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[markcomp]

Toolchange


ToolChangerImplementation
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolChangerImplementation

Overview of the Toolchange process
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolChange

Tool Compensation
http://linuxcnc.org/docs/html/gcode/tool_compensation.html

Homann Modio
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ModIO



STRATEGY TO BUILD THE NORTE TOOLCHANGER
http://www.vdwalle.com/Norte/Strategy%20to%20Build%20the%20Norte%20Tool%20Changer.txt

[markcomp]

Setting up a tool changer
http://www.linuxcnc.org/emc2/index.php/italian/forum/10-advanced-configuration/16898-setting-up-a-tool-changer

[markcomp]

tool changer component integreted on a axis 
http://www.linuxcnc.org/emc2/index.php/english/forum/10-advanced-configuration/27250-tool-changer-component-integreted-on-a-axis

[markcomp]

http://linuxcnc.org/docs/html/man/man1/iocontrol.1.html


iocontrol − accepts NML I/O commands, interacts with HAL in userspace

These pins are created by the userspace IO controller, usually found in $LINUXCNC_HOME/bin/io

The signals are turned on and off in userspace - if you have strict timing requirements or simply need more i/o, consider using the realtime synchronized i/o provided by motion(9) instead.

The inifile is searched for in the directory from which halcmd was run, unless an absolute path is specified.


iocontrol.0.coolant-flood (Bit, Out) TRUE when flood coolant is requested
iocontrol.0.coolant-mist (Bit, Out) TRUE when mist coolant is requested
iocontrol.0.emc-enable-in (Bit, In) Should be driven FALSE when an external estop condition exists.
iocontrol.0.lube (Bit, Out) TRUE when lube is requested
iocontrol.0.lube_level (Bit, In) Should be driven FALSE when lubrication tank is empty.
iocontrol.0.tool-change (Bit, Out) TRUE when a tool change is requested
iocontrol.0.tool-changed (Bit, In) Should be driven TRUE when a tool change is completed.
iocontrol.0.tool-number (s32, Out) Current tool number
iocontrol.0.tool-prep-number (s32, Out) The number of the next tool, from the RS274NGC T-word
iocontrol.0.tool-prep-pocket (s32, Out) The pocket number (location in tool storage mechanism) of the next tool, as described in the tool table
iocontrol.0.tool-prepare (Bit, Out) TRUE when a Tn tool prepare is requested
iocontrol.0.tool-prepared (Bit, In) Should be driven TRUE when a tool prepare is completed.
iocontrol.0.user-enable-out (Bit, Out) FALSE when an internal estop condition exists
iocontrol.0.user-request-enable (Bit, Out) TRUE when the user has requested that estop be cleared

[markcomp]

EMC2 HAL component to implement ATC toolchanging in Denford ORAC CNC lathes

http://www.mgware.co.uk/LinuxCNC/oracchanger.comp

[markcomp]

http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadderExamples

Lathe Tool Turret
This is an example of how to implement a tool turret on a lathe using classicladder. This example should work for any size turret, mine is an eight position one. In this example the turret is driven by a stepper motor and has a solenoid actuated locking bar and an index pulse at tool one. Note that this example uses EMC 2.3.4 and will NOT work on EMC 2.2 or earlier due to the use of newer features. Also note that this is my first experience with ladder code, and EMC also for that matter. So this example is possibly not as well done as it could be. That said, it is an example.

[markcomp]

Kod:

component toolchanger "zmianiacz Karuzela, z zapadką";
pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzedzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";
pin out signed progress_level = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";
param rw float move = 0.05 "obrót o kawałek";
param rw float windback = 0.2 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";
variable float position = 1;
variable signed current_tool = 1;
license "GPL";
function _ ;
;;

FUNCTION(_) {
  switch (progress_level){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      if (tool_change){
        position= position_cmd+tool_prep_number-current_tool + windback/2; 
        if (current_tool > tool_prep_number) 
          position += tool_range;
      progress_level = 1; //ruch
      }
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (position_cmd < position) 
        position_cmd += move;
      else {
        position_cmd = position;
        position -= windback;
        progress_level = 2; //nawrót
      }
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (position_cmd > position)
        position_cmd -= move;
      else {
        tool_changed = 1; //signał <- narzędzie zminione
        current_tool = tool_prep_number;
        progress_level = 0; //przejdź do stanu oczekiwania
      }
      break;

   //----> BŁĄD
    case 20: // błąd
      break;
    default: 
      rtapi_print_msg(RTAPI_MSG_ERR,"Błąd zmieniacza");
      progress_level = 20;
  }
}

break;

[cnc101]

Kod:

component toolchanger "zmieniacz Karuzela, z zapadką";

pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzędzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";

pin out float position-fb = 0 "pozycja bierząca zmieniacza";

pin in float motor-pos-cmd "komenda z axis.1.motor-pos-cmd";
pin out float motor-pos-fb "komenda dla axis.1.motor-pos-fb";

pin in bit home=0 "sygnał z axis.1.homed o wyzerowaniu osi";

pin out signed progress_level = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";


param rw float move = 0.05 "obrót o kawałek";
param rw float windback = 0.2 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";

variable float position = 1;
variable signed current_tool; //"aktualny numer narzędzia";
variable float last_motor_pos_cmd=0;

license "GPL";
function _ ;
;;

FUNCTION(_) {

  motor_pos_fb  = motor_pos_cmd; //przepisanie komendy pozycji dla axis
  if (!(motor_pos_cmd==last_motor_pos_cmd)) position_cmd=motor_pos_cmd;
  last_motor_pos_cmd = motor_pos_cmd;
  switch (progress_level){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      if (! home) progress_level = 10; //zerowanie narzędzia
      if (tool_change){
        position = position_cmd+tool_prep_number-current_tool + windback/2; 
        if (current_tool > tool_prep_number) 
          position += tool_range;
        progress_level = 1; //ruch
      }
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (position_cmd < position) {
        position_cmd += move;
      }
      else {
        position_cmd = position;
        position -= windback;
        progress_level = 2; //nawrót
      }
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (position_cmd > position) {
        position_cmd -= move;
      }
      else {
        tool_changed = 1; //signał <- narzędzie zminione
        current_tool = tool_prep_number;
        progress_level = 0; //przejdź do stanu oczekiwania
      }
      break;
      
    //----> 10 - zerowanie narzędzia
    case 10:  // wymaga ustawienia narzędzia
      if (home) {
	    current_tool =1;
	    position = position_cmd+tool_prep_number-current_tool + windback/2; 
        if (current_tool > tool_prep_number) 
          position += tool_range;
        progress_level = 1; //ruch
	  }
      //ew. procedura zerowania, po zainstalowaniu switcha home
      break;

	//----> BŁĄD
    case 20: // błąd
      break;
    default: // 
      rtapi_print_msg(RTAPI_MSG_ERR,"Błąd zmieniacza");
      progress_level = 20;
  }
}

[cnc101]

custom.hal

Kod:

# Tutaj dodaj swoje polecenia HAL
# Ten plik nie zostanie nadpisany gdy uruchomisz ponownie Stepconf

#odłączenie domyślnych łączy zmianacza "pustego"
#net tool-number <= iocontrol.0.tool-prep-number
#net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
unlinkp iocontrol.0.tool-prepare
unlinkp iocontrol.0.tool-prepared

#wyłączenie komend dla osi Y (1)
#net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
unlinkp axis.1.motor-pos-cmd 
unlinkp stepgen.1.position-cmd

#wyłączenie pokazania pozycji osi Y (1)
#net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
unlinkp stepgen.1.position-fb
unlinkp axis.1.motor-pos-fb

#załadowanie zmieniacza toolchanger
loadrt toolchanger
#zmieniacz do wątku sevo-thread
addf toolchanger.0 servo-thread

