On Tuesday 07 November 2017 21:17:17 Peter C. Wallace wrote:
> Hmm... something is really broken either in your encoder or hal/ini
> setup
>
> Can you post your hal/ini files plus a screen shot of the quadrature
> A,B signals?
>
> ( at a slow enoigh speed that the servo thread can sample it
> adequately )
>
> Peter Wallace
> Mesa Electronics
>
I think thats enough to run it. Some of the gui's extra buttons will not
run however as I am in the process of bringing that stuff online. And
to actually drive the spindle, one, only one of the mist/flood buttons
must be checked. That steers the input to the pwm servo to either the
high gear or low gear pid's output, pid.sl, and pid.sh in the files.
Until I get the switches made and installed on the high/low gearshift
dial at which point wiring that up will make it automatic. I carved a
hollow spot in the edge of the knob today, for the rollers on the switch
levers to drop into, but also finished up the locking clamp ring for the
8" chuck's retention on the 11x36 Sheldon, its a threaded spindle nose.
So now I can grab square stock to make armstrong bolts etc. And I can
rigid tap on it. That was one of the first things I did even before
adding the hand dials to move it by hand with.
The picture was taken at about 25, maybe 30 rpms. It won't run reliably
any slower than that. The tach dial just moves off zero.
Thank you Peter.
Cheers, Gene Heskett
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page <http://geneslinuxbox.net:6309/gene>
# This config file was created 2016-06-29 13:56:14.520980 by the update_ini
script
# The original config files may be found in the
/home/gene/linuxcnc/configs/GO704fast/GO704fast.old directory
# Generated by PNCconf at Tue Jun 30 22:44:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
# The version string for this INI file.
VERSION = 1.0
MACHINE = GO704fast
DEBUG = 00000000
[DISPLAY]
DISPLAY = axis
PYVCP = pyvcp-panel.xml
#EMBED_TAB_NAME = Camera
#EMBED_TAB_COMMAND = gladevcp -x {XID} camview.glade
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.0000
MIN_SPINDLE_OVERRIDE = 0.25000
DEFAULT_SPINDLE_SPEED = 100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 4
PROGRAM_PREFIX = /home/gene/linuxcnc/nc_files
INCREMENTS = 1.000 0.500 0.200 0.100 0.050 0.02
0.01 0.005 0.002 0.001
DEFAULT_LINEAR_VELOCITY = .90
MAX_LINEAR_VELOCITY = 1.5
MIN_LINEAR_VELOCITY = 0.001
DEFAULT_ANGULAR_VELOCITY = 5.0000
MAX_ANGULAR_VELOCITY = 7.5000
MIN_ANGULAR_VELOCITY = 0.0100000
EDITOR = geany
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
#RS274NGC_STARTUP_CODE = #4990=0.0000 #4991=0.0000 #4992=0.0000 #4993=0.0000
#4994=0.0000 #4995=0.000000
SUBROUTINE_PATH = /home/gene/linuxcnc/cam.stf
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = GO704fast.hal
# pins missing, need to strip from a file and make a separate HALFILE = for here
#HALFILE = custom.hal
#HALFILE = campins.hal
#HALFILE = Caa3Axis.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
# camon, camoff one call now
MDI_COMMAND=o<_newcamsw> call
#MDI_COMMAND=o<_camstore> call
#MDI_COMMAND=o<_camcenter3> call
#MDI_COMMAND=o<_camcenter4> call
#MDI_COMMAND=o<align_start> call
#MDI_COMMAND=o<align_y> call
#MDI_COMMAND=o<align_x> call
#MDI_COMMAND=o<clear_offset> call
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 0.65
MAX_LINEAR_VELOCITY = .90
POSITION_FILE = position.txt
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[KINS]
KINEMATICS = trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 4
#***********
# Axis X *
#***********
[AXIS_X]
MIN_LIMIT =-9.6456
MAX_LIMIT = 9.6556
[JOINT_0]
MIN_LIMIT = -9.6456
MAX_LIMIT = 9.6556
MAX_VELOCITY = 1.05
MAX_ACCELERATION = 20.00
TYPE = LINEAR
HOME_SEQUENCE = 2
HOME_IS_SHARED = 1
HOME_SEARCH_VEL = 0.60
HOME_LATCH_VEL = -0.05
HOME_FINAL_VEL = .80
HOME_OFFSET = 9.7580
HOME = 0.0
FERROR = 0.001
MIN_FERROR = 0.0005
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2.0
STEPGEN_MAXACCEL = 40.00
P = 4.00
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.000025
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 6000
DIRHOLD = 6000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 16271.00379
BACKLASH = 0.00190
#*********
# Axis Y *
#*********
[AXIS_Y]
MIN_LIMIT = -2.716
MAX_LIMIT = 2.7559
[JOINT_1]
MIN_LIMIT = -2.716
MAX_LIMIT = 2.7559
MAX_VELOCITY = 1.35
MAX_ACCELERATION = 20
TYPE = LINEAR
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
HOME_SEARCH_VEL = 0.65
HOME_LATCH_VEL = -0.05
HOME_FINAL_VEL = 0.800
HOME_OFFSET = 2.7
HOME = 0.0
FERROR = 0.002
MIN_FERROR = 0.0005
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2.70
STEPGEN_MAXACCEL = 60
P = 4.000
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.000025
BIAS = 0.0
DEADBAND = 0.00001
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 6000
DIRHOLD = 6000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = -16298.63031
BACKLASH = .000950
#*********
# Axis Z *
#*********
[AXIS_Z]
MIN_LIMIT = -5.4700
MAX_LIMIT = 5.47
[JOINT_2]
MIN_LIMIT = -5.4700
MAX_LIMIT = 5.47
MAX_VELOCITY = 1.250
MAX_ACCELERATION = 20
TYPE = LINEAR
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
HOME_SEARCH_VEL = 0.800
HOME_LATCH_VEL = -0.030
HOME_FINAL_VEL = 0.650
HOME = 5.45000000
HOME_OFFSET = 5.4500000
FERROR = 0.01
MIN_FERROR = 0.01
# The values below should be 35% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be at least 100%
larger.
