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TCP 5-axis kinematics
4 years 4 months ago #244560
by mittim
Replied by mittim on topic TCP 5-axis kinematics
Has no one an idea, what´s the issue here?
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4 years 4 months ago #244564
by jurod
Replied by jurod on topic TCP 5-axis kinematics
You send the entire configuration file. (.hal, .ini, .....)
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4 years 4 months ago #244566
by mittim
Replied by mittim on topic TCP 5-axis kinematics
Code:
# Erstellt von PNCconf am Sat May 21 09:49:44 2022
# Using LinuxCNC version: Master (2.9)
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
[EMC]
MACHINE = test_2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.300000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/timcnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm 1deg 1 2 5 10 45 90 180 360
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyzac
CYCLE_TIME = 100
PYVCP = spindle.xml
[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
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i95.0
[HAL]
HALUI = halui
HALFILE = test_2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
POSTGUI_HALFILE = spindle_to_pyvcp.hal
[HALUI]
[KINS]
JOINTS = 6
KINEMATICS = xyzac-trt-kins coordinates=XYYZAC
[TRAJ]
COORDINATES = xyyzac
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.01
MAX_LIMIT = 100.01
[JOINT_0]
TYPE = LINEAR
HOME = 0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
# 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 = 125
STEPGEN_MAXACCEL = 937.5
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -100.01
MAX_LIMIT = 100.01
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
#HOME_LATCH_VEL = 0.5
USE_HOME_INDEX = NO
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = NO
HOME_IS_SHARED = YES
HOME_FINAL_VEL = 5
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -100.01
MAX_LIMIT = 100.01
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 31.25
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -200.01
MAX_LIMIT = 200.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
USE_HOME_INDEX = NO
HOME_SEQUENCE = 2
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 31.25
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -200.01
MAX_LIMIT = 200.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
USE_HOME_INDEX = NO
HOME_SEQUENCE = 3
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -200.01
MAX_LIMIT = 200.01
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.5
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -200.01
MAX_LIMIT = 200.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
USE_HOME_INDEX = NO
HOME_SEQUENCE = 4
#******************************************
#******************************************
[AXIS_A]
MAX_VELOCITY = 72.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -10
MAX_LIMIT = 100
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 72.0
MAX_ACCELERATION = 30.0
# 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 = 112.5
STEPGEN_MAXACCEL = 60
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 100.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -888.8889
#-2222.2222222222222222
MIN_LIMIT = -10.01
MAX_LIMIT = 100.1
HOME_OFFSET = -0.01
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
USE_HOME_INDEX = NO
HOME_SEQUENCE = 5
#******************************************
#******************************************
[AXIS_C]
MAX_VELOCITY = 36.0
MAX_ACCELERATION = 100.0
MIN_LIMIT = -9999.01
MAX_LIMIT = 9999.01
[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.15
MAX_VELOCITY = 36.0
MAX_ACCELERATION = 200.0
# 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 = 45
STEPGEN_MAXACCEL = 300
P = 2.2
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -555.5556
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 1818.182
#1817.487868268479
MIN_LIMIT = -9999.01
MAX_LIMIT = 9999.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
USE_HOME_INDEX = NO
HOME_SEQUENCE = 6
#******************************************
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000
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4 years 4 months ago #244567
by mittim
Replied by mittim on topic TCP 5-axis kinematics
Code:
# Erstellt von PNCconf am Sat May 21 09:49:44 2022
# Using LinuxCNC version: Master (2.9)
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=1 num_pwmgens=1 num_stepgens=6 sserial_port_0=0xxxxx"
setp hm2_7i95.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.a,pid.c,pid.s
loadusr -W xhc-whb04b-6 -H
addf hm2_7i95.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.c.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i95.0.write servo-thread
# external output signals
#net <OIL> hm2_7i95.0.ssr.00.out-00
net kss hm2_7i95.0.ssr.00.out-04
#net <WERKZEUG> hm2_7i95.0.ssr.00.out-02
#net <name> hm2_7i95.0.ssr.00.out-03
net spindle_on_off hm2_7i95.0.ssr.00.out-03
#net <name> hm2_7i95.0.ssr.00.out-05
# external input signals
net motorerror hm2_7i95.0.inmux.00.input-15
net x-home-sw hm2_7i95.0.inmux.00.input-23
net a-pos-limit hm2_7i95.0.inmux.00.input-06-not
net y-pos-limit hm2_7i95.0.inmux.00.input-11
net y-home-sw hm2_7i95.0.inmux.00.input-02-not
net y2-home-sw hm2_7i95.0.inmux.00.input-05-not
net x-pos-limit hm2_7i95.0.inmux.00.input-09-not
net a-home-sw hm2_7i95.0.inmux.00.input-03-not
net z-home-sw hm2_7i95.0.inmux.00.input-04-not
net z-pos-limit hm2_7i95.0.inmux.00.input-08-not
net estop-out hm2_7i95.0.inmux.00.input-07
#net <name> hm2_7i95.0.inmux.00.input-07
#net <name> hm2_7i95.0.inmux.00.input-10
#net <name> hm2_7i95.0.inmux.00.input-11
net kss hm2_7i95.0.inmux.00.input-12
#net <name> hm2_7i95.0.inmux.00.input-13
#net <name> hm2_7i95.0.inmux.00.input-15
#net <name> hm2_7i95.0.inmux.00.input-16
#net <name> hm2_7i95.0.inmux.00.input-17
#net <name> hm2_7i95.0.inmux.00.input-18
#net <name> hm2_7i95.0.inmux.00.input-19
#net <name> hm2_7i95.0.inmux.00.input-20
#net <name> hm2_7i95.0.inmux.00.input-21
#net <name> hm2_7i95.0.inmux.00.input-22
#net <name> hm2_7i95.0.inmux.00.input-23
#********************************************************************************************************************************************************
# AXIS X JOINT 0
#********************************************************************************************************************************************************
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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.012700
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i95.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i95.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i95.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i95.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i95.0.stepgen.00.step_type 0
setp hm2_7i95.0.stepgen.00.control-type 1
setp hm2_7i95.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i95.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i95.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i95.0.stepgen.00.enable