#łącza dla zmianiacza
net tool-change iocontrol.0.tool-change => toolchanger.0.tool-change
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.tool-changed
net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-prep-number


#zmieniacz wymusza pozycję stepgena (silnika)
net pos-cmd toolchanger.0.position-cmd => stepgen.1.position-cmd

net pos-fb toolchanger.0.position-fb axis.1.motor-pos-fb


net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

#oszukanie środowiska axis
unlinkp axis.1.motor-pos-cmd
unlinkp axis.1.motor-pos-fb

#sygnał pozycji z axis -> do 
net ypos-cmd-fb axis.1.motor-pos-cmd => toolchanger.0.motor-pos-cmd
net ypos-fb toolchanger.0.motor-pos-fb => axis.1.motor-pos-fb

#komenda do sterowania ręcznego zmieniaczem
#net yyypos-cmd-fb toolchanger.0.motor-pos-cmd


#informacja z axis o wyzerowaniu osi Y (1) - axis.1.homed

net yhomed axis.1.homed => toolchanger.0.home

[cnc101]

Kod:

component toolchanger "zmieniacz Karuzela, z zapadką";

pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzędzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";

pin out float position-fb = 0 "pozycja bierząca zmieniacza";

pin in float motor-pos-cmd "komenda z axis.1.motor-pos-cmd";
pin out float motor-pos-fb "komenda dla axis.1.motor-pos-fb";

pin in bit home=0 "sygnał z axis.1.homed o wyzerowaniu osi";

pin out signed progress_level = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";


param rw float move = 0.005 "obrót o kawałek";
param rw float scale = 5 "jedenostek na zmiana narzędzia o 1";
param rw float windback = 2 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";

variable float position = 1;
variable signed current_tool=1; //"aktualny numer narzędzia";
variable float last_motor_pos_cmd=0;

license "GPL";
function _ ;
;;

FUNCTION(_) {

  //motor_pos_fb  = motor_pos_cmd; //przepisanie komendy pozycji dla axis
  //if (!(motor_pos_cmd==last_motor_pos_cmd)) position_cmd=motor_pos_cmd;
  //last_motor_pos_cmd = motor_pos_cmd;
  switch (progress_level){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      if (! home) { 
        progress_level = 10; //zerowanie narzędzia
        break;
      }
      if (tool_change){
        position = position_cmd+scale*(tool_prep_number-current_tool)+windback/2; 
        if (current_tool > tool_prep_number) 
          position += scale*tool_range;
        progress_level = 1; //ruch
      }
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (position_cmd < position) {
        position_cmd += move;
        break;
      }
      position_cmd = position;
      position -= windback;
      progress_level = 2; //nawrót
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (position_cmd > position) {
        position_cmd -= move;
        break;
      }
      tool_changed = 1; //signał <- narzędzie zminione
      current_tool = tool_prep_number;
      progress_level = 0; //przejdź do stanu oczekiwania
      break;
      
    //----> 10 - zerowanie narzędzia
    case 10:  // wymaga ustawienia narzędzia
      if (home) {
	    current_tool =1;
	    progress_level = 0; //oczekiwanie
	  }
      //ew. procedura zerowania, po zainstalowaniu switcha home
      break;

	//----> BŁĄD
    case 20: // błąd
      break;
    default: // 
      rtapi_print_msg(RTAPI_MSG_ERR,"Błąd zmieniacza");
      progress_level = 20;
  }
}

[cnc101]

Kod:

component toolchanger "zmieniacz Karuzela, z zapadką";

pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzędzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";

pin in float position-fb "pozycja bierząca silnika zmianiacza";

pin in float motor-pos-cmd "komenda z axis.1.motor-pos-cmd";
pin out float motor-pos-fb "komenda dla axis.1.motor-pos-fb";

pin in bit home "sygnał z axis.1.homed o wyzerowaniu osi";

pin out signed state = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";

pin in signed current-tool "aktualny numer narzędzia";

param rw float move = 0.3 "obrót o kawałek";
param rw float scale = 4.6 "jedenostek na zmiana narzędzia o 1";
param rw float windback = 3 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";

variable float position = 1;
//variable signed current_tool=1; //"aktualny numer narzędzia";
variable float last_motor_pos_cmd=0;

license "GPL";
function _ ;
;;

FUNCTION(_) {

  motor_pos_fb  = motor_pos_cmd; //przepisanie komendy pozycji dla axis
  //if (!(motor_pos_cmd==last_motor_pos_cmd)) position_cmd=motor_pos_cmd;
  //last_motor_pos_cmd = motor_pos_cmd;
  switch (state){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      if (! home) { 
        state = 10; //zerowanie narzędzia
        break;
      }
      if (tool_change){
        position = position_fb+scale*(tool_prep_number-current_tool)+windback/2; 
        if (current_tool > tool_prep_number) 
          position += scale*tool_range;
       state = 1; //ruch
      }
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (abs(position_fb-position_cmd)>0.05) break;
      if (position_cmd < position) {
        position_cmd += move;
        break;
      }
      position_cmd = position;
      position -= windback;
      state = 2; //nawrót
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (abs(position_fb-position_cmd)>0.1) break;
      if (position_cmd > position) {
        position_cmd -= move;
        break;
      }
      tool_changed = 1; //signał <- narzędzie zminione
      //current_tool = tool_prep_number;
      state = 0; //przejdź do stanu oczekiwania
      break;
      
    //----> 10 - zerowanie narzędzia
    case 10:  // wymaga ustawienia narzędzia
      if (home) {
	    //current_tool =1;
	    position = position_fb+scale*(tool_prep_number-current_tool)+windback/2; 
	    state = 1; //ruch
	    //ew. procedura zerowania, po zainstalowaniu switcha home
      }
      break;

	//----> BŁĄD
    case 20: // błąd
      break;
    default: // 
      rtapi_print_msg(RTAPI_MSG_ERR,"Błąd zmieniacza");
      state = 20;
  }
}

[cnc101]

Kod:

# Tutaj dodaj swoje polecenia HAL
# Ten plik nie zostanie nadpisany gdy uruchomisz ponownie Stepconf

#odłączenie domyślnych łączy zmianacza "pustego"
#net tool-number <= iocontrol.0.tool-prep-number
#net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
unlinkp iocontrol.0.tool-prepare
unlinkp iocontrol.0.tool-prepared

#wyłączenie komend dla osi Y (1)
#net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
unlinkp axis.1.motor-pos-cmd 
unlinkp stepgen.1.position-cmd

#wyłączenie pokazania pozycji osi Y (1)
#net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
unlinkp stepgen.1.position-fb
unlinkp axis.1.motor-pos-fb

#załadowanie zmieniacza toolchanger
loadrt toolchanger
#zmieniacz do wątku sevo-thread
addf toolchanger.0 servo-thread

#łącza dla zmianiacza
net tool-change iocontrol.0.tool-change => toolchanger.0.tool-change
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.tool-changed

net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-prep-number

net current-tool-number iocontrol.0.tool-number => toolchanger.0.current-tool

#zmieniacz wymusza pozycję stepgena (silnika)
net pos-cmd toolchanger.0.position-cmd => stepgen.1.position-cmd
net pos-fb toolchanger.0.position-fb <= stepgen.1.position-fb


net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

#oszukanie środowiska axis
unlinkp axis.1.motor-pos-cmd
unlinkp axis.1.motor-pos-fb

#sygnał pozycji z axis -> do 
net ypos-cmd-fb axis.1.motor-pos-cmd => toolchanger.0.motor-pos-cmd
net ypos-fb toolchanger.0.motor-pos-fb => axis.1.motor-pos-fb

#komenda do sterowania ręcznego zmieniaczem
#net yyypos-cmd-fb toolchanger.0.motor-pos-cmd


#informacja z axis o wyzerowaniu osi Y (1) - axis.1.homed

net yhomed axis.1.homed => toolchanger.0.home

[cnc101]

