Kod: Zaznacz cały

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 30000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = Tokarka_TUB32.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
# dodaj polecenia halui MDI (maks 64) 

[TRAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 5.00
MAX_LINEAR_VELOCITY = 20.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl 

Kod: Zaznacz cały

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="0x378 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0
loadrt encoder num_chan=1
loadrt pwmgen output_type=1

#KW add scale and lowpass, these will be used in custom_postgui.hal
loadrt scale count=1
loadrt lowpass count=1
loadrt abs count=1

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread

net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-on <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 0.0
setp pwmgen.0.scale 1166.66666667
setp pwmgen.0.offset 0.114285714286
setp pwmgen.0.dither-pwm true
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward

#KW set the HAL encoder to 40 pulses per revolution.
setp encoder.0.position-scale 40

#KW connect the HAL encoder outputs to LinuxCNC.
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z

net xdir => parport.0.pin-02-out
setp parport.0.pin-09-out-reset 1
net zstep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net zdir => parport.0.pin-06-out
net xstep => parport.0.pin-09-out
net spindle-cw => parport.0.pin-14-out
net spindle-pwm => parport.0.pin-16-out


net estop-ext <= parport.0.pin-15-in

#KW connect the HAL encoder inputs to the real encoder.
net spindle-index encoder.0.phase-Z <= parport.0.pin-11-in
net spindle-phase-a encoder.0.phase-A <= parport.0.pin-10-in
net spindle-phase-b encoder.0.phase-B <= parport.0.pin-12-in


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 20000
setp stepgen.0.dirsetup 20000
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_2]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 20000
setp stepgen.1.dirsetup 20000
setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable axis.2.amp-enable-out => stepgen.1.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => 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

Kod: Zaznacz cały

# Tutaj dodaj swoje polecenia HAL
# Polecenia w tym pliku są wykonywane po uruchomieniu AXIS GUI (włączając panel PyVCP)

#sets spindle-at-speed true

#### The following code goes in custom_postgui.hal 
 
# **** Setup of spindle speed display using pyvcp -START ****
# **** Use ACTUAL spindle velocity from spindle encoder
# **** spindle-velocity bounces around so we filter it with lowpass
# **** spindle-velocity is signed so we use absolute component to remove sign
# **** ACTUAL velocity is in RPS not RPM so we scale it.
 
setp scale.0.gain 40
setp lowpass.0.gain 0.010000
net spindle-velocity => lowpass.0.in
net spindle-fb-filtered-rps lowpass.0.out => abs.0.in
net spindle-fb-filtered-abs-rps abs.0.out => scale.0.in
net spindle-fb-filtered-abs-rpm scale.0.out => pyvcp.spindle-speed
 
sets spindle-at-speed true
net spindle-at-speed       => pyvcp.spindle-at-speed-led

Kod: Zaznacz cały

<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
         <vbox>       
         <bd>6</bd>
                <label>
                        <text>"Spindle Speed:"</text>
                        <font>("Helvetica",20)</font>
                </label>
                <bar>
                        <halpin>"spindle-speed"</halpin>
                        <max_>1000</max_>
                </bar>
                <label>
                        <text>"Spindle-At-Speed:"</text>
                        <font>("Helvetica",20)</font>
                </label>
                <hbox>
                    <label>
                            <text>"             "</text>
                            <font>("Helvetica",20)</font>
                    </label>
                    <led>
                        <halpin>"spindle-at-speed-led"</halpin> 
                        <size>30</size> 
                        <on_color>"green"</on_color>
                        <off_color>"red"</off_color>
                    </led>
                </hbox>
        </vbox>
</pyvcp>