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#********************************************************************************************************************************************************
# 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i95.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i95.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i95.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i95.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i95.0.stepgen.01.step_type 0
setp hm2_7i95.0.stepgen.01.control-type 1
setp hm2_7i95.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i95.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i95.0.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_7i95.0.stepgen.01.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS Y JOINT 2
#********************************************************************************************************************************************************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i95.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i95.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i95.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i95.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i95.0.stepgen.02.step_type 0
setp hm2_7i95.0.stepgen.02.control-type 1
setp hm2_7i95.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output <= hm2_7i95.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i95.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i95.0.stepgen.02.enable
# ---setup home / limit switch signals---
net y2-home-sw => joint.2.home-sw-in joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS Z JOINT 3
#********************************************************************************************************************************************************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.012700
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i95.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i95.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i95.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i95.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i95.0.stepgen.03.step_type 0
setp hm2_7i95.0.stepgen.03.control-type 1
setp hm2_7i95.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output <= hm2_7i95.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i95.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i95.0.stepgen.03.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.3.home-sw-in joint.3.neg-lim-sw-in
net z-pos-limit => joint.3.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS A JOINT 4
#********************************************************************************************************************************************************
setp pid.a.Pgain [JOINT_4]P
setp pid.a.Igain [JOINT_4]I
setp pid.a.Dgain [JOINT_4]D
setp pid.a.bias [JOINT_4]BIAS
setp pid.a.FF0 [JOINT_4]FF0
setp pid.a.FF1 [JOINT_4]FF1
setp pid.a.FF2 [JOINT_4]FF2
setp pid.a.deadband [JOINT_4]DEADBAND
setp pid.a.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.a.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.a.maxerror 0.012700
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-pos-fb => pid.a.feedback
net a-output <= pid.a.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i95.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_7i95.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_7i95.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_7i95.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i95.0.stepgen.04.step_type 0
setp hm2_7i95.0.stepgen.04.control-type 1
setp hm2_7i95.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
net a-pos-cmd <= joint.4.motor-pos-cmd
net a-vel-cmd <= joint.4.vel-cmd
net a-output <= hm2_7i95.0.stepgen.04.velocity-cmd
net a-pos-fb <= hm2_7i95.0.stepgen.04.position-fb
net a-pos-fb => joint.4.motor-pos-fb
net a-enable <= joint.4.amp-enable-out
net a-enable => hm2_7i95.0.stepgen.04.enable
# ---setup home / limit switch signals---
net a-home-sw => joint.4.home-sw-in joint.4.neg-lim-sw-in
net a-pos-limit => joint.4.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS C JOINT 5
#********************************************************************************************************************************************************
setp pid.c.Pgain [JOINT_5]P
setp pid.c.Igain [JOINT_5]I
setp pid.c.Dgain [JOINT_5]D
setp pid.c.bias [JOINT_5]BIAS
setp pid.c.FF0 [JOINT_5]FF0
setp pid.c.FF1 [JOINT_5]FF1
setp pid.c.FF2 [JOINT_5]FF2
setp pid.c.deadband [JOINT_5]DEADBAND
setp pid.c.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.c.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.a.maxerror 0.012700
net c-index-enable <=> pid.c.index-enable
net c-enable => pid.c.enable
net c-pos-cmd => pid.c.command
net c-pos-fb => pid.c.feedback
net c-output <= pid.c.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.05.dirsetup [JOINT_5]DIRSETUP
setp hm2_7i95.0.stepgen.05.dirhold [JOINT_5]DIRHOLD
setp hm2_7i95.0.stepgen.05.steplen [JOINT_5]STEPLEN
setp hm2_7i95.0.stepgen.05.stepspace [JOINT_5]STEPSPACE
setp hm2_7i95.0.stepgen.05.position-scale [JOINT_5]STEP_SCALE
setp hm2_7i95.0.stepgen.05.step_type 0
setp hm2_7i95.0.stepgen.05.control-type 1
setp hm2_7i95.0.stepgen.05.maxaccel [JOINT_5]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.05.maxvel [JOINT_5]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net c-pos-cmd <= joint.5.motor-pos-cmd
net c-vel-cmd <= joint.5.vel-cmd
net c-output <= hm2_7i95.0.stepgen.05.velocity-cmd
#net c-pos-fb <= hm2_7i95.0.stepgen.05.position-fb
net c-pos-fb => joint.5.motor-pos-fb
net c-enable <= joint.5.amp-enable-out
net c-enable => hm2_7i95.0.stepgen.05.enable
# ---Encoder feedback signals/setup---
setp hm2_7i95.0.encoder.00.counter-mode 0
setp hm2_7i95.0.encoder.00.filter 1
setp hm2_7i95.0.encoder.00.index-invert 0
setp hm2_7i95.0.encoder.00.index-mask 0
setp hm2_7i95.0.encoder.00.index-mask-invert 0
setp hm2_7i95.0.encoder.00.scale [JOINT_5]ENCODER_SCALE
net c-pos-fb <= hm2_7i95.0.encoder.00.position
net c-vel-fb <= hm2_7i95.0.encoder.00.velocity
net c-pos-fb => joint.5.motor-pos-fb
net c-index-enable joint.5.index-enable <=> hm2_7i95.0.encoder.00.index-enable
net c-pos-rawcounts <= hm2_7i95.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net c-home-sw => joint.5.home-sw-in
#net c-neg-limit => joint.5.neg-lim-sw-in
#net c-pos-limit => joint.5.pos-lim-sw-in
#********************************************************************************************************************************************************
# SPINDLE
#********************************************************************************************************************************************************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
######## S1000 2.9
######## S2000 4.2
######## S3000 5.5
######## S4000 6.9
######## S5000 8.2
######## S6000 9.4
######## S6600 10.0
sets spindle-at-speed true
setp hm2_7i95.0.pwmgen.pwm_frequency 3000
setp hm2_7i95.0.pwmgen.00.scale 7500
setp hm2_7i95.0.pwmgen.00.offset-mode 0
net spindle-enable spindle.0.on => hm2_7i95.0.pwmgen.00.enable
