####################################################################### # # # RRRRRR OOOOOO SSSSSS EEEEEEEE TTTTTTTT TTTTTTTT AAAA # # RR RR OO OO SS SS EE TT TT AA AA # # RR RR OO OO SS EE TT TT AA AA # # RR RR OO OO SS EE TT TT AA AA # # RRRRRR OO OO SSSS EEEEEE TT TT AA AA # # RR RR OO OO SS EE TT TT AAAAAAAA # # RR RR OO OO SS EE TT TT AA AA # # RR RR OO OO SS SS EE TT TT AA AA # # RR RR OOOOOO SSSSSS EEEEEEEE TT TT AA AA # # # ####################################################################### # # # LinuxCNC configuration for use with a Rose Engine # # # # File: # # Rosetta_Spindle0.inc # # # # Purpose: # # This is used to setup the Spindle 0 axis for the configuration # # of LinuxCNC. # # # # End User Customisation: # # The end user of the Rosetta system may modify this file to # # accommodate their local configuration. It is recommended that # # a copy of this file be saved before changes are made. # # # # Changes to this file are not supported by Colvin Tools nor # # Brainwave Embedded. # # # # Version # # 1.0 - 08 August 2025, R. Colvin # # # # Copyright (c) 2025 Colvin Tools and Brainwave Embedded. # # # # The following MIT/X Consortium License applies to the Rosetta # # system. Use of this system constitutes consent to the terms # # outlined below. # # # # Permission is hereby granted, free of charge, to any person # # obtaining a copy of this software and associated documentation # # files (the "Software"), to deal in the Software without # # restriction, including without limitation the rights to use, copy, # # modify, merge, publish, distribute, sublicense, and/or sell copies # # of the Software, and to permit persons to whom the Software is # # furnished to do so, subject to the following conditions: # # # # The above copyright notice and this permission notice shall # # be included in all copies or substantial portions of the # # Software. # # # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, # # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF # # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND # # NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS # # BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN # # ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN # # CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE # # SOFTWARE. # # # # Except as contained in this notice, the name of COPYRIGHT HOLDERS # # shall not be used in advertising or otherwise to promote the sale, # # use or other dealings in this Software without prior written # # authorization from COPYRIGHT HOLDERS. # ####################################################################### # ******************************************************************** # Details about the fields are available in the # LinuxCNC 2.9.4 System Manual, # https://linuxcnc.org/docs/stable/html/ # ******************************************************************** # Configuration values # Home # Axis Joint Channel Type Seq Comments # ---- ----- ------- ------- ---- ------------------------ # Sp0 7 05 n/a n/a # Sp1 6 07 n/a n/a # ******************************************************************** # The values used below are based on these calculations. # # *********************** # 1. Stepper motors use 1.8 deg / step. # # *********************** # 2. DM542T set to Microsteps = 32 # Steps / rev = 6,400 # # 32 microsteps microsteps # ------------- = 17.778 ---------- # 1.8 deg degree # # ******************************************************************** # ******************************************************************** # JJ OOOOOO IIIIIIII N NN TTTTTTTT # JJ OO OO II NN NN TT # JJ OO OO II NNN NN TT # JJ OO OO II NN NN NN TT # JJ JJ OO OO II NN NNNN TT # JJJJJJ OOOOOO IIIIIIII NN NN TT # ******************************************************************** [JOINT_7] SPINDLE = 0 TYPE = ANGULAR # ******************************************************************** # SSSSSS PPPPPPP IIIIIIII N NN DDDDDDD LL EEEEEEEE # SS SS PP PP II NN NN DD DD LL EE # SSS PP PP II NNN NN DD DD LL EEEEE # SSS PPPPPPP II NN NN NN DD DD LL EE # SS SS PP II NN NNNN DD DD LL EE # SSSSSS PP IIIIIIII NN NN DDDDDDD LLLLLLLL EEEEEEEE # ******************************************************************** [SPINDLE_0] TYPE = ANGULAR # ******************************************************************** # STEP_SCALE = number of pulses that corresponds to a move of one # machine unit as set in the [TRAJ] section. # # For the MDF Rose Engine, # # 9 motor rev # ------------- x 6,400 = 57,600 # 1 spindle rev # SCALE = 57600 STEP_SCALE = 57600 # *********************** # ENCODER_SCALE = number of pulses that corresponds to a move of one # machine unit. # # Set to 6400 steps / rev ENCODER_SCALE = 6400 # ******************************************************************** # Sets the step size for spindle speed increment / decrement commands. # INCREMENT = 0.1 # The maximum spindle speed (in rpm) for the specified spindle. # The rosette phaser / multiplier needs to be able to run up to 10x the # spindle speed. MAX_VELOCITY = 10 # MAX_FORWARD_VELOCITY = 10 # MAX_REVERSE_VELOCITY = 10 # Hardware StepGen requires values in rps (revolution per second) # As it should be 10%+ higher than MAX_VELOCITY, it is set to 20 STEPGEN_MAXVEL = 2 # Maximum acceleration for this joint in machine units per second # squared. MAX_ACCELERATION = 30 # Hardware StepGen requires values in rps (revolution per second) # As it should be 10%+ higher than MAX_ACCELERATION, it is set to 1 STEPGEN_MAXACCEL = 1 # ******************************************************************** # Backlash in machine units. BACKLASH = 0.0000 # The value in machine units by which the joint is permitted to # deviate from commanded position at very low speeds. MIN_FERROR = 0.5 # The maximum allowable following error, in machine units. FERROR = 5 # 1 Indicates the joint is used as a locking indexer. LOCKING_INDEXER = 1 # ******************************************************************** # STEPPER MOTOR SETTINGS # # These parameters are relevant to joints controlled by stepper # motors; they may not be needed when using servo motors # *********************** # For the Stepper Online DM542T Drivers # These are 5 μs = 5,000 ns DIRHOLD = 5000 DIRSETUP = 5000 # These are 2.5 μs = 2,500 ns STEPLEN = 2500 STEPSPACE = 2500 # ******************************************************************** # ******************************************************************** # UU UU N NN UU UU SSSSSS EEEEEEEE DDDDDDD # UU UU NN NN UU UU SS SS EE DD DD # UU UU NNN NN UU UU SSS EEEEE DD DD # UU UU NN NN NN UU UU SSS EE DD DD # UU UU NN NNNN UU UU SS SS EE DD DD # UUUUUU NN NN UUUUUU SSSSSS EEEEEEEE DDDDDDD # ******************************************************************** # ******************************************************************** # SERVO MOTOR SETTINGS # # These parameters are not relevant to joints controlled by stepper # motors; they are only needed when using servo motors # BIAS = 0.0 # DEADBAND = 0.000015 # The maximum value for the output of the PID compensation that is # written to the motor amplifier, in volts. The computed output value # is clamped to this limit. The limit is applied before scaling to raw # output units. The value is applied symmetrically to both the plus # and the minus side. # MAX_OUTPUT = 10.0 # P = 1000.0 # I = 0.0 # D = 0.0 # FF0 = 1.0 # FF1 = 0.0 # FF2 = 0.0 # ********************************************************************