Kod:

# Generated by stepconf 1.1 at Thu Mar  9 15:09:48 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf

[EMC]
MACHINE = lathe_tc_02
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 1.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mark/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = lathe_tc_02.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.00
MAX_VELOCITY = 10.00

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

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 15.0
STEPGEN_MAXACCEL = 18.75
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 1.500000
HOME_LATCH_VEL = 0.250000

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[cnc101]

Kod:

# Generated by stepconf 1.1 at Thu Mar  9 15:09:48 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
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="0xcf00 out 0xcd00 out"
setp parport.0.reset-time 3000
loadrt stepgen step_type=0,0,0
loadrt pwmgen output_type=1

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread

addf stepgen.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 500.0
setp pwmgen.0.scale 3000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood

net spindle-pwm => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
setp parport.0.pin-08-out-invert 1
net xenable => parport.0.pin-08-out
net coolant-mist => parport.0.pin-09-out
net coolant-flood => parport.0.pin-14-out
net spindle-cw => parport.0.pin-16-out
net spindle-ccw => parport.0.pin-17-out


net home-y <= 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_1]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_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net home-y => axis.1.home-sw-in

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

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

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

[cnc101]

Kod:

component toolchanger "zmieniacz Karuzela, z zapadką";

pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzędzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";

pin in float position-fb "pozycja bierząca silnika zmianiacza";

pin in float motor-pos-cmd "komenda z axis.1.motor-pos-cmd";
pin out float motor-pos-fb "komenda dla axis.1.motor-pos-fb";

pin in bit home "sygnał z axis.1.homed o wyzerowaniu osi";

pin out signed state = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";

pin in signed current-tool "aktualny numer narzędzia";

param rw float move = 0.3 "obrót o kawałek";
param rw float scale = 4.6 "jedenostek na zmiana narzędzia o 1";
param rw float windback = 3 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";

variable float position = 1;
//variable signed current_tool=1; //"aktualny numer narzędzia";
variable float last_motor_pos_cmd=0;

license "GPL";
function _ ;
;;

FUNCTION(_) {

  motor_pos_fb  = motor_pos_cmd; //przepisanie komendy pozycji dla axis
  //if (!(motor_pos_cmd==last_motor_pos_cmd)) position_cmd=motor_pos_cmd;
  //last_motor_pos_cmd = motor_pos_cmd;
  switch (state){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      if (! home) { 
        state = 10; //zerowanie narzędzia
        break;
      }
      if (tool_change){
        position = position_fb+scale*(tool_prep_number-current_tool)+windback/2; 
        if (current_tool > tool_prep_number) 
          position += scale*tool_range;
       state = 1; //ruch
      }
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (abs(position_fb-position_cmd)>0.05) break;
      if (position_cmd < position) {
        position_cmd += move;
        break;
      }
      position_cmd = position;
      position -= windback;
      state = 2; //nawrót
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (abs(position_fb-position_cmd)>0.1) break;
      if (position_cmd > position) {
        position_cmd -= move;
        break;
      }
      tool_changed = 1; //signał <- narzędzie zminione
      //current_tool = tool_prep_number;
      state = 0; //przejdź do stanu oczekiwania
      break;
      
    //----> 10 - zerowanie narzędzia
    case 10:  // wymaga ustawienia narzędzia
      if (home) {
	    //current_tool =1;
	    position = position_fb+scale*(tool_prep_number-current_tool)+windback/2; 
	    state = 1; //ruch
	    //ew. procedura zerowania, po zainstalowaniu switcha home
      }
      break;

	//----> BŁĄD
    case 20: // błąd
      break;
    default: // 
      rtapi_print_msg(RTAPI_MSG_ERR,"Błąd zmieniacza");
      state = 20;
  }
}

[cnc101]

Kod:

# Generated by stepconf 1.1 at Fri Mar 10 13:08:43 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf

[EMC]
MACHINE = lathe_tc_w_03
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 1.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mark/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = lathe_tc_w_03.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.00
MAX_VELOCITY = 10.00

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

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 15.0
STEPGEN_MAXACCEL = 18.75
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 1.500000
HOME_LATCH_VEL = 0.250000

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[cnc101]

Kod:

# Generated by stepconf 1.1 at Fri Mar 10 13:08:43 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
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="0xcf00 out 0xcd00 in"
setp parport.0.reset-time 3000
loadrt stepgen step_type=0,0,0
loadrt pwmgen output_type=1

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread

addf stepgen.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 500.0
setp pwmgen.0.scale 3000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
net din-00 => motion.digital-in-00
net din-01 => motion.digital-in-01
net din-02 => motion.digital-in-02
net din-03 => motion.digital-in-03

net spindle-pwm => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
setp parport.0.pin-08-out-invert 1
net xenable => parport.0.pin-08-out
net coolant-mist => parport.0.pin-09-out
net coolant-flood => parport.0.pin-14-out
net spindle-cw => parport.0.pin-16-out
net spindle-ccw => parport.0.pin-17-out

net spindle-on => parport.1.pin-17-out

net home-y <= parport.0.pin-12-in

net din-00 <= parport.1.pin-03-in
net din-01 <= parport.1.pin-04-in
net din-02 <= parport.1.pin-05-in
net din-03 <= parport.1.pin-06-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_1]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_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net home-y => axis.1.home-sw-in

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

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

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

[cnc101]

Kod:

# Tutaj dodaj swoje polecenia HAL
# Ten plik nie zostanie nadpisany gdy uruchomisz ponownie Stepconf

#odłączenie domyślnych łączy zmianacza "pustego"
#net tool-number <= iocontrol.0.tool-prep-number
#net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
unlinkp iocontrol.0.tool-prepare
unlinkp iocontrol.0.tool-prepared

#wyłączenie komend dla osi Y (1)
#net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
unlinkp axis.1.motor-pos-cmd 
unlinkp stepgen.1.position-cmd

#wyłączenie pokazania pozycji osi Y (1)
#net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
unlinkp stepgen.1.position-fb
unlinkp axis.1.motor-pos-fb

#załadowanie zmieniacza toolchanger
loadrt toolchanger
#zmieniacz do wątku sevo-thread
addf toolchanger.0 servo-thread

#łącza dla zmianiacza
net tool-change iocontrol.0.tool-change => toolchanger.0.tool-change
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.tool-changed

net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-prep-number

net current-tool-number iocontrol.0.tool-number => toolchanger.0.current-tool

#zmieniacz wymusza pozycję stepgena (silnika)
net pos-cmd toolchanger.0.position-cmd => stepgen.1.position-cmd
net pos-fb toolchanger.0.position-fb <= stepgen.1.position-fb


net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

#oszukanie środowiska axis
unlinkp axis.1.motor-pos-cmd
unlinkp axis.1.motor-pos-fb

#sygnał pozycji z axis -> do 
net ypos-cmd-fb axis.1.motor-pos-cmd => toolchanger.0.motor-pos-cmd
net ypos-fb toolchanger.0.motor-pos-fb => axis.1.motor-pos-fb

#komenda do sterowania ręcznego zmieniaczem
#net yyypos-cmd-fb toolchanger.0.motor-pos-cmd


#informacja z axis o wyzerowaniu osi Y (1) - axis.1.homed

net yhomed axis.1.homed => toolchanger.0.home

[markcomp]

http://linuxcnc.org/docs/html/man/man9/steptest.9.html
http://linuxcnc.org/docs/html/man/man9/stepgen.9.html
http://linuxcnc.org/docs/html/man/man9/motion.9.html

[markcomp]

STEPGEN

NAME
SYNOPSIS
DESCRIPTION
FUNCTIONS
PINS
PARAMETERS
TIMING
SEE ALSO

NAME

stepgen − software step pulse generation

SYNOPSIS

loadrt stepgen step_type=type0[,type1...] [ctrl_type=type0[,type1...]] [user_step_type=#,#...]