# 3x MAX_ACCELERATION if using g33.1 in peck mode
STEPGEN_MAXVEL = 2.5
STEPGEN_MAXACCEL = 50
P = 4.000
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.000025
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 6500
DIRHOLD = 6500
STEPLEN = 3500
STEPSPACE = 3500
STEP_SCALE = -8128.0000000
BACKLASH = .00320
#********************
# Axis A
#********************
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_FINAL_VEL = 0
FERROR = 0.05
MIN_FERROR = 0.005
MAX_VELOCITY = 12.0
MAX_ACCELERATION = 180.0
## The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
## If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 15.00
STEPGEN_MAXACCEL = 225.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.00
FF1 = 1.00
FF2 = 0.0005
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0
## these are in nanoseconds
DIRSETUP = 6000
DIRHOLD = 6000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 800.0
#MIN_LIMIT = -9999.0
#MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
#**************************
# Spindle H for high gear *
#**************************
[SPINDLE_H]
P = 0.000
I = 1.5
D = 0.0000
FF0 = .900
FF1 = 0.000
FF2 = 0.000
BIAS = 0.00
FBIAS = 0.60
RBIAS = -0.90
ACCELL = 6.8
DEADBAND = 0.004
ENCODER_SCALE = 268.0
PWMGEN_S_SCALE = 46.00
# this controls the speed of spindle accel, mainly for G33.1 turnaround shaping
# middle of output ramp rate
SP_MAXACCEL = 350
# 700 = 3.75 turns of overshoot at 1k revs in backgear low
SP_MAXVEL = 8000
# sp_maxvel should control roundness of ends of ramp
PWMGEN_S_FREQ = 20000
NEAR_TOL = 2
NEAR_SCALE = 1.05
ENCODER_SAMPLE = 500000
#*************************
# spindle L for low gear *
#*************************
[SPINDLE_L]
# is a velocity servo, treat it as such
P = 0.00
I = 1.5
D = 0.000
FF0 = 1.9
FF1 = 0.00
FF2 = 0.00
FBIAS = 0.60
RBIAS = -0.90
ACCELL = 6.8
DEADBAND = 0.004
ENCODER_SCALE = 268.0
PWMGEN_S_SCALE = 46.00
# this controls the speed of spindle accel, mainly for G33.1 turnaround shaping
# middle of output ramp rate
SP_MAXACCEL = 350
# 700 = 3.75 turns of overshoot at 1k revs in backgear low
SP_MAXVEL = 8000
# sp_maxvel should control roundness of ends of ramp
PWMGEN_S_FREQ = 20000
NEAR_TOL = 2
NEAR_SCALE = 1.05
ENCODER_SAMPLE = 500000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
# Generated by PNCconf at Tue Jun 30 22:44:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again, so it never gets run again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_pci config="num_encoders=1 num_pwmgens=1 num_stepgens=4"
loadrt boot names=boot.spindle
loadrt sample_hold names=sample.dirchg,sample.spndlchg
loadrt conv_bit_u32 names=conv-DirF,conv-DirR
loadrt conv_u32_float names=float-boot,conv-float.DirF,conv-float.DirR
loadrt conv_s32_float names=S32_float_cmd,S32_float_spndl
loadrt pid
names=pid.x,pid.y,pid.z,pid.sl,pid.sh,pid.a
loadrt abs
names=abs.spindle,abs.vel,abs.tachplus,abs.encdir,abs.piddir,abs.delay
loadrt comp names=comp.drvbooted,comp.filter
loadrt limit2 count=3
loadrt limit3 names=rvsaccel
loadrt not names=not.load,not.spndl
#loadrt not names=not.spndl
loadrt or2 names=or2.0,or2.1,or2.Z,or2.A,or2.B
# preparatory to making the charge-pump multi-use
loadrt and2
names=and.vac,and.lube,and.spndl-hard,and.spndl-soft,steeron,steeroff
loadrt mux2
names=enc0,enc1,enc2,enc3,mux2.fwd-rev,mux2.spndl
loadrt mux4 names=mux4spsel
loadrt scale
names=scale.s_limit,scale.s_scale,scale.pidmaxerr,scale.tach,scale.motion,scaleX60
loadrt near names=near.speed
loadrt debounce cfg=1,1
loadrt lut5 names=lut5-fwd,lut5-rvs,lut5-protect
loadrt lowpass names=lowpass.tach
loadrt sum2
names=sum01,sum23,sumenc,sum2.ovrtrvl,sum2.gearchg,sum2.bias
loadrt conv_float_s32 count=1
loadrt timedelay names=pwr-delay-soft,pwr-delay-hard
loadrt charge_pump
loadrt oneshot names=forOn,forOff
loadrt flipflop names=camonoff
# addf stuff, mostly order sensitive
#addf hm2_5i25.0.read_gpio servo-thread
addf hm2_5i25.0.read servo-thread #trigger scope on this
addf debounce.0 servo-thread
addf debounce.1 servo-thread
#************************************
# encoder-velocity noise filter
# arrange these in reverse order addf's to save the previous modules state,
# otherwise it cascades thru in one cycle
# use comp.filter to detect a state change for enc#.hold control
addf comp.filter servo-thread # make hold signal for this servo
cycle by comparing encoder-velocity and enc0.out
addf conv-DirF servo-thread # is bit-u32
addf conv-DirR servo-thread # is bit-u32
addf conv-float.DirF servo-thread #
addf conv-float.DirR servo-thread
addf S32_float_spndl servo-thread # is conv-s32-float
addf S32_float_cmd servo-thread
addf float-boot servo-thread # is conv-s32-float
# all this ordered so it all falls thru on the same servo-loop
addf enc3 servo-thread # so it saves enc2's
