gmoccapy

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27 Jul 2015 02:34 #60940 by thor44
Replied by thor44 on topic gmoccapy
Yes I'm using the SIM example.

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27 Jul 2015 06:21 #60943 by thor44
Replied by thor44 on topic gmoccapy
I reviewed all of the files and did not find anything about the parallel port pin outs, unless they are written differently?
Are they missing because it is a simulation?

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27 Jul 2015 14:37 #60950 by cmorley
Replied by cmorley on topic gmoccapy
yes because its a simulation.

Chris M

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29 Jul 2015 21:03 - 29 Jul 2015 21:15 #61015 by thor44
Replied by thor44 on topic gmoccapy
I have working Axis config file and I copied and pasted from HAL file the parallel port pin assignments into the core_sim.hal file hoping that it would make the difference but no dice.

Does anyone have an idea on how to get a gmoccapy sim config to work work the machine?
Here is the file.
# core HAL config file for simulation

# first load all the RT modules that will be needed
# 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=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread

net probe-in => motion.probe-input

net estop-out => parport.0.pin-01-out
setp parport.0.pin-02-out-invert 1
net ydir => parport.0.pin-02-out
net ystep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net zdir => parport.0.pin-04-out
net zstep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
setp parport.0.pin-06-out-invert 1
net xdir => parport.0.pin-06-out
net xstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
net adir => parport.0.pin-08-out
net astep => parport.0.pin-09-out
setp parport.0.pin-09-out-reset 1
net spindle-cw => parport.0.pin-14-out
net spindle-pwm => parport.0.pin-16-out
net xenable => parport.0.pin-17-out
net home-x <= parport.0.pin-12-in-not
net probe-in <= parport.0.pin-13-in
net home-y <= parport.0.pin-15-in-not


# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt_x.in
net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in
net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt_z.in

# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out

# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out

# 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
Last edit: 29 Jul 2015 21:15 by thor44.

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30 Jul 2015 03:29 #61025 by newbynobi
Replied by newbynobi on topic gmoccapy
Just take a copy of your working config and change the ini file as described in the documentation of gmoccapy, brginning from 4.1

Norbert

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