offering access to copy from a
|
||||
designated place, offer equivalent access to copy the above specified
|
||||
materials from the same place.
|
||||
e) Verify that the user has already received a copy of these materials or
|
||||
that you have already sent this user a copy.
|
||||
|
||||
For an executable, the required form of the "work that uses the Library"
|
||||
must include any data and utility programs needed for reproducing the
|
||||
executable from it. However, as a special exception, the materials to be
|
||||
distributed need not include anything that is normally distributed (in
|
||||
either source or binary form) with the major components (compiler, kernel,
|
||||
and so on) of the operating system on which the executable runs, unless
|
||||
that component itself accompanies the executable.
|
||||
|
||||
It may happen that this requirement contradicts the license restrictions of
|
||||
other proprietary libraries that do not normally accompany the operating
|
||||
system. Such a contradiction means you cannot use both them and the Library
|
||||
together in an executable that you distribute.
|
||||
|
||||
7. You may place library facilities that are a work based on the Library
|
||||
side-by-side in a single library together with other library facilities
|
||||
not covered by this License, and distribute such a combined library, provided
|
||||
that the separate distribution of the work based on the Library and of the
|
||||
other library facilities is otherwise permitted, and provided that you do
|
||||
these two things:
|
||||
|
||||
a) Accompany the combined library with a copy of the same work based on the
|
||||
Library, uncombined with any other library facilities. This must be
|
||||
distributed under the terms of the Sections above.
|
||||
b) Give prominent notice with the combined library of the fact that part
|
||||
of it is a work based on the Library, and explaining where to find the
|
||||
accompanying uncombined form of the same work.
|
||||
|
||||
8. You may not copy, modify, sublicense, link with, or distribute the Library
|
||||
except as expressly provided under this License. Any attempt otherwise to
|
||||
copy, modify, sublicense, link with, or distribute the Library is void, and
|
||||
will automatically terminate your rights under this License. However, parties
|
||||
who have received copies, or rights, from you under this License will not have
|
||||
their licenses terminated so long as such parties remain in full compliance.
|
||||
|
||||
9. You are not required to accept this License, since you have not signed
|
||||
it. However, nothing else grants you permission to modify or distribute
|
||||
the Library or its derivative works. These actions are prohibited by law
|
||||
if you do not accept this License. Therefore, by modifying or distributing
|
||||
the Library (or any work based on the Library), you indicate your acceptance
|
||||
of this License to do so, and all its terms and conditions for copying,
|
||||
distributing or modifying the Library or works based on it.
|
||||
|
||||
10. Each time you redistribute the Library (or any work based on the Library),
|
||||
the recipient automatically receives a license from the original licensor to
|
||||
copy, distribute, link with or modify the Library subject to these terms and
|
||||
conditions. You may not impose any further restrictions on the recipients'
|
||||
exercise of the rights granted herein. You are not responsible for enforcing
|
||||
compliance by third parties with this License.
|
||||
|
||||
11. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot distribute
|
||||
so as to satisfy simultaneously your obligations under this License and
|
||||
any other pertinent obligations, then as a consequence you may not distribute
|
||||
the Library at all. For example, if a patent license would not permit
|
||||
royalty-free redistribution of the Library by all those who receive
|
||||
copies directly or indirectly through you, then the only way you could
|
||||
satisfy both it and this License would be to refrain entirely from
|
||||
distribution of the Library.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under
|
||||
any particular circumstance, the balance of the section is intended to
|
||||
apply, and the section as a whole is intended to apply in other
|
||||
circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system which is implemented
|
||||
by public license practices. Many people have made generous contributions
|
||||
to the wide range of software distributed through that system in reliance
|
||||
on consistent application of that system; it is up to the author/donor
|
||||
to decide if he or she is willing to distribute software through any
|
||||
other system and a licensee cannot impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in certain
|
||||
countries either by patents or by copyrighted interfaces, the original
|
||||
copyright holder who places the Library under this License may add an
|
||||
explicit geographical distribution limitation excluding those countries,
|
||||
so that distribution is permitted only in or among countries not thus
|
||||
excluded. In such case, this License incorporates the limitation as if
|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new versions
|
||||
of the Lesser General Public License from time to time. Such new versions
|
||||
will be similar in spirit to the present version, but may differ in detail
|
||||
to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and "any
|
||||
later version", you have the option of following the terms and conditions
|
||||
either of that version or of any later version published by the Free
|
||||
Software Foundation. If the Library does not specify a license version
|
||||
number, you may choose any version ever published by the Free Software
|
||||
Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free programs
|
||||
whose distribution conditions are incompatible with these, write to the author
|
||||
to ask for permission. For software which is copyrighted by the Free Software
|
||||
Foundation, write to the Free Software Foundation; we sometimes make exceptions
|
||||
for this. Our decision will be guided by the two goals of preserving the free
|
||||
status of all derivatives of our free software and of promoting the sharing
|
||||
and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR
|
||||
THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE
|
||||
STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE
|
||||
LIBRARY "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED,
|
||||
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
|
||||
FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND
|
||||
PERFORMANCE OF THE LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE,
|
||||
YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL
|
||||
ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE
|
||||
THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE
|
||||
OR INABILITY TO USE THE LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA
|
||||
OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES
|
||||
OR A FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
# The issue tracker is not a support forum
|
||||
|
||||
The LinuxCNC issue tracker is to report bugs in the software.
|
||||
If you have a question about how to use the software, use one of the other methods detailed on our community support page: http://linuxcnc.org/community/
|
||||
|
||||
(delete this section before submitting your bug report)
|
||||
|
||||
## Here are the steps I follow to reproduce the issue:
|
||||
|
||||
1.
|
||||
2.
|
||||
3.
|
||||
|
||||
## This is what I expected to happen:
|
||||
|
||||
## This is what happened instead:
|
||||
|
||||
## It worked properly before this:
|
||||
(If the behavior changed after making a particular change in hardware or
|
||||
software, describe the change you think is responsible. E.g., "after upgrading
|
||||
from LinuxCNC 2.7.3 to 2.7.4")
|
||||
|
||||
## Information about my hardware and software:
|
||||
|
||||
* I am using this Linux distribution and version (often, shown by `lsb_release -a`):
|
||||
* I am using this kernel version (shown by `uname -a`):
|
||||
* I am running ...
|
||||
* [ ] A binary version from linuxcnc.org (including buildbot.linuxcnc.org)
|
||||
* [ ] A binary I built myself
|
||||
* [ ] A binary version from some other source besides linuxcnc.org
|
||||
* I am using this LinuxCNC version (shown in package manager or, for git versions, `scripts/get-version-from-git`):
|
||||
* I am using this user interface (GUI) (e.g., AXIS, Touchy, gmoccapy, etc):
|
||||
* I am using this interface hardware vendor and chipset (e.g., parallel port, ethernet port, FPGA card):
|
||||
48
README
Normal file
48
README
Normal file
|
|
@ -0,0 +1,48 @@
|
|||
DISCLAIMER
|
||||
----------
|
||||
|
||||
THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR
|
||||
ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE
|
||||
TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of
|
||||
harming persons must have provisions for completely removing power
|
||||
from all motors, etc, before persons enter any danger area. All
|
||||
machinery must be designed to comply with local and national safety
|
||||
codes, and the authors of this software can not, and do not, take
|
||||
any responsibility for such compliance.
|
||||
|
||||
|
||||
This software is released under the GPLv2, with some parts under the LGPL.
|
||||
See the file COPYING for more details.
|
||||
|
||||
|
||||
The Build Process
|
||||
-----------------
|
||||
|
||||
Refer to the file 'docs/INSTALL' for information about building and
|
||||
running the software.
|
||||
|
||||
|
||||
Quickstart
|
||||
----------
|
||||
|
||||
From the top level directory, switch to the source directory:
|
||||
|
||||
cd src
|
||||
|
||||
In the source directory, build LinuxCNC:
|
||||
|
||||
[for rtai]
|
||||
./autogen.sh
|
||||
./configure
|
||||
[or, for PREEMPT-rt or vanilla kernels:]
|
||||
./autogen.sh
|
||||
./configure --with-realtime=uspace
|
||||
|
||||
make clean
|
||||
make
|
||||
sudo make setuid
|
||||
|
||||
to run the software go back to the top level directory, and issue:
|
||||
|
||||
. scripts/rip-environment
|
||||
linuxcnc
|
||||
30
README.md
30
README.md
|
|
@ -1,30 +0,0 @@
|
|||
# LinuxCNC
|
||||
|
||||
LinuxCNC controls CNC machines. It can drive milling machines, lathes, 3D printers, laser cutters, plasma cutters, robot arms, hexapods, and more. https://linuxcnc.org/
|
||||
|
||||
# DISCLAIMER
|
||||
|
||||
**THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR ANY
|
||||
HARM OR LOSS RESULTING FROM ITS USE.**
|
||||
|
||||
**IT IS _EXTREMELY_ UNWISE TO RELY ON SOFTWARE ALONE FOR SAFETY.**
|
||||
|
||||
**Any machinery capable of harming persons must have provisions for
|
||||
completely removing power from all motors, etc, before persons enter
|
||||
any danger area.**
|
||||
|
||||
**All machinery must be designed to comply with local and national
|
||||
safety codes, and the authors of this software can not, and do not,
|
||||
take any responsibility for such compliance.**
|
||||
|
||||
|
||||
This software is released under the GPLv2, with some parts under the LGPL.
|
||||
See the file COPYING for more details.
|
||||
|
||||
|
||||
# The Build Process
|
||||
|
||||
Refer to the file 'docs/src/code/building-linuxcnc.txt' for information
|
||||
about building and running the software, or look here:
|
||||
|
||||
http://linuxcnc.org/docs/devel/html/code/building-linuxcnc.html
|
||||
25
README_es.md
25
README_es.md
|
|
@ -1,25 +0,0 @@
|
|||
# LinuxCNC
|
||||
|
||||
LinuxCNC controla máquinas CNC. Puede manejar fresadoras, tornos, impresoras 3D, cortadores láser, cortadores de plasma, brazos de robot, hexápodos y otras. http://linuxcnc.org/
|
||||
|
||||
# DESCARGO DE RESPONSABILIDAD
|
||||
|
||||
** LOS AUTORES DE ESTE SOFTWARE NO ACEPTAN ABSOLUTAMENTE NINGUNA RESPONSABILIDAD POR NINGÚN DAÑO O PÉRDIDA RESULTANTE DE SU USO. **
|
||||
|
||||
** ES _EXTREMADAMENTE_ IMPRUDENTE CONFIAR LA SEGURIDAD SOLO AL SOFTWARE. **
|
||||
|
||||
** Cualquier maquinaria capaz de dañar a las personas debe tener prevista la desconexion completa de energía de todos los motores, etc., antes de que las personas entren en cualquier área peligrosa.
|
||||
|
||||
** Toda la maquinaria debe estar diseñada para cumplir con las normas y códigos de seguridad locales y nacionales, y los autores de este software no pueden, y no lo hacen, asumir cualquier responsabilidad derivada de dicho cumplimiento. **
|
||||
|
||||
|
||||
Este software se lanza bajo licencia GPLv2, con algunas partes bajo LGPL. Vea el archivo COPYING para más detalles.
|
||||
|
||||
La traduccion al español de este software queda adherida a este descargo y a las licencias GPLv2 y partes LGPL.
|
||||
|
||||
|
||||
# El proceso de construcción
|
||||
|
||||
Consulte el archivo 'docs/src/code/building-linuxcnc.txt' para obtener información sobre cómo construir y ejecutar el software, o vea:
|
||||
|
||||
http://linuxcnc.org/docs/devel/html/code/building-linuxcnc.html
|
||||
7
TODO
7
TODO
|
|
@ -1,10 +1,3 @@
|
|||
TODO for the joints_axes branch
|
||||
|
||||
* clean up joints/axes throughout the whole code (lots of parts already done)
|
||||
* define a unified jogging way (both for joints and axes)
|
||||
* implement joint-limits for carthesian moves (requires simulating the speed in userspace)
|
||||
* update configs
|
||||
(and many other probably..)
|
||||
|
||||
TODO sort out axis/joints issues:
|
||||
* limits need to be imposed on joints (tricky with kins)
|
||||
|
|
|
|||
2
VERSION
2
VERSION
|
|
@ -1 +1 @@
|
|||
2.9.0~pre0
|
||||
2.7.14
|
||||
|
|
|
|||
894
app-defaults/XEmc
Normal file
894
app-defaults/XEmc
Normal file
|
|
@ -0,0 +1,894 @@
|
|||
*borderColor: blue
|
||||
*font: -adobe-helvetica-bold-r-normal--12-*-*-*-*-*-*-1
|
||||
|
||||
*translations: #augment\
|
||||
<Message>WM_PROTOCOLS:topLevelProtocols()
|
||||
|
||||
*topForm.background: blue
|
||||
*topForm.defaultDistance: 0
|
||||
! with no modifiers, e.g., Shift<KeyPress>a, means any occurrence
|
||||
! of key gets through. With modifier, only that modification does
|
||||
! see files in /usr/lib/X11/app-defaults/ for examples, and run
|
||||
! 'xev' and see the output for key names
|
||||
*topForm.translations: #augment\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction() \n\
|
||||
<KeyPress>Prior: keyAction() \n\
|
||||
<KeyRelease>Prior: keyAction() \n\
|
||||
<KeyPress>Next: keyAction() \n\
|
||||
<KeyRelease>Next: keyAction() \n\
|
||||
<KeyPress>Up: keyAction() \n\
|
||||
<KeyRelease>Up: keyAction() \n\
|
||||
<KeyPress>Down: keyAction() \n\
|
||||
<KeyRelease>Down: keyAction() \n\
|
||||
<KeyPress>Right: keyAction() \n\
|
||||
<KeyRelease>Right: keyAction() \n\
|
||||
<KeyPress>Left: keyAction() \n\
|
||||
<KeyRelease>Left: keyAction() \n\
|
||||
<Key>0: keyAction() \n\
|
||||
<Key>1: keyAction() \n\
|
||||
<Key>2: keyAction() \n\
|
||||
<Key>3: keyAction() \n\
|
||||
<Key>4: keyAction() \n\
|
||||
<Key>5: keyAction() \n\
|
||||
<Key>6: keyAction() \n\
|
||||
<Key>7: keyAction() \n\
|
||||
<Key>8: keyAction() \n\
|
||||
<Key>9: keyAction() \n\
|
||||
<Key>x: keyAction() \n\
|
||||
<Key>y: keyAction() \n\
|
||||
<Key>z: keyAction() \n\
|
||||
Alt<Key>t: keyAction() \n\
|
||||
Alt<Key>x: keyAction() \n\
|
||||
Alt<Key>y: keyAction() \n\
|
||||
Alt<Key>z: keyAction() \n\
|
||||
<Key>l: keyAction() \n\
|
||||
<Key>o: keyAction() \n\
|
||||
<Key>e: keyAction() \n\
|
||||
<Key>r: keyAction() \n\
|
||||
<Key>p: keyAction() \n\
|
||||
<Key>s: keyAction() \n\
|
||||
<Key>v: keyAction() \n\
|
||||
<Key>a: keyAction() \n\
|
||||
<Key>b: keyAction() \n\
|
||||
Shift<Key>B: keyAction() \n\
|
||||
<Key>i: keyAction() \n\
|
||||
<Key>c: keyAction() \n\
|
||||
<KeyPress>comma: keyAction() \n\
|
||||
<KeyRelease>comma: keyAction() \n\
|
||||
<KeyPress>period: keyAction() \n\
|
||||
<KeyRelease>period: keyAction() \n\
|
||||
<Key>Home: keyAction() \n\
|
||||
<Key>End: keyAction() \n\
|
||||
Alt<Key>s: keyAction() \n\
|
||||
Alt<Key>p: keyAction() \n\
|
||||
Ctrl<Key>p: keyAction() \n\
|
||||
Alt<Key>f: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
|
||||
*barMenuForm.background: blue
|
||||
! *barMenuForm.borderColor: red
|
||||
*barMenuForm.defaultDistance: 0
|
||||
|
||||
*menu*font: -adobe-helvetica-medium-r-normal--12-*-*-*-*-*-*-1
|
||||
|
||||
*fileMenu.label: File
|
||||
*viewMenu.label: View
|
||||
*settingsMenu.label: Settings
|
||||
*helpMenu.label: Help
|
||||
|
||||
*fileOpenShell*title: Open Program
|
||||
*fileOpenShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:fileOpenShellProtocols() \n\
|
||||
<Key>Return: fileOpenReturnAction() \n\
|
||||
<Key>Tab: fileOpenTabAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*fileOpenDialog*label: Program Name:
|
||||
*fileOpenDialog*fileOpenDone*label: Open It
|
||||
*fileOpenDialog*fileOpenCancel*label: Don't Open It
|
||||
|
||||
*fileEditShell.title: Edit Program
|
||||
*fileEditDialog.label: Program Name:
|
||||
*fileEditDialog*fileEditDone*label: Done
|
||||
*fileEditDialog*fileEditCancel*label: Cancel
|
||||
*fileEditShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:fileEditShellProtocols() \n\
|
||||
<Key>Return: fileEditReturnAction() \n\
|
||||
<Key>Tab: fileEditTabAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
|
||||
*fileQuitShell*title: Quit
|
||||
*fileQuitDialog*label: Quit Xemc?
|
||||
*fileQuitShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:fileQuitShellProtocols() \n\
|
||||
<Key>Return: fileQuitReturnAction() \n\
|
||||
<Key>Tab: fileQuitTabAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*fileQuitDialog*fileQuitDone*label: Quit
|
||||
*fileQuitDialog*fileQuitCancel*label: Don't Quit
|
||||
|
||||
*fileEditorShell*title: File Editor
|
||||
*fileEditorShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:fileEditorShellProtocols() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*fileEditorLabel*label: (none)
|
||||
*fileEditorLabel*borderWidth: 0
|
||||
*fileEditorText.height: 200
|
||||
*fileEditorText.width: 600
|
||||
*fileEditorText*font: -adobe-helvetica-medium-r-normal--12-*-*-*-*-*-*-1
|
||||
*fileEditorDone*label: Save
|
||||
*fileEditorCancel*label: Close
|
||||
*fileEditorMark*label: Set Run Mark
|
||||
|
||||
*toolTableShell*title: Tool Table
|
||||
*toolTableShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:toolTableShellProtocols() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*toolTableLabel*label: (none)
|
||||
*toolTableLabel*borderWidth: 0
|
||||
*toolTableText.height: 200
|
||||
*toolTableText.width: 600
|
||||
*toolTableText*font: -adobe-helvetica-medium-r-normal--12-*-*-*-*-*-*-1
|
||||
*toolTableDone*label: Save and Load Them
|
||||
*toolTableCancel*label: Don't Save and Load Them
|
||||
|
||||
*varFileShell*title: Variables
|
||||
*varFileShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:varFileShellProtocols() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*varFileLabel*label: (none)
|
||||
*varFileLabel*borderWidth: 0
|
||||
*varFileText.height: 200
|
||||
*varFileText.width: 600
|
||||
*varFileText*font: -adobe-helvetica-medium-r-normal--12-*-*-*-*-*-*-1
|
||||
*varFileDone*label: Save and Load Them
|
||||
*varFileCancel*label: Don't Save and Load Them
|
||||
|
||||
*diagnosticsShell*title: Diagnostics
|
||||
*diagnosticsLabel*label: Axis ? Diagnostics
|
||||
*diagnosticsShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:diagnosticsShellProtocols() \n\
|
||||
<Key>Return: diagnosticsReturnAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*diagnosticsTaskHBLabel*label: Task Heartbeat:
|
||||
*diagnosticsTaskHBLabel*width: 150
|
||||
*diagnosticsTaskHBLabel*justify: left
|
||||
*diagnosticsTaskHB*width: 150
|
||||
*diagnosticsTaskHB*justify: left
|
||||
*diagnosticsIoHBLabel*label: IO Heartbeat:
|
||||
*diagnosticsIoHBLabel*width: 150
|
||||
*diagnosticsIoHBLabel*justify: left
|
||||
*diagnosticsIoHB*width: 150
|
||||
*diagnosticsIoHB*justify: left
|
||||
*diagnosticsMotionHBLabel*label: Motion Heartbeat:
|
||||
*diagnosticsMotionHBLabel*width: 150
|
||||
*diagnosticsMotionHBLabel*justify: left
|
||||
*diagnosticsMotionHB*width: 150
|
||||
*diagnosticsMotionHB*justify: left
|
||||
*diagnosticsFerrorLabel*label: Max Following Error:
|
||||
*diagnosticsFerrorLabel*width: 150
|
||||
*diagnosticsFerrorLabel*justify: left
|
||||
*diagnosticsFerror*width: 80
|
||||
*diagnosticsDone*label: Done
|
||||
|
||||
*calibShell*title: Calibration
|
||||
*calibShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:calibShellProtocols() \n\
|
||||
<Key>Return: calibReturnAction() \n\
|
||||
<Key>Tab: calibTabAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*calibCycleTimeLabel*label: Cycle Time:
|
||||
*calibCycleTimeLabel*width: 120
|
||||
*calibCycleTimeLabel*justify: left
|
||||
*calibCycleTime*width: 80
|
||||
*calibPGainLabel*label: P Gain:
|
||||
*calibPGainLabel*width: 120
|
||||
*calibPGainLabel*justify: left
|
||||
*calibPGain*width: 80
|
||||
*calibIGainLabel*label: I Gain:
|
||||
*calibIGainLabel*width: 120
|
||||
*calibIGainLabel*justify: left
|
||||
*calibIGain*width: 80
|
||||
*calibDGainLabel*label: D Gain:
|
||||
*calibDGainLabel*width: 120
|
||||
*calibDGainLabel*justify: left
|
||||
*calibDGain*width: 80
|
||||
*calibFF0GainLabel*label: FF0 Gain:
|
||||
*calibFF0GainLabel*width: 120
|
||||
*calibFF0GainLabel*justify: left
|
||||
*calibFF0Gain*width: 80
|
||||
*calibFF1GainLabel*label: FF1 Gain:
|
||||
*calibFF1GainLabel*width: 120
|
||||
*calibFF1GainLabel*justify: left
|
||||
*calibFF1Gain*width: 80
|
||||
*calibFF2GainLabel*label: FF2 Gain:
|
||||
*calibFF2GainLabel*width: 120
|
||||
*calibFF2GainLabel*justify: left
|
||||
*calibFF2Gain*width: 80
|
||||
*calibBacklashLabel*label: Backlash:
|
||||
*calibBacklashLabel*width: 120
|
||||
*calibBacklashLabel*justify: left
|
||||
*calibBacklash*width: 80
|
||||
*calibBiasLabel*label: Bias:
|
||||
*calibBiasLabel*width: 120
|
||||
*calibBiasLabel*justify: left
|
||||
*calibBias*width: 80
|
||||
*calibMaxErrorLabel*label: Max Cum Error:
|
||||
*calibMaxErrorLabel*width: 120
|
||||
*calibMaxErrorLabel*justify: left