output in this cycle
addf enc2 servo-thread # so it saves enc1's
output in this cycle
addf enc1 servo-thread # so it saves enc0's
output in this cycle
addf enc0 servo-thread # so it saves encoder
velocity
addf sum01 servo-thread # now total it up
addf sum23 servo-thread # ditto
addf sumenc servo-thread # ditto, and incomplete, where
the hell does sumenc go? s/b pid.s.feedback
addf abs.encdir servo-thread
# end of encoder filter
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf rvsaccel servo-thread
addf abs.piddir servo-thread
addf sum2.bias servo-thread
addf not.load servo-thread
addf limit2.2 servo-thread
addf comp.drvbooted servo-thread
addf boot.spindle servo-thread
#***********************************
addf lut5-fwd servo-thread
addf lut5-rvs servo-thread
addf lut5-protect servo-thread
addf scale.s_limit servo-thread
addf scale.s_scale servo-thread
addf scale.pidmaxerr servo-thread
addf mux2.spndl servo-thread
addf mux4spsel servo-thread
addf mux2.fwd-rev servo-thread
addf scale.tach servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.sl.do-pid-calcs servo-thread
addf pid.sh.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf abs.vel servo-thread
addf abs.tachplus servo-thread
addf not.spndl servo-thread
addf limit2.1 servo-thread
addf or2.0 servo-thread
addf or2.1 servo-thread
addf or2.Z servo-thread
addf or2.A servo-thread
addf or2.B servo-thread
addf lowpass.tach servo-thread
addf near.speed servo-thread
addf charge-pump servo-thread
addf and.vac servo-thread
addf and.spndl-soft servo-thread
addf and.spndl-hard servo-thread
addf and.lube servo-thread
addf pwr-delay-soft servo-thread
addf pwr-delay-hard servo-thread
addf forOn servo-thread
addf forOff servo-thread
addf steeron servo-thread
addf steeroff servo-thread
addf camonoff servo-thread
# for G33.1 overtravel display
addf sample.dirchg servo-thread
addf sample.spndlchg servo-thread
addf sum2.ovrtrvl servo-thread
addf hm2_5i25.0.write servo-thread
#addf hm2_5i25.0.write-gpio servo-thread
# external input signals
setp hm2_5i25.0.watchdog.timeout_ns 6000000
#*******************
# HOME switches
#*******************
setp debounce.0.delay 1
net home-switch <= hm2_5i25.0.gpio.013.in => debounce.0.0.in
# signal source is p3-10
net debncd-home <= debounce.0.0.out =>
joint.2.home-sw-in joint.1.home-sw-in joint.0.home-sw-in
# as more switches get added to the series chain, add them to the net above
# hook up probe signal
net probe.sense <= hm2_5i25.0.gpio.003.in_not =>
motion.probe-input # signal source is p3-15
#******************************************
# align, calibrate stuff, still being tuned
#******************************************
setp forOn.width .1
setp forOn.falling 0
setp forOn.rising 1
setp forOff.width .1
setp forOff.falling 1
setp forOff.rising 0
#********************
# AXIS X = joint_0 *
#********************
# setup pid
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005
#*****************************
# Step Gen signals/setup for X
#*****************************
setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 1
setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
setp hm2_5i25.0.gpio.002.invert_output true
setp hm2_5i25.0.gpio.004.invert_output true
#*********************************
# ---closedloop stepper signals for X---
#*********************************
net x-pos-cmd <= joint.0.motor-pos-cmd => pid.x.command
net x-vel-cmd <= joint.0.vel-cmd => pid.x.command-deriv
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb =>
pid.x.feedback joint.0.motor-pos-fb
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd =>
pid.x.output
net x-index-enable <=> pid.x.index-enable
net x-enable <= joint.0.amp-enable-out =>
hm2_5i25.0.stepgen.00.enable pid.x.enable
#********************
# AXIS Y = joint_1 *
#********************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
#**********************************
# Step Gen signals/setup for Y axis
#**********************************
setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 1
setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
setp hm2_5i25.0.gpio.006.invert_output true
setp hm2_5i25.0.gpio.008.invert_output true
#*********************************
# ---closedloop stepper signals---
#*********************************
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_5i25.0.stepgen.01.enable
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
#********************
# AXIS Z = joint 2 *
#********************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005
#*****************************
# Step Gen signals/setup for Z
#*****************************
setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 1
setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