net spindle-vel-cmd-rpm-abs spindle.0.speed-out-abs hm2_7i95.0.pwmgen.00.value
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
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 x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
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 y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net axis-select-a halui.axis.a.select
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 a-is-homed halui.joint.3.is-homed
net axis-select-c halui.axis.c.select
net jog-c-pos halui.axis.c.plus
net jog-c-neg halui.axis.c.minus
net jog-c-analog halui.axis.c.analog
net c-is-homed halui.joint.4.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on whb.halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out => iocontrol.0.emc-enable-in
net motorerror joint.0.amp-fault-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
#################
# ######################################################################
# WHB04B-6 jog dial configuration
# ######################################################################
# BEGIN Note: spindle signals are ususally listed in the main .hal file
#
#net spindle.is-on motion.spindle-on
#net spindle.start halui.spindle.start
#net spindle.stop halui.spindle.stop
#net spindle.forward halui.spindle.forward
#
#net spindle.reverse halui.spindle.reverse
#net spindle.runs-forward motion.spindle-forward
#net spindle.runs-reverse motion.spindle-reverse
#
#net spindle.increase halui.spindle.increase
#net spindle.decrease halui.spindle.decrease
#net spindle.spindle-override.value halui.spindle-override.value
#net spindle.spindle-override.increase halui.spindle-override.increase
#net spindle.spindle-override.decrease halui.spindle-override.decrease
#
#net spindle.velocity.abs-rpm motion.spindle-speed-out-abs
#
# END Note
# ######################################################################
# Load components
# ######################################################################
loadrt ilowpass names=ilowpass.jog.x,ilowpass.jog.y,ilowpass.jog.z,ilowpass.jog.a,ilowpass.jog.c
addf ilowpass.jog.x servo-thread
addf ilowpass.jog.y servo-thread
addf ilowpass.jog.z servo-thread
addf ilowpass.jog.a servo-thread
addf ilowpass.jog.c servo-thread
setp ilowpass.jog.x.scale 100
setp ilowpass.jog.y.scale 100
setp ilowpass.jog.z.scale 100
setp ilowpass.jog.a.scale 100
setp ilowpass.jog.c.scale 100
setp ilowpass.jog.x.gain 0.01
setp ilowpass.jog.y.gain 0.01
setp ilowpass.jog.z.gain 0.01
setp ilowpass.jog.a.gain 0.01
setp ilowpass.jog.c.gain 0.01
loadrt scale names=scale.axis.x,scale.axis.y,scale.axis.z,scale.axis.a,scale.axis.c
addf scale.axis.x servo-thread
addf scale.axis.y servo-thread
addf scale.axis.z servo-thread
addf scale.axis.a servo-thread
addf scale.axis.c servo-thread
setp scale.axis.x.gain 0.01
setp scale.axis.y.gain 0.01
setp scale.axis.z.gain 0.01
setp scale.axis.a.gain 0.01
setp scale.axis.c.gain 0.01
setp scale.axis.x.offset 0
setp scale.axis.y.offset 0
setp scale.axis.z.offset 0
setp scale.axis.a.offset 0
setp scale.axis.c.offset 0
# ######################################################################
# Signals configuration
# ######################################################################
# Connect emergency stop signals
#net pdnt.machine.is-on halui.machine.is-on whb.halui.machine.is-on
net pdnt.machine.on whb.halui.machine.on halui.machine.on
net pdnt.machine.off whb.halui.machine.off halui.machine.off
# Connect program related signals
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused
net pdnt.program.is-running whb.halui.program.is-running halui.program.is-running
net pdnt.program.resume whb.halui.program.resume halui.program.resume
net pdnt.program.pause whb.halui.program.pause halui.program.pause
net pdnt.program.run whb.halui.program.run halui.program.run
net pdnt.program.stop whb.halui.program.stop halui.program.stop
# Connect "selected axis" signals
net pdnt.joint.X.select whb.halui.joint.x.select halui.joint.0.select
net pdnt.joint.Y.select whb.halui.joint.y.select halui.joint.1.select
net pdnt.joint.Z.select whb.halui.joint.z.select halui.joint.2.select
net pdnt.joint.A.select whb.halui.joint.a.select halui.joint.3.select
net pdnt.joint.C.select whb.halui.joint.c.select halui.joint.4.select
# Connect jog signals for step and continuous mode
#net pdnt.stepgen.00.maxvel hpg.stepgen.00.maxvel whb.stepgen.00.maxvel
#net pdnt.stepgen.01.maxvel hpg.stepgen.01.maxvel whb.stepgen.01.maxvel
#net pdnt.stepgen.02.maxvel hpg.stepgen.02.maxvel whb.stepgen.02.maxvel
#net pdnt.stepgen.03.maxvel hpg.stepgen.03.maxvel whb.stepgen.03.maxvel
#net pdnt.stepgen.00.position-scale hpg.stepgen.00.position-scale whb.stepgen.00.position-scale
#net pdnt.stepgen.01.position-scale hpg.stepgen.01.position-scale whb.stepgen.01.position-scale
#net pdnt.stepgen.02.position-scale hpg.stepgen.02.position-scale whb.stepgen.02.position-scale
#net pdnt.stepgen.03.position-scale hpg.stepgen.03.position-scale whb.stepgen.03.position-scale
net pdnt.axis.0.jog-scale whb.axis.0.jog-scale scale.axis.x.in
net pdnt.axis.1.jog-scale whb.axis.1.jog-scale scale.axis.y.in
net pdnt.axis.2.jog-scale whb.axis.2.jog-scale scale.axis.z.in
net pdnt.axis.3.jog-scale whb.axis.3.jog-scale scale.axis.a.in
net pdnt.axis.5.jog-scale whb.axis.5.jog-scale scale.axis.c.in
net scale.axis.0.jog-scale scale.axis.x.out axis.x.jog-scale
net scale.axis.1.jog-scale scale.axis.y.out axis.y.jog-scale
net scale.axis.2.jog-scale scale.axis.z.out axis.z.jog-scale
net scale.axis.3.jog-scale scale.axis.a.out axis.a.jog-scale
net scale.axis.5.jog-scale scale.axis.c.out axis.c.jog-scale
net pdnt.axis.0.jog-counts whb.axis.0.jog-counts ilowpass.jog.x.in
net pdnt.axis.1.jog-counts whb.axis.1.jog-counts ilowpass.jog.y.in
net pdnt.axis.2.jog-counts whb.axis.2.jog-counts ilowpass.jog.z.in
net pdnt.axis.3.jog-counts whb.axis.3.jog-counts ilowpass.jog.a.in
net pdnt.axis.5.jog-counts whb.axis.5.jog-counts ilowpass.jog.c.in
net pdnt.ilowpass.jog.0.jog-counts ilowpass.jog.x.out axis.x.jog-counts
net pdnt.ilowpass.jog.1.jog-counts ilowpass.jog.y.out axis.y.jog-counts
net pdnt.ilowpass.jog.2.jog-counts ilowpass.jog.z.out axis.z.jog-counts
net pdnt.ilowpass.jog.3.jog-counts ilowpass.jog.a.out axis.a.jog-counts
net pdnt.ilowpass.jog.4.jog-counts ilowpass.jog.c.out axis.c.jog-counts
net pdnt.axis.0.jog-enable whb.axis.0.jog-enable axis.x.jog-enable
net pdnt.axis.1.jog-enable whb.axis.1.jog-enable axis.y.jog-enable
net pdnt.axis.2.jog-enable whb.axis.2.jog-enable axis.z.jog-enable
net pdnt.axis.3.jog-enable whb.axis.3.jog-enable axis.a.jog-enable
net pdnt.axis.5.jog-enable whb.axis.5.jog-enable axis.c.jog-enable
net pdnt.axis.0.jog-vel-mode whb.axis.0.jog-vel-mode axis.x.jog-vel-mode
net pdnt.axis.1.jog-vel-mode whb.axis.1.jog-vel-mode axis.y.jog-vel-mode
net pdnt.axis.2.jog-vel-mode whb.axis.2.jog-vel-mode axis.z.jog-vel-mode
net pdnt.axis.3.jog-vel-mode whb.axis.3.jog-vel-mode axis.a.jog-vel-mode
net pdnt.axis..jog-vel-mode whb.axis.5.jog-vel-mode axis.c.jog-vel-mode
# Connect macro buttons to mdi commands
#net pdnt.macro.1 whb.button.macro-1 halui.mdi-command-01
#net pdnt.macro.2 whb.button.macro-2 halui.mdi-command-02
