From 54655b9fcca6f26488437ac9aad09cdee7fefdcc Mon Sep 17 00:00:00 2001 From: electrolab Date: Sun, 6 Dec 2020 21:22:10 +0100 Subject: [PATCH] Manage homing with ladder --- .gitignore | 5 + basic_3_CIA402.xml | 68 --------- gmoccapy_postgui.hal | 3 + maurice.clp | 331 +++++++++++++++++++++++++++++++++++++++++++ maurice.hal | 96 +++++++++---- maurice.ini | 14 +- maurice.xml | 2 + maurice_gmoccapy.ini | 22 +-- vcp_box.glade | 63 ++++++++ vcp_box.hal | 4 + 10 files changed, 494 insertions(+), 114 deletions(-) create mode 100644 .gitignore delete mode 100644 basic_3_CIA402.xml create mode 100755 gmoccapy_postgui.hal create mode 100644 maurice.clp create mode 100755 vcp_box.glade create mode 100755 vcp_box.hal diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..cbb2b24 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +gmoccapy_preferences +linuxcnc.var +old/* +*.pref + diff --git a/basic_3_CIA402.xml b/basic_3_CIA402.xml deleted file mode 100644 index 05b463f..0000000 --- a/basic_3_CIA402.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/gmoccapy_postgui.hal b/gmoccapy_postgui.hal new file mode 100755 index 0000000..bda742b --- /dev/null +++ b/gmoccapy_postgui.hal @@ -0,0 +1,3 @@ +net X-homed => halui.joint.0.home +net Z-homed => halui.joint.2.home + diff --git a/maurice.clp b/maurice.clp new file mode 100644 index 0000000..eee78e4 --- /dev/null +++ b/maurice.clp @@ -0,0 +1,331 @@ +_FILES_CLASSICLADDER +_FILE-modbusioconf.csv +#VER=1.0 +_/FILE-modbusioconf.csv +_FILE-ioconf.csv +#VER=1.0 +_/FILE-ioconf.csv +_FILE-rung_4.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=-1 +#NEXTRUNG=-1 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_4.csv +_FILE-sequential.csv +#VER=1.0 +_/FILE-sequential.csv +_FILE-timers_iec.csv +1,1,0 +2,1,0 +1,1,0 +2,1,0 +1,1,1 +1,1,1 +1,0,0 +1,0,0 +1,0,0 +1,0,0 +_/FILE-timers_iec.csv +_FILE-monostables.csv +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +_/FILE-monostables.csv +_FILE-arithmetic_expressions.csv +#VER=2.0 +_/FILE-arithmetic_expressions.csv +_FILE-symbols.csv +#VER=1.0 +%I0,XStatHome, +%I1,XStatPos, +%I2,XHomingOk, +%I3,XAtHome, +%I4,ZStatHome, +%I5,ZStatPos, +%I6,ZHomingOk, +%I7,ZAtHome, +%I8,HomeAll, +%I9,HomeX, +%I10,HomeZ, +%I11,%I11, +%I12,%I12, +%I13,%I13, +%I14,%I14, +%Q0,XHomed, +%Q1,ZHomed, +%Q2,XHoming, +%Q3,ZHoming, +%Q4,XCtrlHome, +%Q5,XCtrlPos, +%Q6,ZCtrlHome, +%Q7,ZCtrlPos, +%Q8,XHomStart, +%Q9,ZHomStart, +%Q10,%Q10, +%Q11,%Q11, +%Q12,%Q12, +%Q13,%Q13, +%Q14,%Q14, +%B0,XToHome, +%B1,ZToHome, +%B2,%B2, +%B3,%B3, +%B4,%B4, +%B5,%B5, +%B6,%B6, +%B7,%B7, +%B8,%B8, +%B9,%B9, +%B10,%B10, +%B11,%B11, +%B12,%B12, +%B13,%B13, +%B14,%B14, +%B15,%B15, +%B16,%B16, +%B17,%B17, +%B18,%B18, +%B19,%B19, +%W0,%W0, +%W1,%W1, +%W2,%W2, +%W3,%W3, +%W4,%W4, +%W5,%W5, +%W6,%W6, +%W7,%W7, +%W8,%W8, +%W9,%W9, +%W10,%W10, +%W11,%W11, +%W12,%W12, +%W13,%W13, +%W14,%W14, +%W15,%W15, +%W16,%W16, +%W17,%W17, +%W18,%W18, +%W19,%W19, +%IW0,%IW0, +%IW1,%IW1, +%IW2,%IW2, +%IW3,%IW3, +%IW4,%IW4, +%IW5,%IW5, +%IW6,%IW6, +%IW7,%IW7, +%IW8,%IW8, +%IW9,%IW9, +%QW0,%QW0, +%QW1,%QW1, +%QW2,%QW2, +%QW3,%QW3, +%QW4,%QW4, +%QW5,%QW5, +%QW6,%QW6, +%QW7,%QW7, +%QW8,%QW8, +%QW9,%QW9, +%IF0,%IF0, +%IF1,%IF1, +%IF2,%IF2, +%IF3,%IF3, +%IF4,%IF4, +%IF5,%IF5, +%IF6,%IF6, +%IF7,%IF7, +%IF8,%IF8, +%IF9,%IF9, +%QF0,%QF0, +%QF1,%QF1, +%QF2,%QF2, +%QF3,%QF3, +%QF4,%QF4, +%QF5,%QF5, +%QF6,%QF6, +%QF7,%QF7, +%QF8,%QF8, +%QF9,%QF9, +%T0,%T0,Old