setp hm2_5i25.0.gpio.009.invert_output true
setp hm2_5i25.0.gpio.010.invert_output true
#*************************************
# ---closedloop stepper signals for Z
#*************************************
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_5i25.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_5i25.0.stepgen.02.enable
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
#*********************************************************
# AXIS A, joint_3 removed for spwr control use but now *
# moved spwr control to other p2 connector, same pins *
#*********************************************************
setp pid.a.Pgain [JOINT_3]P
setp pid.a.Igain [JOINT_3]I
setp pid.a.Dgain [JOINT_3]D
setp pid.a.bias [JOINT_3]BIAS
setp pid.a.FF0 [JOINT_3]FF0
setp pid.a.FF1 [JOINT_3]FF1
setp pid.a.FF2 [JOINT_3]FF2
setp pid.a.deadband [JOINT_3]DEADBAND
setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror .0005
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-vel-cmd => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
net a-output => pid.a.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
setp hm2_5i25.0.gpio.011.invert_output true
# ---closedloop stepper signals---
net a-pos-cmd <= joint.3.motor-pos-cmd
net a-vel-cmd <= joint.3.vel-cmd
net a-output <= hm2_5i25.0.stepgen.03.velocity-cmd
net a-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net a-pos-fb => joint.3.motor-pos-fb
net a-enable <= joint.3.amp-enable-out
net a-enable => hm2_5i25.0.stepgen.03.enable
# ---setup home / limit switch signals---
#net a-home-sw => joint.3.home-sw-in
#net a-neg-limit => joint.3.neg-lim-sw-in
#net a-pos-limit => joint.3.pos-lim-sw-in
#*****************************************
# setup feeds TO the pid.s(h|l)'s etc *
# but profile the switch for accell ctrl *
#*****************************************
net spindle-vel-cmd-rps => rvsaccel.in
# The following is based on the Z axis haveing maximum power at zero speed,
# so the controling ramp output from rvsaccel can go thru zero speed at a
# good rate, probably limited by the backlash takeup as it reverses, but is
# more torque limited at the higher speeds, so round off the corners of the
# ramp which correspond to the higher speeds. This is not an ideal, all speeds
# and tpi variation solution. The Z cannot reliably move at more than 42 ipm,
# so we need an error stopper to kick in at any time the Z speed exceeds say
# 25 ipm, which should leave some headroom for the backlash takeup.
# it needs to show the error as please try a lower spindle speed so Z can keep
up.
setp rvsaccel.maxa [SPINDLE_H]SP_MAXACCEL
# turns ramp into
# the PID into a sine squared waveform
setp rvsaccel.maxv [SPINDLE_H]SP_MAXVEL #
sets speed of ramp
net spindle-accel-limit <= rvsaccel.out => pid.sh.command
pid.sl.command abs.piddir.in # all good here
#**************************************************************
# SPINDLE PID's setup, pid.sh is low gear, runs motor faster *
# whereas pid.sl is high gear, runs motor slower *
#**************************************************************
setp pid.sh.Pgain [SPINDLE_H]P
setp pid.sh.Igain [SPINDLE_H]I
setp pid.sh.Dgain [SPINDLE_H]D
setp pid.sh.FF0 [SPINDLE_H]FF0
setp pid.sh.FF1 [SPINDLE_H]FF1
setp pid.sh.FF2 [SPINDLE_H]FF2
setp pid.sh.deadband [SPINDLE_H]DEADBAND
setp pid.sh.error-previous-target true
# send this pid's output on to switching according to knob
net slow-spindle <= pid.sh.output => mux4spsel.in1
setp mux4spsel.in0 0.0000000
setp pid.sl.Pgain [SPINDLE_L]P
setp pid.sl.Igain [SPINDLE_L]I
setp pid.sl.Dgain [SPINDLE_L]D
setp pid.sl.FF0 [SPINDLE_L]FF0
setp pid.sl.FF1 [SPINDLE_L]FF1
setp pid.sl.FF2 [SPINDLE_L]FF2
setp pid.sl.deadband [SPINDLE_L]DEADBAND
setp pid.sl.error-previous-target true
# send this pid's output on to switching according to knob
net fast-spindle <= pid.sl.output => mux4spsel.in2
setp mux4spsel.in3 0.00000000
#*****************************************
# setup feeds TO the pid.s(h|l)'s etc *
# but profile the switch for accell ctrl *
#*****************************************
net spindle-vel-cmd-rps => rvsaccel.in
# The following is based on the Z axis haveing maximum power at zero speed,
# so the controling ramp output from rvsaccel can go thru zero speed at a
# good rate, probably limited by the backlash takeup as it reverses, but is
# more torque limited at the higher speeds, so round off the corners of the
# ramp which correspond to the higher speeds. This is not an ideal, all speeds
# and tpi variation solution. The Z cannot reliably move at more than 42 ipm,
# so we need an error stopper to kick in at any time the Z speed exceeds say
# 25 ipm, which should leave some headroom for the backlash takeup.
# it needs to show the error as please try a lower spindle speed so Z can keep
up.
