# standard pinout config file for 3-axis steppers
# using a parport for I/O
#
# first load the parport driver
loadrt probe_parport
loadrt hal_parport cfg="0x0378 0xDFE0"
#
# next connect the parport functions to threads
# read inputs first
addf parport.0.read base-thread 1
# write outputs last
addf parport.0.write base-thread -1
#read inputs first
addf parport.1.read base-thread 1
#write outputs last
addf parport.1.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 Ystep => parport.0.pin-05-out
linksp Ydir => parport.0.pin-04-out
linksp Zstep => parport.0.pin-07-out
linksp Zdir => parport.0.pin-06-out
# create a signal for the estop force false
# alternate for estop force false pin 13 only with no ewrite
#linkpp parport.1.pin-13-in iocontrol.0.emc-enable-in
# connect e-stop write/sense to I/O controller
newsig EstopSense bit
newsig EstopWrite bit
linksp EstopSense <= parport.1.pin-13-in
linksp EstopSense => iocontrol.0.emc-enable-in
linksp EstopWrite <= parport.1.pin-16-out
linksp EstopWrite => iocontrol.0.user-enable-out
#estop may need to be inverted
# create feedhold signal
newsig feedhold bit
# connect signal to motion cotrol
linkps motion.feed-hold => feedhold
# conect feedhold to physical pin
linksp feedhold => parport.1.pin-11-in-not
# or this works too
net feedhold parport.1.pin-11-in-not motion.feed-hold
#use halui for run open program hardware button halui button non funtional now
#newsig runsignal bit
#net runsignal parport.1.pin-12-in-not halui.program.run
# use halui to abort on estop
#newsig abort bit
#net abort parport.0.pin-11-in-not halui.abort
# create a signal for "spindle brake"
# create a signal for "spindlefwd"
# create a signal for "spindlerev"
newsig spindle-brake bit
newsig spindle-forwrd bit
#newsig spindle-reverse bit
# connect the controller to it
linkps motion.spindle-brake => spindle-brake
linkps motion.spindle-forward => spindle-forwrd
#linkps motion.spindle-reverse => spindle-reverse
# connect it to physical pin
linksp spindle-brake => parport.1.pin-17-out
linksp spindle-forwrd => parport.1.pin-03-out
#linksp spindle-reverse => parport.1.pin-02-out
net spindle-rev motion.spindle-reverse parport.1.pin-02-out
# create a signle for mist coolant
# create a signle for flood coolant
newsig MistOn bit
newsig FloodOn bit
# connect iocontroler to it
# connect it to a physical pin
linksp MistOn <= parport.1.pin-08-out
linksp MistOn => iocontrol.0.coolant-mist
linksp FloodOn <= parport.1.pin-09-out
linksp FloodOn => iocontrol.0.coolant-flood
# create signals for tool loading loopback
# use sig for tool prep to tool preped
linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
# creat a signal for toolchange
newsig changetool bit
newsig toolchanged bit
# connect iocontroler to it
# connect it to pphyiscal pins
linksp changetool <= parport.1.pin-04-out
linksp changetool => iocontrol.0.tool-change
linksp toolchanged <= parport.0.pin-10-in-not
linksp toolchanged => iocontrol.0.tool-changed
###
### You might use something like this to enable chopper drives when machine ON
### the Xen signal is defined in core_stepper.hal
###
# linksp Xen => parport.0.pin-01-out
###
### If you want active low for this pin, invert it like this:
###
# setp parport.0.pin-01-out-invert 1
###
### A sample home switch on the X axis (axis 0). make a signal,
### link the incoming parport pin to the signal, then link the signal
### to EMC's axis 0 home switch input pin
###
# newsig Xhome bit
# linkps parport.0.pin-10-in => Xhome
# linksp Xhome => axis.0.home-sw-in
###
### Shared home switches all on one parallel port pin?
### that's ok, hook the same signal to all the axes, but be sure to
### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file. See the
### user manual!
###
# newsig homeswitches bit
# linkps parport.0.pin-10-in => homeswitches
# linksp homeswitches => axis.0.home-sw-in
# linksp homeswitches => axis.1.home-sw-in
# linksp homeswitches => axis.2.home-sw-in
###
### Sample separate limit switches on the X axis (axis 0)
###
# newsig X-neg-limit bit
# linkps parport.0.pin-11-in => X-neg-limit
# linksp X-neg-limit => axis.0.neg-lim-sw-in
# create signal for pos-limits
newsig pos-limits bit
# connect signal to physical pin
linkps parport.0.pin-15-in-not => pos-limits
