Work with probe

# Generated by PNCconf at Sat Sep 2 06:06:21 2017 # 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 probe_parport loadrt hostmot2 loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=3 sserial_port_0=10xxx " #setp hm2_5i25.0.watchdog.timeout_ns 10000000 loadrt mux16 names=jogincr loadrt conv_float_s32 count=1 loadrt scale count=2 loadrt abs count=1 loadrt or2 count=1 loadrt not count=1 loadrt pulseout count=1 # load runtime for e-stops loadrt estop_latch count=2 addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf jogincr servo-thread addf hm2_5i25.0.write servo-thread #addf hm2_5i25.0.pet_watchdog servo-thread addf scale.0 servo-thread addf scale.1 servo-thread addf conv-float-s32.0 servo-thread addf abs.0 servo-thread addf or2.0 servo-thread addf not.0 servo-thread addf pulseout.0 servo-thread # add functions for e-stop addf estop-latch.0 servo-thread addf estop-latch.1 servo-thread # external output signals # --- SPINDLE-CW --- #setp hm2_5i25.0.gpio.017.is_output true net spindle-cw hm2_5i25.0.7i76.0.0.spinena # --- SPINDLE-CCW --- #setp hm2_5i25.0.gpio.018.is_output true net spindle-ccw hm2_5i25.0.7i76.0.0.spindir # --- SPINDLE Speed --- #setp scale.0.gain 0.035 setp scale.0.gain 0.1 net spindle-speed motion.spindle-speed-out => abs.0.in net spindle-speed-abs abs.0.out => scale.0.in net spindle-speed-DAC scale.0.out => hm2_5i25.0.7i76.0.0.spinout #net spindle-speed-DAC abs.0.out => hm2_5i25.0.7i76.0.0.spinout #net spindle-speed-scale motion.spindle-speed-out => scale.0.in #net spindle-speed-DAC scale.0.out => hm2_5i25.0.7i76.0.0.spinout setp pulseout.0.pulse 10 setp pulseout.0.thread-delay 500 net pulse-spindle-speed pulseout.0.out => halui.spindle.increase # external input signals # --- MIN-HOME-X --- net min-home-x <= hm2_5i25.0.7i76.0.0.input-04-not # --- MIN-HOME-Y --- net min-home-y <= hm2_5i25.0.7i76.0.0.input-05-not # --- ABORT --- #net abort <= hm2_5i25.0.gpio.018.in # --- SINGLE-STEP --- net single-step <= hm2_5i25.0.gpio.019.in # --- CYCLE-START --- net cycle-start <= hm2_5i25.0.gpio.020.in #********************* # E-STOP #********************* #GUI Input net latch-reset iocontrol.0.user-request-enable net latch0-ok-in iocontrol.0.user-enable-out net latch0-ok-in => estop-latch.0.ok-in net latch0-out <= estop-latch.0.ok-out net latch0-out => estop-latch.1.ok-in #net latch1-out <= estop-latch.1.ok-out net latch-reset => estop-latch.0.reset net latch-reset => estop-latch.1.reset net latch-out iocontrol.0.emc-enable-in <= estop-latch.1.ok-out net estop-out estop-latch.1.fault-out net red-button-estop <= hm2_5i25.0.7i76.0.0.input-06-not net red-button-estop => estop-latch.1.fault-in #******************* # AXIS X #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 setp hm2_5i25.0.stepgen.00.control-type 0 setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable # ---setup home / limit switch signals--- net min-home-x => axis.0.home-sw-in net min-home-x => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 0 setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL net y-pos-fb axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net min-home-y => axis.1.home-sw-in net min-home-y => axis.1.neg-lim-sw-in net y-pos-limit => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.02.step_type 0 setp hm2_5i25.0.stepgen.02.control-type 0 setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.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 #******************* # ---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 <= motion.spindle-speed-out #net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-on <= 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 => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true # ---- SEE Postgui for spindle speed #****************************** # 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 or2.0.in0 pulseout.0.in hm2_5i25.0.7i76.0.0.input-08 net spindle-manual-ccw halui.spindle.reverse or2.0.in1 hm2_5i25.0.7i76.0.0.input-07 net spindle-switch-on or2.0.out not.0.in