setp rvsaccel.maxa [SPINDLE_H]SP_MAXACCEL
# turns ramp into
# the PID into a sine squared waveform
setp rvsaccel.maxv [SPINDLE_H]SP_MAXVEL #
sets speed of ramp
net spindle-accel-limit <= rvsaccel.out => pid.sh.command
pid.sl.command abs.piddir.in # all good here
# SPINDLE REVERSE and friction control helpers
#************************
setp sum2.bias.gain0 [SPINDLE_H]FBIAS
setp sum2.bias.gain1 [SPINDLE_H]RBIAS
net is-plus0 <= abs.piddir.is-positive => conv-DirF.in #
TRUE converted to 1
net is-plus1 <= conv-DirF.out =>
conv-float.DirF.in # still a 1 when m3
net is-neg0 <= abs.piddir.is-negative => conv-DirR.in #
this works in m4 too
net is-neg1 <= conv-DirR.out =>
conv-float.DirR.in # ditto for m4
net bias-dirF <= conv-float.DirF.out =>
sum2.bias.in0
net bias.DirR <= conv-float.DirR.out =>
sum2.bias.in1
net pid.bias <= sum2.bias.out =>
pid.sl.bias pid.sh.bias
# this might have to be separated too.
#**********************************
# ENCODER feedback signals setup
#**********************************
setp hm2_5i25.0.encoder.00.counter-mode false
setp hm2_5i25.0.encoder.00.filter true
setp hm2_5i25.0.encoder.00.index-enable true
setp hm2_5i25.0.encoder.00.index-invert false
setp hm2_5i25.0.encoder.00.index-mask false
setp hm2_5i25.0.encoder.00.scale
[SPINDLE_H]ENCODER_SCALE
setp hm2_5i25.0.encoder.sample-frequency
[SPINDLE_H]ENCODER_SAMPLE
#*************************
# ENCODER FILTER SCALING *
#*************************
setp sumenc.gain0 0.2500 # scale it back to unity
setp sumenc.gain1 0.2500 # scale it back to unity
#***********************************************
# now continue path from mux4spsel to pwm input*
#***********************************************
net pid-select <= mux4spsel.out => boot.spindle.pid0
# now scale pid.s.maxoutput to 0.98 times pwmgen scale
setp scale.s_limit.in [SPINDLE_H]PWMGEN_S_SCALE
setp scale.s_limit.gain 0.98
net maxdrive <= scale.s_limit.out =>
pid.sh.maxoutput pid.sl.maxoutput
# ---PWM Generator signals/setup---
# default output type is 1, don't muck with it
setp hm2_5i25.0.pwmgen.00.scale [SPINDLE_H]PWMGEN_S_SCALE
setp scale.s_scale.gain
[SPINDLE_H]PWMGEN_S_SCALE
setp hm2_5i25.0.pwmgen.pwm_frequency [SPINDLE_H]PWMGEN_S_FREQ
setp hm2_5i25.0.gpio.001.invert_output false
setp hm2_5i25.0.gpio.005.invert_output true
net spindle-output1 <= boot.spindle.pout0 =>
hm2_5i25.0.pwmgen.00.value
net machine-is-on => hm2_5i25.0.pwmgen.00.enable
#***********************************
# stuff for encoder noise filter
setp scaleX60.gain 60.000
setp comp.filter.hyst .0001 # if no diff skip clocking data thru
# feed enc0.in, or mul2 as case may be
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.00.velocity
net spindle-vel-fb-rps => scaleX60.in abs.encdir.in enc0.in0
comp.filter.in0
# for spindle syched moves
net spindle-revs <= hm2_5i25.0.encoder.00.position
=> motion.spindle-revs
net encoderhold.0 <= enc0.out enc0.in1 enc1.in0
comp.filter.in1 sum01.in0
net encoder-sel <= comp.filter.equal enc0.sel
enc1.sel enc2.sel enc3.sel
# now we have a diff sig
net encoder-sel <= comp.filter.equal
enc0.sel enc1.sel enc2.sel enc3.sel # now go watch
enc0.out etc for S&G
net encoderhold-1 <= enc1.out =>
enc1.in1 enc2.in0 sum01.in1
net encoderhold-2 <= enc2.out =>
enc2.in1 enc3.in0 sum23.in0
net encoderhold-3 <= enc3.out =>
enc3.in1 sum23.in1
# now combine it
net encoderfilter-sum4 <= sum01.out =>
sumenc.in0
net encoderfilter-sum <= sum23.out =>
sumenc.in1
net spindle-velocity <= sumenc.out =>
pid.sh.feedback pid.sl.feedback near.speed.in2 # to where ever needed, watch
with halscope
# ---setup spindle control signals---
# We have 4 signal names here, which goes to pwmgen?
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps near.speed.in1
#this one!
