<core_stepper.hal, relatively unchanged>
# core HAL config file for steppers
# first load the core RT modules that will be needed
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY
# stepper module, three step generators, all three using step/dir
loadrt stepgen step_type=2,2,2
# hook functions to base thread (high speed thread for step generation)
addf stepgen.make-pulses base-thread
# hook functions to servo thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
# connect position commands from motion module to step generator
newsig Xpos-cmd float
linksp Xpos-cmd <= axis.0.motor-pos-cmd
linksp Xpos-cmd => stepgen.0.position-cmd
newsig Ypos-cmd float
linksp Ypos-cmd <= axis.1.motor-pos-cmd
linksp Ypos-cmd => stepgen.1.position-cmd
newsig Zpos-cmd float
linksp Zpos-cmd <= axis.2.motor-pos-cmd
linksp Zpos-cmd => stepgen.2.position-cmd
# connect position feedback from step generators
# to motion module
newsig Xpos-fb float
linksp Xpos-fb <= stepgen.0.position-fb
linksp Xpos-fb => axis.0.motor-pos-fb
newsig Ypos-fb float
linksp Ypos-fb <= stepgen.1.position-fb
linksp Ypos-fb => axis.1.motor-pos-fb
newsig Zpos-fb float
linksp Zpos-fb <= stepgen.2.position-fb
linksp Zpos-fb => axis.2.motor-pos-fb
# connect enable signals for step generators
newsig Xen bit
linksp Xen <= axis.0.amp-enable-out
linksp Xen => stepgen.0.enable
newsig Yen bit
linksp Yen <= axis.1.amp-enable-out
linksp Yen => stepgen.1.enable
newsig Zen bit
linksp Zen <= axis.2.amp-enable-out
linksp Zen => stepgen.2.enable
# connect signals to step pulse generator outputs
newsig Xphase-A bit
newsig Xphase-B bit
newsig Yphase-A bit
newsig Yphase-B bit
newsig Zphase-A bit
newsig Zphase-B bit
linkps stepgen.0.phase-A Xphase-A
linkps stepgen.0.phase-B Xphase-B
linkps stepgen.1.phase-A Yphase-A
linkps stepgen.1.phase-B Yphase-B
linkps stepgen.2.phase-A Zphase-A
linkps stepgen.2.phase-B Zphase-B
# set stepgen module scaling - get values from ini file
setp stepgen.0.position-scale [AXIS_0]INPUT_SCALE
setp stepgen.1.position-scale [AXIS_1]INPUT_SCALE
setp stepgen.2.position-scale [AXIS_2]INPUT_SCALE
# set stepgen module velocity limits - get values from ini file
setp stepgen.0.maxvel [AXIS_0]STEPGEN_MAXVEL
setp stepgen.1.maxvel [AXIS_1]STEPGEN_MAXVEL
setp stepgen.2.maxvel [AXIS_2]STEPGEN_MAXVEL
# set stepgen module accel limits - get values from ini file
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
# load realtime portion of scope, just to have it handy
loadrt scope_rt
<control_box.hal, stuff that has to do with my external control box>
######################################
# HAL code for external control box##
######################################
######################################
# estop ##############################
######################################
# create a pin and loopback for estop
linkpp parport.1.pin-15-in iocontrol.0.emc-enable-in
######################################
# spindle ###########################
######################################
#input
linkpp parport.1.pin-12-in halui.spindle.start
linkpp parport.1.pin-11-in halui.spindle.stop
#output
# create a signal for "spindle on"
newsig spindle_on bit
# connect it to the iocontroller
linksp spindle_on motion.spindle-on
# connect it to a physical pin
linksp spindle_on parport.0.pin-04-out
######################################
# threading ##########################
######################################
# counting the spindle encoder in software
loadrt counter num_chan=1
loadrt blocks not=1
#add RT functions to base and servo thread
# update counter counter
addf counter.update-counters base-thread
addf not.0 servo-thread
# capture spindle positions
addf counter.capture-position servo-thread
#set pullup pin high
newsig pullup_pin bit
sets pullup_pin 1
linksp pullup_pin parport.0.pin-01-out
# spindle encoder
# connect encoder signals to encoder counter
newsig spindle-phase-A bit
newsig spindle-phase-Z bit
linksp spindle-phase-A => counter.0.phase-A
linksp spindle-phase-Z => counter.0.phase-Z
linkps parport.0.pin-10-in => spindle-phase-A
