2 servos 1 stepper

# load realtime modules # kinematics loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hal_parport cfg="1030" loadrt encoder num_chan=2 loadrt pid num_chan=2 loadrt pwmgen output_type=1,1 loadrt ddt count=4 loadrt constant count=1 # define the order of execution for RT code addf parport.0.read base-thread addf encoder.update-counters base-thread addf pwmgen.make-pulses base-thread addf parport.0.write base-thread addf encoder.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf constant.0 servo-thread addf pwmgen.update servo-thread addf ddt.0 servo-thread addf ddt.1 servo-thread addf ddt.2 servo-thread addf ddt.3 servo-thread # hook stuff together setp encoder.0.position-scale [AXIS_0]INPUT_SCALE setp encoder.1.position-scale [AXIS_1]INPUT_SCALE net enc0A encoder.0.phase-A <= parport.0.pin-10-in net enc0B encoder.0.phase-B <= parport.0.pin-11-in net enc1A encoder.1.phase-A <= parport.0.pin-12-in net enc1B encoder.1.phase-B <= parport.0.pin-13-in net Xpos-fb <= encoder.0.position net Ypos-fb <= encoder.1.position net Xpos-fb => pid.0.feedback net Ypos-fb => pid.1.feedback net Xpos-fb => axis.0.motor-pos-fb net Ypos-fb => axis.1.motor-pos-fb net Xvel-cmd <= pid.0.output net Yvel-cmd <= pid.1.output net Xvel-cmd => pwmgen.0.value net Yvel-cmd => pwmgen.1.value net Xpwm pwmgen.0.pwm net Ypwm pwmgen.1.pwm net Xdir <= pwmgen.0.dir net Ydir <= pwmgen.1.dir net Xdir => parport.0.pin-06-out net Xdir => parport.0.pin-07-out setp parport.0.pin-07-out-invert TRUE net Xpwm => parport.0.pin-05-out net Ydir => parport.0.pin-03-out net Ydir => parport.0.pin-04-out setp parport.0.pin-04-out-invert TRUE net Ypwm => parport.0.pin-02-out setp pid.0.maxoutput 1.0 setp pid.1.maxoutput 1.0 # the values below come from the ini setp pid.0.Pgain [AXIS_0]P setp pid.0.Igain [AXIS_0]I setp pid.0.Dgain [AXIS_0]D setp pid.0.bias [AXIS_0]BIAS setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 # deadband should be just over 1 count setp pid.0.deadband [AXIS_0]DEADBAND setp pid.1.Pgain [AXIS_1]P setp pid.1.Igain [AXIS_1]I setp pid.1.Dgain [AXIS_1]D setp pid.1.bias [AXIS_1]BIAS setp pid.1.FF0 [AXIS_1]FF0 setp pid.1.FF1 [AXIS_1]FF1 setp pid.1.FF2 [AXIS_1]FF2 # deadband should be just over 1 count setp pid.1.deadband [AXIS_1]DEADBAND net Xpos-cmd <= axis.0.motor-pos-cmd net Ypos-cmd <= axis.1.motor-pos-cmd net Xpos-cmd => pid.0.command net Ypos-cmd => pid.1.command net Xenable <= axis.0.amp-enable-out net Yenable <= axis.1.amp-enable-out net Xenable => pid.0.enable net Xenable => pwmgen.0.enable net Yenable => pid.1.enable net Yenable => pwmgen.1.enable net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in net Xpos-cmd => ddt.0.in net Xvel <= ddt.0.out net Xvel => ddt.1.in net Xacc <= ddt.1.out net Ypos-cmd => ddt.2.in net Yvel <= ddt.2.out net Yvel => ddt.3.in net Yacc <= ddt.3.out net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