#net pdnt.macro.3 whb.button.macro-3 halui.mdi-command-03
#net pdnt.macro.4 whb.button.macro-4 halui.mdi-command-04
#net pdnt.macro.6 whb.button.macro-6 halui.mdi-command-06
#net pdnt.macro.8 whb.button.macro-8 halui.mdi-command-08
#net pdnt.macro.9 whb.button.macro-9 halui.mdi-command-09
#net pdnt.macro.10 whb.button.macro-10 halui.mdi-command-10
#net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11
#net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12
#net pdnt.macro.13 whb.button.macro-13 halui.home-all
#net pdnt.macro.14 whb.button.macro-14 halui.mdi-command-14
#net pdnt.macro.15 whb.button.macro-15 halui.mdi-command-15
#net pdnt.macro.16 whb.button.macro-16 halui.mdi-command-16
# Connect reset, stop, start/pause/resume buttons to halui
# toggles whb.halui.estop.{activate, reset} which are
# already connected to halui.estop.{activate, reset} via whb.halui.estop.{activate, reset}
net pdnt.button.reset whb.button.reset
# already linked to halui.program.stop via whb.program.stop
net pdnt.button.stop whb.button.stop
# toggles whb.halui.program{run, pause, resume} which are
# already connected to halui.program.{run, pause, resume} via whb.halui.program.{run, pause, resume}
net pdnt.button.start-pause whb.button.start-pause
# Connect special positions signals
#net pdnt.button.m-home whb.button.m-home halui.mdi-command-05
#net pdnt.button.safe-z whb.button.safe-z halui.mdi-command-17
#net pdnt.button.w-home whb.button.w-home halui.mdi-command-07
#net pdnt.button.s-on-off whb.button.s-on-off halui.mdi-command-18
# unused, just exposes pendant interna
net pdnt.button.fn whb.button.fn
# probe command
#net pdnt.button.probe-z whb.button.probe-z halui.mdi-command-19
# unused, just exposes pendant interna
net pdnt.button.mode-continuous whb.button.mode-continuous
# unused, just exposes pendant interna
net pdnt.button.mode-step whb.button.mode-step
# Connect spindle related signals
net spindle.is-on whb.halui.spindle.is-on
net spindle.stop whb.halui.spindle.stop
net spindle.forward whb.halui.spindle.forward
net spindle.reverse whb.halui.spindle.reverse
# min/max override depends on [DISPLAY]MIN_SPINDLE_OVERRIDE and [DISPLAY]MAX_SPINDLE_OVERRIDE
net spindle.spindle-override.value whb.halui.spindle-override.value halui.spindle.0.override.value
net spindle.spindle-override.increase whb.halui.spindle-override.increase halui.spindle.0.override.increase
net spindle.spindle-override.decrease whb.halui.spindle-override.decrease halui.spindle.0.override.decrease
net spindle.velocity.abs-rpm whb.motion.spindle-speed-abs
# Connect machine mode related signals
net pdnt.halui.mode.auto whb.halui.mode.auto halui.mode.auto
net pdnt.halui.mode.joint whb.halui.mode.joint halui.mode.joint
net pdnt.halui.mode.manual whb.halui.mode.manual halui.mode.manual
#net pdnt.halui.mode.mdi whb.halui.mode.mdi halui.mode.mdi
net pdnt.halui.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
net pdnt.halui.mode.is-joint halui.mode.is-joint whb.halui.mode.is-joint
net pdnt.halui.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
#net pdnt.halui.mode.is-mdi halui.mode.is-mdi whb.halui.mode.is-mdi
# Connect feed rate related signals
net pdnt.halui.feed-override.scale whb.halui.feed-override.scale halui.feed-override.scale
net pdnt.halui.feed-override.direct-val whb.halui.feed-override.direct-val halui.feed-override.direct-value
net pdnt.halui.feed-override.counts whb.halui.feed-override.counts halui.feed-override.counts
#net pdnt.halui.feed-override.count-enable whb.halui.feed-override.count-enable halui.feed-override.count-enable
#net pdnt.halui.feed-override.value halui.feed-override.value whb.halui.feed-override.value
#setp whb.halui.feed-override.min-value [DISPLAY]MIN_FEED_OVERRIDE
#setp whb.halui.feed-override.max-value [DISPLAY]MAX_FEED_OVERRIDE
# min/max override depends on [DISPLAY]MIN_FEED_OVERRIDE and [DISPLAY]MAX_FEED_OVERRIDE
net pdnt.halui.feed-override.increase whb.halui.feed-override.increase halui.feed-override.increase
net pdnt.halui.feed-override.decrease whb.halui.feed-override.decrease halui.feed-override.decrease
#net pdnt.button.feed-plus whb.button.feed-plus
#net pdnt.button.feed-minus whb.button.feed-minus
# For printing the speed F:xxxx on display, the motion.current-vel velocity is used.
net pdnt.motion.current-vel motion.current-vel whb.motion.current-vel
# Connect axis position related signals
net pdnt.halui.axis.0.pos-feedback halui.axis.x.pos-feedback whb.halui.axis.0.pos-feedback
net pdnt.halui.axis.1.pos-feedback halui.axis.y.pos-feedback whb.halui.axis.1.pos-feedback
net pdnt.halui.axis.2.pos-feedback halui.axis.z.pos-feedback whb.halui.axis.2.pos-feedback
net pdnt.halui.axis.3.pos-feedback halui.axis.a.pos-feedback whb.halui.axis.3.pos-feedback
net pdnt.halui.axis.5.pos-feedback halui.axis.c.pos-feedback whb.halui.axis.5.pos-feedback
net pdnt.halui.axis.0.pos-relative halui.axis.x.pos-relative whb.halui.axis.0.pos-relative
net pdnt.halui.axis.1.pos-relative halui.axis.y.pos-relative whb.halui.axis.1.pos-relative
net pdnt.halui.axis.2.pos-relative halui.axis.z.pos-relative whb.halui.axis.2.pos-relative
net pdnt.halui.axis.3.pos-relative halui.axis.a.pos-relative whb.halui.axis.3.pos-relative
net pdnt.halui.axis.5.pos-relative halui.axis.c.pos-relative whb.halui.axis.5.pos-relative
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4 years 4 months ago #244570
by jurod
Replied by jurod on topic TCP 5-axis kinematics
I have the Y2 axis in my HAL as JOINT 6.
Compare my configuration file. ()
From example .ini:
# complex example (duplicate coord letters for y, 7 joints):
# type0:5axiskins, type1:identity, type2:userk
# x:joint0
# y:joint1 AND joint6
# z:joint2
# b:joint3
# c:joint4
# w:joint5
JOINTS = 7
KINEMATICS = 5axiskins coordinates=xyzbcwy
Compare my configuration file. ()
From example .ini:
# complex example (duplicate coord letters for y, 7 joints):
# type0:5axiskins, type1:identity, type2:userk
# x:joint0
# y:joint1 AND joint6
# z:joint2
# b:joint3
# c:joint4
# w:joint5
JOINTS = 7
KINEMATICS = 5axiskins coordinates=xyzbcwy
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4 years 4 months ago #244577
by mittim
Replied by mittim on topic TCP 5-axis kinematics
Still getting the same error message from LinuxCNC when changing
coordinates=xyyzac to coordinates=xyzacy.
coordinates=xyyzac to coordinates=xyzacy.
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4 years 4 months ago #244599
by jurod
AxisY=joint1=stepgen01=coordinates=y
AxisZ=joint2=stepgen03=coordinates=z
...
AxisY2=joint6=stepgen02=coordinates=y
Replied by jurod on topic TCP 5-axis kinematics
have you reworked the entire HAL? AxisX=joint0=stepgen00=coordinates=xStill getting the same error message from LinuxCNC when changing
coordinates=xyyzac to coordinates=xyzacy.
AxisY=joint1=stepgen01=coordinates=y
AxisZ=joint2=stepgen03=coordinates=z
...
AxisY2=joint6=stepgen02=coordinates=y
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4 years 4 months ago #244602
by mittim
Replied by mittim on topic TCP 5-axis kinematics
Thanks for the reply. I changed the joint numbers in my HAL and INI according to xyzacy. Still getting the same error message.