net spindle-vel-cmd-rps => rvsaccel.in # control accel rates
#***************************************************
# First - setup 5i25's p3-p17 for servo enable use *
#***************************************************
setp hm2_5i25.0.gpio.007.is_output true
setp hm2_5i25.0.gpio.007.invert_output false
# now hook spindle up, rebooting the servo amp at spindle start
net spindle-enable <= motion.spindle-on boot.spindle.enable
net spindle-enable => hm2_5i25.0.gpio.007.out # is pwmgen-enable-out
at P3-17
#net spindle-enable <= not.load.in # not used? get rid of the not too
#net load-inverted <= not.load.out # limit2.0.load
setp comp.drvbooted.in1 4.500000
net spindle-boot0 <= boot.spindle.state =>
float-boot.in
net spindle-boot1 <= float-boot.out =>
comp.drvbooted.in0
net spindle-booted <= comp.drvbooted.out =>
not.spndl.in
net spindle-booted-inv <= not.spndl.out =>
pid.sl.enable pid.sh.enable
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-vel-fb-rps => motion.spindle-speed-in # near.speed.in2
net spindle-index-enable <=> motion.spindle-index-enable <=>
hm2_5i25.0.encoder.00.index-enable
# ---Setup spindle at speed signals---
net spindle-index <=> hm2_5i25.0.encoder.00.input-index
pid.sl.index-enable pid.sh.index-enable
setp near.speed.difference 2
net spindle-at-speed <= near.speed.out => motion.spindle-at-speed
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.tach.gain 60
setp lowpass.tach.gain 0.1
net spindle-vel-fb-rps => scale.tach.in
net spindle-fb-rpm <= scale.tach.out => abs.spindle.in
net spindle-fb-rpm-abs <= abs.spindle.out => lowpass.tach.in
net spindle-rpm lowpass.tach.out
# Now, lets see if we can track the G33.1 turnaround overtravel
# first, make a sum2 a sub2
setp sum2.ovrtrvl.gain0 -1.0000
# then net the sample holds but sample needs s32, not float so use count
net ovrtrvl1 <= hm2_5i25.0.encoder.00.count
sample.dirchg.in sample.spndlchg.in
net spindle-ccw => sample.dirchg.hold
net spindle-reverse <= abs.encdir.is-negative =>
sample.spndlchg.hold
# and calc the overtravel from S32's
net ovrtrvl2 <= sample.dirchg.out => S32_float_cmd.in
net ovrtrvl3 <= S32_float_cmd.out => sum2.ovrtrvl.in0
net ovrtrvl4 <= sample.spndlchg.out =>
S32_float_spndl.in
net ovrtrvl5 <= S32_float_spndl.out => sum2.ovrtrvl.in1
net overtravel <= sum2.ovrtrvl.out
#**************************************************************
# the hal signal overtravel should be shown with a hal__meter *
#**************************************************************
#********************************
# connect miscellaneous signals *
#********************************
# ---HALUI signals---
net joint-select-a <= halui.axis.x.select
net x-is-homed <= halui.joint.0.is-homed
net jog-x-pos <= halui.axis.x.plus
net jog-x-neg <= halui.axis.x.minus
net jog-x-analog <= halui.axis.x.analog
net joint-select-b <= halui.axis.y.select
net y-is-homed <= halui.joint.1.is-homed
net jog-y-pos <= halui.axis.y.plus
net jog-y-neg <= halui.axis.y.minus
net jog-y-analog <= halui.axis.y.analog
net joint-select-c <= halui.axis.z.select
net z-is-homed <= halui.joint.2.is-homed
net jog-z-pos <= halui.axis.z.plus
net jog-z-neg <= halui.axis.z.minus
net jog-z-analog <= halui.axis.z.analog
# Axis A stuff
net joint-select-d <= halui.axis.a.select
net a-is-homed <= halui.joint.3.is-homed
net jog-a-pos <= halui.axis.a.plus
net jog-a-neg <= halui.axis.a.minus
net jog-a-analog <= halui.axis.a.analog
net jog-selected-pos <= halui.axis.selected.plus
net jog-selected-neg <= halui.axis.selected.minus
net spindle-manual-cw <= halui.spindle.forward
net spindle-manual-ccw <= halui.spindle.reverse
net spindle-manual-stop <= halui.spindle.stop
net machine-is-on <= halui.machine.is-on
net jog-speed <= halui.axis.jog-speed
net MDI-mode <= halui.mode.is-mdi
# ---coolant signals---
# setup P2-17 to control the jigs locator bar, is cable hanging out of pcb box
setp hm2_5i25.0.gpio.024.is_output true
setp hm2_5i25.0.gpio.024.invert_output true
net coolant-mist <= iocontrol.0.coolant-mist =>
hm2_5i25.0.gpio.024.out mux2.spndl.sel
net coolant-mist => mux4spsel.sel0
# disable the line above when switches have been installed.
#*****************************************************************************
# hook up back gear switches. There will be a notch, or a bump on the rim of *
# the knob that will contact one of 2 switches, only one when it is fully *
# engaged in _that_ gear. But nust find pins that are inputs on the b.o.b. *
# According to dmesg, gpio.032, pin p2-12 and gpio.033, p2-13 are available *
# assume switch is closure to ground. gpio's are input unless set otherwise *
#*****************************************************************************
#net gear-sw-high <= hm2_5i25.0.gpio.032.in_not =>
mux4spsel.sel0
#net gear-sw-low <= hm2_5i25.0.gpio.033.in_not =>
mux4spsel.sel1
# enable the above 2 lines when switches have been installed.
# this should be true=low at P2-17 when mist is on,
# or when an M7 has been encountered in the g-code.
# M9 turns it all off
# need to assign another output pin to flood, to be used to control
# a vacuum cleaner to suck up the sawdust.
# and here, we open a 10 lb can of worms, because charge-pump is a single
# instance module. So to be able to use it for other controls, we will
# have to enable it permanently, and drive any number of and2's so we get
# an output to send to a pin of the BoB, or not, by setting the other
# input to the and2, effectively using that for the enable signal on a
# per output basis. or2's could also be used, seting the 2nd input true
# to disable the output toggling. And2's make more sense to me however.
## this will do till I have a better idea. 022 is usually axis B's pulse
setp hm2_5i25.0.gpio.022.is_output true
setp hm2_5i25.0.gpio.022.invert_output false #shouldn't effect result
# but does, the vacuum starts for 1/4 second at power up.
# setup charge-pump full time
setp charge-pump.enable true # just leave it running.
