I am using MKS Octopus Pro Board STM32F429 with Remora SPI and Raspberry PI4.
I wanted to use RPI5 but SPI is not working in LinuxCNC for rpi5. I am also using MPG Pendant (commonly available on eBay with MPG encoder with axis and scale selector and eStop.)
I am able to move steppers but I want to properly setup LinuxCNC with Kinamatics.
Whats Working.
1. Steppers moves
2. Limit/Home switches
3. PWM spindle
4. eStop
5. Touch Probe
I have made my machine to have two configurations. XYZAB(A Rotary on Table & B Rotating Spindle) and XYZAC (Its a common trinunion table)
My Problems.
1. I want to enable or disable my machine with Pendant (eStop Switch) not with GUI.
2. Stepper moves but on higher feed its slows down in middle of movement. Up 1000mm/sec its working. 1000-2200 not moving as expected slows down in middle. above 2200 joint follow error.
3. I want to implement both Kinamatics. XYZAC is available on linuxcnc forum but My type XYZAB config is not available(I googled a lot)
Here are my configuration files
ini file
# Basic LinuxCNC config for testing of Remora firmware
[EMC]
MACHINE = Remora-XY
DEBUG = 5
VERSION = 1.1
[DISPLAY]
DISPLAY = qtvcp qtdragon_hd
#USER_COMMAND_FILE = usercommand_regularmac_800.py
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_0_OVERRIDE = 0.5
MAX_SPINDLE_0_OVERRIDE = 1.5
DEFAULT_SPINDLE_0_SPEED = 1200
SPINDLE_INCREMENT = 200
MIN_SPINDLE_0_SPEED = 200
MAX_SPINDLE_0_SPEED = 1200
MAX_SPINDLE_POWER = 500
DEFAULT_LINEAR_VELOCITY = 15.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 40.00
DEFAULT_ANGULAR_VELOCITY = 25.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 50.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = Continuous, 50mm, 10mm, 5mm, 1mm, .5mm, .1mm, .05mm, .01mm
#ANGULAR_INCREMENTS = 1,5,10,30,45,90
NGCGUI_SUBFILE_PATH = ~/linuxcnc/nc_files/examples/ngcgui_lib
# pre selected programs tabs
# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH
NGCGUI_SUBFILE = slot.ngc
NGCGUI_SUBFILE = qpocket.ngc
#EMBED_TAB_NAME = Vismach 5 Axis
#EMBED_TAB_COMMAND = qtvcp vismach_5axis_gantry
#EMBED_TAB_LOCATION = tabWidget_utilities
[KINS]
JOINTS = 5
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
KINEMATICS =trivkins coordinates=XYZAC
[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = :~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs; \
~/linuxcnc/nc_files/examples/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/remap-subroutines: \
~/linuxcnc/nc_files/examples/ngcgui_lib/remap_lib
ON_ABORT_COMMAND=O <on_abort> call
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0005 G80 G90 G94 G97 M5 M9
[MDI_COMMAND_LIST]
# for macro buttons
MDI_COMMAND = G0 Z25;X0 Y0;Z0, Goto\nUser\nZero
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero
[PROBE]
#USE_PROBE = versaprobe
USE_PROBE = basicprobe
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[HAL]
HALFILE = remora-xyz.hal
HALFILE = mpg.hal
POSTGUI_HALFILE = qtdragon_hd_postgui.hal
#POSTGUI_HALFILE = postgui_call_list.hal
HALUI = halui
[HALUI]
[TRAJ]
COORDINATES = X Y Z A C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 15.00
MAX_LINEAR_VELOCITY = 40.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 40.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 500.0
SCALE = 1600
FERROR = 2
MIN_FERROR = 2.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_Y]
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0.0
MAX_LIMIT = 200.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 1600.00
FERROR = 9.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_Z]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 200
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 200
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 1200.00
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_A]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 360