DESCRIPTION

stepgen is used to control stepper motors. The maximum step rate depends on the CPU and other factors, and is usually in the range of 5KHz to 25KHz. If higher rates are needed, a hardware step generator is a better choice.

stepgen has two control modes, which can be selected on a channel by channel basis using ctrl_type. Possible values are "p" for position control, and "v" for velocity control. The default is position control, which drives the motor to a commanded position, subject to acceleration and velocity limits. Velocity control drives the motor at a commanded speed, again subject to accel and velocity limits. Usually, position mode is used for machine axes. Velocity mode is reserved for unusual applications where continuous movement at some speed is desired, instead of movement to a specific position. (Note that velocity mode replaces the former component freqgen.)

stepgen can control a maximum of 16 motors. The number of motors/channels actually loaded depends on the number of type values given. The value of each type determines the outputs for that channel. Position or velocity mode can be individually selected for each channel. Both control modes support the same 16 possible step types.

By far the most common step type is ’0’, standard step and direction. Others include up/down, quadrature, and a wide variety of three, four, and five phase patterns that can be used to directly control some types of motor windings. (When used with appropriate buffers of course.)

Some of the stepping types are described below, but for more details (including timing diagrams) see the stepgen section of the HAL reference manual.
type 0: step/dir

Two pins, one for step and one for direction. make-pulses must run at least twice for each step (once to set the step pin true, once to clear it). This limits the maximum step rate to half (or less) of the rate that can be reached by types 2-14. The parameters steplen and stepspace can further lower the maximum step rate. Parameters dirsetup and dirhold also apply to this step type.

type 1: up/down

Two pins, one for ’step up’ and one for ’step down’. Like type 0, make-pulses must run twice per step, which limits the maximum speed.

type 2: quadrature

Two pins, phase-A and phase-B. For forward motion, A leads B. Can advance by one step every time make-pulses runs.

type 3: three phase, full step

Three pins, phase-A, phase-B, and phase-C. Three steps per full cycle, then repeats. Only one phase is high at a time - for forward motion the pattern is A, then B, then C, then A again.

type 4: three phase, half step

Three pins, phases A through C. Six steps per full cycle. First A is high alone, then A and B together, then B alone, then B and C together, etc.

types 5 through 8: four phase, full step

Four pins, phases A through D. Four steps per full cycle. Types 5 and 6 are suitable for use with unipolar steppers, where power is applied to the center tap of each winding, and four open-collector transistors drive the ends. Types 7 and 8 are suitable for bipolar steppers, driven by two H-bridges.

types 9 and 10: four phase, half step

Four pins, phases A through D. Eight steps per full cycle. Type 9 is suitable for unipolar drive, and type 10 for bipolar drive.

types 11 and 12: five phase, full step

Five pins, phases A through E. Five steps per full cycle. See HAL reference manual for the patterns.

types 13 and 14: five phase, half step

Five pins, phases A through E. Ten steps per full cycle. See HAL reference manual for the patterns.

type 15: user-specified

This uses the waveform specified by the user_step_type module parameter, which may have up to 10 steps and 5 phases.

FUNCTIONS

stepgen.make-pulses (no floating-point)

Generates the step pulses, using information computed by update-freq. Must be called as frequently as possible, to maximize the attainable step rate and minimize jitter. Operates on all channels at once.

stepgen.capture-position (uses floating point)

Captures position feedback value from the high speed code and makes it available on a pin for use elsewhere in the system. Operates on all channels at once.

stepgen.update-freq (uses floating point)

Accepts a velocity or position command and converts it into a form usable by make-pulses for step generation. Operates on all channels at once.

PINS

stepgen.N.counts s32 out

The current position, in counts, for channel N. Updated by capture-position.

stepgen.N.position-fb float out

The current position, in length units (see parameter position-scale). Updated by capture-position. The resolution of position-fb is much finer than a single step. If you need to see individual steps, use counts.

stepgen.N.enable bit in

Enables output steps - when false, no steps are generated.

stepgen.N.velocity-cmd float in (velocity mode only)

Commanded velocity, in length units per second (see parameter position-scale).

stepgen.N.position-cmd float in (position mode only)

Commanded position, in length units (see parameter position-scale).

stepgen.N.step bit out (step type 0 only)

Step pulse output.

stepgen.N.dir bit out (step type 0 only)

Direction output: low for forward, high for reverse.

stepgen.N.up bit out (step type 1 only)

Count up output, pulses for forward steps.

stepgen.N.down bit out (step type 1 only)

Count down output, pulses for reverse steps.

stepgen.N.phase-A thru phase-E bit out (step types 2-14 only)

Output bits. phase-A and phase-B are present for step types 2-14, phase-C for types 3-14, phase-D for types 5-14, and phase-E for types 11-14. Behavior depends on selected stepping type.

PARAMETERS

stepgen.N.frequency float ro

The current step rate, in steps per second, for channel N.

stepgen.N.maxaccel float rw

The acceleration/deceleration limit, in length units per second squared.

stepgen.N.maxvel float rw

The maximum allowable velocity, in length units per second. If the requested maximum velocity cannot be reached with the current combination of scaling and make-pulses thread period, it will be reset to the highest attainable value.

stepgen.N.position-scale float rw

The scaling for position feedback, position command, and velocity command, in steps per length unit.

stepgen.N.rawcounts s32 ro

The position in counts, as updated by make-pulses. (Note: this is updated more frequently than the counts pin.)

stepgen.N.steplen u32 rw

The length of the step pulses, in nanoseconds. Measured from rising edge to falling edge.

stepgen.N.stepspace u32 rw (step types 0 and 1 only) The minimum

space between step pulses, in nanoseconds. Measured from falling edge to rising edge. The actual time depends on the step rate and can be much longer. If stepspace is 0, then step can be asserted every period. This can be used in conjunction with hal_parport’s auto-resetting pins to output one step pulse per period. In this mode, steplen must be set for one period or less.

stepgen.N.dirsetup u32 rw (step type 0 only)

The minimum setup time from direction to step, in nanoseconds periods. Measured from change of direction to rising edge of step.

stepgen.N.dirhold u32 rw (step type 0 only)

The minimum hold time of direction after step, in nanoseconds. Measured from falling edge of step to change of direction.

stepgen.N.dirdelay u32 rw (step types 1 and higher only)

The minimum time between a forward step and a reverse step, in nanoseconds.

TIMING

There are five timing parameters which control the output waveform. No step type uses all five, and only those which will be used are exported to HAL. The values of these parameters are in nano-seconds, so no recalculation is needed when changing thread periods. In the timing diagrams that follow, they are identfied by the following numbers:

(1) stepgen.n.steplen

(2) stepgen.n.stepspace

(3) stepgen.n.dirhold

(4) stepgen.n.dirsetup

(5) stepgen.n.dirdelay

For step type 0, timing parameters 1 thru 4 are used. The following timing diagram shows the output waveforms, and what each parameter adjusts.

               _____         _____               _____
    STEP  ____/     \_______/     \_____________/     \______
              |     |       |     |             |     |
    Time      |-(1)-|--(2)--|-(1)-|--(3)--|-(4)-|-(1)-|
                                          |__________________
    DIR   ________________________________/

For step type 1, timing parameters 1, 2, and 5 are used. The following timing diagram shows the output waveforms, and what each parameter adjusts.

             _____       _____
    UP    __/     \_____/     \________________________________
            |     |     |     |         |
    Time    |-(1)-|-(2)-|-(1)-|---(5)---|-(1)-|-(2)-|-(1)-|
                                        |_____|     |_____|
    DOWN  ______________________________/     \_____/     \____

For step types 2 and higher, the exact pattern of the outputs depends on the step type (see the HAL manual for a full listing). The outputs change from one state to another at a minimum interval of steplen. When a direction change occurs, the minimum time between the last step in one direction and the first in the other direction is the sum of steplen and dirdelay.