net pwr-pump <= charge-pump.out => and.vac.in0
and.spndl-hard.in0 and.spndl-soft.in0
# remove the mux4spsel.sel1 feed when switches hace been installed
net coolant-flood <= iocontrol.0.coolant-flood =>
and.vac.in1 mux4spsel.sel1
net vac-control1 <= and.vac.out => hm2_5i25.0.gpio.022.out
# an M8 turns it on, M9 shuts both off
# and it seems to work as written but I just inverted the mist output
# hopefully the bar will stay out when lcnc shuts down. It did.
#*************************************************
# Now setup the spindles psu on/off sequencing
#*************************************************
# first, set the time delays, on in order of execution
setp pwr-delay-soft.on-delay 0.1 # initial on, but thru the resistor
setp pwr-delay-hard.on-delay 5.0 # seconds, to full on, bypassing the
resistor
# now its on, shut it off in order of execution
setp pwr-delay-hard.off-delay 0.1 # seconds, go back to resistor
limited power
setp pwr-delay-soft.off-delay 1.0 # to full off in seconds
# setup the gpio's used for spindle power control
setp hm2_5i25.0.gpio.028.is_output true # is J2-8, 2nd bob, in pcb box, pin
8 controls resistor's feed
setp hm2_5i25.0.gpio.029.is_output true # is J2-9, 2nd bob, in pcb box, pin
9 controls resistor bypass
# that sets 5i25's gpio's 028 and 029 to output, and this crowbars the soft
start resistor
# now tie it all together
# turn on spindle power softly, by pumping pin 8 of the BoB, and start both
timers
# start the control chain
net spndl-power <= motion.motion-enabled =>
pwr-delay-hard.in pwr-delay-soft.in
# both time-delays now started
# hook soft start to and2.spindle.in1
net spndl-soft <= pwr-delay-soft.out =>
and.spndl-soft.in1
# and hook it to the 5i25, J2-8
net soft-spdnl-pwr <= and.spndl-soft.out => hm2_5i25.0.gpio.028.out # pin
p2-8
# which turns on toroids thru a 51 ohm 200 watt resistor to start charging
supply caps
# 5 secs later, bypass the resistor by linking hard delay out to
# and.spndl.hard input 1, enabling it to pass the pump signal
net hard-spndl-pwr <= pwr-delay-hard.out =>
and.spndl-hard.in1 # sets up to feed full power
# now feed that delayed full power pump to J2-9 after 5 seconds, and turn it
off in .1 seconds
net spndl-power-hard <= and.spndl-hard.out =>
hm2_5i25.0.gpio.029.out #P2 bob pin 9 feeds tordoids direct
# all done and understandable spindle psu controls.
# I wonder if I could also feed the rest of the system control box (after the
BoB) with
# the first SSR, making it 95% automatic. The thought keeps nagging at me. But
then
# would lose the protection that making me switch it by hand gives, so I don't
do it...
# connect max velocity overide increments - switches
setp halui.max-velocity.count-enable true
setp halui.max-velocity.direct-value true
setp halui.max-velocity.scale 20.000000
#net max-vel-override-incr => halui.max-velocity.counts # no src!!
# connect spindle overide increments
setp halui.spindle-override.count-enable true
setp halui.spindle-override.direct-value true
setp halui.spindle-override.scale .01
#net spindleoverride-incr => halui.spindle-override.counts
# ---motion control signals---
net in-position <= motion.in-position
# ---digital in / out signals---
# ---estop signals---
# P2-pin 10 is usually the estop input, but haven't sussed how to
# net that yet.
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request <= iocontrol.0.tool-change =>
hal_manualtoolchange.change
net tool-change-confirmed <= iocontrol.0.tool-changed =>
hal_manualtoolchange.changed
net tool-number <= iocontrol.0.tool-prep-number
=> hal_manualtoolchange.number
net tool-prepare-loopback <= iocontrol.0.tool-prepare =>
iocontrol.0.tool-prepared
<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<!--
Include your PyVCP panel here.
The contents of this file will not be overwritten when you run stepconf again.