Timer +%T1,%T1,Old Timer +%T2,%T2,Old Timer +%T3,%T3,Old Timer +%T4,%T4,Old Timer +%T5,%T5,Old Timer +%T6,%T6,Old Timer +%T7,%T7,Old Timer +%T8,%T8,Old Timer +%T9,%T9,Old Timer +%TM0,%TM0,New Timer +%TM1,%TM1,New Timer +%TM2,%TM2,New Timer +%TM3,%TM3,New Timer +%TM4,%TM4,New Timer +%TM5,%TM5,New Timer +%TM6,%TM6,New Timer +%TM7,%TM7,New Timer +%TM8,%TM8,New Timer +%TM9,%TM9,New Timer +%M0,%M0,One-shot +%M1,%M1,One-shot +%M2,%M2,One-shot +%M3,%M3,One-shot +%M4,%M4,One-shot +%M5,%M5,One-shot +%M6,%M6,One-shot +%M7,%M7,One-shot +%M8,%M8,One-shot +%M9,%M9,One-shot +%C0,%C0,Counter +%C1,%C1,Counter +%C2,%C2,Counter +%C3,%C3,Counter +%C4,%C4,Counter +%C5,%C5,Counter +%C6,%C6,Counter +%C7,%C7,Counter +%C8,%C8,Counter +%C9,%C9,Counter +%E0,%E0,Error Flag Bit +%E1,%E1,Error Flag Bit +%E2,%E2,Error Flag Bit +%E3,%E3,Error Flag Bit +%E4,%E4,Error Flag Bit +%E5,%E5,Error Flag Bit +%E6,%E6,Error Flag Bit +%E7,%E7,Error Flag Bit +%E8,%E8,Error Flag Bit +%E9,%E9,Error Flag Bit +_/FILE-symbols.csv +_FILE-general.txt +PERIODIC_REFRESH=50 +SIZE_NBR_RUNGS=100 +SIZE_NBR_BITS=20 +SIZE_NBR_WORDS=20 +SIZE_NBR_TIMERS=10 +SIZE_NBR_MONOSTABLES=10 +SIZE_NBR_COUNTERS=10 +SIZE_NBR_TIMERS_IEC=10 +SIZE_NBR_PHYS_INPUTS=15 +SIZE_NBR_PHYS_OUTPUTS=15 +SIZE_NBR_ARITHM_EXPR=100 +SIZE_NBR_SECTIONS=10 +SIZE_NBR_SYMBOLS=160 +_/FILE-general.txt +_FILE-counters.csv +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +_/FILE-counters.csv +_FILE-rung_2.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=-1 +#NEXTRUNG=3 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_2.csv +_FILE-rung_0.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=1 +#NEXTRUNG=-1 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2 +9-0-0/0 , 1-0-0/0 , 9-0-0/0 , 2-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/4 , 50-0-60/4 +0-0-0/0 , 1-1-60/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-0/0 , 99-0-0/0 , 99-0-0/0 , 51-1-60/5 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/8 +9-0-0/0 , 1-0-50/0 , 2-0-50/1 , 9-0-0/0 , 1-0-50/2 , 99-0-0/0 , 13-0-0/1 , 9-0-0/0 , 9-0-0/1 , 50-0-60/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_0.csv +_FILE-com_params.txt +MODBUS_MASTER_SERIAL_PORT= +MODBUS_MASTER_SERIAL_SPEED=9600 +MODBUS_MASTER_SERIAL_DATABITS=8 +MODBUS_MASTER_SERIAL_STOPBITS=1 +MODBUS_MASTER_SERIAL_PARITY=0 +MODBUS_ELEMENT_OFFSET=0 +MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0 +MODBUS_MASTER_TIME_INTER_FRAME=100 +MODBUS_MASTER_TIME_OUT_RECEIPT=500 +MODBUS_MASTER_TIME_AFTER_TRANSMIT=0 +MODBUS_DEBUG_LEVEL=0 +MODBUS_MAP_COIL_READ=0 +MODBUS_MAP_COIL_WRITE=0 +MODBUS_MAP_INPUT=0 +MODBUS_MAP_HOLDING=0 +MODBUS_MAP_REGISTER_READ=0 +MODBUS_MAP_REGISTER_WRITE=0 +_/FILE-com_params.txt +_FILE-timers.csv +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +1,0 +_/FILE-timers.csv +_FILE-sections.csv +#VER=1.0 +#NAME000=HomingLadder +#NAME001=ToolPostLadder +000,0,-1,2,0,0 +001,0,-1,4,4,0 +_/FILE-sections.csv +_FILE-rung_3.