Initial commit

1e4c9ac1 · electrolab · 1e4c9ac1 · 1e4c9ac1 · 1e4c9ac1 · 1e4c9ac1
Commit 1e4c9ac1 authored Dec 02, 2020 by electrolab
7 changed files
--- a/basic_3_CIA402.xml
+++ b/basic_3_CIA402.xml
+<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
+  <slave idx="0" type="generic" vid="0000060A" pid="00000001" configPdos="true">
+    <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
+    <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
+    <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
+    <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
+    <syncManager idx="0" dir="out"></syncManager>
+    <syncManager idx="1" dir="in"></syncManager>
+    <syncManager idx="2" dir="out">
+      <pdo idx="1602">
+        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
+        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="special32" scale="100"/>
+      </pdo>
+    </syncManager>
+    <syncManager idx="3" dir="in">
+      <pdo idx="1A02">
+        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
+        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="special32" scale="100"/>
+      </pdo>
+    </syncManager>
+    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
+    <watchdog divider="2498" intervals="1000"/>
+  </slave>
+  <slave idx="1" type="generic" vid="0000060A" pid="00000001" configPdos="true">
+    <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
+    <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
+    <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
+    <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
+    <syncManager idx="0" dir="out"></syncManager>
+    <syncManager idx="1" dir="in"></syncManager>
+    <syncManager idx="2" dir="out">
+      <pdo idx="1602">
+        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
+        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="special32" scale="100"/>
+      </pdo>
+    </syncManager>
+    <syncManager idx="3" dir="in">
+      <pdo idx="1A02">
+        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
+        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="special32" scale="100"/>
+      </pdo>
+    </syncManager>
+    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
+    <watchdog divider="2498" intervals="1000"/>
+  </slave>
+  <slave idx="2" type="generic" vid="0000060A" pid="00000001" configPdos="true">
+    <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
+    <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
+    <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
+    <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
+    <syncManager idx="0" dir="out"></syncManager>
+    <syncManager idx="1" dir="in"></syncManager>
+    <syncManager idx="2" dir="out">
+      <pdo idx="1602">
+        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
+        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="special32" scale="100"/>
+      </pdo>
+    </syncManager>
+    <syncManager idx="3" dir="in">
+      <pdo idx="1A02">
+        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
+        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="special32" scale="100"/>
+      </pdo>
+    </syncManager>
+    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
+    <watchdog divider="2498" intervals="1000"/>
+  </slave>
+</master>
--- a/linuxcnc.var
+++ b/linuxcnc.var
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--- a/linuxcnc.var.bak
+++ b/linuxcnc.var.bak
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--- a/maurice.hal
+++ b/maurice.hal
+loadusr -W lcec_conf maurice.xml
+loadrt lcec
+loadrt trivkins
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+addf lcec.read-all servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf lcec.write-all servo-thread
+
+net ec_up lcec.state-op => iocontrol.0.emc-enable-in => lcec.0.0.drivecontrol-0 => lcec.0.1.drivecontrol-0
+
+setp lcec.0.0.drivecontrol-1 1
+setp lcec.0.0.drivecontrol-2 1
+setp lcec.0.1.drivecontrol-1 1
+setp lcec.0.1.drivecontrol-2 1
+
+net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-3 
+net Yachse_AF joint.1.amp-enable-out => lcec.0.1.drivecontrol-3 
+
+net Xachse_fb lcec.0.0.pos => joint.0.motor-pos-fb
+net Xachse_cmd joint.0.motor-pos-cmd => lcec.0.0.poscommand
+
+net Yachse_fb lcec.0.1.pos => joint.1.motor-pos-fb
+net Yachse_cmd joint.1.motor-pos-cmd => lcec.0.1.poscommand
--- a/maurice.ini
+++ b/maurice.ini
+# This config file was created 2020-11-21 22:42:23.728603 by the update_ini script
+# The original config files may be found in the /home/electrolab/cnc/maurice/maurice.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = EtherCAT Machine
+DEBUG = 1
+
+[DISPLAY]
+DISPLAY = axis
+LATHE = 1
+EDITOR = gedit
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 0
+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
+
+[RS274NGC]
+
+PARAMETER_FILE = linuxcnc.var
+
+[EMCMOT]
+
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD =  0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.005
+
+[HAL]
+HALFILE = maurice.hal
+
+[HALUI]
+
+[TRAJ]
+COORDINATES = XZ
+LINEAR_UNITS = mm
+ANGULAR_UNITS = deg
+DEFAULT_LINEAR_VELOCITY = 100
+MAX_LINEAR_VELOCITY = 400
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -200
+MAX_LIMIT = 500
+MAX_VELOCITY = 375.0
+MAX_ACCELERATION = 2000.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 375.0
+MAX_ACCELERATION = 2000.0
+STEPGEN_MAXACCEL = 0
+SCALE = 1
+FERROR = 1
+MIN_FERROR = 2000
+MIN_LIMIT = -200
+MAX_LIMIT = 500
+HOME_DELAY = 5
+HOME_VEL = 1
+HOME_OFFSET =                    100.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+
+[AXIS_Z]
+MIN_LIMIT = -200
+MAX_LIMIT = 200
+MAX_VELOCITY = 400.0
+MAX_ACCELERATION = 2000.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 400.0
+MAX_ACCELERATION = 2000.0
+STEPGEN_MAXACCEL = 0
+SCALE = 1
+FERROR = 1
+MIN_FERROR = 2000
+MIN_LIMIT = -200
+MAX_LIMIT = 200
+HOME_DELAY = 5
+HOME_VEL = 1
+HOME_OFFSET =                    150.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
--- a/maurice.xml
+++ b/maurice.xml
+<masters>
+    <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
+      <slave idx="0" type="generic" vid="0000060A" pid="00000001" configPdos="true">
+        <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
+        <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
+        <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
+        <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
+        <syncManager idx="0" dir="out"></syncManager>
+        <syncManager idx="1" dir="in"></syncManager>
+        <syncManager idx="2" dir="out">
+          <pdo idx="1602">
+            <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
+            <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="100"/>
+          </pdo>
+        </syncManager>
+        <syncManager idx="3" dir="in">
+          <pdo idx="1A02">
+            <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
+            <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.01"/>
+          </pdo>
+        </syncManager>
+        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
+        <watchdog divider="2498" intervals="1000"/>
+      </slave>
+      <slave idx="1" type="generic" vid="0000060A" pid="00000001" configPdos="true">
+        <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
+        <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
+        <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
+        <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
+        <syncManager idx="0" dir="out"></syncManager>
+        <syncManager idx="1" dir="in"></syncManager>
+        <syncManager idx="2" dir="out">
+          <pdo idx="1602">
+            <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
+            <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="100"/>
+          </pdo>
+        </syncManager>
+        <syncManager idx="3" dir="in">
+          <pdo idx="1A02">
+            <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
+            <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.01"/>
+          </pdo>
+        </syncManager>
+        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
+        <watchdog divider="2498" intervals="1000"/>
+      </slave>
+    </master>
+</masters>
+
--- a/tool.tbl
+++ b/tool.tbl