SEE ALSO

The HAL User Manual.

[markcomp]

MOTION

NAME
SYNOPSIS
DESCRIPTION
PINS
DEBUGGING PINS
PARAMETERS
FUNCTIONS
BUGS
SEE ALSO

NAME

motion − accepts NML motion commands, interacts with HAL in realtime

SYNOPSIS

loadrt motmod [base_period_nsec=period] [base_thread_fp=0 or 1] [servo_period_nsec=period] [traj_period_nsec=period] [num_joints=[0-9]] ([num_dio=[1-64]] [num_aio=[1-64]])

DESCRIPTION

By default, the base thread does not support floating point. Software stepping, software encoder counting, and software pwm do not use floating point. base_thread_fp can be used to enable floating point in the base thread (for example for brushless DC motor control).

These pins and parameters are created by the realtime motmod module. This module provides a HAL interface for LinuxCNC’s motion planner. Basically motmod takes in a list of waypoints and generates a nice blended and constraint-limited stream of joint positions to be fed to the motor drives.

Optionally the number of Digital I/O is set with num_dio. The number of Analog I/O is set with num_aio. The default is 4 each.

Pin names starting with "axis" are actually joint values, but the pins and parameters are still called "axis.N". They are read and updated by the motion-controller function.

PINS

axis.N.amp-enable-out OUT BIT

TRUE if the amplifier for this joint should be enabled

axis.N.amp-fault-in IN BIT

Should be driven TRUE if an external fault is detected with the amplifier for this joint

axis.N.home-sw-in IN BIT

Should be driven TRUE if the home switch for this joint is closed

axis.N.homing OUT BIT

TRUE if the joint is currently homing

axis.N.index-enable IO BIT

Should be attached to the index-enable pin of the joint’s encoder to enable homing to index pulse

axis.N.is-unlocked IN BIT

If the axis is a locked rotary the unlocked sensor should be connected to this pin

axis.N.jog-counts IN S32

Connect to the "counts" pin of an external encoder to use a physical jog wheel.

axis.N.jog-enable IN BIT

When TRUE (and in manual mode), any change to "jog-counts" will result in motion. When false, "jog-counts" is ignored.

axis.N.jog-scale IN FLOAT

Sets the distance moved for each count on "jog-counts", in machine units.

axis.N.jog-vel-mode IN BIT

When FALSE (the default), the jogwheel operates in position mode. The axis will move exactly jog-scale units for each count, regardless of how long that might take. When TRUE, the wheel operates in velocity mode - motion stops when the wheel stops, even if that means the commanded motion is not completed.

axis.N.joint-pos-cmd OUT FLOAT

The joint (as opposed to motor) commanded position. There may be several offsets between the joint and motor coordinates: backlash compensation, screw error compensation, and home offsets.

axis.N.joint-pos-fb OUT FLOAT

The joint feedback position. This value is computed from the actual motor position minus joint offsets. Useful for machine visualization.

axis.N.motor-pos-cmd OUT FLOAT

The commanded position for this joint.

axis.N.motor-pos-fb IN FLOAT

The actual position for this joint.

axis.N.neg-lim-sw-in IN BIT

Should be driven TRUE if the negative limit switch for this joint is tripped.

axis.N.pos-lim-sw-in IN BIT

Should be driven TRUE if the positive limit switch for this joint is tripped.

axis.N.unlock OUT BIT

TRUE if the axis is a locked rotary and a move is commanded.

motion.adaptive-feed IN FLOAT

When adaptive feed is enabled with M52 P1, the commanded velocity is multiplied by this value. This effect is multiplicative with the NML-level feed override value and motion.feed-hold.

motion.analog-in-NN IN FLOAT

These pins are used by M66 Enn wait-for-input mode.

motion.analog-out-NN OUT FLOAT

These pins are used by M67-68.

motion.coord-error OUT BIT

TRUE when motion has encountered an error, such as exceeding a soft limit

motion.coord-mode OUT BIT

TRUE when motion is in "coordinated mode", as opposed to "teleop mode"

motion.current-vel OUT FLOAT

Current cartesian velocity

motion.digital-in-NN IN BIT

These pins are used by M66 Pnn wait-for-input mode.

motion.digital-out-NN OUT BIT

These pins are controlled by the M62 through M65 words.

motion.distance-to-go OUT FLOAT

Distance remaining in the current move

motion.enable IN BIT

If this bit is driven FALSE, motion stops, the machine is placed in the "machine off" state, and a message is displayed for the operator. For normal motion, drive this bit TRUE.

motion.feed-hold IN BIT

When Feed Stop Control is enabled with M53 P1, and this bit is TRUE, the feed rate is set to 0.

motion.feed-inhibit IN BIT

When this pin is TRUE, machine motion is inhibited (this includes jogs, programmed feeds, and programmed rapids, aka traverse moves).

If the machine is performing a spindle synchronized move when this pin goes TRUE, the spindle synchronized motion will finish, and any following moves will be inhibited (this is to prevent damage to the machine, the tool, or the work piece).

If the machine is in the middle of a (non-spindle synchronized) move when this pin goes TRUE, the machine will decelerate to a stop at the maximum allowed acceleration rate.

Motion resumes when this pin goes FALSE.

motion.in-position OUT BIT

TRUE if the machine is in position (ie, not currently moving towards the commanded position).

motion.probe-input IN BIT

G38.x uses the value on this pin to determine when the probe has made contact. TRUE for probe contact closed (touching), FALSE for probe contact open.

motion.program-line OUT S32
motion.requested-vel OUT FLOAT

The requested velocity with no adjustments for feed override

motion.spindle-at-speed IN BIT

Motion will pause until this pin is TRUE, under the following conditions: before the first feed move after each spindle start or speed change; before the start of every chain of spindle-synchronized moves; and if in CSS mode, at every rapid->feed transition.

motion.spindle-brake OUT BIT

TRUE when the spindle brake should be applied

motion.spindle-forward OUT BIT

TRUE when the spindle should rotate forward

motion.spindle-index-enable I/O BIT

For correct operation of spindle synchronized moves, this signal must be hooked to the index-enable pin of the spindle encoder.

motion.spindle-inhibit IN BIT

When TRUE, the spindle speed is set and held to 0.

motion.spindle-on OUT BIT

TRUE when spindle should rotate

motion.spindle-reverse OUT BIT

TRUE when the spindle should rotate backward

motion.spindle-revs IN FLOAT

For correct operation of spindle synchronized moves, this signal must be hooked to the position pin of the spindle encoder.

motion.spindle-speed-in IN FLOAT

Actual spindle speed feedback in revolutions per second; used for G96 (constant surface speed) and G95 (feed per revolution) modes.

motion.spindle-speed-out OUT FLOAT

Desired spindle speed in rotations per minute

motion.spindle-speed-out-abs OUT FLOAT

Desired spindle speed in rotations per minute, always positive regardless of spindle direction.

motion.spindle-speed-out-rps OUT float

Desired spindle speed in rotations per second

motion.spindle-speed-out-rps-abs OUT float

Desired spindle speed in rotations per second, always positive regardless of spindle direction.

motion.spindle-orient-angle OUT FLOAT

Desired spindle orientation for M19. Value of the M19 R word parameter plus the value of the [RS274NGC]ORIENT_OFFSET ini parameter.

motion.spindle-orient-mode OUT BIT

Desired spindle rotation mode. Reflects M19 P parameter word.

motion.spindle-orient OUT BIT

Indicates start of spindle orient cycle. Set by M19. Cleared by any of M3,M4,M5. If spindle-orient-fault is not zero during spindle-orient true, the M19 command fails with an error message.

motion.spindle-is-oriented IN BIT

Acknowledge pin for spindle-orient. Completes orient cycle. If spindle-orient was true when spindle-is-oriented was asserted, the spindle-orient pin is cleared and the spindle-locked pin is asserted. Also, the spindle-brake pin is asserted.

motion.spindle-orient-fault IN S32

Fault code input for orient cycle. Any value other than zero will cause the orient cycle to abort.

motion.spindle-locked OUT BIT

Spindle orient complete pin. Cleared by any of M3,M4,M5.

motion.teleop-mode OUT bit
motion.tooloffset.x OUT FLOAT
motion.tooloffset.y OUT FLOAT
motion.tooloffset.z OUT FLOAT
motion.tooloffset.a OUT FLOAT
motion.tooloffset.b OUT FLOAT
motion.tooloffset.c OUT FLOAT
motion.tooloffset.u OUT FLOAT
motion.tooloffset.v OUT FLOAT
motion.tooloffset.w OUT FLOAT

Current tool offset in all 9 axes.