Code:
# Erstellt von PNCconf am Sat May 21 09:49:44 2022
# Using LinuxCNC version: Master (2.9)
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=1 num_pwmgens=1 num_stepgens=6 sserial_port_0=0xxxxx"
setp hm2_7i95.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.a,pid.c,pid.s
loadusr -W xhc-whb04b-6 -H
addf hm2_7i95.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.c.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i95.0.write servo-thread
# external output signals
#net <OIL> hm2_7i95.0.ssr.00.out-00
net kss hm2_7i95.0.ssr.00.out-04
#net <WERKZEUG> hm2_7i95.0.ssr.00.out-02
#net <name> hm2_7i95.0.ssr.00.out-03
net spindle_on_off hm2_7i95.0.ssr.00.out-03
#net <name> hm2_7i95.0.ssr.00.out-05
# external input signals
net motorerror hm2_7i95.0.inmux.00.input-15
net x-home-sw hm2_7i95.0.inmux.00.input-23
net a-pos-limit hm2_7i95.0.inmux.00.input-06-not
net y-pos-limit hm2_7i95.0.inmux.00.input-11
net y-home-sw hm2_7i95.0.inmux.00.input-02-not
net y2-home-sw hm2_7i95.0.inmux.00.input-05-not
net x-pos-limit hm2_7i95.0.inmux.00.input-09-not
net a-home-sw hm2_7i95.0.inmux.00.input-03-not
net z-neg-limit hm2_7i95.0.inmux.00.input-04-not
net z-home-sw hm2_7i95.0.inmux.00.input-08-not
net estop-out hm2_7i95.0.inmux.00.input-07
#net <name> hm2_7i95.0.inmux.00.input-07
#net <name> hm2_7i95.0.inmux.00.input-10
#net <name> hm2_7i95.0.inmux.00.input-11
net kss hm2_7i95.0.inmux.00.input-12
#net <name> hm2_7i95.0.inmux.00.input-13
#net <name> hm2_7i95.0.inmux.00.input-15
#net <name> hm2_7i95.0.inmux.00.input-16
#net <name> hm2_7i95.0.inmux.00.input-17
#net <name> hm2_7i95.0.inmux.00.input-18
#net <name> hm2_7i95.0.inmux.00.input-19
#net <name> hm2_7i95.0.inmux.00.input-20
#net <name> hm2_7i95.0.inmux.00.input-21
#net <name> hm2_7i95.0.inmux.00.input-22
#net <name> hm2_7i95.0.inmux.00.input-23
#********************************************************************************************************************************************************
# AXIS X JOINT 0
#********************************************************************************************************************************************************
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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.012700
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i95.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i95.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i95.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i95.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i95.0.stepgen.00.step_type 0
setp hm2_7i95.0.stepgen.00.control-type 1
setp hm2_7i95.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i95.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i95.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i95.0.stepgen.00.enable
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#********************************************************************************************************************************************************
# 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i95.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i95.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i95.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i95.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i95.0.stepgen.01.step_type 0
setp hm2_7i95.0.stepgen.01.control-type 1
setp hm2_7i95.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i95.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i95.0.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_7i95.0.stepgen.01.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS Y JOINT 5
#********************************************************************************************************************************************************
setp pid.y2.Pgain [JOINT_5]P
setp pid.y2.Igain [JOINT_5]I
setp pid.y2.Dgain [JOINT_5]D
setp pid.y2.bias [JOINT_5]BIAS
setp pid.y2.FF0 [JOINT_5]FF0
setp pid.y2.FF1 [JOINT_5]FF1
setp pid.y2.FF2 [JOINT_5]FF2
setp pid.y2.deadband [JOINT_5]DEADBAND
setp pid.y2.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.02.dirsetup [JOINT_5]DIRSETUP
setp hm2_7i95.0.stepgen.02.dirhold [JOINT_5]DIRHOLD
setp hm2_7i95.0.stepgen.02.steplen [JOINT_5]STEPLEN
setp hm2_7i95.0.stepgen.02.stepspace [JOINT_5]STEPSPACE
setp hm2_7i95.0.stepgen.02.position-scale [JOINT_5]STEP_SCALE
setp hm2_7i95.0.stepgen.02.step_type 0
setp hm2_7i95.0.stepgen.02.control-type 1
setp hm2_7i95.0.stepgen.02.maxaccel [JOINT_5]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.02.maxvel [JOINT_5]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output <= hm2_7i95.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i95.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i95.0.stepgen.02.enable
# ---setup home / limit switch signals---
net y2-home-sw => joint.2.home-sw-in joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#********************************************************************************************************************************************************
# 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.012700
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i95.0.stepgen.03.dirhold [JOINT_2]DIRHOLD
setp hm2_7i95.0.stepgen.03.steplen [JOINT_2]STEPLEN
setp hm2_7i95.0.stepgen.03.stepspace [JOINT_2]STEPSPACE
setp hm2_7i95.0.stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i95.0.stepgen.03.step_type 0
setp hm2_7i95.0.stepgen.03.control-type 1
setp hm2_7i95.0.stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output <= hm2_7i95.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i95.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i95.0.stepgen.03.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.3.home-sw-in joint.3.neg-lim-sw-in
net z-pos-limit => joint.3.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS A JOINT 3
#********************************************************************************************************************************************************
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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.a.maxerror 0.012700
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-pos-fb => pid.a.feedback
net a-output <= pid.a.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.04.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i95.0.stepgen.04.dirhold [JOINT_3]DIRHOLD
setp hm2_7i95.0.stepgen.04.steplen [JOINT_3]STEPLEN
setp hm2_7i95.0.stepgen.04.stepspace [JOINT_3]STEPSPACE
setp hm2_7i95.0.stepgen.04.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i95.0.stepgen.04.step_type 0
setp hm2_7i95.0.stepgen.04.control-type 1
setp hm2_7i95.0.stepgen.04.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.04.maxvel [JOINT_3]STEPGEN_MAXVEL
net a-pos-cmd <= joint.4.motor-pos-cmd
net a-vel-cmd <= joint.4.vel-cmd
net a-output <= hm2_7i95.0.stepgen.04.velocity-cmd
net a-pos-fb <= hm2_7i95.0.stepgen.04.position-fb
net a-pos-fb => joint.4.motor-pos-fb
net a-enable <= joint.4.amp-enable-out
net a-enable => hm2_7i95.0.stepgen.04.enable
# ---setup home / limit switch signals---
net a-home-sw => joint.4.home-sw-in joint.4.neg-lim-sw-in
net a-pos-limit => joint.4.pos-lim-sw-in