|
||||
*calibMaxError*width: 80
|
||||
*calibOutputScaleLabel*label: Output Scale:
|
||||
*calibOutputScaleLabel*width: 120
|
||||
*calibOutputScaleLabel*justify: left
|
||||
*calibOutputScale*width: 80
|
||||
*calibOutputOffsetLabel*label: Output Offset:
|
||||
*calibOutputOffsetLabel*width: 120
|
||||
*calibOutputOffsetLabel*justify: left
|
||||
*calibOutputOffset*width: 80
|
||||
*calibFerrorLabel*label: Following Error:
|
||||
*calibFerrorLabel*width: 120
|
||||
*calibFerrorLabel*justify: left
|
||||
*calibFerror*width: 80
|
||||
*calibDone*label: Done
|
||||
*calibCancel*label: Cancel
|
||||
|
||||
*loggingShell*title: Logging
|
||||
*loggingShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:loggingShellProtocols() \n\
|
||||
<Key>Return: loggingReturnAction() \n\
|
||||
<Key>Tab: loggingTabAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*loggingLabel*label: Logging
|
||||
*loggingFileLabel*label: File:
|
||||
*loggingFileLabel.width: 50
|
||||
*loggingFile.width: 100
|
||||
*loggingFileLabel*justify: left
|
||||
*loggingTypeLabel*label: Type:
|
||||
*loggingTypeLabel.width: 50
|
||||
*loggingTypeMenu.width: 100
|
||||
*loggingTypeLabel*justify: left
|
||||
*loggingSizeLabel*label: Size:
|
||||
*loggingSizeLabel.width: 50
|
||||
*loggingSize.width: 100
|
||||
*loggingSizeLabel*justify: left
|
||||
*loggingSkipLabel*label: Skip:
|
||||
*loggingSkipLabel.width: 50
|
||||
*loggingSkip.width: 100
|
||||
*loggingSkipLabel*justify: left
|
||||
*loggingStart*label: Start
|
||||
*loggingStop*label: Stop
|
||||
*loggingSave*label: Save
|
||||
*loggingPlot*label: Plot
|
||||
*loggingDone*label: Done
|
||||
*loggingCancel*label: Cancel
|
||||
|
||||
*helpXemcShell*title: Xemc Help
|
||||
*helpXemcShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:helpXemcProtocols() \n\
|
||||
<Key>Return: helpXemcReturnAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*helpXemcLabel*label: Xemc Help
|
||||
*helpXemcLabel*borderWidth: 0
|
||||
*helpXemcText.height: 200
|
||||
*helpXemcText.width: 600
|
||||
*helpXemcText*font: -adobe-helvetica-medium-r-normal--12-*-*-*-*-*-*-1
|
||||
*helpXemcDone*label: Done
|
||||
|
||||
*helpAboutShell*title: About XEMC
|
||||
*helpAboutShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:helpAboutProtocols() \n\
|
||||
<Key>Return: helpAboutReturnAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*helpAboutDialog*label: XEMC\n\
|
||||
Public Domain (1999)\n\
|
||||
National Institute of\n\
|
||||
Standards and Technology
|
||||
*helpAboutDialog*helpAboutDone*label: Done
|
||||
|
||||
*errorShell*title: EMC
|
||||
*errorShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:errorShellProtocols() \n\
|
||||
<Key>Return: errorReturnAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
*errorDialog*errorDone*label: OK
|
||||
|
||||
*commandMenuForm.background: blue
|
||||
! *commandMenuForm.borderColor: red
|
||||
*commandMenuForm.defaultDistance: 0
|
||||
|
||||
! dynamically labeled labels need a width
|
||||
|
||||
*stateMenu.width: 120
|
||||
! *modeMenu.width is made the same
|
||||
*mistMenu.width: 120
|
||||
! floodMenu.width is made the same
|
||||
*spindleDecLabel.label: <
|
||||
*spindleDecLabel.width: 20
|
||||
*spindleMenu.width: 120
|
||||
*spindleIncLabel.label: >
|
||||
*spindleIncLabel.width: 20
|
||||
! *brakeMenu.width is made the total
|
||||
|
||||
*abortCommand.label: ABORT
|
||||
! *abortCommand.width is calculated
|
||||
! *abortCommand.height is calculated
|
||||
|
||||
*limCommand.label: Limit Override
|
||||
|
||||
*toolNumberForm.background: blue
|
||||
! *toolNumberForm.borderColor: red
|
||||
*toolNumberForm.defaultDistance: 0
|
||||
|
||||
*toolNumberFormTitle.label: Tool:
|
||||
*toolNumberFormTitle.justify: left
|
||||
*toolNumberFormTitle.foreground: white
|
||||
*toolNumberFormTitle.background: blue
|
||||
*toolNumberFormTitle.width: 80
|
||||
*toolNumberFormName.label: (none)
|
||||
*toolNumberFormName.justify: left
|
||||
*toolNumberFormName.foreground: white
|
||||
*toolNumberFormName.background: blue
|
||||
*toolNumberFormName.width: 100
|
||||
! *toolNumberFormName.borderColor: white
|
||||
|
||||
*toolOffsetForm.background: blue
|
||||
! *toolOffsetForm.borderColor: red
|
||||
*toolOffsetForm.defaultDistance: 0
|
||||
*toolOffsetForm.translations:#augment\
|
||||
<Btn3Up>: toolSetOffsetUpAction()
|
||||
|
||||
*toolOffsetFormTitle.label: Offset:
|
||||
*toolOffsetFormTitle.justify: left
|
||||
*toolOffsetFormTitle.foreground: white
|
||||
*toolOffsetFormTitle.background: blue
|
||||
*toolOffsetFormTitle.width: 80
|
||||
*toolOffsetFormName.label: (none)
|
||||
*toolOffsetFormName.justify: left
|
||||
*toolOffsetFormName.foreground: white
|
||||
*toolOffsetFormName.background: blue
|
||||
*toolOffsetFormName.width: 100
|
||||
! *toolOffsetFormName.borderColor: white
|
||||
|
||||
*toolSetOffsetShell*title: Set Tool Offset
|
||||
*toolSetOffsetToolLabel*label: Tool:
|
||||
*toolSetOffsetLengthLabel*label: Length:
|
||||
*toolSetOffsetDiameterLabel*label: Diameter:
|
||||
*toolSetOffsetDone*label: Done
|
||||
*toolSetOffsetCancel*label: Cancel
|
||||
*toolSetOffsetShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:toolSetOffsetShellProtocols() \n\
|
||||
<Key>Return: toolSetOffsetReturnAction() \n\
|
||||
<Key>Tab: toolSetOffsetTabAction() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
|
||||
*positionTypeForm.background: blue
|
||||
! *positionTypeForm.borderColor: red
|
||||
*positionTypeForm.defaultDistance: 0
|
||||
|
||||
*positionTypeFormTitle.label: Position:
|
||||
*positionTypeFormTitle.justify: left
|
||||
*positionTypeFormTitle.foreground: white
|
||||
*positionTypeFormTitle.background: blue
|
||||
*positionTypeFormTitle.width: 130
|
||||
*positionTypeFormName.label: (none)
|
||||
*positionTypeFormName.justify: left
|
||||
*positionTypeFormName.foreground: white
|
||||
*positionTypeFormName.background: blue
|
||||
*positionTypeFormName.width: 280
|
||||
! *positionTypeFormName.borderColor: white
|
||||
|
||||
*workOffsetForm.background: blue
|
||||
! *workOffsetForm.borderColor: red
|
||||
*workOffsetForm.defaultDistance: 0
|
||||
|
||||
*workOffsetFormTitle.label: Work Offsets:
|
||||
*workOffsetFormTitle.justify: left
|
||||
*workOffsetFormTitle.foreground: white
|
||||
*workOffsetFormTitle.background: blue
|
||||
*workOffsetFormTitle.width: 130
|
||||
*workOffsetFormName.label: (none)
|
||||
*workOffsetFormName.justify: left
|
||||
*workOffsetFormName.foreground: white
|
||||
*workOffsetFormName.background: blue
|
||||
*workOffsetFormName.width: 270
|
||||
! *workOffsetFormName.borderColor: white
|
||||
|
||||
*posLabel0.width: 600
|
||||
*posLabel0.font: -adobe-courier-bold-r-normal--64-*-*-*-*-*-*-1
|
||||
! *posLabel0.foreground: white
|
||||
*posLabel0.background: blue
|
||||
*posLabel0.borderColor: white
|
||||
|
||||
! *posLabel1.width same as for X
|
||||
! *posLabel1.font same as for X
|
||||
! *posLabel1.foreground: white
|
||||
*posLabel1.background: blue
|
||||
*posLabel1.borderColor: white
|
||||
|
||||
! *posLabel2.width same as for X
|
||||
! *posLabel2.font: same as for X
|
||||
! *posLabel2.foreground: white
|
||||
*posLabel2.background: blue
|
||||
*posLabel2.borderColor: white
|
||||
|
||||
*posOffsetShell*title: Axis Offset
|
||||
*posOffsetShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:posOffsetShellProtocols() \n\
|
||||
<Key>Return: posOffsetReturnAction()
|
||||
*posOffsetDialog*label: Enter new axis value:
|
||||
|
||||
*jogIncrementForm.background: blue
|
||||
*jogSpeedForm.background: blue
|
||||
! *jogSpeedForm.borderColor: red
|
||||
*jogSpeedForm.defaultDistance: 0
|
||||
|
||||
*jogSpeedTitleLabel.label: Axis Speed
|
||||
*jogSpeedTitleLabel.foreground: white
|
||||
*jogSpeedTitleLabel.background: blue
|
||||
*jogSpeedDecLabel.label: <
|
||||
*jogSpeedLabel.width: 40
|
||||
*jogSpeedLabel.justify: center
|
||||
*jogSpeedIncLabel.label: >
|
||||
|
||||
*jogSpeedShell*title: Jog Speed
|
||||
*jogSpeedShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:jogSpeedShellProtocols() \n\
|
||||
<Key>Return: jogSpeedReturnAction()
|
||||
*jogSpeedDialog*label: Enter jog speed:
|
||||
|
||||
*jogIncrementForm.background: blue
|
||||
! *jogIncrementForm.borderColor: red
|
||||
*jogIncrementForm.defaultDistance: 0
|
||||
|
||||
*jogIncrementTitleLabel.label: Increment
|
||||
*jogIncrementTitleLabel.foreground: white
|
||||
*jogIncrementTitleLabel.background: blue
|
||||
|
||||
*jogIncrementMenu.width: 100
|
||||
|
||||
*jogForm.background: blue
|
||||
! *jogForm.borderColor: red
|
||||
*jogForm.defaultDistance: 0
|
||||
|
||||
*jogTitleLabel.label: Axis Motion
|
||||
*jogTitleLabel.foreground: white
|
||||
*jogTitleLabel.background: blue
|
||||
*jogMinusLabel.label: -
|
||||
*homeCommand.label: home
|
||||
*jogPlusLabel.label: +
|
||||
|
||||
*feedOverrideForm.background: blue
|
||||
! *feedOverrideForm.borderColor: red
|
||||
*feedOverrideForm.defaultDistance: 0
|
||||
|
||||
*feedOverrideTitleLabel.label: Feed Override
|
||||
*feedOverrideTitleLabel.foreground: white
|
||||
*feedOverrideTitleLabel.background: blue
|
||||
*feedOverrideLabel.width: 40
|
||||
*feedOverrideLabel.justify: center
|
||||
*feedOverrideDecLabel.label: <
|
||||
*feedOverrideIncLabel.label: >
|
||||
|
||||
*feedOverrideShell*title: Feed Override
|
||||
*feedOverrideShell*translations:#override\
|
||||
<Message>WM_PROTOCOLS:feedOverrideShellProtocols() \n\
|
||||
<Key>Return: feedOverrideReturnAction()
|
||||
*feedOverrideDialog*label: Enter feed %:
|
||||
|
||||
*loggingStatusForm.background: blue
|
||||
! *loggingStatusForm.borderColor: red
|
||||
*loggingStatusForm.defaultDistance: 0
|
||||
|
||||
*loggingStatusTitleLabel.label: Logging
|
||||
*loggingStatusTitleLabel.foreground: white
|
||||
*loggingStatusTitleLabel.background: blue
|
||||
*loggingStatusOpenLabel.width: 60
|
||||
*loggingStatusOpenLabel.justify: center
|
||||
*loggingStatusStartedLabel.width: 80
|
||||
*loggingStatusStartedLabel.justify: center
|
||||
*loggingStatusPointsLabel.width: 40
|
||||
*loggingStatusPointsLabel.justify: center
|
||||
|
||||
*spindleIncLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*spindleDecLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*posLabel0.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction() \n\
|
||||
<Btn3Up>: posOffsetUpAction() \n\
|
||||
|
||||
*posLabel1.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction() \n\
|
||||
<Btn3Up>: posOffsetUpAction()
|
||||
|
||||
*posLabel2.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction() \n\
|
||||
<Btn3Up>: posOffsetUpAction()
|
||||
|
||||
*jogSpeedLabel.translations:#augment\
|
||||
<Btn1Down>: downAction()
|
||||
|
||||
*jogSpeedIncLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*jogSpeedDecLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*jogMinusLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*jogPlusLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*feedOverrideLabel.translations:#augment\
|
||||
<Btn1Down>: downAction()
|
||||
|
||||
*feedOverrideIncLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*feedOverrideDecLabel.translations:#augment\
|
||||
<Btn1Down>: downAction() \n\
|
||||
<Btn1Up>: upAction()
|
||||
|
||||
*mdiForm.background: blue
|
||||
! *mdiForm.borderColor: red
|
||||
*mdiForm.defaultDistance: 0
|
||||
|
||||
*mdiFormTitle.label: MDI:
|
||||
! *mdiFormTitle.foreground: blue
|
||||
*mdiFormTitle.background: white
|
||||
|
||||
! *mdiFormText*font: fixed
|
||||
*mdiFormText*borderColor: white
|
||||
*mdiFormText*foreground: white
|
||||
*mdiFormText*background: blue
|
||||
! *mdiFormText.height: 20
|
||||
*mdiFormText.width: 400
|
||||
*mdiFormText*translations:#override\
|
||||
<Key>Return: mdiReturnAction() select-all() delete-selection() \n\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>End: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction()
|
||||
|
||||
*mdiCodesLabel*justify: left
|
||||
*mdiCodesLabel*foreground: white
|
||||
*mdiCodesLabel*background: blue
|
||||
*mdiCodesLabel.width: 600
|
||||
|
||||
*programForm.background: blue
|
||||
! *programForm.borderColor: red
|
||||
*programForm.defaultDistance: 0
|
||||
|
||||
*programFormTitle.label: Program:
|
||||
! *programFormTitle.foreground: blue
|
||||
*programFormTitle.background: white
|
||||
|
||||
*programFormName.label: (none)
|
||||
*programFormName.justify: left
|
||||
*programFormName.foreground: white
|
||||
*programFormName.background: blue
|
||||
*programFormName.width: 300
|
||||
|
||||
*programFormStateTitle.label: Status:
|
||||
! *programFormStateTitle.foreground: blue
|
||||
*programFormStateTitle.background: white
|
||||
|
||||
*programFormState.label: (none)
|
||||
*programFormState.justify: left
|
||||
*programFormState.foreground: white
|
||||
*programFormState.background: blue
|
||||
*programFormState.width: 100
|
||||
|
||||
*programOpenCommand.label: Open...
|
||||
*programRunCommand.label: Run
|
||||
*programPauseCommand.label: Pause
|
||||
*programResumeCommand.label: Resume
|
||||
*programStepCommand.label: Step
|
||||
*programVerifyCommand.label: Verify
|
||||
|
||||
*programText*font: fixed
|
||||
*programText*borderColor: white
|
||||
*programText*foreground: white
|
||||
*programText*background: blue
|
||||
*programText.height: 100
|
||||
*programText.width: 600
|
||||
*programText*translations: #override\
|
||||
<Key>Escape: keyAction() \n\
|
||||
<Key>F1: keyAction() \n\
|
||||
<Key>F2: keyAction() \n\
|
||||
<Key>F3: keyAction() \n\
|
||||
<Key>F4: keyAction() \n\
|
||||
<Key>F5: keyAction() \n\
|
||||
<Key>F6: keyAction() \n\
|
||||
<Key>F7: keyAction() \n\
|
||||
<Key>F8: keyAction() \n\
|
||||
<Key>F9: keyAction() \n\
|
||||
<Key>F10: keyAction() \n\
|
||||
<KeyPress>F11: keyAction() \n\
|
||||
<KeyRelease>F11: keyAction() \n\
|
||||
<KeyPress>F12: keyAction() \n\
|
||||
<KeyRelease>F12: keyAction() \n\
|
||||
<KeyPress>Prior: keyAction() \n\
|
||||
<KeyRelease>Prior: keyAction() \n\
|
||||
<KeyPress>Next: keyAction() \n\
|
||||
<KeyRelease>Next: keyAction() \n\
|
||||
<KeyPress>Up: keyAction() \n\
|
||||
<KeyRelease>Up: keyAction() \n\
|
||||
<KeyPress>Down: keyAction() \n\
|
||||
<KeyRelease>Down: keyAction() \n\
|
||||
<KeyPress>Right: keyAction() \n\
|
||||
<KeyRelease>Right: keyAction() \n\
|
||||
<KeyPress>Left: keyAction() \n\
|
||||
<KeyRelease>Left: keyAction() \n\
|
||||
<Key>0: keyAction() \n\
|
||||
<Key>1: keyAction() \n\
|
||||
<Key>2: keyAction() \n\
|
||||
<Key>3: keyAction() \n\
|
||||
<Key>4: keyAction() \n\
|
||||
<Key>5: keyAction() \n\
|
||||
<Key>6: keyAction() \n\
|
||||
<Key>7: keyAction() \n\
|
||||
<Key>8: keyAction() \n\
|
||||
<Key>9: keyAction() \n\
|
||||
<Key>x: keyAction() \n\
|
||||
<Key>y: keyAction() \n\
|
||||
<Key>z: keyAction() \n\
|
||||
Alt<Key>t: keyAction() \n\
|
||||
Alt<Key>x: keyAction() \n\
|
||||
Alt<Key>y: keyAction() \n\
|
||||
Alt<Key>z: keyAction() \n\
|
||||
<Key>l: keyAction() \n\
|
||||
<Key>o: keyAction() \n\
|
||||
<Key>e: keyAction() \n\
|
||||
<Key>r: keyAction() \n\
|
||||
<Key>p: keyAction() \n\
|
||||
<Key>s: keyAction() \n\
|
||||
<Key>v: keyAction() \n\
|
||||
<Key>a: keyAction() \n\
|
||||
<Key>b: keyAction() \n\
|
||||
Shift<Key>B: keyAction() \n\
|
||||
<Key>i: keyAction() \n\
|
||||
<Key>c: keyAction() \n\
|
||||
<KeyPress>comma: keyAction() \n\
|
||||
<KeyRelease>comma: keyAction() \n\
|
||||
<KeyPress>period: keyAction() \n\
|
||||
<KeyRelease>period: keyAction() \n\
|
||||
<Key>Home: keyAction() \n\
|
||||
<Key>End: keyAction()
|
||||
2
configs/.gitignore
vendored
2
configs/.gitignore
vendored
|
|
@ -11,5 +11,3 @@
|
|||
position*.txt
|
||||
!common/*.hal
|
||||
*.ini.expanded
|
||||
hallib
|
||||
*_cmds.hal
|
||||
|
|
|
|||
|
|
@ -1,11 +0,0 @@
|
|||
info: crear archivo de información del sistema
|
||||
|
||||
Directorios:
|
||||
|
||||
gladevcp -- widgets de demostración
|
||||
halrun ---- inicia halrun en xterm
|
||||
latency --- aplicaciones para investigar latencia
|
||||
parport --- pruebas de puerto paralelo
|
||||
pyvcp ----- demostraciones
|
||||
xhc-hbo4 -- prueba de colgante inalámbrico usb
|
||||
|
||||
|
|
@ -26,7 +26,7 @@ For a named widget, use:
|
|||
To retrieve a list of all widgets in the UI file, use:
|
||||
wl = self.builder.get_objects()
|
||||
|
||||
This works regardless whether the UI is in libglade or GtkBuilder format.
|
||||
This works regardless wether the UI is in libglade or GtkBuilder format.
|
||||
|
||||
persistence.py
|
||||
==============
|
||||
|
|
|
|||
|
|
@ -1,63 +0,0 @@
|
|||
Nota sobre los cambios API de los manejadores de clase y persistence.py:
|
||||
|
||||
Handlers de clase:
|
||||
=====================
|
||||
|
||||
El parámetro 'panel' se eliminó de get_handlers() ya que no es necesario.
|
||||
En consecuencia, el handler del método __init__() no recibe este
|
||||
parámetro:
|
||||
|
||||
class HandlerClass:
|
||||
...
|
||||
def __init__(self, halcomp,builder,useropts):
|
||||
self.halcomp = halcomp
|
||||
self.builder = builder
|
||||
|
||||
def get_handlers(halcomp,builder,useropts):
|
||||
|
||||
return [HandlerClass(halcomp,builder,useropts)]
|
||||
|
||||
Acceso a widgets en handlers de clases:
|
||||
==========================================
|
||||
|
||||
Para un widget con nombre, use:
|
||||
w = self.builder.get_object("widgetname")
|
||||
|
||||
Para recuperar una lista de todos los widgets en el archivo UI, use:
|
||||
wl = self.builder.get_objects()
|
||||
|
||||
Esto funciona independientemente de si la interfaz de usuario está en formato libglade o GtkBuilder.
|
||||
|
||||
persistence.py
|
||||
==============
|
||||
El manejo del parámetro builder se ha simplificado. Se elimina
|
||||
de los métodos save_state y restore_state, y se agrega en su lugar al método
|
||||
IniFile.__init__(). Por lo tanto, utilicelo de la siguiente manera:
|
||||
|
||||
class HandlerClass:
|
||||
...
|
||||
|
||||
def on_destroy(self,obj,data=None):
|
||||
# note: save_state(<object to fetch attributes from>) only:
|
||||
self.ini.save_state(self)
|
||||
|
||||
|
||||
def __init__(self, halcomp,builder,useropts):
|
||||
self.halcomp = halcomp
|
||||
self.builder = builder
|
||||
|
||||
self.ini_filename = __name__ + '.ini'
|
||||
self.defaults = { IniFile.vars: dict(),
|
||||
IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(), hal_only=False,output_only = True))
|
||||
}
|
||||
# notese parámetro extra self.builder
|
||||
self.ini = IniFile(self.ini_filename, self.defaults, self.builder)
|
||||
# nota: solo se pasa el objeto que obtiene el conjunto de atributos:
|
||||
self.ini.restore_state(self)
|
||||
|
||||
|
||||
Todos los ejemplos y plantillas se han adaptado en consecuencia.
|
||||
|
||||
|
||||
Michael Haberler 19 de diciembre de 2010
|
||||
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
Aplicaciones demo gladevcp:
|
||||
|
||||
Aplicaciones:
|
||||
glade-manual
|
||||
gladevcp-test
|
||||
|
||||
Directorios:
|
||||
animated-backdrop
|
||||
by-widget
|
||||
class-callback
|
||||
colored-label
|
||||
complex
|
||||
helloWorld
|
||||
mdi-command-examples
|
||||
simple-callback
|
||||
templates
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
Este es un ejemplo de cómo configurar un fondo de mapa de bits para la ventana de
|
||||
nivel superior gladevcp, y posicionamiento absoluto de los widgets HAL en ella.
|
||||
|
||||
Es posible que necesite 'apt-get install python-cairo'
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
|
||||
gladevcp -u cairodraw.py cairodraw.ui
|
||||
|
||||
|
||||
-psha & mah
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -26,8 +26,8 @@ class HandlerClass:
|
|||
x, y, w, h = widget.allocation
|
||||
cr.scale(1.0 *w / self.width, 1.0*h/self.height)
|
||||
|
||||
cr.set_source_surface(self.img, 0, 0)
|
||||
cr.paint()
|
||||
cr.set_source_surface(self.img, 0, 0)
|
||||
cr.paint()
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +0,0 @@
|
|||
by-widget
|
||||
|
||||
combobox
|
||||
radiobutton
|
||||
sourceview
|
||||
spinbutton
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
ejemplos de combobox:
|
||||
|
||||
combobox
|
||||
combobox_manual_list
|
||||
|
||||
Vea esto para aprender acerca de Glade y ComboBox: http://www.youtube.com/watch?v=Z5_F-rW2cL8
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
$ gladevcp -u combobox.py combobox.ui
|
||||
|
||||
combobox_manual_list.* son archivos de ejemplo para construir listas desplegables sobre la marcha.
|
||||
|
||||
correr como:
|
||||
$ gladevcp -u combobox_manual_list.py combobox_manual_list.ui
|
||||
|
||||
Michael Haberler 12/2010
|
||||
|
|
@ -1,9 +0,0 @@
|
|||
Ejemplo gladevcp radiobutton
|
||||
Tomado de http://old.nabble.com/glade-and-radio-buttons.-td28793060.html
|
||||
|
||||
------------------------------------------
|
||||
Para correr independientemente:
|
||||
|
||||
$ gladevcp -u radio.py radio.ui
|
||||
|
||||
Michael Haberler 12/2010
|
||||
|
|
@ -1,9 +0,0 @@
|
|||
Ejemplo para usar el widget sourceview
|
||||
---------------------------------------
|
||||
|
||||
Cargando un archivo, y resaltando una línea
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
|
||||
$ gladevcp -u sourceview.py sourceview.ui
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
ejemplo de botón spin
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
$ gladevcp -u spinbutton.py spinbutton.ui
|
||||
|
||||
Michael Haberler 06/2012
|
||||
|
|
@ -1,19 +0,0 @@
|
|||
ejemplo con métodos de clase callback
|
||||
-------------------------------------
|
||||
|
||||
Se muestra cómo utilizar los métodos de clases como devoluciones de llamada.
|
||||
|
||||
Nota:
|
||||
|
||||
Hay dos definiciones de clase en este ejemplo. Ambas están instanciadas. OtherClass, alrededor de la línea 84 durante
|
||||
la importacion, y HandlerClass por la función get_handlers().
|
||||
|
||||
HandlerClass.__init__() muestra cómo definir un pin hal que no está asociado a ningún widget HAL.
|
||||
|
||||
Al pasar el builder se habilita la referencia a cualquier widget en el árbol (vea, por ejemplo, la línea 33).
|
||||
|
||||
Además, se muestra una devolución de llamada de temporizador lento (1 segundo) que actualiza 'value' del pin HAL.
|
||||
Este pin esta vinculado al widget de barra horizontal hal_hbar a través de class_callback.hal.
