6x6 Stewart (Parallel Kinematic Machine Tool)

# Generated by PNCconf at Mon Jun 6 10:24:33 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config=" num_encoders=2 num_pwmgens=0 num_stepgens=10 sserial_port_0=0000xx" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s addf hm2_5i25.0.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.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_5i25.0.write servo-thread # external output signals # external input signals #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror .0005 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.05.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.05.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.05.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.05.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.05.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.05.step_type 0 setp hm2_5i25.0.stepgen.05.control-type 1 setp hm2_5i25.0.stepgen.05.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.05.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output <= hm2_5i25.0.stepgen.05.velocity-cmd net x-pos-fb <= hm2_5i25.0.stepgen.05.position-fb net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_5i25.0.stepgen.05.enable # ---setup home / limit switch signals--- net x-home-sw => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* setp pid.y.Pgain [AXIS_1]P setp pid.y.Igain [AXIS_1]I setp pid.y.Dgain [AXIS_1]D setp pid.y.bias [AXIS_1]BIAS setp pid.y.FF0 [AXIS_1]FF0 setp pid.y.FF1 [AXIS_1]FF1 setp pid.y.FF2 [AXIS_1]FF2 setp pid.y.deadband [AXIS_1]DEADBAND setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT setp pid.y.error-previous-target true setp pid.y.maxerror .0005 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.06.dirsetup [AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.06.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.06.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.06.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.06.position-scale [AXIS_1]STEP_SCALE setp hm2_5i25.0.stepgen.06.step_type 0 setp hm2_5i25.0.stepgen.06.control-type 1 setp hm2_5i25.0.stepgen.06.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.06.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= axis.1.motor-pos-cmd net y-vel-cmd <= axis.1.joint-vel-cmd net y-output <= hm2_5i25.0.stepgen.06.velocity-cmd net y-pos-fb <= hm2_5i25.0.stepgen.06.position-fb net y-pos-fb => axis.1.motor-pos-fb net y-enable <= axis.1.amp-enable-out net y-enable => hm2_5i25.0.stepgen.06.enable # ---setup home / limit switch signals--- net y-home-sw => axis.1.home-sw-in net y-neg-limit => axis.1.neg-lim-sw-in net y-pos-limit => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT setp pid.z.error-previous-target true setp pid.z.maxerror .0005 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.07.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.07.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.07.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.07.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.07.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.07.step_type 0 setp hm2_5i25.0.stepgen.07.control-type 1 setp hm2_5i25.0.stepgen.07.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.07.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output <= hm2_5i25.0.stepgen.07.velocity-cmd net z-pos-fb <= hm2_5i25.0.stepgen.07.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_5i25.0.stepgen.07.enable # ---setup home / limit switch signals--- net z-home-sw => axis.2.home-sw-in net z-neg-limit => axis.2.neg-lim-sw-in net z-pos-limit => axis.2.pos-lim-sw-in #******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]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 <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.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.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# Generated by PNCconf at Mon Jun 6 10:24:33 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = DENEME_6Haz_10:19 DEBUG = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/egmach/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 1.000000 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = gedit GEOMETRY = xyz [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [HAL] HALUI = halui HALFILE = DENEME_6Haz_10:19.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.33 MAX_LINEAR_VELOCITY = 3.33 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 3.33333333333 MAX_ACCELERATION = 5.0 # 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 = 4.17 STEPGEN_MAXACCEL = 6.25 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 1280.0 MIN_LIMIT = -0.01 MAX_LIMIT = 200.0 HOME_OFFSET = 0.0 #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 3.33333333333 MAX_ACCELERATION = 5.0 # 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 = 4.17 STEPGEN_MAXACCEL = 6.25 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 1280.0 MIN_LIMIT = -0.01 MAX_LIMIT = 200.0 HOME_OFFSET = 0.0 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 3.33333333333 MAX_ACCELERATION = 5.0 # 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 = 4.17 STEPGEN_MAXACCEL = 6.25 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 1280.0 MIN_LIMIT = -100.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 #******************** # Spindle #******************** [SPINDLE_9] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000