#********************************************************************************************************************************************************
# AXIS C JOINT 4
#********************************************************************************************************************************************************
setp pid.c.Pgain [JOINT_4]P
setp pid.c.Igain [JOINT_4]I
setp pid.c.Dgain [JOINT_4]D
setp pid.c.bias [JOINT_4]BIAS
setp pid.c.FF0 [JOINT_4]FF0
setp pid.c.FF1 [JOINT_4]FF1
setp pid.c.FF2 [JOINT_4]FF2
setp pid.c.deadband [JOINT_4]DEADBAND
setp pid.c.maxoutput [JOINT_4]MAX_OUTPUT
setp pid.c.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.a.maxerror 0.012700
net c-index-enable <=> pid.c.index-enable
net c-enable => pid.c.enable
net c-pos-cmd => pid.c.command
net c-pos-fb => pid.c.feedback
net c-output <= pid.c.output
# Step Gen signals/setup
setp hm2_7i95.0.stepgen.05.dirsetup [JOINT_4]DIRSETUP
setp hm2_7i95.0.stepgen.05.dirhold [JOINT_4]DIRHOLD
setp hm2_7i95.0.stepgen.05.steplen [JOINT_4]STEPLEN
setp hm2_7i95.0.stepgen.05.stepspace [JOINT_4]STEPSPACE
setp hm2_7i95.0.stepgen.05.position-scale [JOINT_4]STEP_SCALE
setp hm2_7i95.0.stepgen.05.step_type 0
setp hm2_7i95.0.stepgen.05.control-type 1
setp hm2_7i95.0.stepgen.05.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.05.maxvel [JOINT_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net c-pos-cmd <= joint.5.motor-pos-cmd
net c-vel-cmd <= joint.5.vel-cmd
net c-output <= hm2_7i95.0.stepgen.05.velocity-cmd
#net c-pos-fb <= hm2_7i95.0.stepgen.05.position-fb
net c-pos-fb => joint.5.motor-pos-fb
net c-enable <= joint.5.amp-enable-out
net c-enable => hm2_7i95.0.stepgen.05.enable
# ---Encoder feedback signals/setup---
setp hm2_7i95.0.encoder.00.counter-mode 0
setp hm2_7i95.0.encoder.00.filter 1
setp hm2_7i95.0.encoder.00.index-invert 0
setp hm2_7i95.0.encoder.00.index-mask 0
setp hm2_7i95.0.encoder.00.index-mask-invert 0
setp hm2_7i95.0.encoder.00.scale [JOINT_4]ENCODER_SCALE
net c-pos-fb <= hm2_7i95.0.encoder.00.position
net c-vel-fb <= hm2_7i95.0.encoder.00.velocity
net c-pos-fb => joint.5.motor-pos-fb
net c-index-enable joint.5.index-enable <=> hm2_7i95.0.encoder.00.index-enable
net c-pos-rawcounts <= hm2_7i95.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net c-home-sw => joint.5.home-sw-in
#net c-neg-limit => joint.5.neg-lim-sw-in
#net c-pos-limit => joint.5.pos-lim-sw-in
#********************************************************************************************************************************************************
# SPINDLE
#********************************************************************************************************************************************************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
######## S1000 2.9
######## S2000 4.2
######## S3000 5.5
######## S4000 6.9
######## S5000 8.2
######## S6000 9.4
######## S6600 10.0
sets spindle-at-speed true
setp hm2_7i95.0.pwmgen.pwm_frequency 3000
setp hm2_7i95.0.pwmgen.00.scale 7500
setp hm2_7i95.0.pwmgen.00.offset-mode 0
net spindle-enable spindle.0.on => hm2_7i95.0.pwmgen.00.enable
net spindle-vel-cmd-rpm-abs spindle.0.speed-out-abs hm2_7i95.0.pwmgen.00.value
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
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 x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
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 y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net axis-select-a halui.axis.a.select
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 a-is-homed halui.joint.3.is-homed
net axis-select-c halui.axis.c.select
net jog-c-pos halui.axis.c.plus
net jog-c-neg halui.axis.c.minus
net jog-c-analog halui.axis.c.analog
net c-is-homed halui.joint.4.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on whb.halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out => iocontrol.0.emc-enable-in
net motorerror joint.0.amp-fault-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
#################
# ######################################################################
# WHB04B-6 jog dial configuration
# ######################################################################
# BEGIN Note: spindle signals are ususally listed in the main .hal file
#
#net spindle.is-on motion.spindle-on
#net spindle.start halui.spindle.start
#net spindle.stop halui.spindle.stop
#net spindle.forward halui.spindle.forward
#
#net spindle.reverse halui.spindle.reverse
#net spindle.runs-forward motion.spindle-forward
#net spindle.runs-reverse motion.spindle-reverse
#
#net spindle.increase halui.spindle.increase
#net spindle.decrease halui.spindle.decrease
#net spindle.spindle-override.value halui.spindle-override.value
#net spindle.spindle-override.increase halui.spindle-override.increase
#net spindle.spindle-override.decrease halui.spindle-override.decrease
#
#net spindle.velocity.abs-rpm motion.spindle-speed-out-abs
#
# END Note
# ######################################################################
# Load components
# ######################################################################
loadrt ilowpass names=ilowpass.jog.x,ilowpass.jog.y,ilowpass.jog.z,ilowpass.jog.a,ilowpass.jog.c
addf ilowpass.jog.x servo-thread
addf ilowpass.jog.y servo-thread
addf ilowpass.jog.z servo-thread
addf ilowpass.jog.a servo-thread
addf ilowpass.jog.c servo-thread
setp ilowpass.jog.x.scale 100
setp ilowpass.jog.y.scale 100
setp ilowpass.jog.z.scale 100
setp ilowpass.jog.a.scale 100
setp ilowpass.jog.c.scale 100
setp ilowpass.jog.x.gain 0.01
setp ilowpass.jog.y.gain 0.01
setp ilowpass.jog.z.gain 0.01
setp ilowpass.jog.a.gain 0.01
setp ilowpass.jog.c.gain 0.01
loadrt scale names=scale.axis.x,scale.axis.y,scale.axis.z,scale.axis.a,scale.axis.c
addf scale.axis.x servo-thread
addf scale.axis.y servo-thread
addf scale.axis.z servo-thread
addf scale.axis.a servo-thread
addf scale.axis.c servo-thread
setp scale.axis.x.gain 0.01
setp scale.axis.y.gain 0.01
setp scale.axis.z.gain 0.01
setp scale.axis.a.gain 0.01
setp scale.axis.c.gain 0.01
setp scale.axis.x.offset 0
setp scale.axis.y.offset 0
setp scale.axis.z.offset 0
setp scale.axis.a.offset 0
setp scale.axis.c.offset 0
# ######################################################################
# Signals configuration
# ######################################################################
# Connect emergency stop signals
#net pdnt.machine.is-on halui.machine.is-on whb.halui.machine.is-on
net pdnt.machine.on whb.halui.machine.on halui.machine.on
net pdnt.machine.off whb.halui.machine.off halui.machine.off
# Connect program related signals
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused
net pdnt.program.is-running whb.halui.program.is-running halui.program.is-running
net pdnt.program.resume whb.halui.program.resume halui.program.resume
net pdnt.program.pause whb.halui.program.pause halui.program.pause
net pdnt.program.run whb.halui.program.run halui.program.run
net pdnt.program.stop whb.halui.program.stop halui.program.stop
# Connect "selected axis" signals
net pdnt.joint.X.select whb.halui.joint.x.select halui.joint.0.select
net pdnt.joint.Y.select whb.halui.joint.y.select halui.joint.1.select