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
$ gladevcp -u class_callback.py -H class_callback.hal class_callback.ui
|
||||
|
|
@ -11,9 +11,9 @@ invisible - see the coloredlabel.ui file.
|
|||
To help with this, the colorize() method tries to detect this
|
||||
situation and give a warning if the widget is a GtkLabel and the
|
||||
parent widget is not an GtkEventBox. It can be used to set the colors
|
||||
of arbitrary widgets, not just GtkLabel.
|
||||
of arbitray widgets, not just GtkLabel.
|
||||
|
||||
Also, this example shows how to set a custom text and color label
|
||||
Also, this example shows how to set a custon text and color label
|
||||
depending on the HAL pin's value.
|
||||
|
||||
------------------------------------------
|
||||
|
|
|
|||
|
|
@ -1,22 +0,0 @@
|
|||
Cómo colorear un widget HAL_Label dependiendo del valor del pin
|
||||
-------------------------------------------------- ------------
|
||||
|
||||
Configurar el color de fondo de un widget GtkLabel (HAL_Label está
|
||||
derivado de GtkLabel) es un poco complicado. Por razones de rendimiento
|
||||
el widget GtkLabel no tiene objeto ventana propio, y solo los objetos ventana
|
||||
pueden tener color de fondo. La solución es encerrar Labl en un contenedor
|
||||
EventBox, que tiene una ventana pero invisible - ver el archivo coloredlabel.ui.
|
||||
|
||||
Para ayudar a esto, el método colorize() intenta detectar esta
|
||||
situación y da una advertencia si el widget es un GtkLabel y
|
||||
el widget principal no es un GtkEventBox. Se puede utilizar para configurar los colores
|
||||
de widgets arbitrarios, no solo de GtkLabel.
|
||||
|
||||
Además, este ejemplo muestra cómo configurar un texto custom y una etiqueta de color
|
||||
dependiendo del valor del pin HAL.
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
|
||||
$ gladevcp -u coloredlabel.py -H coloredlabel.hal coloredlabel.ui
|
||||
|
||||
|
|
@ -16,7 +16,7 @@
|
|||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.''''''
|
||||
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
|
||||
'''
|
||||
gladevcp colored label example
|
||||
Michael Haberler 2/2011
|
||||
|
|
@ -46,7 +46,7 @@ class HandlerClass:
|
|||
|
||||
def colorize(self, w, state, color):
|
||||
''' helper method: try to do the right thing when setting the color of a widget.
|
||||
The GtkLabel, and hence HAL_Label widget doesn't take a color, so
|
||||
The GtkLabel, and hence HAL_Label widget doesnt take a color, so
|
||||
it needs an enclosing Eventbox which can be colorized.'''
|
||||
if isinstance(w,gtk.Label):
|
||||
parent = w.get_parent()
|
||||
|
|
|
|||
|
|
@ -1,17 +0,0 @@
|
|||
Ejemplo complex con widget y persistencia variable.
|
||||
----------------------------------------------------
|
||||
|
||||
Se demuestra el uso del soporte gladevcp.util para persistencia,
|
||||
y muestra cómo obtener una devolución de llamada cuando cambian los
|
||||
pines hal o los widgets de entrada hal.
|
||||
|
||||
hal_togglebutton1 está vinculado a hal_led1 a través de complex.hal
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
$ gladevcp -u complex.py -H complex.hal complex.ui
|
||||
|
||||
o para obtener gran cantidad de resultados de depuración sobre
|
||||
que están haciendo gladevcp y complex.py:
|
||||
|
||||
$ gladevcp -d -d -u complex.py -U debug=3 -H complex.hal complex.ui
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
|
||||
# a HAL table must be explicitly enabled from 'outside'
|
||||
# a HAL table must be explicitely enabled from 'outside'
|
||||
# by setting its hal pin to 1
|
||||
# otherwise, all contained widgets are disabled ('greyed out')
|
||||
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@
|
|||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.''''''
|
||||
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
|
||||
'''
|
||||
gladevcp complex demo example
|
||||
Michael Haberler 11/2010
|
||||
|
|
|
|||
|
|
@ -1,20 +0,0 @@
|
|||
Un ejemplo mínimo de gladevcp - tres widgets HAL
|
||||
-----------------------------------------------
|
||||
|
||||
Para ejecutar de forma independiente:
|
||||
$ gladevcp_demo hw.ui
|
||||
|
||||
Para conectar el pin HAL del botón al LED, ejecutar como:
|
||||
|
||||
$ gladevcp_demo -H hw.hal hw.ui
|
||||
|
||||
Para incrustar esta aplicación como una pestaña en Axis o Touchy, copie hw.ui y hw.hal a su directorio de configuración,
|
||||
y edite su archivo ini Axis/Touchy de la siguiente manera:
|
||||
|
||||
[DISPLAY]
|
||||
EMBED_TAB_NAME = HelloWorld
|
||||
EMBED_TAB_COMMAND = gladevcp -H hw.hal -x {XID} hw.ui
|
||||
|
||||
Para editar la interfaz de usuario:
|
||||
|
||||
$ glade hw.ui
|
||||
|
|
@ -1,10 +0,0 @@
|
|||
Ejemplo que demuestra una devolución de llamada simple definida por el usuario
|
||||
------------------------------------------------------------------------------
|
||||
|
||||
callback.py define la función on_button_press() que está conectada al árbol de widgets como un handler de eventos.
|
||||
Consulte la pestaña Signals de glade sobre cómo se hace referencia a hal_button1.
|
||||
|
||||
------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
|
||||
$ gladevcp -u simplecallback.py simplecallback.ui
|
||||
|
|
@ -1,27 +0,0 @@
|
|||
Estos son ejemplos de handler de clases de gladevcp para empezar con los suyos propios.
|
||||
|
||||
--------------------------------------------------------------------------------------
|
||||
Para ejecutar de forma independiente:
|
||||
|
||||
$ gladevcp -u functionhandler.py button.ui
|
||||
$ gladevcp -u classhandler.py button.ui
|
||||
$ gladevcp -u classhandler_persistent.py -U debug=2 -U "print 'debug=%d' % debug" button.ui
|
||||
|
||||
NB: button.ui realmente no tiene un estado interesante de widget para restaurar.
|
||||
|
||||
dar un vistazo a classhandler_persistent.ini para obtener una
|
||||
idea de cómo se guarda el estado persistente. Debería verse más o menos así:
|
||||
|
||||
# generated by gladevcp.util.create_default_ini() on Wed Dec 8 12:27:13 2010
|
||||
[ini]
|
||||
version = 1
|
||||
signature = be44d45a0e07d57cfbe8915d668e8d3b399a4cdb
|
||||
[vars]
|
||||
abool = True
|
||||
afloat = 1.67
|
||||
anint = 42
|
||||
astring = sometext
|
||||
[widgets]
|
||||
# última actualización realizada por gladevcp.util.save_state() el miércoles 8 de diciembre 12:31:20 2010
|
||||
|
||||
-Michael Haberler 12/2010
|
||||
|
|
@ -16,7 +16,7 @@
|
|||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
'''
|
||||
example gladevcp handler class to start your own
|
||||
no persistence support
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@
|
|||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
'''
|
||||
example gladevcp handler class with widget and attribute persistence support
|
||||
'''
|
||||
|
|
|
|||
|
|
@ -1,8 +0,0 @@
|
|||
halrun:
|
||||
|
||||
Iniciar halrun en un terminal xterm
|
||||
Primero ordene el comando 'help' para mostrar los comandos
|
||||
|
||||
Nota:
|
||||
Linuxcnc no debe estar ejecutándose.
|
||||
Se terminará cualquier otra instancia de halrun.
|
||||
|
|
@ -1,4 +1,2 @@
|
|||
nodemocopy
|
||||
.demo files in this dir will not be copied to user dir.
|
||||
Los archivos .demo en este directorio no se copiaran al directorio de usuario.
|
||||
|
||||
.demo files in this dir will not be copied to user dir
|
||||
|
|
|
|||
|
|
@ -1,9 +0,0 @@
|
|||
info: crea un archivo con información sobre LinuxCNC y elementos importantes del sistema.
|
||||
|
||||
El archivo se crea en /tmp y es adecuado para su publicación como ayuda para diagnosticar problemas.
|
||||
|
||||
Nombre de archivo: /tmp/linuxcnc.info
|
||||
|
||||
El editor especificado por $VISUAL se utilizará para abrir el archivo.
|
||||
Si $VISUAL no está establecido, se intentarán otros editores comunes.
|
||||
|
||||
|
|
@ -1,15 +0,0 @@
|
|||
Programas de evaluación de latencia
|
||||
|
||||
latency-test -- Prueba estándar para linuxcnc
|
||||
|
||||
latency-plot -- Plot de latencias para los hilos base y servo predeterminados
|
||||
|
||||
latency-histogram -- Histograma jitter para hilos base y servo predeterminados
|
||||
|
||||
latency-histogram-1 -- Histograma jitter para un hilo servo
|
||||
|
||||
Nota: Los programas latency-plot y latency-histogram se pueden ejecutar con más opciones desde una línea de comando de terminal.
|
||||
Para ayuda sobre su uso:
|
||||
|
||||
latency-plot --help
|
||||
latency-histogram --help
|
||||
|
|
@ -1,3 +1,2 @@
|
|||
nodemocopy
|
||||
.demo files in this dir will not be copied to user dir.
|
||||
Los archivos .demo en este directorio no se copiaran al directorio de usuario.
|
||||
.demo files in this dir will not be copied to user dir
|
||||
|
|
|
|||
|
|
@ -1,4 +1,2 @@
|
|||
nodemocopy
|
||||
.demo files in this dir will not be copied to user dir.
|
||||
Los archivos .demo en este directorio no se copiaran al directorio de usuario
|
||||
|
||||
.demo files in this dir will not be copied to user dir
|
||||
|
|
|
|||
|
|
@ -1,19 +0,0 @@
|
|||
Prueba de puerto paralelo usando pyvcp
|
||||
|
||||
parport_0x278 test port 0x278 < parallel port 1 (no típico)
|
||||
parport_0x378 test port 0x378 < parallel port 0
|
||||
|
||||
Para encontrar la dirección del puerto paralelo, abra una terminal y escriba:
|
||||
|
||||
cat /proc/ioports | grep parport
|
||||
|
||||
normalmente sera parport0
|
||||
|
||||
0378-037a: parport0
|
||||
|
||||
Para averiguar la dirección de un puerto paralelo PCI:
|
||||
|
||||
lspci -v
|
||||
|
||||
Nota: Para el simulador, se puede mostrar un mensaje de 'acceso root requerido'.
|
||||
No se recomienda usar root para ejecutar linuxcnc.
|
||||
|
|
@ -1,3 +1,2 @@
|
|||
nodemocopy
|
||||
.demo files in this dir will not be copied to user dir.
|
||||
Los archivos .demo en este directorio no se copiaran al directorio de usuario.
|
||||
.demo files in this dir will not be copied to user dir
|
||||
|
|
|
|||
|
|
@ -1,245 +0,0 @@
|
|||
<!-- Test panel for the parallel port cfg for out -->
|
||||
<pyvcp>
|
||||
<hbox>
|
||||
<labelframe text="Salidas">
|
||||
<font>("Helvetica",16)</font>
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<button>
|
||||
<halpin>"btn01"</halpin>
|
||||
<text>"Pin 01"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-01"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
|
||||
<button>
|
||||
<halpin>"btn02"</halpin>
|
||||
<text>"Pin 02"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-02"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<button>
|
||||
<halpin>"btn03"</halpin>
|
||||
<text>"Pin 03"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-03"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
|
||||
<button>
|
||||
<halpin>"btn04"</halpin>
|
||||
<text>"Pin 04"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-04"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<button>
|
||||
<halpin>"btn05"</halpin>
|
||||
<text>"Pin 05"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-05"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
|
||||
<button>
|
||||
<halpin>"btn06"</halpin>
|
||||
<text>"Pin 06"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-06"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<button>
|
||||
<halpin>"btn07"</halpin>
|
||||
<text>"Pin 07"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-07"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
|
||||
<button>
|
||||
<halpin>"btn08"</halpin>
|
||||
<text>"Pin 08"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-08"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<button>
|
||||
<halpin>"btn09"</halpin>
|
||||
<text>"Pin 09"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-09"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
|
||||
<button>
|
||||
<halpin>"btn14"</halpin>
|
||||
<text>"Pin 14"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-14"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<button>
|
||||
<halpin>"btn16"</halpin>
|
||||
<text>"Pin 16"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-16"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
|
||||
<button>
|
||||
<halpin>"btn17"</halpin>
|
||||
<text>"Pin 17"</text>
|
||||
</button>
|
||||
<led>
|
||||
<halpin>"led-17"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
</labelframe>
|
||||
|
||||
<labelframe text="Entradas">
|
||||
<font>("Helvetica",16)</font>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<label>
|
||||
<text>"Pin 10"</text>
|
||||
<font>("Helvetica",14)</font>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"led-10"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<label>
|
||||
<text>"Pin 11"</text>
|
||||
<font>("Helvetica",14)</font>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"led-11"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<label>
|
||||
<text>"Pin 12"</text>
|
||||
<font>("Helvetica",14)</font>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"led-12"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<label>
|
||||
<text>"Pin 13"</text>
|
||||
<font>("Helvetica",14)</font>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"led-13"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>2</bd>
|
||||
<label>
|
||||
<text>"Pin 15"</text>
|
||||
<font>("Helvetica",14)</font>
|
||||
</label>
|
||||
<led>
|
||||
<halpin>"led-15"</halpin>
|
||||
<size>25</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</hbox>
|
||||
|
||||
|
||||
</labelframe>
|
||||
</hbox>
|
||||
</pyvcp>
|
||||
|
|
@ -1,9 +0,0 @@
|
|||
Demostración de algunos pyvcp_widgets
|
||||
|
||||
Notas:
|
||||
|
||||
El widget de barra cambia de color en ciertos rangos de valores.
|
||||
|
||||
El valor de las casillas de selección y los diales se puede cambiar utilizando señales HAL.
|
||||
|
||||
multilabel cambiará el texto dependiendo de la señal HAL.
|
||||
|
|
@ -1,467 +0,0 @@
|
|||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<pyvcp>
|
||||
<labelframe text="Spinboxes enlazados a displays de escalas/numeros, muestran el uso de initval y param_pin">
|
||||
<font>("Helvetica",10)</font>
|
||||
<bd>3</bd>
|
||||
<relief>SUNKEN</relief>
|
||||
<hbox>
|
||||
<!-- stack of 3 spinboxes -->
|
||||
<vbox>
|
||||
<hbox>
|
||||
<spinbox>
|
||||
<halpin>"spinbox0"</halpin>
|
||||
<min_>-12</min_>
|
||||
<max_>33</max_>
|
||||
<initval>10</initval>
|
||||
<resolution>0.1</resolution>
|
||||
<format>"2.3f"</format>
|
||||
<font>("Arial",16)</font>
|
||||
<param_pin>1</param_pin>
|
||||
</spinbox>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<spinbox>
|
||||
<halpin>"spinbox1"</halpin>
|
||||
<min_>-12</min_>
|
||||
<max_>33</max_>
|
||||
<initval>20</initval>
|
||||
<resolution>0.1</resolution>
|
||||
<format>"2.3f"</format>
|
||||
<font>("Arial",16)</font>
|
||||
<param_pin>1</param_pin>
|
||||
</spinbox>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<spinbox>
|
||||
<halpin>"spinbox2"</halpin>
|
||||
<min_>-12</min_>
|
||||
<max_>33</max_>
|
||||
<initval>30</initval>
|
||||
<resolution>0.1</resolution>
|
||||
<format>"2.3f"</format>
|
||||
<font>("Arial",16)</font>
|
||||
<param_pin>1</param_pin>
|
||||
</spinbox>
|
||||
</hbox>
|
||||
</vbox>
|
||||
<!-- stack of 3 horizontal scales in same hbox -->
|
||||
<vbox>
|
||||
<hbox>
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"30"</width>
|
||||
<halpin>"scale0"</halpin>
|
||||
<resolution>1</resolution>
|
||||
<orient>HORIZONTAL</orient>
|
||||
<initval>5</initval>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<param_pin>1</param_pin>
|
||||
</scale>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"30"</width>
|
||||
<halpin>"scale1"</halpin>
|
||||
<resolution>1</resolution>
|
||||
<orient>HORIZONTAL</orient>
|
||||
<initval>15</initval>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<param_pin>1</param_pin>
|
||||
</scale>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"30"</width>
|
||||
<halpin>"scale2"</halpin>
|
||||
<resolution>1</resolution>
|
||||
<orient>HORIZONTAL</orient>
|
||||
<initval>25</initval>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<param_pin>1</param_pin>
|
||||
</scale>
|
||||
</hbox>
|
||||
</vbox>
|
||||
|
||||
<!-- stack of 3 number displays in same hbox -->
|
||||
<vbox>
|
||||
<hbox>
|
||||
<number>
|
||||
<halpin>"number0"</halpin>
|
||||
<font>("Helvetica",16)</font>
|
||||
<format>"+4.4f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<number>
|
||||
<halpin>"number1"</halpin>
|
||||
<font>("Helvetica",16)</font>
|
||||
<format>"+4.4f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<number>
|
||||
<halpin>"number2"</halpin>
|
||||
<font>("Helvetica",16)</font>
|
||||
<format>"+4.4f"</format>
|
||||
</number>
|
||||
</hbox>
|
||||
</vbox>
|
||||
|
||||
</hbox>
|
||||
</labelframe>
|
||||
|
||||
<!-- new hbox with 3 dials -->
|
||||
<labelframe text="Diales enlazados a escalas, muestran el uso de initval y param_pin">
|
||||
<font>("Helvetica",10)</font>
|
||||
<bd>3</bd>
|
||||
<relief>RAISED</relief>
|
||||
<hbox>
|
||||
<dial>
|
||||
<size>150</size>
|
||||
<cpr>100</cpr>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<text>"Dial-0"</text>
|
||||
<initval>10</initval>
|
||||
<resolution>0.01</resolution>
|
||||
<halpin>"dial0"</halpin>
|
||||
<dialcolor>"yellow"</dialcolor>
|
||||
<edgecolor>"green"</edgecolor>
|
||||
<dotcolor>"black"</dotcolor>
|
||||
<param_pin>1</param_pin>
|
||||
</dial>
|
||||
|
||||
<dial>
|
||||
<size>150</size>
|
||||
<cpr>100</cpr>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<text>"Dial-1"</text>
|
||||
<initval>12</initval>
|
||||
<resolution>0.1</resolution>
|
||||
<halpin>"dial1"</halpin>
|
||||
<dialcolor>"green"</dialcolor>
|
||||
<edgecolor>"red"</edgecolor>
|
||||
<dotcolor>"black"</dotcolor>
|
||||
<param_pin>1</param_pin>
|
||||
</dial>
|
||||
|
||||
<dial>
|
||||
<size>150</size>
|
||||
<cpr>100</cpr>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<text>"Dial-2"</text>
|
||||
<initval>5</initval>
|
||||
<resolution>1</resolution>
|
||||
<halpin>"dial2"</halpin>
|
||||
<dialcolor>"yellow"</dialcolor>
|
||||
<edgecolor>"green"</edgecolor>
|
||||
<dotcolor>"black"</dotcolor>
|
||||
<param_pin>1</param_pin>
|
||||
</dial>
|
||||
</hbox>
|
||||
<!-- new hbox with 3 scales, spaced to sit under dials -->
|
||||
<hbox>
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"25"</width>
|
||||
<halpin>"scale3"</halpin>
|
||||
<resolution>0.01</resolution>
|
||||
<orient>VERTICAL</orient>
|
||||
<initval>1</initval>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<param_pin>1</param_pin>
|
||||
</scale>
|
||||
|
||||
<!-- label used as a spacer -->
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"25"</width>
|
||||
<halpin>"scale4"</halpin>
|
||||
<resolution>0.1</resolution>
|
||||
<orient>VERTICAL</orient>
|
||||
<initval>10</initval>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<param_pin>1</param_pin>
|
||||
</scale>
|
||||
|
||||
<!-- label used as a spacer -->
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"25"</width>
|
||||
<halpin>"scale5"</halpin>
|
||||
<resolution>1</resolution>
|
||||
<orient>VERTICAL</orient>
|
||||
<initval>20</initval>
|
||||
<min_>0</min_>
|
||||
<max_>100</max_>
|
||||
<param_pin>1</param_pin>
|
||||
</scale>
|
||||
</hbox>
|
||||
</labelframe>
|
||||
|
||||
<!-- new hbox with 3 dials -->
|
||||
<labelframe text="Botones Radio enlazados a multi_labels mostrando leyenda de selección">
|
||||
<font>("Helvetica",10)</font>
|
||||
<bd>3</bd>
|
||||
<relief>FLAT</relief>
|
||||
<hbox>
|
||||
<hbox>
|
||||
<vbox>
|
||||
<radiobutton>
|
||||
<choices>["uno","dos","tres"]</choices>
|
||||
<halpin>"radio0"</halpin>
|
||||
<initval>0</initval>
|
||||
</radiobutton>
|
||||
</vbox>
|
||||
<vbox>
|
||||
<radiobutton>
|
||||
<choices>["cuatro","cinco","seis"]</choices>
|
||||
<halpin>"radio1"</halpin>
|
||||
<initval>1</initval>
|
||||
</radiobutton>
|
||||
</vbox>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<vbox>
|
||||
<multilabel>
|
||||
<legends>["Radio1-Seleccionado","Ahora Radio2-Seleccionado","Y ahora Radio3-Seleccionado"]</legends>
|
||||
<font>("Helvetica", 10)</font>
|
||||
<disable_pin>True</disable_pin>
|
||||
<initval>0</initval>
|
||||
</multilabel>
|
||||
|
||||
<multilabel>
|
||||
<legends>["Radio4-Seleccionado","Ahora Radio5-Seleccionado","Y ahora Radio6-Seleccionado"]</legends>
|
||||
<font>("Helvetica", 10)</font>
|
||||
<disable_pin>True</disable_pin>
|
||||
<initval>1</initval>
|
||||
</multilabel>
|
||||
</vbox>
|
||||
</hbox>
|
||||
</hbox>
|
||||
</labelframe>
|
||||
|
||||
<labelframe text="Checkbuttons mostrando configuración initval / leds de operación y cambio de valor remoto">
|
||||
<font>("Helvetica",10)</font>
|
||||
<bd>3</bd>
|
||||
<relief>GROOVE</relief>
|
||||
<hbox>
|
||||
<hbox>
|
||||
<vbox>
|
||||
<checkbutton>
|
||||
<halpin>"checkbutton0"</halpin>
|
||||
<text>"Boton 0"</text>
|
||||
<initval>1</initval>
|
||||
</checkbutton>
|
||||
<checkbutton>
|
||||
<halpin>"checkbutton1"</halpin>
|
||||
<text>"Boton 1"</text>
|
||||
<initval>0</initval>
|
||||
</checkbutton>
|
||||
<checkbutton>
|
||||
<halpin>"checkbutton2"</halpin>
|
||||
<text>"Boton 2"</text>
|
||||
<initval>0</initval>
|
||||
</checkbutton>
|
||||
</vbox>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<vbox>
|
||||
<checkbutton>
|
||||
<halpin>"checkbutton3"</halpin>
|
||||
<text>"Boton 3"</text>
|
||||
<initval>0</initval>
|
||||
</checkbutton>
|
||||
<checkbutton>
|
||||
<halpin>"checkbutton4"</halpin>
|
||||
<text>"Boton 4"</text>
|
||||
<initval>1</initval>
|
||||
</checkbutton>
|
||||
<checkbutton>
|
||||
<halpin>"checkbutton5"</halpin>
|
||||
<text>"Boton 5"</text>
|
||||
<initval>0</initval>
|
||||
</checkbutton>
|
||||
</vbox>
|
||||
</hbox>
|
||||
<!-- hbox of labels used as a spacer -->
|
||||
<hbox>
|
||||
<vbox>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
</vbox>
|
||||
</hbox>
|
||||
<hbox>
|
||||
<vbox>
|
||||
<button>
|
||||
<halpin>"toggle-button0"</halpin>
|
||||
<text>"Cambiar Checkbox 0"</text>
|
||||
</button>
|
||||
<!-- label used as a spacer -->
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<button>
|
||||
<halpin>"toggle-button1"</halpin>
|
||||
<text>"Cambiar Checkbox 5"</text>
|
||||
</button>
|
||||
</vbox>
|
||||
</hbox>
|
||||
|
||||
<!-- hbox of labels used as a spacer -->
|
||||
<hbox>
|
||||
<vbox>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
</vbox>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<vbox>
|
||||
<led>
|
||||
<halpin>"led0"</halpin>
|
||||
<size>30</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
<led>
|
||||
<halpin>"led1"</halpin>
|
||||
<size>30</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
<led>
|
||||
<halpin>"led2"</halpin>
|
||||
<size>30</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</vbox>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<vbox>
|
||||
<led>
|
||||
<halpin>"led3"</halpin>
|
||||
<size>30</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
<led>
|
||||
<halpin>"led4"</halpin>
|
||||
<size>30</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
<led>
|
||||
<halpin>"led5"</halpin>
|
||||
<size>30</size>
|
||||
<on_color>"green"</on_color>
|
||||
<off_color>"red"</off_color>
|
||||
</led>
|
||||
</vbox>
|
||||
</hbox>
|
||||
|
||||
|
||||
</hbox>
|
||||
</labelframe>
|
||||
|
||||
<labelframe text="Barra con rangos de colores diferentes, activados por escala / etiquetas">
|
||||
<font>("Helvetica",10)</font>
|
||||
<bd>3</bd>
|
||||
<relief>RIDGE</relief>
|
||||
<hbox>
|
||||
<hbox>
|
||||
<bar>
|
||||
<halpin>"my-bar"</halpin>
|
||||
<min_>0</min_>
|
||||
<max_>150</max_>
|
||||
<bgcolor>"grey"</bgcolor>
|
||||
<range1>(0,100,"green")</range1>
|
||||
<range2>(101,129,"orange")</range2>
|
||||
<range3>(130,150,"red")</range3>
|
||||
<fillcolor>"green"</fillcolor>
|
||||
</bar>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<scale>
|
||||
<font>("Helvetica",16)</font>
|
||||
<width>"25"</width>
|
||||
<halpin>"my-hscale"</halpin>
|
||||
<resolution>1</resolution>
|
||||
<orient>HORIZONTAL</orient>
|
||||
<initval>0</initval>
|
||||
<min_>0</min_>
|
||||
<max_>150</max_>
|
||||
</scale>
|
||||
</hbox>
|
||||
|
||||
<!-- hbox of labels used as a spacer -->
|
||||
<hbox>
|
||||
<vbox>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
<label>
|
||||
<text>" "</text>
|
||||
</label>
|
||||
</vbox>
|
||||
</hbox>
|
||||
|
||||
<hbox>
|
||||
<vbox>
|
||||
<label>
|
||||
<relief>FLAT</relief>
|
||||
<text>"Soy una etiqueta sin borde"</text>
|
||||
</label>
|
||||
<label>
|
||||
<bd>3</bd>
|
||||
<relief>RAISED</relief>
|
||||
<text>"Soy una etiqueta resaltada"</text>
|
||||
</label>
|
||||
<label>
|
||||
<bd>3</bd>
|
||||
<relief>SUNKEN</relief>
|
||||
<text>"Soy una etiqueta en bajorelieve"</text>
|
||||
</label>
|
||||
</vbox>
|
||||
</hbox>
|
||||
</hbox>
|
||||
</labelframe>
|
||||
|
||||
</pyvcp>
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
Pruebas independientes xhc-hb04
|
||||
|
||||
|
||||
Usarlo para probar diseños de botones para un colgante xhc-hb04 inalámbrico USB.