linkps parport.0.pin-11-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 counter.0.position-scale 100
# 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 => counter.0.index-enable
# counting the spindle encoder in software
# report our revolution count to the motion controller
newsig spindle-pos float
linkps counter.0.position => spindle-pos
linksp spindle-pos => motion.spindle-revs
######################################
# feed/jogwheels #####################
######################################
# add 3 encoder counter modules
loadrt encoder num_chan=3
#signals to connect the encoders to parport
newsig encA1 bit
newsig encB1 bit
newsig encA2 bit
newsig encB2 bit
newsig encA3 bit
newsig encB3 bit
linksp encA1 parport.1.pin-05-in
linksp encB1 parport.1.pin-06-in
linksp encA2 parport.1.pin-04-in
linksp encB2 parport.1.pin-03-in
linksp encA3 parport.1.pin-08-in
linksp encB3 parport.1.pin-07-in
linksp encA1 encoder.0.phase-A
linksp encB1 encoder.0.phase-B
linksp encA2 encoder.1.phase-A
linksp encB2 encoder.1.phase-B
linksp encA3 encoder.2.phase-A
linksp encB3 encoder.2.phase-B
#jogwheel stuff
#make this your counts/unit
setp encoder.0.position-scale 1
setp encoder.1.position-scale 1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
#next connect the output from the encoder counters to motion jog X
newsig jogwheel-pos1 s32
linkps encoder.0.counts => jogwheel-pos1
linksp jogwheel-pos1 => axis.0.jog-counts
newsig jogwheel-pos2 s32
linkps encoder.1.counts => jogwheel-pos2
linksp jogwheel-pos2 => axis.2.jog-counts
#next enable the jogwheel jogging
newsig enablejog bit
linksp enablejog => axis.0.jog-enable
linksp enablejog => axis.2.jog-enable
#set it to 1
sets enablejog 1
newsig jogscale float
sets jogscale 0.05
setp encoder.0.x4-mode 1
setp encoder.1.x4-mode 1
linksp Xphase-A parport.0.pin-02-out
linksp jogscale => axis.0.jog-scale
linksp jogscale => axis.2.jog-scale
#feedwheel stuff
setp encoder.2.x4-mode 1
newsig scale float
sets scale 0.05
linksp scale halui.feed-override.scale
linkpp halui.feed-override.counts encoder.2.counts
<lathe_mm.ini, relatively unchanged stepper_mm.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: 1.6 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-LATHE-STEP-MM
#- 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
# axis is an external interface, check http://axis.unpy.net/
# 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 = 1.5
#- Prefix to be used
PROGRAM_PREFIX = /home/cnc-lathe/Desktop/programs/
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 3
#- Machine hardare
LATHE = YES
###############################################################################
# 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 = 20000
#- 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]
# Start halui
HALUI = halui
# 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
HALFILE = control_box.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 = 1.0
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 3
MAX_VELOCITY = 10
DEFAULT_ACCELERATION = 50
MAX_ACCELERATION = 100
PROBE_INDEX = 0
PROBE_POLARITY = 1
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 10
# 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 = 100
STEPGEN_MAXVEL = 11.5
STEPGEN_MAXACCEL = 120.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 72 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 1.270
MIN_FERROR = 0.254
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 = 1
HOME = 0.000
MAX_VELOCITY = 10
MAX_ACCELERATION = 100
STEPGEN_MAXVEL = 11.5
STEPGEN_MAXACCEL = 120.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 72 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 1.270
MIN_FERROR = 0.254
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 = 1
HOME = 0.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 100
STEPGEN_MAXVEL = 11.5
STEPGEN_MAXACCEL = 120
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 72 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 1.270
MIN_FERROR = 0.254
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