net pdnt.joint.Z.select whb.halui.joint.z.select halui.joint.2.select
net pdnt.joint.A.select whb.halui.joint.a.select halui.joint.3.select
net pdnt.joint.C.select whb.halui.joint.c.select halui.joint.4.select
# Connect jog signals for step and continuous mode
#net pdnt.stepgen.00.maxvel hpg.stepgen.00.maxvel whb.stepgen.00.maxvel
#net pdnt.stepgen.01.maxvel hpg.stepgen.01.maxvel whb.stepgen.01.maxvel
#net pdnt.stepgen.02.maxvel hpg.stepgen.02.maxvel whb.stepgen.02.maxvel
#net pdnt.stepgen.03.maxvel hpg.stepgen.03.maxvel whb.stepgen.03.maxvel
#net pdnt.stepgen.00.position-scale hpg.stepgen.00.position-scale whb.stepgen.00.position-scale
#net pdnt.stepgen.01.position-scale hpg.stepgen.01.position-scale whb.stepgen.01.position-scale
#net pdnt.stepgen.02.position-scale hpg.stepgen.02.position-scale whb.stepgen.02.position-scale
#net pdnt.stepgen.03.position-scale hpg.stepgen.03.position-scale whb.stepgen.03.position-scale
net pdnt.axis.0.jog-scale whb.axis.0.jog-scale scale.axis.x.in
net pdnt.axis.1.jog-scale whb.axis.1.jog-scale scale.axis.y.in
net pdnt.axis.2.jog-scale whb.axis.2.jog-scale scale.axis.z.in
net pdnt.axis.3.jog-scale whb.axis.3.jog-scale scale.axis.a.in
net pdnt.axis.5.jog-scale whb.axis.5.jog-scale scale.axis.c.in
net scale.axis.0.jog-scale scale.axis.x.out axis.x.jog-scale
net scale.axis.1.jog-scale scale.axis.y.out axis.y.jog-scale
net scale.axis.2.jog-scale scale.axis.z.out axis.z.jog-scale
net scale.axis.3.jog-scale scale.axis.a.out axis.a.jog-scale
net scale.axis.5.jog-scale scale.axis.c.out axis.c.jog-scale
net pdnt.axis.0.jog-counts whb.axis.0.jog-counts ilowpass.jog.x.in
net pdnt.axis.1.jog-counts whb.axis.1.jog-counts ilowpass.jog.y.in
net pdnt.axis.2.jog-counts whb.axis.2.jog-counts ilowpass.jog.z.in
net pdnt.axis.3.jog-counts whb.axis.3.jog-counts ilowpass.jog.a.in
net pdnt.axis.5.jog-counts whb.axis.5.jog-counts ilowpass.jog.c.in
net pdnt.ilowpass.jog.0.jog-counts ilowpass.jog.x.out axis.x.jog-counts
net pdnt.ilowpass.jog.1.jog-counts ilowpass.jog.y.out axis.y.jog-counts
net pdnt.ilowpass.jog.2.jog-counts ilowpass.jog.z.out axis.z.jog-counts
net pdnt.ilowpass.jog.3.jog-counts ilowpass.jog.a.out axis.a.jog-counts
net pdnt.ilowpass.jog.4.jog-counts ilowpass.jog.c.out axis.c.jog-counts
net pdnt.axis.0.jog-enable whb.axis.0.jog-enable axis.x.jog-enable
net pdnt.axis.1.jog-enable whb.axis.1.jog-enable axis.y.jog-enable
net pdnt.axis.2.jog-enable whb.axis.2.jog-enable axis.z.jog-enable
net pdnt.axis.3.jog-enable whb.axis.3.jog-enable axis.a.jog-enable
net pdnt.axis.5.jog-enable whb.axis.5.jog-enable axis.c.jog-enable
net pdnt.axis.0.jog-vel-mode whb.axis.0.jog-vel-mode axis.x.jog-vel-mode
net pdnt.axis.1.jog-vel-mode whb.axis.1.jog-vel-mode axis.y.jog-vel-mode
net pdnt.axis.2.jog-vel-mode whb.axis.2.jog-vel-mode axis.z.jog-vel-mode
net pdnt.axis.3.jog-vel-mode whb.axis.3.jog-vel-mode axis.a.jog-vel-mode
net pdnt.axis..jog-vel-mode whb.axis.5.jog-vel-mode axis.c.jog-vel-mode
# Connect macro buttons to mdi commands
#net pdnt.macro.1 whb.button.macro-1 halui.mdi-command-01
#net pdnt.macro.2 whb.button.macro-2 halui.mdi-command-02
#net pdnt.macro.3 whb.button.macro-3 halui.mdi-command-03
#net pdnt.macro.4 whb.button.macro-4 halui.mdi-command-04
#net pdnt.macro.6 whb.button.macro-6 halui.mdi-command-06
#net pdnt.macro.8 whb.button.macro-8 halui.mdi-command-08
#net pdnt.macro.9 whb.button.macro-9 halui.mdi-command-09
#net pdnt.macro.10 whb.button.macro-10 halui.mdi-command-10
#net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11
#net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12
#net pdnt.macro.13 whb.button.macro-13 halui.home-all
#net pdnt.macro.14 whb.button.macro-14 halui.mdi-command-14
#net pdnt.macro.15 whb.button.macro-15 halui.mdi-command-15
#net pdnt.macro.16 whb.button.macro-16 halui.mdi-command-16
# Connect reset, stop, start/pause/resume buttons to halui
# toggles whb.halui.estop.{activate, reset} which are
# already connected to halui.estop.{activate, reset} via whb.halui.estop.{activate, reset}
net pdnt.button.reset whb.button.reset
# already linked to halui.program.stop via whb.program.stop
net pdnt.button.stop whb.button.stop
# toggles whb.halui.program{run, pause, resume} which are
# already connected to halui.program.{run, pause, resume} via whb.halui.program.{run, pause, resume}
net pdnt.button.start-pause whb.button.start-pause
# Connect special positions signals
#net pdnt.button.m-home whb.button.m-home halui.mdi-command-05
#net pdnt.button.safe-z whb.button.safe-z halui.mdi-command-17
#net pdnt.button.w-home whb.button.w-home halui.mdi-command-07
#net pdnt.button.s-on-off whb.button.s-on-off halui.mdi-command-18
# unused, just exposes pendant interna
net pdnt.button.fn whb.button.fn
# probe command
#net pdnt.button.probe-z whb.button.probe-z halui.mdi-command-19
# unused, just exposes pendant interna
net pdnt.button.mode-continuous whb.button.mode-continuous
# unused, just exposes pendant interna
net pdnt.button.mode-step whb.button.mode-step
# Connect spindle related signals
net spindle.is-on whb.halui.spindle.is-on
net spindle.stop whb.halui.spindle.stop
net spindle.forward whb.halui.spindle.forward
net spindle.reverse whb.halui.spindle.reverse
# min/max override depends on [DISPLAY]MIN_SPINDLE_OVERRIDE and [DISPLAY]MAX_SPINDLE_OVERRIDE
net spindle.spindle-override.value whb.halui.spindle-override.value halui.spindle.0.override.value
net spindle.spindle-override.increase whb.halui.spindle-override.increase halui.spindle.0.override.increase
net spindle.spindle-override.decrease whb.halui.spindle-override.decrease halui.spindle.0.override.decrease
net spindle.velocity.abs-rpm whb.motion.spindle-speed-abs
# Connect machine mode related signals
net pdnt.halui.mode.auto whb.halui.mode.auto halui.mode.auto
net pdnt.halui.mode.joint whb.halui.mode.joint halui.mode.joint
net pdnt.halui.mode.manual whb.halui.mode.manual halui.mode.manual
#net pdnt.halui.mode.mdi whb.halui.mode.mdi halui.mode.mdi
net pdnt.halui.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
net pdnt.halui.mode.is-joint halui.mode.is-joint whb.halui.mode.is-joint
net pdnt.halui.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
#net pdnt.halui.mode.is-mdi halui.mode.is-mdi whb.halui.mode.is-mdi
# Connect feed rate related signals
net pdnt.halui.feed-override.scale whb.halui.feed-override.scale halui.feed-override.scale
net pdnt.halui.feed-override.direct-val whb.halui.feed-override.direct-val halui.feed-override.direct-value
net pdnt.halui.feed-override.counts whb.halui.feed-override.counts halui.feed-override.counts
#net pdnt.halui.feed-override.count-enable whb.halui.feed-override.count-enable halui.feed-override.count-enable
#net pdnt.halui.feed-override.value halui.feed-override.value whb.halui.feed-override.value
#setp whb.halui.feed-override.min-value [DISPLAY]MIN_FEED_OVERRIDE
#setp whb.halui.feed-override.max-value [DISPLAY]MAX_FEED_OVERRIDE
# min/max override depends on [DISPLAY]MIN_FEED_OVERRIDE and [DISPLAY]MAX_FEED_OVERRIDE
net pdnt.halui.feed-override.increase whb.halui.feed-override.increase halui.feed-override.increase
net pdnt.halui.feed-override.decrease whb.halui.feed-override.decrease halui.feed-override.decrease