|
||||
|
||||
xhc-hb04-layout1.demo - prueba con layout1 (16 botones)
|
||||
|
||||
xhc-hb04-layout2.demo - prueba con layout2 (18 botones)
|
||||
|
||||
xhc-hb04.demo: prueba sin diseño de botones predefinido
|
||||
|
||||
(Conecte un colgante xhc-hb04 y enciéndalo para usar estos programas)
|
||||
|
|
@ -1,3 +1,2 @@
|
|||
nodemocopy
|
||||
.demo files in this dir will not be copied to user dir.
|
||||
Los archivos .demo en este directorio no se copiaran al directorio de usuario.
|
||||
.demo files in this dir will not be copied to user dir
|
||||
|
|
|
|||
|
|
@ -1,8 +0,0 @@
|
|||
trastero.
|
||||
|
||||
Para cualquier cosa.
|
||||
|
||||
Colección de configuraciones que:
|
||||
pueden ser obsoletas
|
||||
pueden ser no compatibles
|
||||
pueden ser útiles para estudio
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
Esta configuración es para una máquina de corte por plasma con control "paso a paso", junto con conexiones ClassicLadder a algunas de las IO de LinuxCNC.
|
||||
|
||||
Se basa en la configuración de muestra de classicladder, pero también incluye una bomba de carga y un sistema de control de altura de antorcha para los sistemas de Bob Cambells THC300 y CandCNC THC.
|
||||
|
||||
Los pinouts paso a paso son para tarjetas breakout/combo estándar provista por Bob Campbell.
|
||||
|
||||
Esta configuración está desactualizada y no se ejecutará sin actualización, ya que
|
||||
utiliza freqgen, que se ha eliminado desde Linuxcnc 2.6.
|
||||
|
|
@ -69,7 +69,7 @@ net emc-enable-in iocontrol.0.emc-enable-in classicladder.0.out-00
|
|||
# Spindle Signal, forward drives Torch ON
|
||||
# Spindle reverse is not used (might be used for a Running Start later)
|
||||
net turn_torch_on parport.1.pin-01-out
|
||||
#net spindle-reverse spindle.0.reverse parport.0.pin-17-out
|
||||
#net spindle-reverse motion.spindle-reverse parport.0.pin-17-out
|
||||
|
||||
#Create a limit switch signal for each axis
|
||||
|
||||
|
|
@ -80,14 +80,14 @@ net limit-reached-z parport.0.pin-13-in-not
|
|||
net limit-reached-a parport.0.pin-15-in-not
|
||||
|
||||
#Connect all limit signals to relevant axes
|
||||
net limit-reached-x joint.0.neg-lim-sw-in
|
||||
net limit-reached-x joint.0.pos-lim-sw-in
|
||||
net limit-reached-y joint.1.neg-lim-sw-in
|
||||
net limit-reached-y joint.1.pos-lim-sw-in
|
||||
net limit-reached-a joint.1.neg-lim-sw-in
|
||||
net limit-reached-a joint.1.neg-lim-sw-in
|
||||
net limit-reached-z joint.2.neg-lim-sw-in
|
||||
net limit-reached-z joint.2.neg-lim-sw-in
|
||||
net limit-reached-x axis.0.neg-lim-sw-in
|
||||
net limit-reached-x axis.0.pos-lim-sw-in
|
||||
net limit-reached-y axis.1.neg-lim-sw-in
|
||||
net limit-reached-y axis.1.pos-lim-sw-in
|
||||
net limit-reached-a axis.1.neg-lim-sw-in
|
||||
net limit-reached-a axis.1.neg-lim-sw-in
|
||||
net limit-reached-z axis.2.neg-lim-sw-in
|
||||
net limit-reached-z axis.2.neg-lim-sw-in
|
||||
|
||||
|
||||
########## Charge Pump #########
|
||||
|
|
@ -214,7 +214,7 @@ net Zpos-cmd-muxed mux2.2.out
|
|||
addf mux2.2 servo-thread
|
||||
|
||||
#Disconnect Machine/Manual Axis Z Control while ArcOK for safety and to eliminate jitter
|
||||
net Zpos-instructed-cmd <= joint.2.motor-pos-cmd
|
||||
net Zpos-instructed-cmd <= axis.2.motor-pos-cmd
|
||||
|
||||
net Zpos-instructed-cmd => mux2.3.in0
|
||||
net Zpos-fb => mux2.3.in1
|
||||
|
|
@ -252,7 +252,7 @@ net senseZFloatSwitch => classicladder.0.in-03
|
|||
net moveZtoFloat classicladder.0.out-03
|
||||
net moveZtoSafe classicladder.0.out-04
|
||||
net senseArcOK classicladder.0.in-04
|
||||
net spindle-forward classicladder.0.in-05 <= spindle.0.forward
|
||||
net spindle-forward classicladder.0.in-05 <= motion.spindle-forward
|
||||
net feed-hold classicladder.0.out-06
|
||||
net turn_torch_on classicladder.0.out-05
|
||||
net ui_mode_is_auto halui.mode.is-auto
|
||||
|
|
|
|||
|
|
@ -1,61 +1,89 @@
|
|||
# EMC controller parameters for generic controller. Make these what you need
|
||||
# for your system.
|
||||
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
# General section -------------------------------------------------------------
|
||||
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
|
||||
# Version of this INI file
|
||||
VERSION = 1.1
|
||||
VERSION = $Revision$
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = LinuxCNC-DALLUR-ADVANCED
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000001
|
||||
# DEBUG = 0x00000007
|
||||
# DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# Enable Adaptive Feedrate for THC
|
||||
# Enable adaptive feed input, we use it for feedhold button and to
|
||||
# prevent motion during inverse-homing of torch and for pierce delay
|
||||
RS274NGC_STARTUP_CODE = M52 P1
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
# Sections for display options ------------------------------------------------
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., xlinuxcnc
|
||||
|
||||
# Name of display program, e.g., xemc
|
||||
# DISPLAY = axis
|
||||
# DISPLAY = xlinuxcnc
|
||||
DISPLAY = tklinuxcnc
|
||||
# DISPLAY = xemc
|
||||
# DISPLAY = usrmot
|
||||
DISPLAY = tkemc
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 2
|
||||
|
||||
# Increments for the JOG section
|
||||
INCREMENTS = 1000 10 1 0.1 0.01
|
||||
|
||||
# Task controller section -----------------------------------------------------
|
||||
[TASK]
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = dallur-advanced.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Base task period, in nanoseconds - this is the fastest thread in the machine
|
||||
#BASE_PERIOD = 10000
|
||||
#BASE_PERIOD = 14107
|
||||
|
|
@ -66,22 +94,19 @@ BASE_PERIOD = 20000
|
|||
# Servo task period, in nanoseconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
# Part program interpreter section --------------------------------------------
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
#
|
||||
|
||||
# HALUI to interact with NML
|
||||
# Run before any other HALFILE
|
||||
HALUI=halui
|
||||
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
HALFILE = dallur-core_stepper.hal
|
||||
|
|
@ -90,46 +115,31 @@ HALFILE = dallur-halvcp.hal
|
|||
#HALFILE = xylotex_pinout.hal
|
||||
# HALFILE = standard_pinout.hal
|
||||
# HALFILE = simulated_limits.hal
|
||||
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 180.00
|
||||
MAX_LINEAR_VELOCITY = 260.00
|
||||
DEFAULT_LINEAR_ACCELERATION = 500.0
|
||||
MAX_LINEAR_ACCELERATION = 2400.0
|
||||
CYCLE_TIME = 0.00001
|
||||
DEFAULT_VELOCITY = 180.00
|
||||
MAX_VELOCITY = 260.00
|
||||
DEFAULT_ACCELERATION = 500.0
|
||||
MAX_ACCELERATION = 2400.0
|
||||
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
|
||||
# First axis
|
||||
[AXIS_0]
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = dallur-advanced.tbl
|
||||
# section for external NML server parameters ----------------------------------
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = 0
|
||||
MAX_LIMIT = 2100
|
||||
MAX_VELOCITY = 220
|
||||
MAX_ACCELERATION = 2400
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 220
|
||||
|
|
@ -147,15 +157,10 @@ HOME_SEARCH_VEL = 0.0
|
|||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
|
||||
# Second axis
|
||||
[AXIS_1]
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 6100
|
||||
MAX_VELOCITY = 240
|
||||
MAX_ACCELERATION = 2400
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 240
|
||||
|
|
@ -173,15 +178,10 @@ HOME_SEARCH_VEL = 0.0
|
|||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
|
||||
# Third axis
|
||||
[AXIS_2]
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 4000.0
|
||||
MAX_VELOCITY = 20
|
||||
MAX_ACCELERATION = 250
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 20
|
||||
|
|
@ -200,6 +200,7 @@ HOME_SEARCH_VEL = 0.0
|
|||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
|
||||
# Settings for the Torch Height Control which does not use the stepgen but depends on a PID loop
|
||||
P = 2500
|
||||
I = 0.0
|
||||
|
|
@ -209,8 +210,20 @@ FF0 = 0.0
|
|||
FF1 = 0.0
|
||||
FF2 = 0.0
|
||||
DEADBAND= 0.000375
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = dallur-advanced.tbl
|
||||
|
||||
# section for external NML server parameters ----------------------------------
|
||||
[EMCSERVER]
|
||||
# Uncomment the following line if you need to run a remote GUI.
|
||||
# EMCSERVER = emcsvr
|
||||
|
|
|
|||
|
|
@ -2,9 +2,9 @@
|
|||
|
||||
# first load the core RT modules that will be needed
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt trivkins
|
||||
# motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
|
||||
# stepper module, three step generators, all three using step/dir
|
||||
loadrt stepgen step_type=0,0,0
|
||||
|
||||
|
|
@ -18,30 +18,30 @@ addf motion-controller servo-thread
|
|||
addf stepgen.update-freq servo-thread
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd <= joint.0.motor-pos-cmd
|
||||
net Xpos-cmd <= axis.0.motor-pos-cmd
|
||||
net Xpos-cmd => stepgen.0.position-cmd
|
||||
net Ypos-cmd <= joint.1.motor-pos-cmd
|
||||
net Ypos-cmd <= axis.1.motor-pos-cmd
|
||||
net Ypos-cmd => stepgen.1.position-cmd
|
||||
# Disabled to make THC work better
|
||||
#linksp Zpos-cmd <= joint.2.motor-pos-cmd
|
||||
#linksp Zpos-cmd <= axis.2.motor-pos-cmd
|
||||
# Disabled for THC to work
|
||||
#linksp Zpos-cmd => stepgen.2.position-cmd
|
||||
|
||||
# connect position feedback from step generators
|
||||
# to motion module
|
||||
net Xpos-fb <= stepgen.0.position-fb
|
||||
net Xpos-fb => joint.0.motor-pos-fb
|
||||
net Xpos-fb => axis.0.motor-pos-fb
|
||||
net Ypos-fb <= stepgen.1.position-fb
|
||||
net Ypos-fb => joint.1.motor-pos-fb
|
||||
net Ypos-fb => axis.1.motor-pos-fb
|
||||
net Zpos-fb <= stepgen.2.position-fb
|
||||
net Zpos-fb => joint.2.motor-pos-fb
|
||||
net Zpos-fb => axis.2.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen <= joint.0.amp-enable-out
|
||||
net Xen <= axis.0.amp-enable-out
|
||||
net Xen => stepgen.0.enable
|
||||
net Yen <= joint.1.amp-enable-out
|
||||
net Yen <= axis.1.amp-enable-out
|
||||
net Yen => stepgen.1.enable
|
||||
net Zen <= joint.2.amp-enable-out
|
||||
net Zen <= axis.2.amp-enable-out
|
||||
net Zen => stepgen.2.enable
|
||||
|
||||
|
||||
|
|
@ -54,12 +54,12 @@ net Zstep stepgen.2.step
|
|||
net Zdir stepgen.2.dir
|
||||
|
||||
# set stepgen module scaling - get values from ini file
|
||||
setp stepgen.0.position-scale [JOINT_0]SCALE
|
||||
setp stepgen.1.position-scale [JOINT_1]SCALE
|
||||
setp stepgen.2.position-scale [JOINT_2]SCALE
|
||||
setp stepgen.0.position-scale [AXIS_0]SCALE
|
||||
setp stepgen.1.position-scale [AXIS_1]SCALE
|
||||
setp stepgen.2.position-scale [AXIS_2]SCALE
|
||||
|
||||
# set stepgen module accel limits - get values from ini file
|
||||
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +0,0 @@
|
|||
Demo_mazak es un conjunto complejo de controladores HAL. Incluyen la tarjeta de movimiento Motenc-Lite, una tarjeta parport PMDX y una tarjeta IO ISA de propósito general.
|
||||
Esta configuración se usa para la Mazak V5 de Cardinal Engineering y se incluye aquí como un ejemplo de una manera de distribuir las habilidades HAL en varios dispositivos.
|
||||
|
||||
Esta demostración incluye un ejemplo del uso de un puerto paralelo para leer un codificador de volante. Trae ClassicLadder para manejar la mayor parte de la lógica de la
|
||||
máquina para el cambio de velocidades y herramientas.
|
||||
|
||||
No espere poder ejecutar esto tal como está a menos que tenga un conjunto de hardware coincidente. Sin el conjunto exacto de dispositivos, aún puede estudiar los archivos hal
|
||||
para ver como se logran muchas de estas cosas.
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
# this file contains the HAL configuration for Roland's Mazak
|
||||
#
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt trivkins
|
||||
# first load the motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD
|
||||
|
||||
|
|
@ -206,7 +206,7 @@ net motion-enable motion.enable
|
|||
|
||||
# servo amp enable (only one, driven by axis 0)
|
||||
net servo-enable motenc.3.out-02
|
||||
net servo-enable joint.0.amp-enable-out
|
||||
net servo-enable axis.0.amp-enable-out
|
||||
|
||||
# servo amp fault signals
|
||||
# the signals from the amps are actually "not running"
|
||||
|
|
@ -221,27 +221,27 @@ net Z-amp-running motenc.3.out-15
|
|||
# these are the real fault signals, and go to the motion
|
||||
# controller, they are derived from the ones above by
|
||||
# ladder logic
|
||||
net X-amp-fault joint.0.amp-fault-in
|
||||
net Y-amp-fault joint.1.amp-fault-in
|
||||
net Z-amp-fault joint.2.amp-fault-in
|
||||
net X-amp-fault axis.0.amp-fault-in
|
||||
net Y-amp-fault axis.1.amp-fault-in
|
||||
net Z-amp-fault axis.2.amp-fault-in
|
||||
|
||||
# Limit switches
|
||||
# (the switches are NC, and open when hit, so
|
||||
# we invert the signals by using the -not input
|
||||
# pin - the result is limit signals that are
|
||||
# TRUE when the machine is on the limit.)
|
||||
net X-lim-plus motenc.3.in-00-not => joint.0.pos-lim-sw-in
|
||||
net X-lim-minus motenc.3.in-01-not => joint.0.neg-lim-sw-in
|
||||
net Y-lim-plus motenc.3.in-02-not => joint.1.pos-lim-sw-in
|
||||
net Y-lim-minus motenc.3.in-03-not => joint.1.neg-lim-sw-in
|
||||
net Z-lim-plus motenc.3.in-04-not => joint.2.pos-lim-sw-in
|
||||
net Z-lim-minus motenc.3.in-05-not => joint.2.neg-lim-sw-in
|
||||
net X-lim-plus motenc.3.in-00-not => axis.0.pos-lim-sw-in
|
||||
net X-lim-minus motenc.3.in-01-not => axis.0.neg-lim-sw-in
|
||||
net Y-lim-plus motenc.3.in-02-not => axis.1.pos-lim-sw-in
|
||||
net Y-lim-minus motenc.3.in-03-not => axis.1.neg-lim-sw-in
|
||||
net Z-lim-plus motenc.3.in-04-not => axis.2.pos-lim-sw-in
|
||||
net Z-lim-minus motenc.3.in-05-not => axis.2.neg-lim-sw-in
|
||||
|
||||
# Home switches
|
||||
# (the switches are NC, see note above)
|
||||
net X-home motenc.3.in-08-not => joint.0.home-sw-in
|
||||
net Y-home motenc.3.in-09-not => joint.1.home-sw-in
|
||||
net Z-home motenc.3.in-10-not => joint.2.home-sw-in
|
||||
net X-home motenc.3.in-08-not => axis.0.home-sw-in
|
||||
net Y-home motenc.3.in-09-not => axis.1.home-sw-in
|
||||
net Z-home motenc.3.in-10-not => axis.2.home-sw-in
|
||||
|
||||
# spindle related signals: "high level" signals
|
||||
# ready (from drive to PC)
|
||||
|
|
@ -353,13 +353,13 @@ net sp-in-low-gear ax5214h.0.in-36
|
|||
net sp-enc-pos scale.2.in
|
||||
net sp-pos-revs scale.2.out
|
||||
setp scale.2.gain 0.002777777777777
|
||||
net sp-pos-revs spindle.0.revs
|
||||
net sp-pos-revs motion.spindle-revs
|
||||
|
||||
# rayh begins to screw it up with help from his friends
|
||||
# connect iocontrol signals for spindle run and speed
|
||||
# these work as long as a spindle command is being output.
|
||||
net spindle-run-request spindle.0.on
|
||||
net spindle-rpm-cmd spindle.0.speed-out
|
||||
net spindle-run-request motion.spindle-on
|
||||
net spindle-rpm-cmd motion.spindle-speed-out
|
||||
|
||||
# end of spindle control
|
||||
|
||||
|
|
@ -484,7 +484,7 @@ net sp-index-enable motenc.3.enc-03-index-enable
|
|||
net sp-index-enable tristate-bit.0.out
|
||||
setp tristate-bit.0.in 1
|
||||
net tool-change tristate-bit.0.enable
|
||||
net sp-index-enable spindle.0.index-enable
|
||||
net sp-index-enable motion.spindle-index-enable
|
||||
|
||||
# jogwheel signals
|
||||
setp encoder.0.x4-mode 0
|
||||
|
|
@ -518,9 +518,9 @@ net Y-enc-counts motenc.3.enc-01-count
|
|||
net Z-enc-counts motenc.3.enc-02-count
|
||||
|
||||
# scaling to get inches (scale comes from ini file)
|
||||
setp motenc.3.enc-00-scale [JOINT_0]INPUT_SCALE
|
||||
setp motenc.3.enc-01-scale [JOINT_1]INPUT_SCALE
|
||||
setp motenc.3.enc-02-scale [JOINT_2]INPUT_SCALE
|
||||
setp motenc.3.enc-00-scale [AXIS_0]INPUT_SCALE
|
||||
setp motenc.3.enc-01-scale [AXIS_1]INPUT_SCALE
|
||||
setp motenc.3.enc-02-scale [AXIS_2]INPUT_SCALE
|
||||
|
||||
# position in inches
|
||||
net X-enc-pos motenc.3.enc-00-position
|
||||
|
|
@ -528,9 +528,9 @@ net Y-enc-pos motenc.3.enc-01-position
|
|||
net Z-enc-pos motenc.3.enc-02-position
|
||||
|
||||
# index pulses
|
||||
net X-index-enable motenc.3.enc-00-index-enable joint.0.index-enable
|
||||
net Y-index-enable motenc.3.enc-01-index-enable joint.1.index-enable
|
||||
net Z-index-enable motenc.3.enc-02-index-enable joint.2.index-enable
|
||||
net X-index-enable motenc.3.enc-00-index-enable axis.0.index-enable
|
||||
net Y-index-enable motenc.3.enc-01-index-enable axis.1.index-enable
|
||||
net Z-index-enable motenc.3.enc-02-index-enable axis.2.index-enable
|
||||
|
||||
# -----------------------------------------------------
|
||||
# DACs - output to servo amps
|
||||
|
|
@ -539,12 +539,12 @@ net X-volts motenc.3.dac-00-value
|
|||
net Y-volts motenc.3.dac-01-value
|
||||
net Z-volts motenc.3.dac-02-value
|
||||
# get scale and offset from the ini file
|
||||
setp motenc.3.dac-00-gain [JOINT_0]OUTPUT_SCALE
|
||||
setp motenc.3.dac-01-gain [JOINT_1]OUTPUT_SCALE
|
||||
setp motenc.3.dac-02-gain [JOINT_2]OUTPUT_SCALE
|
||||
setp motenc.3.dac-00-offset [JOINT_0]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-01-offset [JOINT_1]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-02-offset [JOINT_2]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-00-gain [AXIS_0]OUTPUT_SCALE
|
||||
setp motenc.3.dac-01-gain [AXIS_1]OUTPUT_SCALE
|
||||
setp motenc.3.dac-02-gain [AXIS_2]OUTPUT_SCALE
|
||||
setp motenc.3.dac-00-offset [AXIS_0]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-01-offset [AXIS_1]OUTPUT_OFFSET