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 360
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 71.111
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_C]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 180
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 180
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 71.111
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
Hal FIle
# load the realtime components
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
#loadrt remora
loadrt remora chip_type=STM SPI_clk_div=32 PRU_base_freq=120000
#loadrt remora chip_type=LPC SPI_clk_div=64
# estop loopback, SPI comms enable and feedback
net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI-enable
net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset
net remora-status remora.SPI-status => iocontrol.0.emc-enable-in
# add the remora and motion functions to threads
addf remora.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf remora.update-freq servo-thread
addf remora.write servo-thread
# Joint 0 setup
setp remora.joint.0.scale [JOINT_0]SCALE
setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd <= joint.0.motor-pos-cmd => remora.joint.0.pos-cmd
net j0pos-fb <= remora.joint.0.pos-fb => joint.0.motor-pos-fb
net j0enable <= joint.0.amp-enable-out => remora.joint.0.enable
# Joint 1 setup
setp remora.joint.1.scale [JOINT_1]SCALE
setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net j1pos-cmd <= joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
net j1pos-fb <= remora.joint.1.pos-fb => joint.1.motor-pos-fb
net j1enable <= joint.1.amp-enable-out => remora.joint.1.enable
# Joint 2 setup
setp remora.joint.2.scale [JOINT_2]SCALE
setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net j2pos-cmd <= joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
net j2pos-fb <= remora.joint.2.pos-fb => joint.2.motor-pos-fb
net j2enable <= joint.2.amp-enable-out => remora.joint.2.enable
# Joint 3 setup
setp remora.joint.3.scale [JOINT_3]SCALE
setp remora.joint.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net j3pos-cmd <= joint.3.motor-pos-cmd => remora.joint.3.pos-cmd
net j3pos-fb <= remora.joint.3.pos-fb => joint.3.motor-pos-fb
net j3enable <= joint.3.amp-enable-out => remora.joint.3.enable
# Joint 4 setup
setp remora.joint.4.scale [JOINT_4]SCALE
setp remora.joint.4.maxaccel [JOINT_4]STEPGEN_MAXACCEL
net j4pos-cmd <= joint.4.motor-pos-cmd => remora.joint.4.pos-cmd
net j4pos-fb <= remora.joint.4.pos-fb => joint.4.motor-pos-fb
net j4enable <= joint.4.amp-enable-out => remora.joint.4.enable
# end-stops
net X-min remora.input.0 => joint.0.neg-lim-sw-in
# net X-max remora.input.1 => joint.0.home-sw-in joint.0.pos-lim-sw-in
net Y-min remora.input.2 => joint.1.neg-lim-sw-in
# net Y-max remora.input.3 => joint.1.home-sw-in joint.1.pos-lim-sw-in
net Z-min remora.input.4 => joint.2.neg-lim-sw-in
# net Z-max remora.input.5 => joint.2.home-sw-in joint.2.pos-lim-sw-in
# Probe
net probe-input motion.probe-input <= remora.input.6
# net probe-input => qtdragon.led-probe
# Spindle
loadrt pwmgen output_type=0
addf pwmgen.update servo-thread
addf pwmgen.make-pulses servo-thread
net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value
net spindle-on spindle.0.on => pwmgen.0.enable
net spindle-pwm pwmgen.0.pwm => remora.output.0
# Set the spindle's top speed in RPM
setp pwmgen.0.scale 12000
# net spindle-speed-feedback spindle.0.speed-out-rps => spindle.0.speed-in
mpg.hal
# Jog Pendant
loadrt PRUencoder names=encoder.0
addf PRUencoder.capture-position servo-thread
setp encoder.0.position-scale 400.0
# connect the hal encoder to linuxcnc
net encoder-count <= remora.PV.0 => encoder.0.raw_count
loadrt conv_float_s32 count=1
addf conv-float-s32.0 servo-thread
loadrt mux4 count=1
addf mux4.0 servo-thread
# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
#setp encoder.0.x4-mode 0
# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp joint.0.jog-vel-mode 1
setp joint.1.jog-vel-mode 1
setp joint.2.jog-vel-mode 1
setp joint.3.jog-vel-mode 1
setp joint.4.jog-vel-mode 1
# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001
# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= remora.input.10
net scale2 mux4.0.sel1 <= remora.input.9
# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => joint.0.jog-scale axis.x.jog-scale
net mpg-scale => joint.1.jog-scale axis.y.jog-scale
net mpg-scale => joint.2.jog-scale axis.z.jog-scale
net mpg-scale => joint.3.jog-scale axis.a.jog-scale
net mpg-scale => joint.4.jog-scale axis.c.jog-scale
# The MPG inputs
#net mpg-a encoder.0.phase-A <= remora.input.7
#net mpg-b encoder.0.phase-B <= remora.input.8
# The Axis select inputs
net mpg-x joint.0.jog-enable axis.x.jog-enable <= remora.input.11
net mpg-y joint.1.jog-enable axis.y.jog-enable <= remora.input.12
net mpg-z joint.2.jog-enable axis.z.jog-enable <= remora.input.13
net mpg-a joint.3.jog-enable axis.a.jog-enable <= remora.input.14
net mpg-c joint.4.jog-enable axis.c.jog-enable <= remora.input.15
# The encoder output counts to the axis. Only the selected axis will move.
net encoder-count conv-float-s32.0.in
net encoder-counts conv-float-s32.0.out
#net encoder-counts <= encoder.0.counts
net encoder-counts => joint.0.jog-counts axis.x.jog-counts
net encoder-counts => joint.1.jog-counts axis.y.jog-counts
net encoder-counts => joint.2.jog-counts axis.z.jog-counts
net encoder-counts => joint.3.jog-counts axis.a.jog-counts
net encoder-counts => joint.4.jog-counts axis.c.jog-counts
qt_dragon_hd_postgui hal
# load components
########################################################################
loadrt logic names=logic-and personality=0x102
addf logic-and servo-thread
# load a summing component for adding spindle lift and Z compensation
loadrt scaled_s32_sums
addf scaled-s32-sums.0 servo-thread
loadusr -Wn z_level_compensation z_level_compensation
# method parameter must be one of nearest(2), linear(1), cubic (0)
setp z_level_compensation.fade-height 0.0
setp z_level_compensation.method 1
# connect signals
########################################################################
net spindle-speed-limited => spindle.0.speed-out-rps => spindle.0.speed-in
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change hal_manualtoolchange.change <= iocontrol.0.tool-change
net tool-changed hal_manualtoolchange.changed <= iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number <= iocontrol.0.tool-prep-number
net eoffset-clear axis.z.eoffset-clear
net eoffset-counts axis.z.eoffset-counts
setp axis.z.eoffset-scale .001
net eoffset-total axis.z.eoffset
net eoffset-total qtdragon.eoffset-value
setp axis.z.eoffset-enable True
## external offsets for spindle pause function
##################################################
net eoffset-clear qtdragon.eoffset-clear
net eoffset-spindle-count <= qtdragon.eoffset-spindle-count
net spindle-pause qtdragon.spindle-inhibit spindle.0.inhibit
net probe-input qtdragon.led-probe
## Z level compensation
####################################################
net eoffset-clr2 z_level_compensation.clear => logic-and.in-01
net xpos-cmd z_level_compensation.x-pos <= joint.0.motor-pos-cmd
net ypos-cmd z_level_compensation.y-pos <= joint.1.pos-cmd
net zpos-cmd z_level_compensation.z-pos <= joint.2.pos-cmd
net z_compensation_on z_level_compensation.enable-in <= qtdragon.comp-on
net eoffset-zlevel-count z_level_compensation.counts => qtdragon.eoffset-zlevel-count
net eoffset-spindle-count scaled-s32-sums.0.in0
net eoffset-zlevel-count scaled-s32-sums.0.in1
setp scaled-s32-sums.0.scale0 1000
net eoffset-counts scaled-s32-sums.0.out-s