#net pdnt.button.feed-plus whb.button.feed-plus
#net pdnt.button.feed-minus whb.button.feed-minus
# For printing the speed F:xxxx on display, the motion.current-vel velocity is used.
net pdnt.motion.current-vel motion.current-vel whb.motion.current-vel
# Connect axis position related signals
net pdnt.halui.axis.0.pos-feedback halui.axis.x.pos-feedback whb.halui.axis.0.pos-feedback
net pdnt.halui.axis.1.pos-feedback halui.axis.y.pos-feedback whb.halui.axis.1.pos-feedback
net pdnt.halui.axis.2.pos-feedback halui.axis.z.pos-feedback whb.halui.axis.2.pos-feedback
net pdnt.halui.axis.3.pos-feedback halui.axis.a.pos-feedback whb.halui.axis.3.pos-feedback
net pdnt.halui.axis.5.pos-feedback halui.axis.c.pos-feedback whb.halui.axis.5.pos-feedback
net pdnt.halui.axis.0.pos-relative halui.axis.x.pos-relative whb.halui.axis.0.pos-relative
net pdnt.halui.axis.1.pos-relative halui.axis.y.pos-relative whb.halui.axis.1.pos-relative
net pdnt.halui.axis.2.pos-relative halui.axis.z.pos-relative whb.halui.axis.2.pos-relative
net pdnt.halui.axis.3.pos-relative halui.axis.a.pos-relative whb.halui.axis.3.pos-relative
net pdnt.halui.axis.5.pos-relative halui.axis.c.pos-relative whb.halui.axis.5.pos-relative
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4 years 4 months ago #244603
by mittim
Replied by mittim on topic TCP 5-axis kinematics
Code:
# Erstellt von PNCconf am Sat May 21 09:49:44 2022
# Using LinuxCNC version: Master (2.9)
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
[EMC]
MACHINE = test_2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.300000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/timcnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm 1deg 1 2 5 10 45 90 180 360
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyzac
CYCLE_TIME = 100
PYVCP = spindle.xml
[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
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i95.0
[HAL]
HALUI = halui
HALFILE = test_2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
POSTGUI_HALFILE = spindle_to_pyvcp.hal
[HALUI]
[KINS]
JOINTS = 6
KINEMATICS = xyzac-trt-kins coordinates=XYZACY
[TRAJ]
COORDINATES = xyzacy
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 300.0
MIN_LIMIT = -140
MAX_LIMIT = 90
[JOINT_0]
TYPE = LINEAR
HOME = 0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 300.0
# 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 = 50
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -140.01
MAX_LIMIT = 90.01
HOME_OFFSET = -140
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = -0.1
USE_HOME_INDEX = NO
HOME_SEQUENCE = 2
HOME_IGNORE_LIMITS = YES
HOME_FINAL_VEL = 10
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -100.01
MAX_LIMIT = 100.01
[JOINT_1]
#LINKER MOTOR
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 31.25
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -100.01
MAX_LIMIT = 100.01
HOME_OFFSET = -125
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -0.1
USE_HOME_INDEX = NO
HOME_SEQUENCE = -3
HOME_IGNORE_LIMITS = YES
HOME_FINAL_VEL = 5
[JOINT_5]
#RECHTER MOTOR
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 31.25
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN JOINT_5 = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -100.01
MAX_LIMIT = 100.01
HOME_OFFSET = -125
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -0.1
USE_HOME_INDEX = NO
HOME_SEQUENCE = -3
HOME_IGNORE_LIMITS = YES
HOME_FINAL_VEL = 5
#******************************************
#*******JOINT_5***********************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 300
MIN_LIMIT = -140.01
MAX_LIMIT = 100.01
[JOINT_2]
TYPE = LINEAR
HOME = 0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 300.0
# 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 = 40
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 800
MIN_LIMIT = -140.01
MAX_LIMIT = 100.01
HOME_OFFSET = 125
HOME_SEARCH_VEL = 5
HOME_LATCH_VEL = 0.1
USE_HOME_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 0
HOME_FINAL_VEL = -1
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_A]
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -5
MAX_LIMIT = 92.5
[JOINT_3]
TYPE = ANGULAR
HOME = 0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0
# 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 = 50
STEPGEN_MAXACCEL = 40
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -888.8889
#-2222.2222222222222222
MIN_LIMIT = -5
MAX_LIMIT = 92.5
HOME_OFFSET = -6.815
HOME_SEARCH_VEL = -1
HOME_LATCH_VEL = -0.1
USE_HOME_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 0
HOME_SEQUENCE = 4
HOME_FINAL_VEL = 1
#******************************************
#******************************************
[AXIS_C]
MAX_VELOCITY = 36.0
MAX_ACCELERATION = 100.0
MIN_LIMIT = -9999.01
MAX_LIMIT = 9999.01
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.15
MAX_VELOCITY = 36.0
MAX_ACCELERATION = 200.0
# 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 = 45
STEPGEN_MAXACCEL = 300
P = 2.2
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -555.5556
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 1818.182
#1817.487868268479
MIN_LIMIT = -9999.01
MAX_LIMIT = 9999.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
USE_HOME_INDEX = NO
HOME_SEQUENCE = 5
#******************************************
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000
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4 years 4 months ago #244633
by mittim
Replied by mittim on topic TCP 5-axis kinematics
It looks like my LinuxCNC 2.9 Version is too old to support duplicate digits. I will have to upgrade.
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