|
||||
setp motenc.3.dac-02-offset [AXIS_2]OUTPUT_OFFSET
|
||||
|
||||
# -----------------------------------------------------
|
||||
# ADCs - servo amp current feedback
|
||||
|
|
@ -566,9 +566,9 @@ setp motenc.3.adc-02-offset 0.0
|
|||
|
||||
# signals for position command
|
||||
# hook the motion controller outputs to the position command
|
||||
net X-pos-cmd joint.0.motor-pos-cmd
|
||||
net Y-pos-cmd joint.1.motor-pos-cmd
|
||||
net Z-pos-cmd joint.2.motor-pos-cmd
|
||||
net X-pos-cmd axis.0.motor-pos-cmd
|
||||
net Y-pos-cmd axis.1.motor-pos-cmd
|
||||
net Z-pos-cmd axis.2.motor-pos-cmd
|
||||
# and to the PID inputs
|
||||
net X-pos-cmd pid.0.command
|
||||
net Y-pos-cmd pid.1.command
|
||||
|
|
@ -579,9 +579,9 @@ net X-enc-pos pid.0.feedback
|
|||
net Y-enc-pos pid.1.feedback
|
||||
net Z-enc-pos pid.2.feedback
|
||||
# and to motion controller
|
||||
net X-enc-pos joint.0.motor-pos-fb
|
||||
net Y-enc-pos joint.1.motor-pos-fb
|
||||
net Z-enc-pos joint.2.motor-pos-fb
|
||||
net X-enc-pos axis.0.motor-pos-fb
|
||||
net Y-enc-pos axis.1.motor-pos-fb
|
||||
net Z-enc-pos axis.2.motor-pos-fb
|
||||
|
||||
# hook PID outputs to DACs
|
||||
net X-volts pid.0.output
|
||||
|
|
@ -597,34 +597,34 @@ net servo-enable pid.1.enable
|
|||
net servo-enable pid.2.enable
|
||||
|
||||
# get tuning params from ini file
|
||||
setp pid.0.deadband [JOINT_0]DEADBAND
|
||||
setp pid.0.Pgain [JOINT_0]PGAIN
|
||||
setp pid.0.Igain [JOINT_0]IGAIN
|
||||
setp pid.0.Dgain [JOINT_0]DGAIN
|
||||
setp pid.0.FF0 [JOINT_0]FF0
|
||||
setp pid.0.FF1 [JOINT_0]FF1
|
||||
setp pid.0.FF2 [JOINT_0]FF2
|
||||
setp pid.0.bias [JOINT_0]BIAS
|
||||
setp pid.1.deadband [JOINT_1]DEADBAND
|
||||
setp pid.1.Pgain [JOINT_1]PGAIN
|
||||
setp pid.1.Igain [JOINT_1]IGAIN
|
||||
setp pid.1.Dgain [JOINT_1]DGAIN
|
||||
setp pid.1.FF0 [JOINT_1]FF0
|
||||
setp pid.1.FF1 [JOINT_1]FF1
|
||||
setp pid.1.FF2 [JOINT_1]FF2
|
||||
setp pid.1.bias [JOINT_1]BIAS
|
||||
setp pid.2.deadband [JOINT_2]DEADBAND
|
||||
setp pid.2.Pgain [JOINT_2]PGAIN
|
||||
setp pid.2.Igain [JOINT_2]IGAIN
|
||||
setp pid.2.Dgain [JOINT_2]DGAIN
|
||||
setp pid.2.FF0 [JOINT_2]FF0
|
||||
setp pid.2.FF1 [JOINT_2]FF1
|
||||
setp pid.2.FF2 [JOINT_2]FF2
|
||||
setp pid.2.bias [JOINT_2]BIAS
|
||||
setp pid.0.deadband [AXIS_0]DEADBAND
|
||||
setp pid.0.Pgain [AXIS_0]PGAIN
|
||||
setp pid.0.Igain [AXIS_0]IGAIN
|
||||
setp pid.0.Dgain [AXIS_0]DGAIN
|
||||
setp pid.0.FF0 [AXIS_0]FF0
|
||||
setp pid.0.FF1 [AXIS_0]FF1
|
||||
setp pid.0.FF2 [AXIS_0]FF2
|
||||
setp pid.0.bias [AXIS_0]BIAS
|
||||
setp pid.1.deadband [AXIS_1]DEADBAND
|
||||
setp pid.1.Pgain [AXIS_1]PGAIN
|
||||
setp pid.1.Igain [AXIS_1]IGAIN
|
||||
setp pid.1.Dgain [AXIS_1]DGAIN
|
||||
setp pid.1.FF0 [AXIS_1]FF0
|
||||
setp pid.1.FF1 [AXIS_1]FF1
|
||||
setp pid.1.FF2 [AXIS_1]FF2
|
||||
setp pid.1.bias [AXIS_1]BIAS
|
||||
setp pid.2.deadband [AXIS_2]DEADBAND
|
||||
setp pid.2.Pgain [AXIS_2]PGAIN
|
||||
setp pid.2.Igain [AXIS_2]IGAIN
|
||||
setp pid.2.Dgain [AXIS_2]DGAIN
|
||||
setp pid.2.FF0 [AXIS_2]FF0
|
||||
setp pid.2.FF1 [AXIS_2]FF1
|
||||
setp pid.2.FF2 [AXIS_2]FF2
|
||||
setp pid.2.bias [AXIS_2]BIAS
|
||||
# get maximum (and minimum) output volts from ini file
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
|
||||
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
|
||||
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
|
||||
|
||||
# LADDER LOGIC!!!
|
||||
#
|
||||
|
|
|
|||
|
|
@ -1,134 +1,144 @@
|
|||
# mazak_rf.ini EMC controller parameters for Roland Friestad's Mazak mill.
|
||||
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
# General section -------------------------------------------------------------
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
|
||||
# Version of this INI file
|
||||
VERSION = 1.1
|
||||
VERSION = $Revision$
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = LinuxCNC-MAZAK-RF
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
# DEBUG = 0x00000003
|
||||
# DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
# enable adaptive feed input, we use it for feedhold button and to
|
||||
# prevent motion during spindle accel, gear changes, etc
|
||||
RS274NGC_STARTUP_CODE = M52 P1
|
||||
# Sections for display options ------------------------------------------------
|
||||
|
||||
|
||||
# Sections for display options ------------------------------------------------
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., xlinuxcnc
|
||||
|
||||
# Name of display program, e.g., xemc
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# DISPLAY = tkemc
|
||||
# DISPLAY = mini
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# side panel with some extra controls
|
||||
PYVCP=panel.xml
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 1
|
||||
#EDITOR = gedit
|
||||
|
||||
EDITOR = gedit
|
||||
|
||||
INCREMENTS = 0.010 0.001 0.0001
|
||||
|
||||
# Task controller section -----------------------------------------------------
|
||||
[TASK]
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = demo_mazak.var
|
||||
# Motion control section ------------------------------------------------------
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Base task period, in nanoseconds - this is the fastest thread in the machine
|
||||
BASE_PERIOD = 100000
|
||||
# Servo task period, in nanoseconds - will be rounded to an integer multiple
|
||||
# of BASE_PERIOD
|
||||
SERVO_PERIOD = 500000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
|
||||
[TASK]
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
# Part program interpreter section --------------------------------------------
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
HALFILE = demo_mazak.hal
|
||||
HALFILE = tester.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
# used for "control panel" stuff, since the panel widgets
|
||||
# don't exist until the GUI starts
|
||||
POSTGUI_HALFILE = panel.hal
|
||||
|
||||
|
||||
# Spindle Controller Section --------------------------------------------------
|
||||
[SPINDLE]
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
ORIENT_POSITION = -75.0
|
||||
LOW_GEAR_RATIO = 4.133
|
||||
HIGH_GEAR_RATIO = 1.100
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z A B C
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.0
|
||||
MAX_LINEAR_VELOCITY = 5.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 20.0
|
||||
MAX_LINEAR_ACCELERATION = 20.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 1.0
|
||||
MAX_VELOCITY = 5.0
|
||||
DEFAULT_ACCELERATION = 20.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
|
||||
# First axis
|
||||
[AXIS_0]
|
||||
|
||||
[EMCIO]
|
||||
# change tools in the upper left corner of the table
|
||||
# to avoid hitting the vise or workpiece with the tool
|
||||
TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = demo_mazak.tbl
|
||||
# tool turret info
|
||||
TOOL_TURRET_MAX = 24
|
||||
TOOL_TURRET_WRAP = 1
|
||||
# wait times in seconds for spindle brake, release
|
||||
SPINDLE_OFF_WAIT = 1.0
|
||||
SPINDLE_ON_WAIT = 1.5
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -14.0
|
||||
MAX_LIMIT = 14.0
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5.0
|
||||
|
|
@ -160,15 +170,10 @@ FF0 = 0.000
|
|||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
# Second axis
|
||||
[AXIS_1]
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -7.7
|
||||
MAX_LIMIT = 7.7
|
||||
MAX_VELOCITY = 5.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 5.0
|
||||
|
|
@ -199,15 +204,10 @@ FF0 = 0.000
|
|||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
# Third axis
|
||||
[AXIS_2]
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -7.75
|
||||
MAX_LIMIT = 0.025
|
||||
MAX_VELOCITY = 3.0
|
||||
MAX_ACCELERATION = 20.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 3.0
|
||||
|
|
@ -243,10 +243,28 @@ FF0 = 0.000
|
|||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
|
||||
[SPINDLE]
|
||||
ORIENT_POSITION = -75.0
|
||||
LOW_GEAR_RATIO = 4.133
|
||||
HIGH_GEAR_RATIO = 1.100
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[EMCIO]
|
||||
|
||||
# change tools in the upper left corner of the table
|
||||
# to avoid hitting the vise or workpiece with the tool
|
||||
TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = demo_mazak.tbl
|
||||
|
||||
# tool turret info
|
||||
TOOL_TURRET_MAX = 24
|
||||
TOOL_TURRET_WRAP = 1
|
||||
|
||||
# wait times in seconds for spindle brake, release
|
||||
SPINDLE_OFF_WAIT = 1.0
|
||||
SPINDLE_ON_WAIT = 1.5
|
||||
|
||||
|
|
|
|||
|
|
@ -1,15 +0,0 @@
|
|||
|
||||
net jogA parport.0.pin-10-in => encoder.1.phase-A
|
||||
net jogB parport.0.pin-11-in => encoder.1.phase-B
|
||||
|
||||
net jogX axisui.jog.x => joint.0.jog-enable
|
||||
net jogY axisui.jog.y => joint.1.jog-enable
|
||||
net jogZ axisui.jog.z => joint.2.jog-enable
|
||||
|
||||
net jogcounts encoder.1.counts => joint.0.jog-counts joint.1.jog-counts joint.2.jog-counts
|
||||
|
||||
sets jogscale .00002
|
||||
net jogscale joint.0.jog-scale
|
||||
net jogscale joint.1.jog-scale
|
||||
net jogscale joint.2.jog-scale
|
||||
|
||||
|
|
@ -1,224 +0,0 @@
|
|||
# HAL config file for MAX NC test machine
|
||||
#######################################################
|
||||
# first load all the HAL modules we're going to need
|
||||
#######################################################
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
# main motion controller module
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
# using steppers....
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
# I/O thru the parport
|
||||
loadrt hal_parport cfg="0x0378"
|
||||
# counting the spindle encoder in software
|
||||
loadrt encoder num_chan=2
|
||||
# simulate the encoder
|
||||
loadrt sim_encoder num_chan=1
|
||||
# misc blocks needed to do fun things
|
||||
loadrt ddt count=8
|
||||
|
||||
#######################################################
|
||||
# add realtime functions to the threads
|
||||
# first the high speed thread
|
||||
#######################################################
|
||||
# first we read parport inputs
|
||||
addf parport.0.read base-thread
|
||||
addf sim-encoder.make-pulses base-thread
|
||||
# update encoder counter
|
||||
addf encoder.update-counters base-thread
|
||||
# generate step and dir signals
|
||||
addf stepgen.make-pulses base-thread
|
||||
# write to outputs
|
||||
addf parport.0.write base-thread
|
||||
|
||||
|
||||
|
||||
# now the servo thread
|
||||
########################################################
|
||||
# capture axis and spindle positions
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf encoder.capture-position servo-thread
|
||||
# process motion commands coming from user space
|
||||
addf motion-command-handler servo-thread
|
||||
# run main motion controller
|
||||
addf motion-controller servo-thread
|
||||
# differentiators to make vel and acc signals
|
||||
addf ddt.0 servo-thread
|
||||
addf ddt.1 servo-thread
|
||||
addf ddt.2 servo-thread
|
||||
addf ddt.3 servo-thread
|
||||
addf ddt.4 servo-thread
|
||||
addf ddt.5 servo-thread
|
||||
addf ddt.6 servo-thread
|
||||
addf ddt.7 servo-thread
|
||||
# update output info, axis and spindle
|
||||
addf stepgen.update-freq servo-thread
|
||||
addf sim-encoder.update-speed servo-thread
|
||||
|
||||
|
||||
|
||||
#######################################################
|
||||
# interconnections
|
||||
#
|
||||
# first, the basic stepper machine connections
|
||||
#######################################################
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd <= joint.0.motor-pos-cmd
|
||||
net Xpos-cmd => stepgen.0.position-cmd
|
||||
net Ypos-cmd <= joint.1.motor-pos-cmd
|
||||
net Ypos-cmd => stepgen.1.position-cmd
|
||||
net Zpos-cmd <= joint.2.motor-pos-cmd
|
||||
net Zpos-cmd => stepgen.2.position-cmd
|
||||
net Apos-cmd <= joint.3.motor-pos-cmd
|
||||
net Apos-cmd => stepgen.3.position-cmd
|
||||
|
||||
# connect position feedback from step generators
|
||||
# to motion module
|
||||
net Xpos-fb <= stepgen.0.position-fb
|
||||
net Xpos-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb <= stepgen.1.position-fb
|
||||
net Ypos-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb <= stepgen.2.position-fb
|
||||
net Zpos-fb => joint.2.motor-pos-fb
|
||||
net Apos-fb <= stepgen.3.position-fb
|
||||
net Apos-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen <= joint.0.amp-enable-out
|
||||
net Xen => stepgen.0.enable
|
||||
net Yen <= joint.1.amp-enable-out
|
||||
net Yen => stepgen.1.enable
|
||||
net Zen <= joint.2.amp-enable-out
|
||||
net Zen => stepgen.2.enable
|
||||
net Aen <= joint.3.amp-enable-out
|
||||
net Aen => stepgen.3.enable
|
||||
|
||||
# connect signals to step pulse generator outputs
|
||||
net Xstep <= stepgen.0.step
|
||||
net Xdir <= stepgen.0.dir
|
||||
net Ystep <= stepgen.1.step
|
||||
net Ydir <= stepgen.1.dir
|
||||
net Zstep <= stepgen.2.step
|
||||
net Zdir <= stepgen.2.dir
|
||||
net Astep <= stepgen.3.step
|
||||
net Adir <= stepgen.3.dir
|
||||
|
||||
# create a signal for the estop loopback
|
||||
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
|
||||
|
||||
# create signals for tool loading loopback
|
||||
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
|
||||
# create a signal for "spindle on"
|
||||
net spindle_on <= motion.spindle-on
|
||||
|
||||
# connect physical pins to the signals
|
||||
net Xstep => parport.0.pin-03-out
|
||||
net Xdir => parport.0.pin-02-out
|
||||
net Ystep => parport.0.pin-05-out
|
||||
net Ydir => parport.0.pin-04-out
|
||||
net Zstep => parport.0.pin-07-out
|
||||
net Zdir => parport.0.pin-06-out
|
||||
net Astep => parport.0.pin-09-out
|
||||
net Adir => parport.0.pin-08-out
|
||||
# amp enable (active lo)
|
||||
net Xen => parport.0.pin-01-out
|
||||
setp parport.0.pin-01-out-invert 1
|
||||
# spindle enable (active lo)
|
||||
net spindle_on => parport.0.pin-14-out
|
||||
setp parport.0.pin-14-out-invert 1
|
||||
|
||||
#######################################################
|
||||
# set scaling and other parameters of the basic machine
|
||||
|
||||
# set stepgen module scaling - get values from ini file
|
||||
setp stepgen.0.position-scale [AXIS_0]SCALE
|
||||
setp stepgen.1.position-scale [AXIS_1]SCALE
|
||||
setp stepgen.2.position-scale [AXIS_2]SCALE
|
||||
setp stepgen.3.position-scale [AXIS_3]SCALE
|
||||
|
||||
# set stepgen module accel limits - get values from ini file
|
||||
# jmk said to set these to ini value + 5% to avoid stepgen bug
|
||||
setp stepgen.0.maxaccel [AXIS_0]HAL_MAXACCEL
|
||||
setp stepgen.1.maxaccel [AXIS_1]HAL_MAXACCEL
|
||||
setp stepgen.2.maxaccel [AXIS_2]HAL_MAXACCEL
|
||||
setp stepgen.3.maxaccel [AXIS_3]HAL_MAXACCEL
|
||||
|
||||
# end of basic machine
|
||||
|
||||
#######################################################
|
||||
# Beginning of threading related stuff
|
||||
#######################################################
|
||||
|
||||
# spindle speed control
|
||||
net spindle-speed-cmd <= motion.spindle-speed-out
|
||||
net spindle-speed-cmd => sim-encoder.0.speed
|
||||
|
||||
# spindle encoder
|
||||
# connect encoder signals to encoder counter
|
||||
net spindle-phase-A => encoder.0.phase-A
|
||||
net spindle-phase-B => encoder.0.phase-B
|
||||
net spindle-phase-Z => encoder.0.phase-Z
|
||||
|
||||
net spindle-phase-A <= sim-encoder.0.phase-A
|
||||
net spindle-phase-B <= sim-encoder.0.phase-B
|
||||
net spindle-phase-Z <= sim-encoder.0.phase-Z
|
||||
|
||||
# assume 120 ppr = 480 counts/rev for the spindle
|
||||
setp sim-encoder.0.ppr 120
|
||||
# iocontrol output is in rpm, but sim-encoder speed is rps
|
||||
setp sim-encoder.0.scale 60
|
||||
# scale encoder output to read in revolutions
|
||||
# (that way thread pitches can be straightforward,
|
||||
# a 20 tpi thread would multiply the encoder output
|
||||
# by 1/20, etc)
|
||||
setp encoder.0.position-scale 480
|
||||
|
||||
# encoder reset control
|
||||
net spindle-index-enable <= motion.spindle-index-enable
|
||||
net spindle-index-enable <=> encoder.0.index-enable
|
||||
|
||||
|
||||
# report our revolution count to the motion controller
|
||||
net spindle-pos <= encoder.0.position
|
||||
net spindle-pos => motion.spindle-revs
|
||||
|
||||
|
||||
#######################################################
|
||||
# make vel and accel sigs for testing
|
||||
#######################################################
|
||||
|
||||
# send the position commands thru differentiators to
|
||||
# generate velocity and accel signals (for testing)
|
||||
|
||||
# define the signals, and hook them up
|
||||
net Xpos-cmd => ddt.0.in
|
||||
net Xvel <= ddt.0.out
|
||||
net Xvel => ddt.1.in
|
||||
net Xacc <= ddt.1.out
|
||||
|
||||
net Ypos-cmd => ddt.2.in
|
||||
net Yvel <= ddt.2.out
|
||||
net Yvel => ddt.3.in
|
||||
net Yacc <= ddt.3.out
|
||||
|
||||
net Zpos-cmd => ddt.4.in
|
||||
net Zvel <= ddt.4.out
|
||||
net Zvel => ddt.5.in
|
||||
net Zacc <= ddt.5.out
|
||||
|
||||
net Apos-cmd => ddt.6.in
|
||||
net Avel <= ddt.6.out
|
||||
net Avel => ddt.7.in
|
||||
net Aacc <= ddt.7.out
|
||||
|
||||
# for spindle velocity estimate
|
||||
loadrt lowpass count=1
|
||||
net spindle-rpm-raw encoder.0.velocity
|
||||
net spindle-rpm-raw lowpass.0.in
|
||||
net spindle-rpm-filtered lowpass.0.out
|
||||
setp lowpass.0.gain .03
|
||||
addf lowpass.0 servo-thread
|
||||
|
||||
|
|
@ -1,190 +0,0 @@
|
|||
###################### Torch Height Control ##########################
|
||||
|
||||
# Load realtime hal components for THC
|
||||
loadrt and2 count=9
|
||||
loadrt comp count=3
|
||||
loadrt updown
|
||||
loadrt flipflop count=3
|
||||
loadrt hypot
|
||||
loadrt logic personality=0x203
|
||||
loadrt minmax
|
||||
loadrt mult2 count=2
|
||||
loadrt mux2 count=7
|
||||
loadrt not count=3
|
||||
loadrt oneshot count=4
|
||||
loadrt or2 count=9
|
||||
loadrt scale
|
||||
loadrt sum2 count=5
|
||||
loadrt xor2 count=4
|
||||
loadrt conv_s32_float
|
||||
loadrt edge count=2
|
||||
|
||||
# Attach realtime hal components to a realtime thread
|
||||
addf and2.0 servo-thread
|
||||
addf and2.1 servo-thread
|
||||
addf and2.2 servo-thread
|
||||
addf and2.3 servo-thread
|
||||
addf and2.4 servo-thread
|
||||
addf and2.5 servo-thread
|
||||
addf and2.6 servo-thread
|
||||
addf and2.7 servo-thread
|
||||
addf and2.8 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf comp.2 servo-thread
|
||||
addf conv-s32-float.0 servo-thread
|
||||
addf edge.0 servo-thread
|
||||
addf edge.1 servo-thread
|
||||
addf flipflop.0 servo-thread
|
||||
addf flipflop.1 servo-thread
|
||||
addf flipflop.2 servo-thread
|
||||
addf hypot.0 servo-thread
|
||||
addf logic.0 servo-thread
|
||||
addf minmax.0 servo-thread
|
||||
addf mult2.0 servo-thread
|
||||
addf mult2.1 servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
addf mux2.1 servo-thread
|
||||
addf mux2.2 servo-thread
|
||||
addf mux2.3 servo-thread
|
||||
addf mux2.4 servo-thread
|
||||
addf mux2.5 servo-thread
|
||||
addf mux2.6 servo-thread
|
||||
addf not.0 servo-thread
|
||||
addf not.1 servo-thread
|
||||
addf not.2 servo-thread
|
||||
addf oneshot.0 servo-thread
|
||||
addf oneshot.1 servo-thread
|
||||
addf oneshot.2 servo-thread
|
||||
addf oneshot.3 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
addf or2.1 servo-thread
|
||||
addf or2.2 servo-thread
|
||||
addf or2.3 servo-thread
|
||||
addf or2.4 servo-thread
|
||||
addf or2.5 servo-thread
|
||||
addf or2.6 servo-thread
|
||||
addf or2.7 servo-thread
|
||||
addf or2.8 servo-thread
|
||||
addf updown.0 servo-thread
|
||||
addf scale.0 servo-thread
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf sum2.3 servo-thread
|
||||
addf sum2.4 servo-thread
|
||||
addf xor2.0 servo-thread
|
||||
addf xor2.1 servo-thread
|
||||
addf xor2.2 servo-thread
|
||||
|
||||
# Set static values and default values
|
||||
setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
|
||||
setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
|
||||
setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
|
||||
setp oneshot.3.falling 1
|
||||
setp oneshot.3.rising 0
|
||||
setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
|
||||
setp mux2.1.in0 -1
|
||||
setp mux2.1.in1 1
|
||||
setp mux2.3.in0 0
|
||||
|
||||
# Set the lowest value the THC will try to move the torch
|
||||
setp sum2.4.in0 [AXIS_2]MIN_LIMIT
|
||||
|
||||
# Set default gains for sum, positive for addition and negative for subtraction
|
||||
# Setting positive gains will become implicit and those can be removed safely in a later version
|
||||
setp sum2.0.gain0 1
|
||||
setp sum2.0.gain1 1
|
||||
setp sum2.1.gain0 1
|
||||
setp sum2.1.gain1 1
|
||||
setp sum2.2.gain0 1
|
||||
setp sum2.2.gain1 -1
|
||||
setp sum2.3.gain0 1
|
||||
setp sum2.3.gain1 -1
|
||||
setp sum2.4.gain0 1
|
||||
setp sum2.4.gain1 -1
|
||||
|
||||
# Set Hysterisis for float comp
|
||||
setp comp.1.hyst 0.001
|
||||
|
||||
# Set percentage multiplier for scale
|
||||
setp scale.0.gain 0.01
|
||||
|
||||
# Set edge detectors to work on falling edges to detect Ignition Timeouts
|
||||
setp edge.0.in-edge 1
|
||||
setp edge.1.in-edge 1
|
||||
|
||||
# Hook up parallel port pins
|
||||
net MoveDown parport.1.pin-11-in-not => or2.0.in0
|
||||
net MoveUp parport.1.pin-12-in-not => or2.0.in1 mux2.1.sel
|
||||
|
||||
# Hook up component pins using the net command
|
||||
net FloatSwitch parport.1.pin-03-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
|
||||
net ArcOK parport.1.pin-15-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
|
||||
net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0
|
||||
net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0
|
||||
net LockHeight and2.0.out => xor2.2.in0
|
||||
net EnabledAdjustHeight and2.1.out => mux2.3.sel
|
||||
net ReleaseFeedHold and2.2.out => xor2.0.in1
|
||||
net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
|
||||
net FloatSwitchEstop and2.4.out => logic.0.in-02
|
||||
net FloatAndTorchOn and2.5.out => or2.2.in1
|
||||
net TorchAndFloat and2.6.out => flipflop.0.set
|
||||
net PosAndFloat and2.7.out => or2.5.in1
|
||||
net IgnitionEstop comp.2.out => logic.0.in-01
|
||||
net StartTorchOn and2.8.out => and2.3.in0
|
||||
net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
|
||||
net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
|
||||
net CHLTriggered comp.0.out => and2.0.in0
|
||||
net AtPosition comp.1.equal => and2.7.in0
|
||||
net VelX ddt.0.out => hypot.0.in0
|
||||
net VelY ddt.1.out => hypot.0.in1
|
||||
net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
|
||||
net ModeIsAuto halui.mode.is-auto => mux2.5.sel
|
||||
net VelXY hypot.0.out => minmax.0.in comp.0.in0
|
||||
net TriggerEStop logic.0.or => estop-latch.0.fault-in
|
||||
net MaximumVelocity minmax.0.max => mult2.1.in0
|
||||
net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in
|
||||
net HeightAdjustment mult2.0.out => mux2.3.in1
|
||||
net VelocityThreshold mult2.1.out => comp.0.in1
|
||||
net HeightOffset mux2.0.out => sum2.1.in1
|
||||
net AdjustmentDirection mux2.1.out => mult2.0.in1
|
||||
net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
|
||||
net SelectedAdjustment mux2.3.out => mux2.0.in1
|
||||
net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
|
||||
net PosSelectB mux2.5.out => mux2.4.in0
|
||||
net PosSelectC mux2.6.out => mux2.4.in1
|
||||
net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
|
||||
net ReversedArcOK not.1.out => minmax.0.reset
|
||||
net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
|
||||
net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
|
||||