DEBUGGING PINS

Many of the pins below serve as debugging aids, and are subject to change or removal at any time.
axis.N.active OUT BIT

TRUE when this joint is active

axis.N.backlash-corr OUT FLOAT

Backlash or screw compensation raw value

axis.N.backlash-filt OUT FLOAT

Backlash or screw compensation filtered value (respecting motion limits)

axis.N.backlash-vel OUT FLOAT

Backlash or screw compensation velocity

axis.N.coarse-pos-cmd OUT FLOAT
axis.N.error OUT BIT

TRUE when this joint has encountered an error, such as a limit switch closing

axis.N.f-error OUT FLOAT

The actual following error

axis.N.f-error-lim OUT FLOAT

The following error limit

axis.N.f-errored OUT BIT

TRUE when this joint has exceeded the following error limit

axis.N.faulted OUT BIT
axis.N.free-pos-cmd OUT FLOAT

The "free planner" commanded position for this joint.

axis.N.free-tp-enable OUT BIT

TRUE when the "free planner" is enabled for this joint

axis.N.free-vel-lim OUT FLOAT

The velocity limit for the free planner

axis.N.homed OUT BIT

TRUE if the joint has been homed

axis.N.in-position OUT BIT

TRUE if the joint is using the "free planner" and has come to a stop

axis.N.joint-vel-cmd OUT FLOAT

The joint’s commanded velocity

axis.N.kb-jog-active OUT BIT
axis.N.neg-hard-limit OUT BIT

The negative hard limit for the joint

axis.N.pos-hard-limit OUT BIT

The positive hard limit for the joint

axis.N.wheel-jog-active OUT BIT
motion.motion-enabled OUT BIT
motion.motion-type OUT S32

These values are from src/emc/nml_intf/motion_types.h

1: Traverse

2: Linear feed

3: Arc feed

4: Tool change

5: Probing

6: Rotary axis indexing

motion.on-soft-limit OUT BIT
motion.program-line OUT S32
motion.teleop-mode OUT BIT

TRUE when motion is in "teleop mode", as opposed to "coordinated mode"

PARAMETERS

Many of the parameters serve as debugging aids, and are subject to change or removal at any time.
motion-command-handler.time
motion-command-handler.tmax
motion-controller.time
motion-controller.tmax

Show information about the execution time of these HAL functions in CPU cycles

motion.debug-*

These values are used for debugging purposes.

motion.servo.last-period

The number of CPU cycles between invocations of the servo thread. Typically, this number divided by the CPU speed gives the time in seconds, and can be used to determine whether the realtime motion controller is meeting its timing constraints

FUNCTIONS

Generally, these functions are both added to the servo-thread in the order shown.
motion-command-handler

Processes motion commands coming from user space

motion-controller

Runs the LinuxCNC motion controller

BUGS

This manual page is horribly incomplete.

SEE ALSO

iocontrol(1)

[markcomp]

STEPTEST

NAME
SYNOPSIS
FUNCTIONS
PINS
PARAMETERS
LICENSE

NAME

steptest − Used by Stepconf to allow testing of acceleration and velocity values for an axis.

SYNOPSIS

loadrt steptest [count=N|names=name1[,name2...]]

FUNCTIONS

steptest.N (requires a floating-point thread)

PINS

steptest.N.jog-minus bit in

Drive TRUE to jog the axis in its minus direction

steptest.N.jog-plus bit in

Drive TRUE to jog the axis in its positive direction

steptest.N.run bit in

Drive TRUE to run the axis near its current position_fb with a trapezoidal velocity profile

steptest.N.maxvel float in

Maximum velocity

steptest.N.maxaccel float in

Permitted Acceleration

steptest.N.amplitude float in

Approximate amplitude of positions to command during ’run’

steptest.N.dir s32 in

Direction from central point to test: 0 = both, 1 = positive, 2 = negative

steptest.N.position-cmd float out
steptest.N.position-fb float in
steptest.N.running bit out
steptest.N.run-target float out
steptest.N.run-start float out
steptest.N.run-low float out
steptest.N.run-high float out
steptest.N.pause s32 in (default: 0)

pause time for each end of run in seconds

PARAMETERS

steptest.N.epsilon float rw (default: .001)
steptest.N.elapsed float r

Current value of the internal timer

LICENSE

GPL

[cnc101]

Kod:

# Generated by stepconf 1.1 at Tue Mar 14 07:38:07 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf

[EMC]
MACHINE = lathe_tc_w_03
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 1.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mark/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = lathe_tc_w_03.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.00
MAX_VELOCITY = 10.00

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

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 15.0
STEPGEN_MAXACCEL = 18.75
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

Kod:

# Generated by stepconf 1.1 at Tue Mar 14 07:38:07 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
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="0xcf00 out 0xcd00 in"
setp parport.0.reset-time 3000
loadrt stepgen step_type=0,0,0
loadrt pwmgen output_type=1

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread

addf stepgen.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 500.0
setp pwmgen.0.scale 3000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood

net spindle-pwm => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
setp parport.0.pin-08-out-invert 1
net xenable => parport.0.pin-08-out
net coolant-mist => parport.0.pin-09-out
net coolant-flood => parport.0.pin-14-out
net spindle-cw => parport.0.pin-16-out
net spindle-ccw => parport.0.pin-17-out

net spindle-on => parport.1.pin-17-out




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_1]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_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

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

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

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Kod:

component toolchanger "zmieniacz Karuzela, z zapadką";

pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzędzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";

pin in float position-fb "pozycja bierząca silnika zmianiacza";

pin in float motor-pos-cmd "komenda z axis.1.motor-pos-cmd";
pin out float motor-pos-fb "komenda dla axis.1.motor-pos-fb";

pin in bit home "pin lpt parport.1.pin-04-in do zerowania";
pin out bit homed=0 "czy wyzerowane";

pin out signed state = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";

pin in signed current-tool "aktualny numer narzędzia";

param rw float move = 0.3 "obrót o kawałek";
param rw float scale = 4.6 "jedenostek na zmiana narzędzia o 1";
param rw float windback = 3 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";

variable float position = 1;
//variable signed current_tool=1; //"aktualny numer narzędzia";
variable float last_motor_pos_cmd=0;

license "GPL";
function _ ;
;;

FUNCTION(_) {

  motor_pos_fb  = motor_pos_cmd; //przepisanie komendy pozycji dla axis
  //if (!(motor_pos_cmd==last_motor_pos_cmd)) position_cmd=motor_pos_cmd;
  //last_motor_pos_cmd = motor_pos_cmd;
  switch (state){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      
      if (tool_change){
		if (homed==0) { //nie wyzerowany zmieniacz
		//maksymalna droga do poszukiwania zera
		position = position_fb+scale*tool_range+windback/2; 
        state = 10; //zerowanie narzędzia
        position_cmd += move;
        break;
        }  
        position = position_fb+scale*(tool_prep_number-current_tool)+windback/2; 
        if (current_tool > tool_prep_number) 
          position += scale*tool_range;
        state = 1; //ruch
      }
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (abs(position_fb-position_cmd)>0.05) break;
      if (position_cmd < position) {
        position_cmd += move;
        break;
      }
      position_cmd = position;
      position -= windback;
      state = 2; //nawrót
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (abs(position_fb-position_cmd)>0.1) break;
      if (position_cmd > position) {
        position_cmd -= move;
        break;
      }
      tool_changed = 1; //signał <- narzędzie zminione
      //current_tool = tool_prep_number;
      state = 0; //przejdź do stanu oczekiwania
      break;
      
