# standard pinout config file for 3-axis steppers
# using a parport for I/O
#
# first load the parport driver
loadrt hal_parport cfg="0x0378"
# counting the spindle encoder in software
loadrt encoder num_chan=1
# misc blocks needed to do fun things
loadrt blocks not=1
#
# next connect the parport functions to threads
# read inputs first
addf parport.0.read base-thread 1
# update encoder counter
# capture axis and spindle positions
addf encoder.capture-position servo-thread
ini file
# 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: 1.3 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-STEP-IN
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0x00000001
# 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 = .9
#- Prefix to be used
PROGRAM_PREFIX = /cnc/
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
###############################################################################
# Task controller section
###############################################################################
[TASK]
#- Name of task controller program, e.g., bridgeporttask
TASK = milltask
# TASK = minimilltask
#- 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 = stepper.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 111
#- 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 = 50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
###############################################################################
# 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 = core_stepper.hal
#HALFILE = xylotex_pinout.hal
HALFILE = standard_pinout.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 R P W
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = 0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.0167
MAX_VELOCITY = .9
DEFAULT_ACCELERATION = 15.0
MAX_ACCELERATION = 20.0
PROBE_INDEX = 4
PROBE_POLARITY = 0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = .4
# NOTE: the step generator module applies its own limits to
# acceleration and velocity. We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up. In the long term we
# hope to come up with a clean fix for this problem. In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = -9000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -20.0
MAX_LIMIT = 20.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = .4
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 7000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.0
MAX_VELOCITY = .4
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = -6300 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -20.0
MAX_LIMIT = 20.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
###############################################################################
# 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 = stepper.tbl
###############################################################################
# section for external NML server parameters
###############################################################################
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr
# other misc blocks
addf not.0 servo-thread
addf encoder.update-counters base-thread
# write outputs last
addf parport.0.write base-thread -1
#
# finally connect physical pins to the signals
linksp Xstep parport.0.pin-03-out
linksp Xdir parport.0.pin-02-out
linksp Zstep parport.0.pin-05-out
linksp Zdir parport.0.pin-04-out
linksp Ystep parport.0.pin-07-out
linksp Ydir parport.0.pin-06-out
# create a signal for the estop loopback
linkpp iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
linkpp iocontrol.0.tool-change iocontrol.0.tool-changed
# create a signal for "spindle on"
newsig spindle_on bit
# commented out till we resolve this issue
# connect it to the iocontroller
linksp spindle_on iocontrol.0.spindle-on
# connect it to a physical pin
linksp spindle_on parport.0.pin-09-out
#######################################################
# Beginning of threading-related stuff
#######################################################
# spindle encoder
# connect encoder signals to encoder counter
newsig spindle-phase-A bit
newsig spindle-phase-B bit
newsig spindle-phase-Z bit
linksp spindle-phase-A => encoder.0.phase-A
linksp spindle-phase-B => encoder.0.phase-B
linksp spindle-phase-Z => encoder.0.phase-Z
linkps parport.0.pin-11-in => spindle-phase-A
linkps parport.0.pin-12-in => spindle-phase-B
linkps parport.0.pin-13-in => spindle-phase-Z
# (that way thread pitches can be straightforward,
# a 20 tpi thread would multiply the encoder output
# by 1/20, etc)
setp encoder.0.position-scale 1000
# encoder reset control
# this signal is driven by the motion
# controller, TRUE for synced motion, FALSE the rest of
# the time.
#
# hook up motion controller's sync output
newsig spindle-sync bit
linkps motion.spindle-sync => spindle-sync
# needs to be inverted to connect to index enable
newsig spindle-index-en bit
linksp spindle-sync => not.0.in
linkps not.0.out => spindle-index-en
linksp spindle-index-en => encoder.0.index-enable
# report our revolution count to the motion controller
newsig spindle-pos float
linkps encoder.0.position => spindle-pos
linksp spindle-pos => motion.spindle-revs