net spindle-manual-stop halui.spindle.stop not.0.out 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 hm2_5i25.0.7i76.0.0.input-09 => motion.probe-input # ---jogwheel signals to mesa encoder - shared MPG--- net joint-selected-count <= hm2_5i25.0.encoder.00.count # ---mpg signals--- # for axis x MPG setp axis.0.jog-vel-mode 0 net selected-jog-incr => axis.0.jog-scale net joint-select-a => axis.0.jog-enable net joint-selected-count => axis.0.jog-counts # for axis y MPG setp axis.1.jog-vel-mode 0 net selected-jog-incr => axis.1.jog-scale net joint-select-b => axis.1.jog-enable net joint-selected-count => axis.1.jog-counts # for axis z MPG setp axis.2.jog-vel-mode 0 net selected-jog-incr => axis.2.jog-scale net joint-select-c => axis.2.jog-enable net joint-selected-count => axis.2.jog-counts sets selected-jog-incr 0.000000 # ---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 Sat Sep 2 06:06:22 2017 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = TRAK_TRM DEBUG = 0 [DISPLAY] DISPLAY = axis EMBED_TAB_NAME=Probe Screen EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -x {XID} -u python/probe_screen.py -H probe_icons/probe_screen.hal probe_icons/probe_screen.glade POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.200000 DEFAULT_SPINDLE_SPEED=1000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/ebartel/linuxcnc/nc_files PYVCP = pyvcp-panel.xml INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 0.6 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = gedit 438868RY = 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 SUBROUTINE_PATH = /home/ebartel/linuxcnc/configs/TRAK_TRM/macros [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 500000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [HAL] HALUI = halui HALFILE = TRAK_TRM.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.17 MAX_LINEAR_VELOCITY = 1.67 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 5 FERROR = 0.01 MIN_FERROR = 0.0005 MAX_VELOCITY = 0.3 MAX_ACCELERATION = .65 # The values below sholkvsdjh dpkojncvfsahan MAX_VELOCITY and MAX_ACCELERATION # hjnm.bhfmg ,k; nklhy If using BACKLASH compensation STEPGEN_M AXACCEL should be 100% larger. STEPGEN_MAXVEL = 0.6 STEPGEN_MAXACCEL = 1.5 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 4000 STEPSPACE = 4000 STEP_SCALE = -109972.1 BACKLASH = 0.0035 MIN_LIMIT = -1 MAX_LIMIT = 21 HOME_OFFSET = 0.500000 HOME_SEARCH_VEL = -0.3 HOME_LATCH_VEL = 0.1 HOME_FINAL_VEL = -0.300000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 5 FERROR = 0.005 MIN_FERROR = 0.0005 MAX_VELOCITY = 0.3 MAX_ACCELERATION = .65jiky # 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 = 0.4 STEPGEN_MAXACCEL = 1.3 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 4000 STEPSPACE = 4000 STEP_SCALE = 55019.75 BACKLASH = 0.025 MIN_LIMIT = -0.001 MAX_LIMIT = 14 HOME_OFFSET = 0.500000 HOME_SEARCH_VEL = -0.3 HOME_LATCH_VEL = 0.1 HOME_FINAL_VEL = -0.300000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.005 MIN_FERROR = 0.0005 MAX_VELOCITY = 1.667 MAX_ACCELERATION = 2.0 # 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 = 2.1 STEPGEN_MAXACCEL = 2.5 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 6000.0 MIN_LIMIT = -5 MAX_LIMIT = 8.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 #******************** # Spindle #******************** [SPINDLE_9] #******************** # Probe #******************** [TOOLSENSOR] # Absolute coordinates of the toolsetter pad X = 5 Y = 5 # Absolute Z start search coordinates Z = 1 # Maximum search distance and direction (sign) MAXPROBE = -1 # Speed of movements during working in Probe Screen RAPID_SPEED = 600 # Diameter of toolsetter pad TS_DIAMETER = 1 # The speed of the reverse rotation of the spindle when measuring the tool diameter REV_ROTATION_SPEED = 300 [CHANGE_POSITION] # Abs coordinates tool change point X = 5 Y = 5 Z = 1 [RS274NGC] FEATURES=30 SUBROUTINE_PATH = macros REMAP=M6 modalgroup=6 prolog=change_prolog ngc=manual_change epilog=change_epilog [PYTHON] PATH_PREPEND = ./python