    //----> 10 - zerowanie narzędzia
    case 10:  // poszukiwanie zera... na pinie home
      
      if (abs(position_fb-position_cmd)>0.05) break;
      if (position_cmd>position) { 
		state=21;//nie znalazł HOME
		break;
      }
      if (home==0) { // jeszcze nie najechał na home
        position_cmd += move;
        break;
      }
      position = position_cmd - windback;
      state = 2; //nawrót
      homed=1; // wyzerowany
	  break;

	//----> zapętlenie
    case 20: // zapętlenie, aby komunikat błędu wyświetlił się tylko raz
      break;
    case 21: // brak mikroswitcha HOME...
      rtapi_print_msg(RTAPI_MSG_ERR,"Zmieniacz: nie znalazł HOME");
      state = 20;
      break; 
    default: // 
      rtapi_print_msg(RTAPI_MSG_ERR,"Zmianiacz: błąd");
      state = 20;
      break;
  }
}

Kod:

# Tutaj dodaj swoje polecenia HAL
# Ten plik nie zostanie nadpisany gdy uruchomisz ponownie Stepconf

#odłączenie domyślnych łączy zmianacza "pustego"
#net tool-number <= iocontrol.0.tool-prep-number
#net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
unlinkp iocontrol.0.tool-prepare
unlinkp iocontrol.0.tool-prepared

#wyłączenie komend dla osi Y (1)
#net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
unlinkp axis.1.motor-pos-cmd 
unlinkp stepgen.1.position-cmd

#wyłączenie pokazania pozycji osi Y (1)
#net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
unlinkp stepgen.1.position-fb
unlinkp axis.1.motor-pos-fb

#załadowanie zmieniacza toolchanger
loadrt toolchanger
#zmieniacz do wątku sevo-thread
addf toolchanger.0 servo-thread

#łącza dla zmianiacza
net tool-change iocontrol.0.tool-change => toolchanger.0.tool-change
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.tool-changed

net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-prep-number

net current-tool-number iocontrol.0.tool-number => toolchanger.0.current-tool

#zmieniacz wymusza pozycję stepgena (silnika)
net pos-cmd toolchanger.0.position-cmd => stepgen.1.position-cmd
net pos-fb toolchanger.0.position-fb <= stepgen.1.position-fb


net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

#oszukanie środowiska axis
unlinkp axis.1.motor-pos-cmd
unlinkp axis.1.motor-pos-fb

#sygnał pozycji z axis -> do 
net ypos-cmd-fb axis.1.motor-pos-cmd => toolchanger.0.motor-pos-cmd
net ypos-fb toolchanger.0.motor-pos-fb => axis.1.motor-pos-fb

#komenda do sterowania ręcznego zmieniaczem
#net yyypos-cmd-fb toolchanger.0.motor-pos-cmd


#informacja z axis o wyzerowaniu osi Y (1) - axis.1.homed

net y-home parport.1.pin-04-in => toolchanger.0.home

[cnc101]

Kod:

[code]

# Tutaj dodaj swoje polecenia HAL
# Ten plik nie zostanie nadpisany gdy uruchomisz ponownie Stepconf

#usunięcie z pamięci stepgena na dwie osie
#loadrt stepgen step_type=0,0
#unloadrt stepgen
unload stepgen

#załadowanie na 3 osie...
loadrt stepgen step_type=0,0,0


#addf parport.0.read base-thread
#addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
#addf parport.0.write base-thread
#addf parport.0.reset base-thread
#addf parport.1.write base-thread

addf stepgen.capture-position servo-thread
addf stepgen.update-freq servo-thread


#net xstep => parport.0.pin-02-out
#setp parport.0.pin-02-out-reset 1
#net xdir => parport.0.pin-03-out
#net ystep => parport.0.pin-04-out
#setp parport.0.pin-04-out-reset 1
#net ydir => parport.0.pin-05-out
#net zstep => parport.0.pin-06-out
#setp parport.0.pin-06-out-reset 1
#net zdir => parport.0.pin-07-out
#setp parport.0.pin-08-out-invert 1
#net xenable => parport.0.pin-08-out


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





#opcje osi dodatkowej (wygenerowane przez stepconf w wersji na 3 osie)

setp stepgen.2.position-scale 2000
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 20000
setp stepgen.2.dirsetup 20000
setp stepgen.2.maxaccel 18.75
#net ypos-cmd axis.1.motor-pos-cmd => stepgen.2.position-cmd
# net ypos-fb stepgen.2.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.2.step
net ydir <= stepgen.2.dir
net yenable axis.1.amp-enable-out => stepgen.2.enable













#odłączenie domyślnych łączy zmianacza "pustego"
#net tool-number <= iocontrol.0.tool-prep-number
#net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
unlinkp iocontrol.0.tool-prepare
unlinkp iocontrol.0.tool-prepared

#wyłączenie komend dla osi Y (1)
#net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
#unlinkp axis.1.motor-pos-cmd 
#unlinkp stepgen.1.position-cmd

#wyłączenie pokazania pozycji osi Y (1)
#net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
#unlinkp stepgen.1.position-fb
#unlinkp axis.1.motor-pos-fb

#załadowanie zmieniacza toolchanger
loadrt toolchanger
#zmieniacz do wątku sevo-thread
addf toolchanger.0 servo-thread

#łącza dla zmianiacza
net tool-change iocontrol.0.tool-change => toolchanger.0.tool-change
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.tool-changed

net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-prep-number

net current-tool-number iocontrol.0.tool-number => toolchanger.0.current-tool

#zmieniacz wymusza pozycję stepgena (silnika)
net pos-cmd toolchanger.0.position-cmd => stepgen.2.position-cmd
net pos-fb toolchanger.0.position-fb <= stepgen.2.position-fb


net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

#oszukanie środowiska axis
#unlinkp axis.1.motor-pos-cmd
#unlinkp axis.1.motor-pos-fb

#sygnał pozycji z axis -> do 
#net ypos-cmd-fb axis.1.motor-pos-cmd => toolchanger.0.motor-pos-cmd
#net ypos-fb toolchanger.0.motor-pos-fb => axis.1.motor-pos-fb

#komenda do sterowania ręcznego zmieniaczem
#net yyypos-cmd-fb toolchanger.0.motor-pos-cmd


#informacja z axis o wyzerowaniu osi Y (1) - axis.1.homed

net y-home parport.1.pin-04-in => toolchanger.0.home

Kod:

# Generated by stepconf 1.1 at Tue Mar 14 11:14:39 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
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="0xcf00 out 0xcd00 in"
setp parport.0.reset-time 3000
loadrt stepgen step_type=0,0
loadrt pwmgen output_type=1

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread

addf stepgen.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 500.0
setp pwmgen.0.scale 3000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood

net spindle-pwm => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
setp parport.0.pin-08-out-invert 1
net xenable => parport.0.pin-08-out
net coolant-mist => parport.0.pin-09-out
net coolant-flood => parport.0.pin-14-out
net spindle-cw => parport.0.pin-16-out
net spindle-ccw => parport.0.pin-17-out

net spindle-on => parport.1.pin-17-out




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-out => iocontrol.0.emc-enable-in