# EMC controller parameters for generic controller. Make these what you need # for your system. # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # Settings with a + at the front of the comment are likely needed to get # changed by the user. # Settings with a - at the front are highly unneeded to be changed ############################################################################### # General section ############################################################################### [EMC] #- Version of this INI file VERSION = $Revision$ #+ Name of machine, for use with display, etc. MACHINE = LinuxCNC-ETCH-SERVO #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF ############################################################################### # Sections for display options ############################################################################### [DISPLAY] #+ Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini # DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 #- Path to help file HELP_FILE = doc/help.txt #- Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE #- Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL #+ Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 10 #- Prefix to be used PROGRAM_PREFIX = /home/arthur/linuxcnc/nc_files #- Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 # Editor to be used with Axis EDITOR = gedit ############################################################################### # Task controller section ############################################################################### [TASK] # Name of task controller program, e.g., milltask TASK = milltask #- Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 ############################################################################### # Part program interpreter section ############################################################################### [RS274NGC] #- File containing interpreter variables PARAMETER_FILE = etch.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #- Name of the motion controller to use (only one exists for nontrivkins) EMCMOT = motmod #- Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 #- Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 #+ Base task period, in nanosecs - this is the fastest thread in the machine BASE_PERIOD = 20000 #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD SERVO_PERIOD = 1000000 ############################################################################### # Hardware Abstraction Layer section ############################################################################### [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # # list of hal config files to run through halcmd #+ files are executed in the order in which they appear HALFILE = etch.hal #- list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] #+ machine specific settings AXES = 3 # COORDINATES = X Y Z A B C COORDINATES = X Y z HOME = 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1 MAX_VELOCITY = 30 DEFAULT_ACCELERATION = 15.0 MAX_ACCELERATION = 20.0 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 10 MAX_ACCELERATION = 5 BACKLASH = 0.000 INPUT_SCALE = 500 OUTPUT_SCALE = 500.000 MIN_LIMIT = 0.0 MAX_LIMIT = 6 FERROR = 0.2 MIN_FERROR = 0.10 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO P = 10 I = 100 D = 0 BIAS = 0.0 FF0 = 0 FF1 = 1000 FF2 = 0 DEADBAND=.002 #+ Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 10 MAX_ACCELERATION = 5 BACKLASH = 0.000 INPUT_SCALE = 500 OUTPUT_SCALE = 500.000 MIN_LIMIT = 0 MAX_LIMIT = 20 FERROR = 0.200 MIN_FERROR = 0.100 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO P = 10 I = 200 D = 0.1 BIAS = 0.0 FF0 = 4 FF1 = 1 FF2 = 0.0 DEADBAND=.002 #+ Third axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100 MAX_ACCELERATION = 200 BACKLASH = 0.000 INPUT_SCALE = 200 OUTPUT_SCALE = 1.000 MIN_LIMIT = 0.0 MAX_LIMIT = 6.5 FERROR = 0.2 MIN_FERROR = 0.10 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 DEADBAND=.002 ############################################################################### # section for main IO controller parameters ############################################################################### [EMCIO] #- Name of IO controller program, e.g., io EMCIO = io #- cycle time, in seconds CYCLE_TIME = 0.100 #- tool table file TOOL_TABLE = etch.tbl

# Generated by stepconf at Wed Mar 15 02:19:04 2000 # If you make changes to this file, they will be # overwritten when you run stepconf again loadrt trivkins 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="1030 out " setp parport.0.reset-time 5000 loadrt stepgen step_type=0,0,0 addf parport.0.read base-thread addf stepgen.make-pulses base-thread addf parport.0.write base-thread addf parport.0.reset base-thread addf stepgen.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf stepgen.update-freq servo-thread net spindle-cmd <= motion.spindle-speed-out net ystep => parport.0.pin-08-out setp parport.0.pin-08-out-reset 1 net ydir => parport.0.pin-09-out setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 21000 setp stepgen.0.dirsetup 21000 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb net xstep <= stepgen.0.step net xdir <= stepgen.0.dir net xenable axis.0.amp-enable-out => stepgen.0.enable setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 21000 setp stepgen.1.dirsetup 21000 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb net ystep <= stepgen.1.step net ydir <= stepgen.1.dir net yenable axis.1.amp-enable-out => stepgen.1.enable setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 21000 setp stepgen.2.dirsetup 21000 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb net zstep <= stepgen.2.step net zdir <= stepgen.2.dir net zenable axis.2.amp-enable-out => stepgen.2.enable net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in loadusr -W hal_manualtoolchange net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change net tool-changed 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 stepconf at Wed Mar 15 02:19:04 2000 # If you make changes to this file, they will be # overwritten when you run stepconf again [EMC] MACHINE = my-mill DEBUG = 0 [DISPLAY] DISPLAY = axis EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.2 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/arthur/linuxcnc/nc_files INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in [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 BASE_PERIOD = 100000 SERVO_PERIOD = 1000000 [HAL] HALFILE = my-mill.hal HALFILE = custom.hal POSTGUI_HALFILE = custom_postgui.hal [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.10 MAX_LINEAR_VELOCITY = 1.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 8000.0 FERROR = 0.05 MIN_FERROR = 0.01 MIN_LIMIT = -0.01 MAX_LIMIT = 8.0 HOME_OFFSET = 0.0 [AXIS_1] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 0.9 MAX_ACCELERATION = 0.9 STEPGEN_MAXACCEL = 1.125 SCALE = 1248.0 FERROR = 0.05 MIN_FERROR = 0.01 MIN_LIMIT = -0.01 MAX_LIMIT = 8.0 HOME_OFFSET = 0.0 [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 8000.0 FERROR = 0.05 MIN_FERROR = 0.01 MIN_LIMIT = -4.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0