From 7429903e988afe840b7b6f855b2a6fe9a7234a00 Mon Sep 17 00:00:00 2001
From: electrolab <electrolab@Maurice.hq.electrolab.fr>
Date: Wed, 2 Dec 2020 21:24:43 +0100
Subject: [PATCH] Fix Z axis position display + scaling

---
 maurice.hal |  7 +++----
 maurice.ini | 44 +++++++++++++++++++++++++-------------------
 maurice.xml | 12 ++++++------
 3 files changed, 34 insertions(+), 29 deletions(-)

diff --git a/maurice.hal b/maurice.hal
index 0b0d823..4e1f661 100644
--- a/maurice.hal
+++ b/maurice.hal
@@ -16,10 +16,9 @@ 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
+net Zachse_AF joint.1.amp-enable-out => lcec.0.1.drivecontrol-3 
+net Zachse_fb lcec.0.1.pos => joint.2.motor-pos-fb
+net Zachse_cmd joint.2.motor-pos-cmd => lcec.0.1.poscommand
diff --git a/maurice.ini b/maurice.ini
index b306e7d..8e20c10 100644
--- a/maurice.ini
+++ b/maurice.ini
@@ -43,12 +43,13 @@ TASK = milltask
 CYCLE_TIME = 0.005
 
 [HAL]
+HALUI = halui
 HALFILE = maurice.hal
 
 [HALUI]
 
 [TRAJ]
-COORDINATES = XZ
+COORDINATES = X Z
 LINEAR_UNITS = mm
 ANGULAR_UNITS = deg
 DEFAULT_LINEAR_VELOCITY = 100
@@ -58,30 +59,30 @@ MAX_LINEAR_VELOCITY = 400
 EMCIO = io
 CYCLE_TIME = 0.100
 TOOL_TABLE = tool.tbl
-
+TOOL_CHANGE_POSITION = 2 0 1
+TOOL_CHANGE_WITH_SPINDLE_ON = 1
 
 [KINS]
-KINEMATICS = trivkins coordinates=XZ
-#This is a best-guess at the number of joints, it should be checked
-JOINTS = 2
+KINEMATICS = trivkins
+JOINTS = 3
 
 [AXIS_X]
-MIN_LIMIT = -200
-MAX_LIMIT = 500
-MAX_VELOCITY = 375.0
+MIN_LIMIT = -2000
+MAX_LIMIT = 2000
+MAX_VELOCITY = 10
 MAX_ACCELERATION = 2000.0
 
 [JOINT_0]
 TYPE = LINEAR
 HOME = 0.0
-MAX_VELOCITY = 375.0
+MAX_VELOCITY = 10.0
 MAX_ACCELERATION = 2000.0
 STEPGEN_MAXACCEL = 0
 SCALE = 1
 FERROR = 1
 MIN_FERROR = 2000
-MIN_LIMIT = -200
-MAX_LIMIT = 500
+MIN_LIMIT = -2000
+MAX_LIMIT = 2000
 HOME_DELAY = 5
 HOME_VEL = 1
 HOME_OFFSET =                    100.0
@@ -91,24 +92,29 @@ HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
 HOME_SEQUENCE = 0
 
-
 [AXIS_Z]
-MIN_LIMIT = -200
-MAX_LIMIT = 200
-MAX_VELOCITY = 400.0
+MIN_LIMIT = -2000
+MAX_LIMIT = 2000
+MAX_VELOCITY = 10.0
 MAX_ACCELERATION = 2000.0
 
 [JOINT_1]
+# JOINT_1: not used, home immediately:
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[JOINT_2]
 TYPE = LINEAR
 HOME = 0.0
-MAX_VELOCITY = 400.0
+MAX_VELOCITY = 10.0
 MAX_ACCELERATION = 2000.0
 STEPGEN_MAXACCEL = 0
-SCALE = 1
+SCALE = 0.001
 FERROR = 1
 MIN_FERROR = 2000
-MIN_LIMIT = -200
-MAX_LIMIT = 200
+MIN_LIMIT = -2000
+MAX_LIMIT = 2000
 HOME_DELAY = 5
 HOME_VEL = 1
 HOME_OFFSET =                    150.0
diff --git a/maurice.xml b/maurice.xml
index e21d680..5abaa72 100644
--- a/maurice.xml
+++ b/maurice.xml
@@ -2,7 +2,7 @@
     <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="6098" subIdx="0"><sdoDataRaw data="07"/></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>
@@ -10,13 +10,13 @@
         <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"/>
+            <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="20000"/>
           </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"/>
+            <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.00005"/>
           </pdo>
         </syncManager>
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
@@ -24,7 +24,7 @@
       </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="6098" subIdx="0"><sdoDataRaw data="07"/></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>
@@ -32,13 +32,13 @@
         <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"/>
+            <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="10000"/>
           </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"/>
+            <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0001"/>
           </pdo>
         </syncManager>
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
-- 
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