# connect signal to pos-limits
linksp pos-limits => axis.0.pos-lim-sw-in
linksp pos-limits => axis.1.pos-lim-sw-in
linksp pos-limits => axis.2.pos-lim-sw-in
###
### Just like the shared home switches example, you can wire together
### limit switches. Beware if you hit one, EMC will stop but can't tell
### you which switch/axis has faulted. Use caution when recovering from this.
###
# create signal for neg-limits
newsig neg-limits bit
# connect signal to physical pin
linkps parport.0.pin-13-in-not => neg-limits
# create sig for neg-limits switches
linksp neg-limits => axis.0.neg-lim-sw-in
linksp neg-limits => axis.1.neg-lim-sw-in
linksp neg-limits => axis.2.neg-lim-sw-in
###
### you can also use the "net" syntax to accomplish the "newsig" and "link"
### operations all at once. This command does the same thing as the above
### block.
###
# net Xlimits parport.pin-13-in => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in
INI
EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = $Revision: 1.7.4.4 $
# Name of machine, for use with display, etc.
MACHINE = Index CnC Mill
RS274NGC_SARTUP_CODE=G21 G90
# 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 = 0x00000003
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = tkemc
#DISPLAY = mini
#DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# Path to help file
HELP_FILE = tkemc.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 = 1.2
# Lowest value that will be allowed for spindle speed override, 1.0 = 100%
MIN_SPINDLE_OVERRIDE = 0.6
# Highest value that will be allowed for spindle speed override, 1.0 = 100%
MAX_SPINDLE_OVERRIDE = 1.2
# Prefix to be used
PROGRAM_PREFIX = /home/al/emc2/nc_files
# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
# Task controller section -----------------------------------------------------
[TASK]
# Name of task controller program, e.g., bridgeporttask
TASK = milltask
# 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]
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 nano-seconds - this is the fastest thread in the machine
BASE_PERIOD = 28000
# Servo task period, in nano-seconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# Trajectory Planner task period, in nano-seconds - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
# Hardware Abstraction Layer section --------------------------------------------------
[HAL]
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 = standard_pinout.hal
HALFILE = halvcp.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 3
# COORDINATES = X Y Z A B C
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.167
MAX_VELOCITY = .65
DEFAULT_ACCELERATION = 4.0
MAX_ACCELERATION = 4.0
# Axes sections ---------------------------------------------------------------
# Changed STEPGEN_DIRHOLD in core_stepper.hal to dirhold period = 2 AL Smart
# First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
STEPGEN_DIRHOLD = 2
MAX_VELOCITY = .65
MAX_ACCELERATION = 4.0
STEPGEN_MAXVEL = .7
STEPGEN_MAXACCEL = 3.3
BACKLASH = 0.001
SCALE = 25000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -12.0
MAX_LIMIT = 12.0
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
HOME = 0.000
STEPGEN_DIRHOLD = 2
MAX_VELOCITY = .65
MAX_ACCELERATION = 4.
STEPGEN_MAXVEL = .7
STEPGEN_MAXACCEL = 3.3
BACKLASH = 0.000
SCALE = 25000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -6.0
MAX_LIMIT = 6.0
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
HOME = 0.0
STEPGEN_DIRHOLD = 2
MAX_VELOCITY = .65
MAX_ACCELERATION = 4.0
STEPGEN_MAXVEL = .7
STEPGEN_MAXACCEL = 3.3
BACKLASH = 0.000
SCALE = 25000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -4.75
MAX_LIMIT = 0.050
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
# First axis
[AXIS_A]
# 4th axis config
#TYPE = ANGULAR
#HOME = 0.000
#STEPGEN_DIRHOLD = 2
#MAX_VELOCITY = .65
#MAX_ACCELERATION = 20.0
#STEPGEN_MAXVEL = .71
#STEPGEN_MAXACCEL = 21.0
#BACKLASH = 0.000
#SCALE = 25000
#OUTPUT_SCALE = 1.000
#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
# section for main IO controller parameters -----------------------------------
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
TOOL_CHANGE_POSITION = 0 0 0
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = index.tbl