net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
|
||||
net TakeSnapshot or2.1.out => mux2.2.sel
|
||||
net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net ProbeOrArcOK or2.3.out => mux2.6.sel
|
||||
net PAFOrArcOK or2.5.out => and2.3.in1
|
||||
net EstopOrArcOK or2.6.out => flipflop.0.reset
|
||||
net ExtEStop parport.0.pin-10-in => logic.0.in-00
|
||||
net ExtEStop => logic.0.in-00
|
||||
net LimitZ parport.0.pin-13-in => or2.2.in0
|
||||
net ThresholdPercentage scale.0.out => mult2.1.in1
|
||||
net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
|
||||
net PierceOffset sum2.0.out => mux2.0.in0
|
||||
net DestinationHeight sum2.1.out => mux2.6.in1
|
||||
net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
|
||||
net StepCordsTH sum2.3.out => mux2.5.in1
|
||||
net StepCordsML sum2.4.out => mux2.6.in0
|
||||
net FeedHold xor2.0.out => motion.feed-hold
|
||||
net CHLSwitched xor2.2.out => and2.1.in1
|
||||
net ArcOKTimer oneshot.2.out => xor2.1.in0
|
||||
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
|
||||
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
|
||||
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
|
||||
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
|
||||
net TorchOff not.2.out => flipflop.1.reset
|
||||
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
|
||||
net IgnitionTimeout edge.0.out => or2.7.in1
|
||||
net ExtinguishTimer oneshot.3.out edge.1.in
|
||||
net ExtinguishLatch flipflop.2.out or2.8.in1
|
||||
net ExtinguishTimeout edge.1.out flipflop.2.reset
|
||||
net Timers or2.8.out => or2.4.in0
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
############################# Parallel Ports ##############################################
|
||||
|
||||
# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
|
||||
loadrt hal_parport cfg="0xa400 0xac00 in"
|
||||
|
||||
# Connect both Paralell Ports to Threads for Read / Write
|
||||
addf parport.0.read base-thread 1
|
||||
addf parport.0.write base-thread -1
|
||||
addf parport.1.read base-thread 1
|
||||
addf parport.1.write base-thread -1
|
||||
|
||||
# Invert pins to make motors move in right direction
|
||||
setp parport.0.pin-03-out-invert 1
|
||||
setp parport.0.pin-05-out-invert 1
|
||||
|
||||
# Hook up the step and dir signals to the parport pins
|
||||
# Axis A and Y are the same axis but different motors
|
||||
net StepX stepgen.0.step => parport.0.pin-02-out
|
||||
net DirX stepgen.0.dir => parport.0.pin-03-out
|
||||
net StepY stepgen.1.step => parport.0.pin-04-out
|
||||
net DirY stepgen.1.dir => parport.0.pin-05-out
|
||||
net StepZ stepgen.2.step => parport.0.pin-06-out
|
||||
net DirZ stepgen.2.dir => parport.0.pin-07-out
|
||||
net StepA stepgen.3.step => parport.0.pin-08-out
|
||||
net DirA stepgen.3.dir => parport.0.pin-09-out
|
||||
|
||||
# Hook up limit and home switches, each axis shares a common pin for homing, limit min and limit max
|
||||
net LimitX parport.1.pin-06-in-not => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
|
||||
net LimitY parport.1.pin-07-in-not => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
|
||||
# Z axis Limit switch handled by THC, see thc.hal
|
||||
#net LimitZ parport.1.pin-13-in => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net LimitA parport.1.pin-09-in-not => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in
|
||||
|
|
@ -1,190 +0,0 @@
|
|||
###################### Torch Height Control ##########################
|
||||
|
||||
# Load realtime hal components for THC
|
||||
loadrt and2 count=9
|
||||
loadrt comp count=3
|
||||
loadrt updown
|
||||
loadrt flipflop count=3
|
||||
loadrt hypot
|
||||
loadrt logic personality=0x203
|
||||
loadrt minmax
|
||||
loadrt mult2 count=2
|
||||
loadrt mux2 count=7
|
||||
loadrt not count=3
|
||||
loadrt oneshot count=4
|
||||
loadrt or2 count=9
|
||||
loadrt scale
|
||||
loadrt sum2 count=5
|
||||
loadrt xor2 count=4
|
||||
loadrt conv_s32_float
|
||||
loadrt edge count=2
|
||||
|
||||
# Attach realtime hal components to a realtime thread
|
||||
addf and2.0 servo-thread
|
||||
addf and2.1 servo-thread
|
||||
addf and2.2 servo-thread
|
||||
addf and2.3 servo-thread
|
||||
addf and2.4 servo-thread
|
||||
addf and2.5 servo-thread
|
||||
addf and2.6 servo-thread
|
||||
addf and2.7 servo-thread
|
||||
addf and2.8 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf comp.2 servo-thread
|
||||
addf conv-s32-float.0 servo-thread
|
||||
addf edge.0 servo-thread
|
||||
addf edge.1 servo-thread
|
||||
addf flipflop.0 servo-thread
|
||||
addf flipflop.1 servo-thread
|
||||
addf flipflop.2 servo-thread
|
||||
addf hypot.0 servo-thread
|
||||
addf logic.0 servo-thread
|
||||
addf minmax.0 servo-thread
|
||||
addf mult2.0 servo-thread
|
||||
addf mult2.1 servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
addf mux2.1 servo-thread
|
||||
addf mux2.2 servo-thread
|
||||
addf mux2.3 servo-thread
|
||||
addf mux2.4 servo-thread
|
||||
addf mux2.5 servo-thread
|
||||
addf mux2.6 servo-thread
|
||||
addf not.0 servo-thread
|
||||
addf not.1 servo-thread
|
||||
addf not.2 servo-thread
|
||||
addf oneshot.0 servo-thread
|
||||
addf oneshot.1 servo-thread
|
||||
addf oneshot.2 servo-thread
|
||||
addf oneshot.3 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
addf or2.1 servo-thread
|
||||
addf or2.2 servo-thread
|
||||
addf or2.3 servo-thread
|
||||
addf or2.4 servo-thread
|
||||
addf or2.5 servo-thread
|
||||
addf or2.6 servo-thread
|
||||
addf or2.7 servo-thread
|
||||
addf or2.8 servo-thread
|
||||
addf updown.0 servo-thread
|
||||
addf scale.0 servo-thread
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf sum2.3 servo-thread
|
||||
addf sum2.4 servo-thread
|
||||
addf xor2.0 servo-thread
|
||||
addf xor2.1 servo-thread
|
||||
addf xor2.2 servo-thread
|
||||
|
||||
# Set static values and default values
|
||||
setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
|
||||
setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
|
||||
setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
|
||||
setp oneshot.3.falling 1
|
||||
setp oneshot.3.rising 0
|
||||
setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
|
||||
setp mux2.1.in0 -1
|
||||
setp mux2.1.in1 1
|
||||
setp mux2.3.in0 0
|
||||
|
||||
# Set the lowest value the THC will try to move the torch
|
||||
setp sum2.4.in0 [AXIS_2]MIN_LIMIT
|
||||
|
||||
# Set default gains for sum, positive for addition and negative for subtraction
|
||||
# Setting positive gains will become implicit and those can be removed safely in a later version
|
||||
setp sum2.0.gain0 1
|
||||
setp sum2.0.gain1 1
|
||||
setp sum2.1.gain0 1
|
||||
setp sum2.1.gain1 1
|
||||
setp sum2.2.gain0 1
|
||||
setp sum2.2.gain1 -1
|
||||
setp sum2.3.gain0 1
|
||||
setp sum2.3.gain1 -1
|
||||
setp sum2.4.gain0 1
|
||||
setp sum2.4.gain1 -1
|
||||
|
||||
# Set Hysterisis for float comp
|
||||
setp comp.1.hyst 0.001
|
||||
|
||||
# Set percentage multiplier for scale
|
||||
setp scale.0.gain 0.01
|
||||
|
||||
# Set edge detectors to work on falling edges to detect Ignition Timeouts
|
||||
setp edge.0.in-edge 1
|
||||
setp edge.1.in-edge 1
|
||||
|
||||
# Hook up parallel port pins
|
||||
net MoveDown parport.1.pin-06-in-not => or2.0.in0
|
||||
net MoveUp parport.1.pin-07-in-not => or2.0.in1 mux2.1.sel
|
||||
|
||||
# Hook up component pins using the net command
|
||||
net FloatSwitch parport.1.pin-03-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
|
||||
net ArcOK parport.1.pin-08-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
|
||||
net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0
|
||||
net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0
|
||||
net LockHeight and2.0.out => xor2.2.in0
|
||||
net EnabledAdjustHeight and2.1.out => mux2.3.sel
|
||||
net ReleaseFeedHold and2.2.out => xor2.0.in1
|
||||
net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
|
||||
net FloatSwitchEstop and2.4.out => logic.0.in-02
|
||||
net FloatAndTorchOn and2.5.out => or2.2.in1
|
||||
net TorchAndFloat and2.6.out => flipflop.0.set
|
||||
net PosAndFloat and2.7.out => or2.5.in1
|
||||
net IgnitionEstop comp.2.out => logic.0.in-01
|
||||
net StartTorchOn and2.8.out => and2.3.in0
|
||||
net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
|
||||
net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
|
||||
net CHLTriggered comp.0.out => and2.0.in0
|
||||
net AtPosition comp.1.equal => and2.7.in0
|
||||
net VelX ddt.0.out => hypot.0.in0
|
||||
net VelY ddt.1.out => hypot.0.in1
|
||||
net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
|
||||
net ModeIsAuto halui.mode.is-auto => mux2.5.sel
|
||||
net VelXY hypot.0.out => minmax.0.in comp.0.in0
|
||||
net TriggerEStop logic.0.or => estop-latch.0.fault-in
|
||||
net MaximumVelocity minmax.0.max => mult2.1.in0
|
||||
net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in
|
||||
net HeightAdjustment mult2.0.out => mux2.3.in1
|
||||
net VelocityThreshold mult2.1.out => comp.0.in1
|
||||
net HeightOffset mux2.0.out => sum2.1.in1
|
||||
net AdjustmentDirection mux2.1.out => mult2.0.in1
|
||||
net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
|
||||
net SelectedAdjustment mux2.3.out => mux2.0.in1
|
||||
net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
|
||||
net PosSelectB mux2.5.out => mux2.4.in0
|
||||
net PosSelectC mux2.6.out => mux2.4.in1
|
||||
net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
|
||||
net ReversedArcOK not.1.out => minmax.0.reset
|
||||
net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
|
||||
net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
|
||||
net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
|
||||
net TakeSnapshot or2.1.out => mux2.2.sel
|
||||
net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net ProbeOrArcOK or2.3.out => mux2.6.sel
|
||||
net PAFOrArcOK or2.5.out => and2.3.in1
|
||||
net EstopOrArcOK or2.6.out => flipflop.0.reset
|
||||
net ExtEStop parport.0.pin-10-in => logic.0.in-00
|
||||
net ExtEStop => logic.0.in-00
|
||||
net LimitZ parport.0.pin-13-in => or2.2.in0
|
||||
net ThresholdPercentage scale.0.out => mult2.1.in1
|
||||
net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
|
||||
net PierceOffset sum2.0.out => mux2.0.in0
|
||||
net DestinationHeight sum2.1.out => mux2.6.in1
|
||||
net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
|
||||
net StepCordsTH sum2.3.out => mux2.5.in1
|
||||
net StepCordsML sum2.4.out => mux2.6.in0
|
||||
net FeedHold xor2.0.out => motion.feed-hold
|
||||
net CHLSwitched xor2.2.out => and2.1.in1
|
||||
net ArcOKTimer oneshot.2.out => xor2.1.in0
|
||||
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
|
||||
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
|
||||
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
|
||||
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
|
||||
net TorchOff not.2.out => flipflop.1.reset
|
||||
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
|
||||
net IgnitionTimeout edge.0.out => or2.7.in1
|
||||
net ExtinguishTimer oneshot.3.out edge.1.in
|
||||
net ExtinguishLatch flipflop.2.out or2.8.in1
|
||||
net ExtinguishTimeout edge.1.out flipflop.2.reset
|
||||
net Timers or2.8.out => or2.4.in0
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
############################# Parallel Ports ##############################################
|
||||
|
||||
# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
|
||||
loadrt hal_parport cfg="0xa400 0xac00 in"
|
||||
|
||||
# Connect both Paralell Ports to Threads for Read / Write
|
||||
addf parport.0.read base-thread 1
|
||||
addf parport.0.write base-thread -1
|
||||
addf parport.1.read base-thread 1
|
||||
addf parport.1.write base-thread -1
|
||||
|
||||
# Invert pins to make motors move in right direction
|
||||
setp parport.0.pin-03-out-invert 1
|
||||
setp parport.0.pin-05-out-invert 1
|
||||
|
||||
# Hook up the step and dir signals to the parport pins
|
||||
# Axis A and Y are the same axis but different motors
|
||||
net StepX stepgen.0.step => parport.0.pin-02-out
|
||||
net DirX stepgen.0.dir => parport.0.pin-03-out
|
||||
net StepY stepgen.1.step => parport.0.pin-04-out
|
||||
net DirY stepgen.1.dir => parport.0.pin-05-out
|
||||
net StepZ stepgen.2.step => parport.0.pin-06-out
|
||||
net DirZ stepgen.2.dir => parport.0.pin-07-out
|
||||
net StepA stepgen.3.step => parport.0.pin-08-out
|
||||
net DirA stepgen.3.dir => parport.0.pin-09-out
|
||||
|
||||
# Hook up limit and home switches, each axis shares a common pin for homing, limit min and limit max
|
||||
net LimitX parport.0.pin-11-in => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
|
||||
net LimitY parport.0.pin-12-in => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
|
||||
# Z axis Limit switch handled by THC, see thc.hal
|
||||
#net LimitZ parport.1.pin-13-in => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net LimitA parport.0.pin-15-in => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in
|
||||
|
|
@ -1,54 +0,0 @@
|
|||
############################ Step Generators #########################################
|
||||
|
||||
# Stepper module, four step generators, all using step/dir
|
||||
loadrt stepgen step_type=0,0,0,0
|
||||
|
||||
# Load realtime ddt for velocity calculations used for CHL
|
||||
loadrt ddt count=2
|
||||
|
||||
# Hook functions to base thread (high speed thread for step generation)
|
||||
addf stepgen.make-pulses base-thread
|
||||
|
||||
# Hook functions to servo thread
|
||||
addf stepgen.capture-position servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf stepgen.update-freq servo-thread
|
||||
addf ddt.0 servo-thread
|
||||
addf ddt.1 servo-thread
|
||||
|
||||
# Configure signals for Z axis to be twice the size of the signals for other axis because
|
||||
# Z axis has a slo-syn driver which can't handle smaller step sizes
|
||||
setp stepgen.2.steplen 35200
|
||||
setp stepgen.2.stepspace 35200
|
||||
setp stepgen.2.dirsetup 35200
|
||||
setp stepgen.2.dirhold 35200
|
||||
|
||||
# Set stepgen module scaling - get values from ini file
|
||||
setp stepgen.0.position-scale [AXIS_0]SCALE
|
||||
setp stepgen.1.position-scale [AXIS_1]SCALE
|
||||
setp stepgen.2.position-scale [AXIS_2]SCALE
|
||||
setp stepgen.3.position-scale [AXIS_3]SCALE
|
||||
|
||||
# Set stepgen module accel limits - get values from ini file
|
||||
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
|
||||
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
|
||||
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
|
||||
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
|
||||
|
||||
# Hook up stepgen to motion modules
|
||||
net PosX-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
|
||||
net PosX-fb stepgen.0.position-fb => joint.0.motor-pos-fb ddt.0.in
|
||||
net PosY-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
|
||||
net PosY-fb stepgen.1.position-fb => joint.1.motor-pos-fb ddt.1.in
|
||||
# Z Axis Position and feedback signals handled by THC, see thc.hal
|
||||
#net PosZ-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
|
||||
#net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb
|
||||
net PosA-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
|
||||
net PosA-fb stepgen.3.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# Hook up enable signals for step generators
|
||||
net EnableX joint.0.amp-enable-out => stepgen.0.enable
|
||||
net EnableY joint.1.amp-enable-out => stepgen.1.enable
|
||||
net EnableZ joint.2.amp-enable-out => stepgen.2.enable
|
||||
net EnableA joint.3.amp-enable-out => stepgen.3.enable
|
||||
|
|
@ -1,190 +0,0 @@
|
|||
###################### Torch Height Control ##########################
|
||||
|
||||
# Load realtime hal components for THC
|
||||
loadrt and2 count=9
|
||||
loadrt comp count=3
|
||||
loadrt updown
|
||||
loadrt flipflop count=3
|
||||
loadrt hypot
|
||||
loadrt logic personality=0x203
|
||||
loadrt minmax
|
||||
loadrt mult2 count=2
|
||||
loadrt mux2 count=7
|
||||
loadrt not count=3
|
||||
loadrt oneshot count=4
|
||||
loadrt or2 count=9
|
||||
loadrt scale
|
||||
loadrt sum2 count=5
|
||||
loadrt xor2 count=4
|
||||
loadrt conv_s32_float
|
||||
loadrt edge count=2
|
||||
|
||||
# Attach realtime hal components to a realtime thread
|
||||
addf and2.0 servo-thread
|
||||
addf and2.1 servo-thread
|
||||
addf and2.2 servo-thread
|
||||
addf and2.3 servo-thread
|
||||
addf and2.4 servo-thread
|
||||
addf and2.5 servo-thread
|
||||
addf and2.6 servo-thread
|
||||
addf and2.7 servo-thread
|
||||
addf and2.8 servo-thread
|
||||
addf comp.0 servo-thread
|
||||
addf comp.1 servo-thread
|
||||
addf comp.2 servo-thread
|
||||
addf conv-s32-float.0 servo-thread
|
||||
addf edge.0 servo-thread
|
||||
addf edge.1 servo-thread
|
||||
addf flipflop.0 servo-thread
|
||||
addf flipflop.1 servo-thread
|
||||
addf flipflop.2 servo-thread
|
||||
addf hypot.0 servo-thread
|
||||
addf logic.0 servo-thread
|
||||
addf minmax.0 servo-thread
|
||||
addf mult2.0 servo-thread
|
||||
addf mult2.1 servo-thread
|
||||
addf mux2.0 servo-thread
|
||||
addf mux2.1 servo-thread
|
||||
addf mux2.2 servo-thread
|
||||
addf mux2.3 servo-thread
|
||||
addf mux2.4 servo-thread
|
||||
addf mux2.5 servo-thread
|
||||
addf mux2.6 servo-thread
|
||||
addf not.0 servo-thread
|
||||
addf not.1 servo-thread
|
||||
addf not.2 servo-thread
|
||||
addf oneshot.0 servo-thread
|
||||
addf oneshot.1 servo-thread
|
||||
addf oneshot.2 servo-thread
|
||||
addf oneshot.3 servo-thread
|
||||
addf or2.0 servo-thread
|
||||
addf or2.1 servo-thread
|
||||
addf or2.2 servo-thread
|
||||
addf or2.3 servo-thread
|
||||
addf or2.4 servo-thread
|
||||
addf or2.5 servo-thread
|
||||
addf or2.6 servo-thread
|
||||
addf or2.7 servo-thread
|
||||
addf or2.8 servo-thread
|
||||
addf updown.0 servo-thread
|
||||
addf scale.0 servo-thread
|
||||
addf sum2.0 servo-thread
|
||||
addf sum2.1 servo-thread
|
||||
addf sum2.2 servo-thread
|
||||
addf sum2.3 servo-thread
|
||||
addf sum2.4 servo-thread
|
||||
addf xor2.0 servo-thread
|
||||
addf xor2.1 servo-thread
|
||||
addf xor2.2 servo-thread
|
||||
|
||||
# Set static values and default values
|
||||
setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
|
||||
setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
|
||||
setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
|
||||
setp oneshot.3.falling 1
|
||||
setp oneshot.3.rising 0
|
||||
setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
|
||||
setp mux2.1.in0 -1
|
||||
setp mux2.1.in1 1
|
||||
setp mux2.3.in0 0
|
||||
|
||||
# Set the lowest value the THC will try to move the torch
|
||||
setp sum2.4.in0 [AXIS_2]MIN_LIMIT
|
||||
|
||||
# Set default gains for sum, positive for addition and negative for subtraction
|
||||
# Setting positive gains will become implicit and those can be removed safely in a later version
|
||||
setp sum2.0.gain0 1
|
||||
setp sum2.0.gain1 1
|
||||
setp sum2.1.gain0 1
|
||||
setp sum2.1.gain1 1
|
||||
setp sum2.2.gain0 1
|
||||
setp sum2.2.gain1 -1
|
||||
setp sum2.3.gain0 1
|
||||
setp sum2.3.gain1 -1
|
||||
setp sum2.4.gain0 1
|
||||
setp sum2.4.gain1 -1
|
||||
|
||||
# Set Hysterisis for float comp
|
||||
setp comp.1.hyst 0.001
|
||||
|
||||
# Set percentage multiplier for scale
|
||||
setp scale.0.gain 0.01
|
||||
|
||||
# Set edge detectors to work on falling edges to detect Ignition Timeouts
|
||||
setp edge.0.in-edge 1
|
||||
setp edge.1.in-edge 1
|
||||
|
||||
# Hook up parallel port pins
|
||||
net MoveDown parport.1.pin-06-in-not => or2.0.in0
|
||||
net MoveUp parport.1.pin-07-in-not => or2.0.in1 mux2.1.sel
|
||||
|
||||
# Hook up component pins using the net command
|
||||
net FloatSwitch parport.1.pin-13-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
|
||||
net ArcOK parport.1.pin-08-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
|
||||
net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0
|
||||
net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0
|
||||
net LockHeight and2.0.out => xor2.2.in0
|
||||
net EnabledAdjustHeight and2.1.out => mux2.3.sel
|
||||
net ReleaseFeedHold and2.2.out => xor2.0.in1
|
||||
net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
|
||||
net FloatSwitchEstop and2.4.out => logic.0.in-02
|
||||
net FloatAndTorchOn and2.5.out => or2.2.in1
|
||||
net TorchAndFloat and2.6.out => flipflop.0.set
|
||||
net PosAndFloat and2.7.out => or2.5.in1
|
||||
net IgnitionEstop comp.2.out => logic.0.in-01
|
||||
net StartTorchOn and2.8.out => and2.3.in0
|
||||
net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
|
||||
net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
|
||||
net CHLTriggered comp.0.out => and2.0.in0
|
||||
net AtPosition comp.1.equal => and2.7.in0
|
||||
net VelX ddt.0.out => hypot.0.in0
|
||||
net VelY ddt.1.out => hypot.0.in1
|
||||
net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
|
||||
net ModeIsAuto halui.mode.is-auto => mux2.5.sel
|
||||
net VelXY hypot.0.out => minmax.0.in comp.0.in0
|
||||
net TriggerEStop logic.0.or => estop-latch.0.fault-in
|
||||
net MaximumVelocity minmax.0.max => mult2.1.in0
|
||||
net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in
|
||||
net HeightAdjustment mult2.0.out => mux2.3.in1
|
||||
net VelocityThreshold mult2.1.out => comp.0.in1
|
||||
net HeightOffset mux2.0.out => sum2.1.in1
|
||||
net AdjustmentDirection mux2.1.out => mult2.0.in1
|
||||
net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
|
||||
net SelectedAdjustment mux2.3.out => mux2.0.in1
|
||||
net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
|
||||
net PosSelectB mux2.5.out => mux2.4.in0
|
||||
net PosSelectC mux2.6.out => mux2.4.in1
|
||||
net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
|
||||
net ReversedArcOK not.1.out => minmax.0.reset
|
||||
net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
|
||||
net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
|
||||
net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
|
||||
net TakeSnapshot or2.1.out => mux2.2.sel
|
||||
net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
|
||||
net ProbeOrArcOK or2.3.out => mux2.6.sel
|
||||
net PAFOrArcOK or2.5.out => and2.3.in1
|
||||
net EstopOrArcOK or2.6.out => flipflop.0.reset
|
||||
net ExtEStop parport.0.pin-10-in => logic.0.in-00
|
||||
net ExtEStop => logic.0.in-00
|
||||
net LimitZ parport.0.pin-13-in => or2.2.in0
|
||||
net ThresholdPercentage scale.0.out => mult2.1.in1
|
||||
net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
|
||||
net PierceOffset sum2.0.out => mux2.0.in0
|
||||
net DestinationHeight sum2.1.out => mux2.6.in1
|
||||
net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
|
||||
net StepCordsTH sum2.3.out => mux2.5.in1
|
||||
net StepCordsML sum2.4.out => mux2.6.in0
|
||||
net FeedHold xor2.0.out => motion.feed-hold
|
||||
net CHLSwitched xor2.2.out => and2.1.in1
|
||||
net ArcOKTimer oneshot.2.out => xor2.1.in0
|
||||
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
|
||||
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
|
||||
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
|
||||
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
|
||||
net TorchOff not.2.out => flipflop.1.reset
|
||||
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
|
||||
net IgnitionTimeout edge.0.out => or2.7.in1
|
||||
net ExtinguishTimer oneshot.3.out edge.1.in
|
||||
net ExtinguishLatch flipflop.2.out or2.8.in1
|
||||
net ExtinguishTimeout edge.1.out flipflop.2.reset
|
||||
net Timers or2.8.out => or2.4.in0
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
by_interface
|
||||
|
||||
Configuraciones demostrando el uso de hardware especifico.