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Kod:

component toolchanger "zmieniacz Karuzela, z zapadką";

pin in bit tool-change "Potrzebna zmiana narzędzia";
pin out bit tool-changed "Sygnał zakończenia zmiany narzedzia";
pin in signed tool-prep-number "numer narzędzia do przygotowania";
pin out float position-cmd "pozycja do osiągnięcia przez stepgen";

pin in float position-fb "pozycja bierząca silnika zmianiacza";

pin in float motor-pos-cmd "komenda z axis.1.motor-pos-cmd";
pin out float motor-pos-fb "komenda dla axis.1.motor-pos-fb";

pin in bit home "pin lpt parport.1.pin-04-in do zerowania";
pin out bit homed=0 "czy wyzerowane";

pin out signed state = 0 "stan: 0=oczekiwanie;1=ruch;2=nawrót";

pin in signed current-tool "aktualny numer narzędzia";

param rw float move = 0.3 "obrót o kawałek";
param rw float scale = 4.6 "jedenostek na zmiana narzędzia o 1";
param rw float windback = 3 "droga nawrotu";
param rw signed tool_range = 6 "ilość narzędzi";
param rw signed  accuracy = 0.05 "dokładność ustalenia pozycji";

variable float position = 1;
//variable signed current_tool=1; //"aktualny numer narzędzia";
variable float last_motor_pos_cmd=0;

license "GPL";
function _ ;
;;

FUNCTION(_) {

  motor_pos_fb  = motor_pos_cmd; //przepisanie komendy pozycji dla axis
  //if (!(motor_pos_cmd==last_motor_pos_cmd)) position_cmd=motor_pos_cmd;
  //last_motor_pos_cmd = motor_pos_cmd;
  switch (state){

    //---->>0 - oczekiwanie na sygnał tool-change - polecenie M6
    case 0: // oczekiwanie
      
      if (tool_change==1 && tool_changed==0){
		if (homed==0) { //nie wyzerowany zmieniacz
		//maksymalna droga do poszukiwania zera
		position = position_fb+scale*tool_range+windback/2; 
        state = 10; //zerowanie narzędzia
        position_cmd += move;
        break;
        }  
        if (tool_prep_number>tool_range) { //narzędzie poza zakresem
          state = 22;  //komunikat błędu
          break;
	    }  
	    position = position_fb+scale*(tool_prep_number-current_tool)+windback/2; 
        if (current_tool > tool_prep_number) 
          position += scale*tool_range;
        state = 1; //ruch
      } 
      if (tool_change==0 && tool_changed==1) tool_changed=0;
      break;

    //---->>1 - position-cmd - obrót - zmiana narzędzia
    case 1: // ruch
      if (abs(position_fb-position_cmd)>accuracy) break;
      if (position_cmd < position) {
        position_cmd += move;
        break;
      }
      //position_cmd = position;
      //position -= windback; 
      position = position_fb - windback; 

      state = 2; //nawrót
      break;

    //----> 2 - ruch wsteczny (nawrót), w celu zatrzaśnięcia zapadki
    case 2: // nawrót - zatrzaśnięcie
      if (abs(position_fb-position_cmd)>accuracy) break;
      if (position_cmd > position) {
        position_cmd -= move;
        break;
      }
      tool_changed = 1; //signał <- narzędzie zminione
      state = 0; //przejdź do stanu oczekiwania
      break;
      
    //----> 10 - zerowanie narzędzia
    case 10:  // poszukiwanie zera... na pinie home
      if (position_cmd>position) { 
		state=21;//nie znalazł HOME
		break;
      }
      if (home==0) { // jeszcze nie najechał na home
        if (abs(position_fb-position_cmd)>accuracy) break;
        position_cmd += move;
        break;
      }
      position = position_fb-windback*2;
      position_cmd = position; 
      state = 11; //nawrót zerowania
      homed=1; // wyzerowany
	  break;
		
    case 11: // nawrót - zerowania
      if (abs(position_fb-position_cmd)>accuracy) break;
      if (position_fb > position) {
        position_cmd -= move;
        break;
      }
      state = 0; //przejdź do stanu oczekiwania
      break;  

	//----> zapętlenie
    case 20: // zapętlenie, aby komunikat błędu wyświetlił się tylko raz
      break;
    case 21: // brak mikroswitcha HOME...
      rtapi_print_msg(RTAPI_MSG_ERR,"Zmieniacz: nie znalazł HOME");
      state = 20;
      break; 
    case 22: //narzędzie poza zakresem
      rtapi_print_msg(RTAPI_MSG_ERR,"Zmieniacz: zbyt duży numer narzędzia");
      rtapi_print_msg(RTAPI_MSG_ERR,"Zmieniacz: ponowne zerowanie\nustawienie narzędzia 1");
      
      //maksymalna droga do poszukiwania zera
      position = position_fb+scale*tool_range+windback/2; 
      tool_changed=1;
      state = 10; //zerowanie
      break; 
    default: // 
      rtapi_print_msg(RTAPI_MSG_ERR,"Zmianiacz: błąd");
      state = 20;
      break;
  }
}

Kod:

# Generated by stepconf 1.1 at Tue Mar 14 11:14:39 2017
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf

[EMC]
MACHINE = lathe_tc_w1_04
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 1.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mark/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = lathe_tc_w1_04.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[trAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.00
MAX_VELOCITY = 10.00

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

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 9.5
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 2000.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0

[/code]

[cnc101]

załącznik rozpakować do katalogu ~/linuxcnc/configs/

[markcomp]

Instalacja zmieniacza

• Rozpakować zawartość archiwum “_lathe_tc_w1_04.zip”, do katalogu konfiguracji linuxcnc “~/linuxcnc/configs”
  plik “~/linuxcnc/configs/lathe_tc_w1_04.stepconf”, zawierającego inforamacje generowane przez kreator konfiguracji StepConf. Własciwa konfiguracja jest w katalogu “~/linuxcnc/configs/lathe_tc_w1_04”
• Wyświetlenie zawartości katalogu konfiguracji

  ls   <--- polecenie do wpisania w terminalu
  custom.hal          lathe_tc_w1_04.ini  postgui_backup.hal
  custom_postgui.hal  linuxcnc.var        toolchanger.comp
  lathe_tc_w1_04.hal  linuxcnc.var.bak    tool.tbl
  

  custom.hal - konfiguracja hal nie zmieniana po modyfikowaniu ustawień przez StepConfa, plik ten zawiera przyłączenie modułu toolchanger.comp do bieżącej konfiguracji...

  # Tutaj dodaj swoje polecenia HAL 
  # Ten plik nie zostanie nadpisany gdy uruchomisz ponownie Stepconf
  

  toolchanger.comp - źródło modułu sterujacego zmieniaczem - wymaga kompilacji i instalacji w linuxcnc aby działała (o tym póżniej)
  tool.tbl - opis narzędzie... dla celów testowych zostało “coś” wpisane...
• kompilacja / instalacja modułu hal

  sudo halcompile --install toolchanger.comp <-- polecenie instalacji
  [sudo] password for mark: <-- tutaj wpisujemy hasło superusera (roota)
  make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=‘pwd‘ CC=gcc V=0 modules
  make[1]: Wejście do katalogu ‘/usr/src/linux-headers-3.4-9-rtai-686-pae’
    CC [M]  /tmp/tmp5GAeCN/toolchanger.o
    Building modules, stage 2.
    MODPOST 1 modules
    CC      /tmp/tmp5GAeCN/toolchanger.mod.o
    LD [M]  /tmp/tmp5GAeCN/toolchanger.ko
  make[1]: Opuszczenie katalogu ‘/usr/src/linux-headers-3.4-9-rtai-686-pae’
  cp toolchanger.ko /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/
  

  we wczesniejszych wersjach linuxcnc zamiast polecenia “halcompile, było stosowane “comp” (testowałem)

[Jagoda]

Ciekawe!