-->
<!-- the RPM meter -->
<hbox>
<relief>RAISED</relief>
<bd>2</bd>
<meter>
<halpin>"spindle_rpm"</halpin>
<text>"Spindle"</text>
<subtext>"RPM"</subtext>
<size>240</size>
<min_>0</min_>
<max_>2750</max_>
<majorscale>500</majorscale>
<minorscale>100</minorscale>
<region1>0,2250,"green"</region1>
<region2>2250,2600,"yellow"</region2>
<region3>2600,2750,"red"</region3>
</meter>
</hbox>
<hbox>
<vbox>
<relief>RAISED</relief>
<bd>2</bd>
<label>
<text>"SPWR"</text>
<font>("Helvetica",8)</font>
</label>
<rectled>
<halpin>"on-led"</halpin>
<height>"6"</height>
<width>"72"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
<vbox>
<relief>RAISED</relief>
<bd>2</bd>
<label>
<text>"FWD"</text>
<font>("Helvetica",8)</font>
</label>
<rectled>
<halpin>"fwd-led"</halpin>
<height>"6"</height>
<width>"72"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
<vbox>
<relief>RAISED</relief>
<bd>2</bd>
<label>
<text>"REV"</text>
<font>("Helvetica",8)</font>
</label>
<rectled>
<halpin>"rev-led"</halpin>
<height>"6"</height>
<width>"72"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</vbox>
</hbox>
<!-- The following is added to your .xml file inside the <pyvcp> </pyvcp> tags -->
<!-- here we have to re-invent the camview missing stuffs -->
<labelframe text="Calibrate machine">
<hbox>
<button>
<halpin>"checkbutton1"</halpin>
<text>"CamSW"</text>
<font>('Helvetica',10)</font>
</button>
<button>
<halpin>"button1"</halpin>
<text>"CamStor"</text>
<font>('Helvetica',10)</font>
</button>
</hbox>
<rectled>
<halpin>"camactive"</halpin>
<height>"6"</height>
<width>"150"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</labelframe>
<labelframe text="Center machine">
<vbox>
<hbox>
<button>
<halpin>"button2"</halpin>
<text>"CamCtr3"</text>
<font>('Helvitica',10)</font>
</button>
<button>
<halpin>"button3"</halpin>
<text>"CamCtr4"</text>
<font>('Helvetica',10)</font>
</button>
</hbox>
<hbox>
<rectled>
<halpin>"camcentered3"</halpin>
<height>"6"</height>
<width>"80"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
<rectled>
<halpin>"camcentered4"</halpin>
<height>"6"</height>
<width>"80"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</hbox>
</vbox>
</labelframe>
<!-- and last, the alignment stuff -->
<labelframe text="Align Sheet">
<button>
<halpin>"align-start"</halpin>
<text>"Align Start"</text>
<font>('Helvetica',8)</font>
</button>
<rectled>
<halpin>"align-enabled"</halpin>
<height>"6"</height>
<width>"225"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</labelframe>
<labelframe text="Mark x and y">
<vbox>
<hbox>
<button>
<halpin>"align-x"</halpin>
<text>" Align X "</text>
<font>('Helvetica',8)</font>
</button>
<button>
<halpin>"align-y"</halpin>
<text>" Align Y "</text>
<font>('Helvetica',8)</font>
</button>
</hbox>
<hbox>
<rectled>
<halpin>"aligned-to_x"</halpin>
<height>"6"</height>
<width>"99"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
<rectled>
<halpin>"aligned-to_y"</halpin>
<height>"6"</height>
<width>"99"</width>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</rectled>
</hbox>
</vbox>
</labelframe>
<vbox>
<hbox>
<button>
<halpin>"clear-offset"</halpin>
<text>" Clear Offsets "</text>
<font>('Helvetica',8)</font>
</button>
</hbox>
</vbox>
</pyvcp>
# These files are loaded post GUI, in the order they appear
source postgui.hal
# the following is added to your postgui.hal file.
# This must be loaded after the pyvcp buttons are created.
# spindle dial & status display
net spindle-rpm => pyvcp.spindle_rpm
net hard-spndl-pwr => pyvcp.on-led
net spindle-cw => pyvcp.fwd-led
net spindle-ccw => pyvcp.rev-led
# camview stuff, newer 2016 version? And now 2017 version here
#net forOnNet pyvcp.checkbutton1 forOn.in forOff.in
# camera position toggle but doesn't???
# MDI commands start at 00 in the order listed in the ini file.
#net cam1 forOn.out halui.mdi-command-00 # move
to tool 99 for camera usage. or back if on
#net cam2 forOff.out halui.mdi-command-01 # move
back to machine's tool
#net cam2 pyvcp.button1 halui.mdi-command-01 # Save most
recent camera offset point, shove 4th off end of array
#net cam3 pyvcp.button2 halui.mdi-command-02 # center based
on 3 points
#net cam4 pyvcp.button3 halui.mdi-command-03 # center based
on 4 points
# align stuff but seems bass ackwards?
#net align-start halui.mdi-command-04 pyvcp.align-start
#net align-y halui.mdi-command-05 pyvcp.align-y
#net align-x halui.mdi-command-06 pyvcp.align-x
#net clear-offset halui.mdi-command-07 pyvcp.clear-offset
# hook up tally for in cam position, use m64 p0 to turn it green, m65 p0 to
turn it red
#net led4 motion.digital.out-00 pyvcp.camactive # the leds control pin
# same idea for m64 p1, m65 p1 for camcentered3 and p2 for camcentered4
#net led5 motion.digital.out-01 pyvcp.camcentered3
#net led6 motion.digital.out-02 pyvcp.camcentered4
# and need a horizontal scale to show how many points are stored by
_camstore.ngc
------------------------------------------------------------------------------
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
_______________________________________________
Emc-users mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-users