|
||||
|
|
@ -3,9 +3,9 @@
|
|||
# Loading real-time modules #
|
||||
#########################################################################
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt trivkins
|
||||
loadrt hal_gm
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
|
||||
loadrt pid num_chan=3
|
||||
loadrt not
|
||||
|
||||
|
|
@ -42,11 +42,11 @@ net hw_fault gm.0.power-fault => not.0.in
|
|||
net estop not.0.out => iocontrol.0.emc-enable-in
|
||||
|
||||
# connect enable signals for DAC and PID
|
||||
net Xen joint.0.amp-enable-out => gm.0.dac.0.enable
|
||||
net Xen axis.0.amp-enable-out => gm.0.dac.0.enable
|
||||
net Xen => pid.0.enable
|
||||
net Yen joint.1.amp-enable-out => gm.0.dac.1.enable
|
||||
net Yen axis.1.amp-enable-out => gm.0.dac.1.enable
|
||||
net Yen => pid.1.enable
|
||||
net Zen joint.2.amp-enable-out => gm.0.dac.2.enable
|
||||
net Zen axis.2.amp-enable-out => gm.0.dac.2.enable
|
||||
net Zen => pid.2.enable
|
||||
|
||||
#########################################################################
|
||||
|
|
@ -62,7 +62,7 @@ setp gm.0.encoder.0.counter-mode 0 #0:quad, 1:stepDir
|
|||
setp gm.0.encoder.0.index-enable 0 #0:disable, 1:enable
|
||||
setp gm.0.encoder.0.index-mode 1 #0:reset counter at index, 1:round position at index
|
||||
setp gm.0.encoder.0.counts-per-rev 2000
|
||||
setp gm.0.encoder.0.position-scale [JOINT_0]INPUT_SCALE
|
||||
setp gm.0.encoder.0.position-scale [AXIS_0]INPUT_SCALE
|
||||
setp gm.0.encoder.0.min-speed-estimate 0.1
|
||||
|
||||
# ################
|
||||
|
|
@ -74,7 +74,7 @@ setp gm.0.encoder.1.counter-mode 0 #0:quad, 1:stepDir
|
|||
setp gm.0.encoder.1.index-enable 0 #0:disable, 1:enable
|
||||
setp gm.0.encoder.1.index-mode 1 #0:reset counter at index, 1:round position at index
|
||||
setp gm.0.encoder.1.counts-per-rev 2000
|
||||
setp gm.0.encoder.1.position-scale [JOINT_2]INPUT_SCALE
|
||||
setp gm.0.encoder.1.position-scale [AXIS_2]INPUT_SCALE
|
||||
setp gm.0.encoder.1.min-speed-estimate 0.1
|
||||
|
||||
# ################
|
||||
|
|
@ -86,7 +86,7 @@ setp gm.0.encoder.2.counter-mode 0 #0:quad, 1:stepDir
|
|||
setp gm.0.encoder.2.index-enable 0 #0:disable, 1:enable
|
||||
setp gm.0.encoder.2.index-mode 1 #0:reset counter at index, 1:round position at index
|
||||
setp gm.0.encoder.2.counts-per-rev 2000
|
||||
setp gm.0.encoder.2.position-scale [JOINT_2]INPUT_SCALE
|
||||
setp gm.0.encoder.2.position-scale [AXIS_2]INPUT_SCALE
|
||||
setp gm.0.encoder.2.min-speed-estimate 0.1
|
||||
|
||||
#########################################################################
|
||||
|
|
@ -98,45 +98,45 @@ setp gm.0.encoder.2.min-speed-estimate 0.1
|
|||
# ################
|
||||
|
||||
# set PID loop gains from inifile
|
||||
setp pid.0.Pgain [JOINT_0]P
|
||||
setp pid.0.Igain [JOINT_0]I
|
||||
setp pid.0.Dgain [JOINT_0]D
|
||||
setp pid.0.bias [JOINT_0]BIAS
|
||||
setp pid.0.FF0 [JOINT_0]FF0
|
||||
setp pid.0.FF1 [JOINT_0]FF1
|
||||
setp pid.0.FF2 [JOINT_0]FF2
|
||||
setp pid.0.deadband [JOINT_0]DEADBAND
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.0.Pgain [AXIS_0]P
|
||||
setp pid.0.Igain [AXIS_0]I
|
||||
setp pid.0.Dgain [AXIS_0]D
|
||||
setp pid.0.bias [AXIS_0]BIAS
|
||||
setp pid.0.FF0 [AXIS_0]FF0
|
||||
setp pid.0.FF1 [AXIS_0]FF1
|
||||
setp pid.0.FF2 [AXIS_0]FF2
|
||||
setp pid.0.deadband [AXIS_0]DEADBAND
|
||||
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
|
||||
|
||||
# ################
|
||||
# Y [1] Axis
|
||||
# ################
|
||||
|
||||
# set PID loop gains from inifile
|
||||
setp pid.1.Pgain [JOINT_1]P
|
||||
setp pid.1.Igain [JOINT_1]I
|
||||
setp pid.1.Dgain [JOINT_1]D
|
||||
setp pid.1.bias [JOINT_1]BIAS
|
||||
setp pid.1.FF0 [JOINT_1]FF0
|
||||
setp pid.1.FF1 [JOINT_1]FF1
|
||||
setp pid.1.FF2 [JOINT_1]FF2
|
||||
setp pid.1.deadband [JOINT_1]DEADBAND
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.1.Pgain [AXIS_1]P
|
||||
setp pid.1.Igain [AXIS_1]I
|
||||
setp pid.1.Dgain [AXIS_1]D
|
||||
setp pid.1.bias [AXIS_1]BIAS
|
||||
setp pid.1.FF0 [AXIS_1]FF0
|
||||
setp pid.1.FF1 [AXIS_1]FF1
|
||||
setp pid.1.FF2 [AXIS_1]FF2
|
||||
setp pid.1.deadband [AXIS_1]DEADBAND
|
||||
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
|
||||
|
||||
# ################
|
||||
# Z [2] Axis
|
||||
# ################
|
||||
|
||||
# set PID loop gains from inifile
|
||||
setp pid.2.Pgain [JOINT_2]P
|
||||
setp pid.2.Igain [JOINT_2]I
|
||||
setp pid.2.Dgain [JOINT_2]D
|
||||
setp pid.2.bias [JOINT_2]BIAS
|
||||
setp pid.2.FF0 [JOINT_2]FF0
|
||||
setp pid.2.FF1 [JOINT_2]FF1
|
||||
setp pid.2.FF2 [JOINT_2]FF2
|
||||
setp pid.2.deadband [JOINT_2]DEADBAND
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.2.Pgain [AXIS_2]P
|
||||
setp pid.2.Igain [AXIS_2]I
|
||||
setp pid.2.Dgain [AXIS_2]D
|
||||
setp pid.2.bias [AXIS_2]BIAS
|
||||
setp pid.2.FF0 [AXIS_2]FF0
|
||||
setp pid.2.FF1 [AXIS_2]FF1
|
||||
setp pid.2.FF2 [AXIS_2]FF2
|
||||
setp pid.2.deadband [AXIS_2]DEADBAND
|
||||
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
|
||||
|
||||
#########################################################################
|
||||
# position reference and feedback connection #
|
||||
|
|
@ -148,9 +148,9 @@ net Ypos-fb gm.0.encoder.1.position => pid.1.feedback
|
|||
net Zpos-fb gm.0.encoder.2.position => pid.2.feedback
|
||||
|
||||
# connect position commands from motion module to PID
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
|
||||
net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command
|
||||
net Ypos-cmd axis.1.motor-pos-cmd => pid.1.command
|
||||
net Zpos-cmd axis.2.motor-pos-cmd => pid.2.command
|
||||
|
||||
# connect PID output to DAC
|
||||
net Xdac-cmd pid.0.output => gm.0.dac.0.value
|
||||
|
|
@ -158,22 +158,22 @@ net Ydac-cmd pid.1.output => gm.0.dac.1.value
|
|||
net Zdac-cmd pid.2.output => gm.0.dac.2.value
|
||||
|
||||
# connect position feedback
|
||||
net Xpos-cmd => joint.0.motor-pos-fb
|
||||
net Ypos-cmd => joint.1.motor-pos-fb
|
||||
net Zpos-cmd => joint.2.motor-pos-fb
|
||||
net Xpos-cmd => axis.0.motor-pos-fb
|
||||
net Ypos-cmd => axis.1.motor-pos-fb
|
||||
net Zpos-cmd => axis.2.motor-pos-fb
|
||||
|
||||
#########################################################################
|
||||
# homing and limit switches #
|
||||
#########################################################################
|
||||
|
||||
net lim-sw-x-pos gm.0.joint.0.pos-lim-sw-in-not => joint.0.pos-lim-sw-in
|
||||
net lim-sw-x-neg gm.0.joint.0.neg-lim-sw-in-not => joint.0.neg-lim-sw-in
|
||||
net lim-sw-x-home gm.0.joint.0.home-sw-in-not => joint.0.home-sw-in
|
||||
net lim-sw-x-pos gm.0.axis.0.pos-lim-sw-in-not => axis.0.pos-lim-sw-in
|
||||
net lim-sw-x-neg gm.0.axis.0.neg-lim-sw-in-not => axis.0.neg-lim-sw-in
|
||||
net lim-sw-x-home gm.0.axis.0.home-sw-in-not => axis.0.home-sw-in
|
||||
|
||||
net lim-sw-y-pos gm.0.joint.1.pos-lim-sw-in-not => joint.1.pos-lim-sw-in
|
||||
net lim-sw-y-neg gm.0.joint.1.neg-lim-sw-in-not => joint.1.neg-lim-sw-in
|
||||
net lim-sw-y-home gm.0.joint.1.home-sw-in-not => joint.1.home-sw-in
|
||||
net lim-sw-y-pos gm.0.axis.1.pos-lim-sw-in-not => axis.1.pos-lim-sw-in
|
||||
net lim-sw-y-neg gm.0.axis.1.neg-lim-sw-in-not => axis.1.neg-lim-sw-in
|
||||
net lim-sw-y-home gm.0.axis.1.home-sw-in-not => axis.1.home-sw-in
|
||||
|
||||
net lim-sw-z-pos gm.0.joint.2.pos-lim-sw-in-not => joint.2.pos-lim-sw-in
|
||||
net lim-sw-z-neg gm.0.joint.2.neg-lim-sw-in-not => joint.2.neg-lim-sw-in
|
||||
net lim-sw-z-home gm.0.joint.2.home-sw-in-not => joint.2.home-sw-in
|
||||
net lim-sw-z-pos gm.0.axis.2.pos-lim-sw-in-not => axis.2.pos-lim-sw-in
|
||||
net lim-sw-z-neg gm.0.axis.2.neg-lim-sw-in-not => axis.2.neg-lim-sw-in
|
||||
net lim-sw-z-home gm.0.axis.2.home-sw-in-not => axis.2.home-sw-in
|
||||
|
|
|
|||
|
|
@ -1,113 +1,117 @@
|
|||
|
||||
###############################################################################
|
||||
# General section
|
||||
###############################################################################
|
||||
|
||||
[EMC]
|
||||
|
||||
#- Version of this INI file
|
||||
VERSION = 1.1
|
||||
VERSION = $Revision$
|
||||
|
||||
#+ Name of machine, for use with display, etc.
|
||||
MACHINE = GM6-PCI-3-axis-servo
|
||||
|
||||
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
DEBUG = 0
|
||||
|
||||
###############################################################################
|
||||
# Sections for display options
|
||||
###############################################################################
|
||||
|
||||
[DISPLAY]
|
||||
#+ Name of display program, e.g., axis
|
||||
|
||||
#+ Name of display program, e.g., xemc
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# DISPLAY = usrmot
|
||||
# DISPLAY = mini
|
||||
# DISPLAY = tkemc
|
||||
# DISPLAY = touchy
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
|
||||
#- Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tkemc.txt
|
||||
|
||||
#- Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
#- Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
#+ Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
|
||||
#- Prefix to be used
|
||||
#PROGRAM_PREFIX = /home/gm/emc2/nc_files
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
#- Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_GRAPHIC = emc2.gif
|
||||
INTRO_TIME = 1
|
||||
|
||||
###############################################################################
|
||||
# Task controller section
|
||||
###############################################################################
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
|
||||
[RS274NGC]
|
||||
#- File containing interpreter variables
|
||||
PARAMETER_FILE = gm.var
|
||||
###############################################################################
|
||||
# Motion control section
|
||||
###############################################################################
|
||||
|
||||
[EMCMOT]
|
||||
#- Name of the motion controller to use (only one exists for nontrivkins)
|
||||
EMCMOT = motmod
|
||||
#- Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
###############################################################################
|
||||
# Hardware Abstraction Layer section
|
||||
###############################################################################
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
#- Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
#- File containing interpreter variables
|
||||
PARAMETER_FILE = gm.var
|
||||
|
||||
###############################################################################
|
||||
# Motion control section
|
||||
###############################################################################
|
||||
[EMCMOT]
|
||||
|
||||
#- Name of the motion controller to use (only one exists for nontrivkins)
|
||||
EMCMOT = motmod
|
||||
|
||||
#- Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
#- Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
###############################################################################
|
||||
# Hardware Abstraction Layer section
|
||||
###############################################################################
|
||||
[HAL]
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
#+ files are executed in the order in which they appear
|
||||
HALFILE = 3-axis-servo.hal
|
||||
|
||||
###############################################################################
|
||||
# Trajectory planner section
|
||||
###############################################################################
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
#+ machine specific settings
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.424
|
||||
MAX_LINEAR_VELOCITY = 30.48
|
||||
DEFAULT_LINEAR_ACCELERATION = 300.0
|
||||
MAX_LINEAR_ACCELERATION = 500.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 0.424
|
||||
MAX_VELOCITY = 30.48
|
||||
DEFAULT_ACCELERATION = 300.0
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
|
||||
#+ First axis
|
||||
[AXIS_0]
|
||||
|
||||
[EMCIO]
|
||||
#- Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
#- cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -191.0
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 50.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 30.48
|
||||
|
|
@ -127,6 +131,7 @@ HOME_LATCH_VEL = -2.0
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.0000
|
||||
P = 10.0
|
||||
|
|
@ -136,15 +141,10 @@ FF0 = 0.000
|
|||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
#+ Second axis
|
||||
[AXIS_1]
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = 0.0
|
||||
MAX_LIMIT = 270.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 50.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 30.48
|
||||
|
|
@ -164,6 +164,7 @@ HOME_LATCH_VEL = 3.0
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.0000
|
||||
P = 10.0
|
||||
|
|
@ -173,15 +174,10 @@ FF0 = 0.000
|
|||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
#+ Third axis
|
||||
[AXIS_2]
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -985.0
|
||||
MAX_LIMIT = 0.00
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 50.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 30.48
|
||||
|
|
@ -201,6 +197,7 @@ HOME_LATCH_VEL = 3.0
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.0000
|
||||
P = 10.0
|
||||
|
|
@ -210,6 +207,14 @@ FF0 = 0.000
|
|||
FF1 = 0.000
|
||||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
###############################################################################
|
||||
# section for main IO controller parameters
|
||||
###############################################################################
|
||||
[EMCIO]
|
||||
|
||||
#- Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
#- cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
|
|
|||
|
|
@ -3,9 +3,9 @@
|
|||
# Loading real-time modules setup #
|
||||
#########################################################################
|
||||
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt trivkins
|
||||
loadrt hal_gm
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
|
||||
loadrt not
|
||||
loadusr halmeter
|
||||
#loadusr halscope -f
|
||||
|
|
@ -36,9 +36,9 @@ net hw_fault gm.0.power-fault => not.0.in
|
|||
net estop not.0.out => iocontrol.0.emc-enable-in
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => gm.0.stepgen.0.enable
|
||||
net Yen joint.1.amp-enable-out => gm.0.stepgen.1.enable
|
||||
net Zen joint.2.amp-enable-out => gm.0.stepgen.2.enable
|
||||
net Xen axis.0.amp-enable-out => gm.0.stepgen.0.enable
|
||||
net Yen axis.1.amp-enable-out => gm.0.stepgen.1.enable
|
||||
net Zen axis.2.amp-enable-out => gm.0.stepgen.2.enable
|
||||
|
||||
#########################################################################
|
||||
# stepgen setup #
|
||||
|
|
@ -52,9 +52,9 @@ setp gm.0.stepgen.0.invert-step2 0
|
|||
setp gm.0.stepgen.0.step-type 0 #0:StepDir, 1: UpDown, 2: Quad
|
||||
setp gm.0.stepgen.0.control-type 0 #0:position control, 1:velocity control
|
||||
setp gm.0.stepgen.0.maxvel 0 #do not use the maxvel parameter, let interpolator interpolate
|
||||
setp gm.0.stepgen.0.position-scale [JOINT_0]SCALE
|
||||
setp gm.0.stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp gm.0.stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp gm.0.stepgen.0.position-scale [AXIS_0]SCALE
|
||||
setp gm.0.stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
|
||||
setp gm.0.stepgen.0.maxvel [AXIS_0]STEPGEN_MAXVEL
|
||||
|
||||
setp gm.0.stepgen.1.steplen 5000 #5000 ns = 5 us
|
||||
setp gm.0.stepgen.1.stepspace 5000 #5000 ns = 5 us
|
||||
|
|
@ -64,9 +64,9 @@ setp gm.0.stepgen.1.invert-step2 0
|
|||
setp gm.0.stepgen.1.step-type 0 #0:StepDir, 1: UpDown, 2: Quad
|
||||
setp gm.0.stepgen.1.control-type 0 #0:position control, 1:velocity control
|
||||
setp gm.0.stepgen.1.maxvel 0 #do not use the maxvel parameter, let interpolator interpolate
|
||||
setp gm.0.stepgen.1.position-scale [JOINT_1]SCALE
|
||||
setp gm.0.stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp gm.0.stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp gm.0.stepgen.1.position-scale [AXIS_1]SCALE
|
||||
setp gm.0.stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
|
||||
setp gm.0.stepgen.1.maxvel [AXIS_1]STEPGEN_MAXVEL
|
||||
|
||||
setp gm.0.stepgen.2.steplen 5000 #5000 ns = 5 us
|
||||
setp gm.0.stepgen.2.stepspace 5000 #5000 ns = 5 us
|
||||
|
|
@ -76,36 +76,36 @@ setp gm.0.stepgen.2.invert-step2 0
|
|||
setp gm.0.stepgen.2.step-type 0 #0:StepDir, 1: UpDown, 2: Quad
|
||||
setp gm.0.stepgen.2.control-type 0 #0:position control, 1:velocity control
|
||||
setp gm.0.stepgen.2.maxvel 0 #do not use the maxvel parameter, let interpolator interpolate
|
||||
setp gm.0.stepgen.2.position-scale [JOINT_2]SCALE
|
||||
setp gm.0.stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp gm.0.stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp gm.0.stepgen.2.position-scale [AXIS_2]SCALE
|
||||
setp gm.0.stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
|
||||
setp gm.0.stepgen.2.maxvel [AXIS_2]STEPGEN_MAXVEL
|
||||
|
||||
#########################################################################
|
||||
# position reference and feedback #
|
||||
#########################################################################
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => gm.0.stepgen.1.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => gm.0.stepgen.2.position-cmd
|
||||
net Xpos-cmd axis.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd
|
||||
net Ypos-cmd axis.1.motor-pos-cmd => gm.0.stepgen.1.position-cmd
|
||||
net Zpos-cmd axis.2.motor-pos-cmd => gm.0.stepgen.2.position-cmd
|
||||
|
||||
# connect position feedback
|
||||
net Xpos-fb gm.0.stepgen.0.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb gm.0.stepgen.1.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb gm.0.stepgen.2.position-fb => joint.2.motor-pos-fb
|
||||
net Xpos-fb gm.0.stepgen.0.position-fb => axis.0.motor-pos-fb
|
||||
net Ypos-fb gm.0.stepgen.1.position-fb => axis.1.motor-pos-fb
|
||||
net Zpos-fb gm.0.stepgen.2.position-fb => axis.2.motor-pos-fb
|
||||
|
||||
#########################################################################
|
||||
# homing and limit switches #
|
||||
#########################################################################
|
||||
|
||||
net lim-sw-x-pos gm.0.joint.0.pos-lim-sw-in-not => joint.0.pos-lim-sw-in
|
||||
net lim-sw-x-neg gm.0.joint.0.neg-lim-sw-in-not => joint.0.neg-lim-sw-in
|
||||
net lim-sw-x-home gm.0.joint.0.home-sw-in-not => joint.0.home-sw-in
|
||||
net lim-sw-x-pos gm.0.axis.0.pos-lim-sw-in-not => axis.0.pos-lim-sw-in
|
||||
net lim-sw-x-neg gm.0.axis.0.neg-lim-sw-in-not => axis.0.neg-lim-sw-in
|
||||
net lim-sw-x-home gm.0.axis.0.home-sw-in-not => axis.0.home-sw-in
|
||||
|
||||
net lim-sw-y-pos gm.0.joint.1.pos-lim-sw-in-not => joint.1.pos-lim-sw-in
|
||||
net lim-sw-y-neg gm.0.joint.1.neg-lim-sw-in-not => joint.1.neg-lim-sw-in
|
||||
net lim-sw-y-home gm.0.joint.1.home-sw-in-not => joint.1.home-sw-in
|
||||
net lim-sw-y-pos gm.0.axis.1.pos-lim-sw-in-not => axis.1.pos-lim-sw-in
|
||||
net lim-sw-y-neg gm.0.axis.1.neg-lim-sw-in-not => axis.1.neg-lim-sw-in
|
||||
net lim-sw-y-home gm.0.axis.1.home-sw-in-not => axis.1.home-sw-in
|
||||
|
||||
net lim-sw-z-pos gm.0.joint.2.pos-lim-sw-in-not => joint.2.pos-lim-sw-in
|
||||
net lim-sw-z-neg gm.0.joint.2.neg-lim-sw-in-not => joint.2.neg-lim-sw-in
|
||||
net lim-sw-z-home gm.0.joint.2.home-sw-in-not => joint.2.home-sw-in
|
||||
net lim-sw-z-pos gm.0.axis.2.pos-lim-sw-in-not => axis.2.pos-lim-sw-in
|
||||
net lim-sw-z-neg gm.0.axis.2.neg-lim-sw-in-not => axis.2.neg-lim-sw-in
|
||||
net lim-sw-z-home gm.0.axis.2.home-sw-in-not => axis.2.home-sw-in
|
||||
|
|
|
|||
|
|
@ -1,113 +1,117 @@
|
|||
|
||||
###############################################################################
|
||||
# General section
|
||||
###############################################################################
|
||||
|
||||
[EMC]
|
||||
|
||||
#- Version of this INI file
|
||||
VERSION = 1.1
|
||||
VERSION = $Revision$
|
||||
|
||||
#+ Name of machine, for use with display, etc.