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=2 +#NEXTRUNG=1 +9-0-0/0 , 9-0-0/0 , 1-0-50/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 +9-0-0/0 , 1-0-50/8 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-1-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 3-1-60/0 , 2-0-60/1 , 9-0-0/0 , 9-0-0/0 , 50-0-0/1 +9-0-0/0 , 9-0-50/9 , 1-0-50/10 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-60/0 +0-0-0/0 , 0-0-50/10 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_3.csv +_FILE-rung_1.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=3 +#NEXTRUNG=0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/3 +9-0-0/0 , 1-0-0/1 , 9-0-0/0 , 2-0-60/1 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/5 , 50-0-60/6 +0-0-0/0 , 1-1-60/3 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-50/2 , 99-0-0/0 , 99-0-0/0 , 51-1-60/7 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/9 +9-0-0/0 , 1-0-50/4 , 2-0-50/5 , 9-0-0/0 , 1-0-50/6 , 99-0-0/0 , 13-0-0/3 , 9-0-0/0 , 9-0-0/0 , 50-0-60/1 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_1.csv +_/FILES_CLASSICLADDER diff --git a/maurice.hal b/maurice.hal index 847096f..5e97fd9 100644 --- a/maurice.hal +++ b/maurice.hal @@ -11,6 +11,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM addf motion-command-handler servo-thread addf motion-controller servo-thread +loadusr halui -ini maurice.ini #========================================== # Global machine logic @@ -28,8 +29,12 @@ net X-fault => joint.0.amp-fault-in net X-poscmd <= joint.0.motor-pos-cmd net X-posfb => joint.0.motor-pos-fb -net X-homed => joint.0.home-sw-in -net X-homing <= joint.0.homing +#net X-homed => joint.0.home-sw-in +#net Home-X <= joint.0.homing +net X-inhibit => motion.feed-inhibit + +#net X-PoT => joint.0.pos-lim-sw-in +#net X-NoT => joint.0.neg-lim-sw-in #========================================== # Z axis @@ -41,8 +46,12 @@ net Z-fault => joint.2.amp-fault-in net Z-poscmd <= joint.2.motor-pos-cmd net Z-posfb => joint.2.motor-pos-fb -net Z-homed => joint.2.home-sw-in -net Z-homing <= joint.2.homing +#net Z-homed => joint.2.home-sw-in +#net Home-Z <= joint.2.homing +#net Z-inhibit => motion.feed−inhibit + +#net Z-PoT => joint.2.pos-lim-sw-in +#net Z-NoT => joint.2.neg-lim-sw-in ############################################ # Hardware section @@ -52,6 +61,10 @@ net Z-homing <= joint.2.homing # Components declaration #========================================== +loadrt classicladder_rt +addf classicladder.0.refresh servo-thread +loadusr classicladder maurice.clp + loadusr -W lcec_conf