|
||||
MACHINE = GM6-PCI-3-axis-stepper
|
||||
|
||||
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
DEBUG = 0
|
||||
|
||||
###############################################################################
|
||||
# Sections for display options
|
||||
###############################################################################
|
||||
|
||||
[DISPLAY]
|
||||
#+ Name of display program, e.g., axis
|
||||
|
||||
#+ Name of display program, e.g., xemc
|
||||
DISPLAY = axis
|
||||
# DISPLAY = tklinuxcnc
|
||||
# DISPLAY = usrmot
|
||||
# DISPLAY = mini
|
||||
# DISPLAY = tkemc
|
||||
# DISPLAY = touchy
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.200
|
||||
|
||||
#- Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tkemc.txt
|
||||
|
||||
#- Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
#- Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
#+ Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
|
||||
#- Prefix to be used
|
||||
#PROGRAM_PREFIX = /home/gm/emc2/nc_files
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
#- Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_GRAPHIC = emc2.gif
|
||||
INTRO_TIME = 1
|
||||
|
||||
###############################################################################
|
||||
# Task controller section
|
||||
###############################################################################
|
||||
|
||||
[FILTER]
|
||||
#No Content
|
||||
|
||||
[RS274NGC]
|
||||
#- File containing interpreter variables
|
||||
PARAMETER_FILE = gm.var
|
||||
###############################################################################
|
||||
# Motion control section
|
||||
###############################################################################
|
||||
|
||||
[EMCMOT]
|
||||
#- Name of the motion controller to use (only one exists for nontrivkins)
|
||||
EMCMOT = motmod
|
||||
#- Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
###############################################################################
|
||||
# Hardware Abstraction Layer section
|
||||
###############################################################################
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
#- Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
#- File containing interpreter variables
|
||||
PARAMETER_FILE = gm.var
|
||||
|
||||
###############################################################################
|
||||
# Motion control section
|
||||
###############################################################################
|
||||
[EMCMOT]
|
||||
|
||||
#- Name of the motion controller to use (only one exists for nontrivkins)
|
||||
EMCMOT = motmod
|
||||
|
||||
#- Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
#- Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
###############################################################################
|
||||
# Hardware Abstraction Layer section
|
||||
###############################################################################
|
||||
[HAL]
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
#+ files are executed in the order in which they appear
|
||||
HALFILE = 3-axis-stepper.hal
|
||||
|
||||
###############################################################################
|
||||
# Trajectory planner section
|
||||
###############################################################################
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
#+ machine specific settings
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 0.424
|
||||
MAX_LINEAR_VELOCITY = 30.48
|
||||
DEFAULT_LINEAR_ACCELERATION = 300.0
|
||||
MAX_LINEAR_ACCELERATION = 500.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 0.424
|
||||
MAX_VELOCITY = 30.48
|
||||
DEFAULT_ACCELERATION = 300.0
|
||||
MAX_ACCELERATION = 500.0
|
||||
|
||||
###############################################################################
|
||||
# Axes sections
|
||||
###############################################################################
|
||||
|
||||
#+ First axis
|
||||
[AXIS_0]
|
||||
|
||||
[EMCIO]
|
||||
#- Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
#- cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -191.0
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 50.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = -50.000
|
||||
MAX_VELOCITY = 30.48
|
||||
|
|
@ -127,15 +131,10 @@ HOME_LATCH_VEL = -2.0
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
#+ Second axis
|
||||
[AXIS_1]
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -250.0
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 50.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = -40.000
|
||||
MAX_VELOCITY = 30.48
|
||||
|
|
@ -155,15 +154,10 @@ HOME_LATCH_VEL = -3.0
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
#+ Third axis
|
||||
[AXIS_2]
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -985.0
|
||||
MAX_LIMIT = 0.00
|
||||
MAX_VELOCITY = 30.48
|
||||
MAX_ACCELERATION = 50.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = -30.0
|
||||
MAX_VELOCITY = 30.48
|
||||
|
|
@ -183,6 +177,14 @@ HOME_LATCH_VEL = -3.0
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
###############################################################################
|
||||
# section for main IO controller parameters
|
||||
###############################################################################
|
||||
[EMCIO]
|
||||
|
||||
#- Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
#- cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
|
|
|||
|
|
@ -1,12 +0,0 @@
|
|||
Esta configuración utiliza la placa GM6-PCI de General Mechatronics, que puede controlar máquinas de hasta 6 ejes. Tiene una amplia capacidad de expansión de E/S: interruptores home aislados y finales para cada eje, E/S digital 4x8, módulos de E/S analógica y digital aislados para el bus de campo RS485.
|
||||
|
||||
Para más información, lea la sección del driver GM6-PCI del Manual del integrador o visite:
|
||||
www.generalmechatronics.com
|
||||
|
||||
Descripción de las configuraciones de muestra:
|
||||
|
||||
Servo de 3 ejes:
|
||||
Esta configuración muestra cómo configurar el DAC del codificador y del eje, y cómo conectarlos al módulo PID hal. Los 3 ejes utilizan un interruptor home y dos interruptores de límite. La entrada de fallo de alimentación está conectada al pin hal E-stop.
|
||||
|
||||
3 ejes, de pasos:
|
||||
Esta configuración muestra cómo configurar el módulo stepgen. Los 3 ejes utilizan un interruptor home y dos interruptores de límite. La entrada de fallo de alimentación está conectada al pin hal E-stop.
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
General Mechatronics
|
||||
|
||||
www.generalmechatronics.com
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
Mesa Electronics
|
||||
|
||||
www.mesanet.com
|
||||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=3x20
|
||||
CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=3x20
|
||||
CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i65
|
||||
CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i65
|
||||
CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i68
|
||||
CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i68
|
||||
CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i20
|
||||
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i20
|
||||
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i23
|
||||
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i23
|
||||
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,32 +1,53 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i90
|
||||
BOARD=7i90
|
||||
CONFIG=""
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Servo
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -35,76 +56,91 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-servo.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-servo.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
# COORDINATES = X Y Z R P W
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 3.0
|
||||
MAX_LINEAR_VELOCITY = 4.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 6.0
|
||||
MAX_LINEAR_ACCELERATION = 7.0
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 3.0
|
||||
MAX_VELOCITY = 4.0
|
||||
DEFAULT_ACCELERATION = 6.0
|
||||
MAX_ACCELERATION = 7.0
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -115,6 +151,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -125,23 +162,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = -81920
|
||||
|
||||
OUTPUT_SCALE = 1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 10.0
|
||||
HOME = 0.000
|
||||
|
|
@ -152,6 +190,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = YES
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -162,23 +201,24 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 1.0
|
||||
MAX_ACCELERATION = 4.0
|
||||
BACKLASH = 0.000
|
||||
FERROR = 0.010
|
||||
MIN_FERROR = 0.002
|
||||
|
||||
INPUT_SCALE = 81920
|
||||
|
||||
OUTPUT_SCALE = -1.000
|
||||
OUTPUT_OFFSET = 0.0
|
||||
MAX_OUTPUT = 1.0
|
||||
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 3.0
|
||||
HOME = 0.0
|
||||
|
|
@ -189,6 +229,7 @@ HOME_LATCH_VEL = 0.10
|
|||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# PID tuning params
|
||||
DEADBAND = 0.000015
|
||||
P = 100.0
|
||||
|
|
@ -199,7 +240,17 @@ FF1 = 1.000
|
|||
FF2 = 0.0
|
||||
BIAS = 0.000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i90
|
||||
BOARD=7i90
|
||||
CONFIG=""
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
This configuration drives a 3-axis servo machine using a Mesa AnythingIO board with the HostMot2 firmware. The config will only run if you have the card installed and have installed the firmware.
|
||||
|
||||
See LinuxCNC_Documentation.pdf - 11.4 Mesa HostMot2 Driver section for more information.
|
||||
See the HostMot2 section of the Integrators manual for more information.
|
||||
|
||||
All 3 axes use a home switch. All home switches are connected to a single shared input pin. X and Z home without encoder index, Y homes with encoder index.
|
||||
|
||||
|
|
|
|||
|
|
@ -1,20 +0,0 @@
|
|||
Esta configuración controla 3 servomotores en 3 ejes utilizando una placa Mesa AnythingIO con el firmware HostMot2.
|
||||
La configuración solo se ejecutará si tiene la tarjeta y el firmware instalados.
|
||||
|
||||
Vea la sección LinuxCNC_Documentación.pdf - 11.4 Driver Mesa HostMot2 para más información.
|
||||
|
||||
Los 3 ejes utilizan interruptor home. Todos los interruptores home están conectados a un solo pin de entrada compartido. home X e Z sin índice en codificador, home Y con índice en codificador.
|
||||
|
||||
No se utilizan interruptores de límite.
|
||||
|
||||
Estas configuraciones tienen 3 codificadores, 3 PWM y 0 StepGens
|
||||
|
||||
5i22-big Para la versión de 1.5M puertas
|
||||
|
||||
5i22-small Para la versión de 1.0M puertas
|
||||
|
||||
7i43-big Para la versión de 400k puertas
|
||||
|
||||
7i43-small Para la versión de 200k puertas
|
||||
|
||||
3x20-small para la versión de 1.0M puertas
|
||||
|
|
@ -26,10 +26,10 @@
|
|||
# ###################################
|
||||
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt trivkins
|
||||
|
||||
# motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
|
||||
|
||||
# standard components
|
||||
loadrt pid num_chan=3
|
||||
|
|
@ -75,7 +75,7 @@ newsig emcmot.00.enable bit
|
|||
sets emcmot.00.enable FALSE
|
||||
net emcmot.00.enable => pid.0.enable
|
||||
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
|
||||
net emcmot.00.enable <= joint.0.amp-enable-out
|
||||
net emcmot.00.enable <= axis.0.amp-enable-out
|
||||
|
||||
# encoder feedback
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
|
||||
|
|
@ -84,26 +84,26 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
|
|||
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [JOINT_0]INPUT_SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE
|
||||
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
|
||||
net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
|
||||
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
|
||||
|
||||
# set PID loop gains from inifile
|
||||
setp pid.0.Pgain [JOINT_0]P
|
||||
setp pid.0.Igain [JOINT_0]I
|
||||
setp pid.0.Dgain [JOINT_0]D
|
||||
setp pid.0.bias [JOINT_0]BIAS
|
||||
setp pid.0.FF0 [JOINT_0]FF0
|
||||
setp pid.0.FF1 [JOINT_0]FF1
|
||||
setp pid.0.FF2 [JOINT_0]FF2
|
||||
setp pid.0.deadband [JOINT_0]DEADBAND
|
||||
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
|
||||
setp pid.0.Pgain [AXIS_0]P
|
||||
setp pid.0.Igain [AXIS_0]I
|
||||
setp pid.0.Dgain [AXIS_0]D
|
||||
setp pid.0.bias [AXIS_0]BIAS
|
||||
setp pid.0.FF0 [AXIS_0]FF0
|
||||
setp pid.0.FF1 [AXIS_0]FF1
|
||||
setp pid.0.FF2 [AXIS_0]FF2
|
||||
setp pid.0.deadband [AXIS_0]DEADBAND
|
||||
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
|
||||
|
||||
# position command signals
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
|
||||
|
||||
net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
|
||||
net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
|
||||
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
|
||||
|
||||
|
||||
|
|
@ -116,7 +116,7 @@ newsig emcmot.01.enable bit
|
|||
sets emcmot.01.enable FALSE
|
||||
net emcmot.01.enable => pid.1.enable
|
||||
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
|
||||
net emcmot.01.enable <= joint.1.amp-enable-out
|
||||
net emcmot.01.enable <= axis.1.amp-enable-out
|
||||
|
||||
# encoder feedback
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
|
||||
|
|
@ -125,26 +125,26 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
|
|||
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [JOINT_1]INPUT_SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [AXIS_1]INPUT_SCALE
|
||||
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
|
||||
net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
|
||||
net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI
|
||||
|
||||
# set PID loop gains from inifile
|
||||
setp pid.1.Pgain [JOINT_1]P
|
||||
setp pid.1.Igain [JOINT_1]I
|
||||
setp pid.1.Dgain [JOINT_1]D
|
||||
setp pid.1.bias [JOINT_1]BIAS
|
||||
setp pid.1.FF0 [JOINT_1]FF0
|
||||
setp pid.1.FF1 [JOINT_1]FF1
|
||||
setp pid.1.FF2 [JOINT_1]FF2
|
||||
setp pid.1.deadband [JOINT_1]DEADBAND
|
||||
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
|
||||
setp pid.1.Pgain [AXIS_1]P
|
||||
setp pid.1.Igain [AXIS_1]I
|
||||
setp pid.1.Dgain [AXIS_1]D
|
||||
setp pid.1.bias [AXIS_1]BIAS
|
||||
setp pid.1.FF0 [AXIS_1]FF0
|
||||
setp pid.1.FF1 [AXIS_1]FF1
|
||||
setp pid.1.FF2 [AXIS_1]FF2
|
||||
setp pid.1.deadband [AXIS_1]DEADBAND
|
||||
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
|
||||
|
||||
# position command signals
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
|
||||
|
||||
net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
|
||||
net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
|
||||
net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
|
||||
|
||||
|
||||
|
|
@ -157,7 +157,7 @@ newsig emcmot.02.enable bit
|
|||
sets emcmot.02.enable FALSE
|
||||
net emcmot.02.enable => pid.2.enable
|
||||
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
|
||||
net emcmot.02.enable <= joint.2.amp-enable-out
|
||||
net emcmot.02.enable <= axis.2.amp-enable-out
|
||||
|
||||
# encoder feedback
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
|
||||
|
|
@ -166,26 +166,26 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
|
|||
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [JOINT_2]INPUT_SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]INPUT_SCALE
|
||||
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
|
||||
net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
|
||||
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
|
||||
|
||||
# set PID loop gains from inifile
|
||||
setp pid.2.Pgain [JOINT_2]P
|
||||
setp pid.2.Igain [JOINT_2]I
|
||||
setp pid.2.Dgain [JOINT_2]D
|
||||
setp pid.2.bias [JOINT_2]BIAS
|
||||
setp pid.2.FF0 [JOINT_2]FF0
|
||||
setp pid.2.FF1 [JOINT_2]FF1
|
||||
setp pid.2.FF2 [JOINT_2]FF2
|
||||
setp pid.2.deadband [JOINT_2]DEADBAND
|
||||
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
|
||||
setp pid.2.Pgain [AXIS_2]P
|
||||
setp pid.2.Igain [AXIS_2]I
|
||||
setp pid.2.Dgain [AXIS_2]D
|
||||
setp pid.2.bias [AXIS_2]BIAS
|
||||
setp pid.2.FF0 [AXIS_2]FF0
|
||||
setp pid.2.FF1 [AXIS_2]FF1
|
||||
setp pid.2.FF2 [AXIS_2]FF2
|
||||
setp pid.2.deadband [AXIS_2]DEADBAND
|
||||
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
|
||||
|
||||
# position command signals
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
|
||||
|
||||
net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
|
||||
net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
|
||||
net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
|
||||
|
||||
|
||||
|
|
@ -221,10 +221,10 @@ net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
|
|||
#
|
||||
|
||||
net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
|
||||
net home-switch => joint.0.home-sw-in
|
||||
net home-switch => joint.1.home-sw-in
|
||||
net home-switch => joint.2.home-sw-in
|
||||
net home-switch => axis.0.home-sw-in
|
||||
net home-switch => axis.1.home-sw-in
|
||||
net home-switch => axis.2.home-sw-in
|
||||
|
||||
# only the Y servo has an index, X and Z home without using the index
|
||||
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable
|
||||
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=3x20
|
||||
CONFIG="firmware=hm2/3x20-1/SVST16_24.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=3x20
|
||||
CONFIG="firmware=hm2/3x20-1/SVST16_24.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i65
|
||||
CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i65
|
||||
CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i68
|
||||
CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=4i68
|
||||
CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i20
|
||||
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i20
|
||||
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i22
|
||||
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i23
|
||||
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_pci
|
||||
BOARD=5i23
|
||||
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,54 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
#DISPLAY = tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tkemc
|
||||
DISPLAY = axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +57,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +162,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +198,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +234,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i43
|
||||
BOARD=7i43
|
||||
CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +1,55 @@
|
|||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i90
|
||||
BOARD=7i90
|
||||
CONFIG=""
|
||||
|
||||
|
||||
|
||||
|
||||
[EMC]
|
||||
# The version string for this INI file.
|
||||
VERSION = 1.1
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = HM2-Stepper
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x00000003
|
||||
#DEBUG = 0x00000007
|
||||
DEBUG = 0
|
||||
|
||||
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
# Name of display program, e.g., tklinuxcnc
|
||||
|
||||
# Name of display program, e.g., tkemc
|
||||
#DISPLAY = tklinuxcnc
|
||||
DISPLAY = axis
|
||||
#DISPLAY = axis
|
||||
DISPLAY = keystick
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.0500
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = tklinuxcnc.txt
|
||||
HELP_FILE = tklinucnc.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
|
@ -36,85 +58,104 @@ gif = image-to-gcode
|
|||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
[RS274NGC]
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
|
||||
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = hm2-stepper.var
|
||||
|
||||
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# Servo task period, in nanoseconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
|
||||
|
||||
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
|
||||
HALFILE = hm2-stepper.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
|
||||
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
#HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
[EMCIO]
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_0]
|
||||
[AXIS_0]
|
||||
|
||||
#
|
||||
# Step timing is 40 us steplen + 40 us stepspace
|
||||
# That gives 80 us step period = 12.5 KHz step freq
|
||||
#
|
||||
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
|
||||
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
|
||||
# such slow steppers.
|
||||
#
|
||||
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
|
||||
#
|
||||
# This gives a maxvel of 12.5/1 = 12.5 ips
|
||||
#
|
||||
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
# scale is 200 steps/rev * 5 revs/inch
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -122,31 +163,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Y]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_1]
|
||||
|
||||
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -154,31 +199,35 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
|
||||
[JOINT_2]
|
||||
|
||||
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 10
|
||||
MAX_ACCELERATION = 20
|
||||
# Set Stepgen max 20% higher than the axis
|
||||
STEPGEN_MAX_VEL = 12
|
||||
STEPGEN_MAX_ACC = 24
|
||||
|
||||
BACKLASH = 0.000
|
||||
|
||||
SCALE = 1000
|
||||
|
||||
MIN_LIMIT = -10.0
|
||||
MAX_LIMIT = 10.0
|
||||
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.005
|
||||
|
||||
#HOME = 0.000
|
||||
#HOME_OFFSET = 0.10
|
||||
#HOME_SEARCH_VEL = 0.10
|
||||
|
|
@ -186,13 +235,24 @@ MIN_FERROR = 0.005
|
|||
#HOME_USE_INDEX = YES
|
||||
#HOME_IGNORE_LIMITS = YES
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# these are in nanoseconds
|
||||
DIRSETUP = 200
|
||||
DIRHOLD = 200
|
||||
STEPLEN = 40000
|
||||
STEPSPACE = 40000
|
||||
|
||||
[HOSTMOT2]
|
||||
DRIVER=hm2_7i90
|
||||
BOARD=7i90
|
||||
CONFIG=""
|
||||
|
||||
|
||||
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = tool.tbl
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
This configuration drives a 3-axis stepper machine using a Mesa Anything IO board with the HostMot2 firmware. No limit switches are used, so this should work with very basic hardware. The config will only run if you have the card installed and have installed the firmware.
|
||||
|
||||
See LinuxCNC_Documentation.pdf - 11.4 Mesa HostMot2 Driver section for more information.
|
||||
See the HostMot2 section of the Integrators manual for more information.
|
||||
|
||||
These configs have 0 Encoders, 0 PWMs, and 3 StepGens
|
||||
|
||||
|
|
|
|||
|
|
@ -1,17 +0,0 @@
|
|||
Esta configuración controla una máquina de 3 ejes con motores de pasos, utilizando una placa Mesa Anything IO con el firmware HostMot2.
|
||||
No se utilizan interruptores de límite, por lo que esto debería funcionar con hardware muy básico.
|
||||
La configuración solo se ejecutará si tiene la tarjeta y el firmware instalados.
|
||||
|
||||
Vea la sección LinuxCNC_Documentación.pdf - 11.4 Driver Mesa HostMot2 para más información.
|
||||
|
||||
Estas configuraciones tienen 0 codificadores, 0 PWM y 3 StepGens
|
||||
|
||||
5i22-big Para la versión de 1.5M puertas
|
||||
|
||||
5i22-small Para la versión de 1.0M puertas
|
||||
|
||||
7i43-big Para la versión de 400k puertas
|
||||
|
||||
7i43-small Para la versión de 200k puertas
|
||||
|
||||
3x20-small Para la versión de 1.0M puertas
|
||||
|
|
@ -26,10 +26,10 @@
|
|||
# ###################################
|
||||
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
loadrt trivkins
|
||||
|
||||
# motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
|
||||
|
||||
# hostmot2 driver
|
||||
loadrt hostmot2
|
||||
|
|
@ -65,29 +65,29 @@ addf estop-latch.0 servo-thread
|
|||
newsig emcmot.00.enable bit
|
||||
sets emcmot.00.enable FALSE
|
||||
|
||||
net emcmot.00.enable <= joint.0.amp-enable-out
|
||||
net emcmot.00.enable <= axis.0.amp-enable-out
|
||||
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
|
||||
|
||||
|
||||
# position command and feedback
|
||||
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
|
||||
net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
|
||||
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
|
||||
|
||||
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
|
||||
net motor.00.pos-fb => joint.0.motor-pos-fb
|
||||
net motor.00.pos-fb => axis.0.motor-pos-fb
|
||||
|
||||
|
||||
# timing parameters
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
|
||||
|
||||
|
|
@ -100,29 +100,29 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
|
|||
newsig emcmot.01.enable bit
|
||||
sets emcmot.01.enable FALSE
|
||||
|
||||
net emcmot.01.enable <= joint.1.amp-enable-out
|
||||
net emcmot.01.enable <= axis.1.amp-enable-out
|
||||
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
|
||||
|
||||
|
||||
# position command and feedback
|
||||
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
|
||||
net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
|
||||
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
|
||||
|
||||
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
|
||||
net motor.01.pos-fb => joint.1.motor-pos-fb
|
||||
net motor.01.pos-fb => axis.1.motor-pos-fb
|
||||
|
||||
|
||||
# timing parameters
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [AXIS_1]DIRHOLD
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [AXIS_1]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [AXIS_1]STEPSPACE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [AXIS_1]SCALE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAX_ACC
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
|
||||
|
||||
|
|
@ -135,29 +135,29 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
|
|||
newsig emcmot.02.enable bit
|
||||
sets emcmot.02.enable FALSE
|
||||
|
||||
net emcmot.02.enable <= joint.2.amp-enable-out
|
||||
net emcmot.02.enable <= axis.2.amp-enable-out
|
||||
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
|
||||
|
||||
|
||||
# position command and feedback
|
||||
net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
|
||||
net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
|
||||
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
|
||||
|
||||
net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
|
||||
net motor.02.pos-fb => joint.2.motor-pos-fb
|
||||
net motor.02.pos-fb => axis.2.motor-pos-fb
|
||||
|
||||
|
||||
# timing parameters
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]SCALE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAX_ACC
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
|
||||
|
||||
|
|
|
|||
|
|
@ -2,4 +2,4 @@ This configuration is to show how to connect the Mesa THCAD card with LinuxCNC o
|
|||
|
||||
There are two configurations, the plasma-5i20 that requires you to have a Mesa 5i20 installed and the plasma-demo using parallel port. The plasma-demo version is just to show how this config looks and is not a good candidate for the THCAD card due to the slow update speed when using a software encoder with the parallel port.
|
||||
|
||||
The subroutine touchoff.ngc is used with a floating head and the probe input to set the torch to the initial height of the cut. The example files x-trim.ngc and touchtest.ngc demonstrate the use of touchoff.ngc. The usage of touchoff.ngc requires you to have the probe input and Arc Ok input. It uses M66 to wait for the Arc Ok input after lighting off the torch. Three parameters are passed to touchoff pierce height, pierce delay, and cut height. In actual use you will need to adjust the height to raise the torch after touch off to Z0 to match your actual setup.
|
||||
The subroutine touchoff.ngc is used with a floating head and the probe input to set the torch to the initial height of the cut. The example files x-trim.ngc and touchtest.ngc demonstrate the use of touchoff.ngc. The usage of touchoff.ngc requires you to have the probe input and and Arc Ok input. It uses M66 to wait for the Arc Ok input after lighting off the torch. Three parameters are passed to touchoff pierce height, pierce delay, and cut height. In actual use you will need to adjust the height to raise the torch after touch off to Z0 to match your actual setup.
|
||||
|
|
|
|||
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Reference in a new issue