maurice.xml loadrt lcec @@ -68,14 +81,6 @@ setp lcec.0.0.modecontrol-4 0 setp lcec.0.1.modecontrol-0 0 setp lcec.0.1.modecontrol-4 0 -loadrt and2 count=2 -loadrt not count=2 - -addf and2.0 servo-thread -addf and2.1 servo-thread -addf not.0 servo-thread -addf not.1 servo-thread - #========================================== # Global machine logic #========================================== @@ -91,18 +96,17 @@ net X-poscmd => lcec.0.0.poscommand net X-posfb <= lcec.0.0.pos net X-fault <= lcec.0.0.drivestatus-3 -net X-modehome <= lcec.0.0.modestatus-3 -net X-stat4 <= lcec.0.0.drivestatus-12 - -net X-modehome => and2.0.in0 -net X-stat4 => and2.0.in1 -net X-homed <= and2.0.out +net X-stat-pos <= lcec.0.0.modestatus-3 +net X-stat-home <= lcec.0.0.modestatus-2 +net X-homingok <= lcec.0.0.drivestatus-12 +net X-athome <= lcec.0.0.drivestatus-10 -net X-homing => not.0.in -net X-position <= not.0.out +net X-ctrl-home => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 +net X-homestart => lcec.0.0.drivecontrol-4 +net X-ctrl-pos => lcec.0.0.modecontrol-3 -net X-homing => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 => lcec.0.0.drivecontrol-4 -net X-position => lcec.0.0.modecontrol-3 +net X-PoT <= lcec.0.0.inputs-1 +net X-NoT <= lcec.0.0.inputs-0 #========================================== # Z axis @@ -113,15 +117,45 @@ net Z-poscmd => lcec.0.1.poscommand net Z-posfb <= lcec.0.1.pos net Z-fault <= lcec.0.1.drivestatus-3 -net Z-modehome <= lcec.0.1.modestatus-3 -net Z-stat4 <= lcec.0.1.drivestatus-12 +net Z-stat-pos <= lcec.0.1.modestatus-3 +net Z-stat-home <= lcec.0.1.modestatus-2 +net Z-homingok <= lcec.0.1.drivestatus-12 +net Z-athome <= lcec.0.1.drivestatus-10 + +net Z-ctrl-home => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 +net Z-homestart => lcec.0.1.drivecontrol-4 +net Z-ctrl-pos => lcec.0.1.modecontrol-3 + +net Z-PoT <= lcec.0.1.inputs-1 +net Z-NoT <= lcec.0.1.inputs-0 + +#========================================== +# ClassicLadder +#========================================== + +# Inputs -net Z-modehome => and2.1.in0 -net Z-stat4 => and2.1.in1 -net Z-homed <= and2.1.out +net X-stat-home => classicladder.0.in-00 +net X-stat-pos => classicladder.0.in-01 +net X-homingok => classicladder.0.in-02 +net X-athome => classicladder.0.in-03 +net Z-stat-home => classicladder.0.in-04 +net Z-stat-pos => classicladder.0.in-05 +net Z-homingok => classicladder.0.in-06 +net Z-athome => classicladder.0.in-07 +net Home-All => classicladder.0.in-08 +net Home-X => classicladder.0.in-09 +net Home-Z => classicladder.0.in-10 -net Z-homing => not.1.in -net Z-position <= not.1.out +# Outputs -net Z-homing => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 => lcec.0.1.drivecontrol-4 -net Z-position => lcec.0.1.modecontrol-3 +net X-homed <= classicladder.0.out-00 +net Z-homed <= classicladder.0.out-01 +net X-inhibit <= classicladder.0.out-02 +net Z-inhibit <= classicladder.0.out-03 +net X-ctrl-home <= classicladder.0.out-04 +net X-ctrl-pos <= classicladder.0.out-05 +net Z-ctrl-home <= classicladder.0.out-06 +net Z-ctrl-pos <= classicladder.0.out-07 +net X-homestart <= classicladder.0.out-08 +net Z-homestart <= classicladder.0.out-09 diff --git a/maurice.ini b/maurice.ini index 3d3a3b7..5707a3c 100644 --- a/maurice.ini +++ b/maurice.ini @@ -5,7 +5,7 @@ # The version string for this INI file. VERSION = 1.1 -MACHINE = EtherCAT Machine +MACHINE = Maurice DEBUG = 1 [DISPLAY] @@ -85,10 +85,10 @@ MAX_LIMIT = 500 HOME_DELAY = 5 HOME_VEL = 1 HOME_OFFSET = 0 -HOME_SEARCH_VEL = 0 -HOME_LATCH_VEL = 0 +HOME_SEARCH_VEL = 1 +HOME_LATCH_VEL = 1 HOME_USE_INDEX = NO -HOME_IGNORE_LIMITS = NO +HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 [JOINT_1] @@ -117,9 +117,9 @@ MAX_LIMIT = 200 HOME_DELAY = 5 HOME_VEL = 1 HOME_OFFSET = 0 -HOME_SEARCH_VEL = 0 -HOME_LATCH_VEL = 0 +HOME_SEARCH_VEL = 1 +HOME_LATCH_VEL = 1 HOME_USE_INDEX = NO -HOME_IGNORE_LIMITS = NO +HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 diff --git a/maurice.xml b/maurice.xml index e010203..8ffb2d9 100644 --- a/maurice.xml +++ b/maurice.xml @@ -19,6 +19,7 @@ + @@ -43,6 +44,7 @@ + diff --git a/maurice_gmoccapy.ini b/maurice_gmoccapy.ini index d6d95e2..93d0be1 100644 --- a/maurice_gmoccapy.ini +++ b/maurice_gmoccapy.ini @@ -10,6 +10,11 @@ DEBUG = 1 [DISPLAY] DISPLAY = gmoccapy + +EMBED_TAB_NAME = right_side_panel +EMBED_TAB_LOCATION = box_custom_4 +EMBED_TAB_COMMAND = gladevcp -x {XID} -H vcp_box.hal vcp_box.glade + PREFERENCE_FILE_PATH = gmoccapy_preferences LATHE = 1 BACK_TOOL_LATHE = 1 @@ -49,6 +54,7 @@ CYCLE_TIME = 0.005 [HAL] HALUI = halui HALFILE = maurice.hal +POSTGUI_HALFILE = gmoccapy_postgui.hal [HALUI] @@ -89,11 +95,11 @@ MIN_LIMIT = -2000 MAX_LIMIT = 2000 HOME_DELAY = 5 HOME_VEL = 1 -HOME_OFFSET = 100.0 -HOME_SEARCH_VEL = 9.9 -HOME_LATCH_VEL = 9.9 +HOME_OFFSET = 0 +HOME_SEARCH_VEL = 0 +HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO -HOME_IGNORE_LIMITS = NO +HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 [AXIS_Z] @@ -121,10 +127,10 @@ MIN_LIMIT = -2000 MAX_LIMIT = 2000 HOME_DELAY = 5 HOME_VEL = 1 -HOME_OFFSET = 150.0 -HOME_SEARCH_VEL = 9.9 -HOME_LATCH_VEL = 9.9 +HOME_OFFSET = 0 +HOME_SEARCH_VEL = 0 +HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO -HOME_IGNORE_LIMITS = NO +HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 diff --git a/vcp_box.glade b/vcp_box.glade new file mode 100755 index 0000000..069bdc9 --- /dev/null +++ b/vcp_box.glade @@ -0,0 +1,63 @@ + + + + + + + 64 + 724 + + + True + True + spread + + + Home All + 80 + 56 + True + True + True + + + False + False + 0 + + + + + Home X + 56 + 56 + True + True + True + + + False + False + 1 + + + + + Home Z + 56 + 56 + True + True + True + + + False + False + 2 + + + + + + + diff --git a/vcp_box.hal b/vcp_box.hal new file mode 100755 index 0000000..91d55c4 --- /dev/null +++ b/vcp_box.hal @@ -0,0 +1,4 @@ +net Home-All <= vcp_box.home-all +net Home-X <= vcp_box.home-x +net Home-Z <= vcp_box.home-z + -- GitLab