Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
L
linuxcnc retrofit
Project overview
Project overview
Details
Activity
Releases
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Packages
Packages
Container Registry
Analytics
Analytics
CI / CD
Repository
Value Stream
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Machines et équipements
Méca Heavy
Mori Seiki SL0
linuxcnc retrofit
Commits
d872f44d
Commit
d872f44d
authored
Dec 04, 2020
by
electrolab
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Ajout de modification manquantes au précédent commit
parent
43d9335f
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
with
45 additions
and
12 deletions
+45
-12
maurice.hal
maurice.hal
+32
-4
maurice.ini
maurice.ini
+13
-8
No files found.
maurice.hal
View file @
d872f44d
...
...
@@ -2,11 +2,17 @@ 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
loadrt and2 count=2
loadrt not count=2
addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf lcec.write-all servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf not.0 servo-thread
addf not.1 servo-thread
net ec_up lcec.state-op => iocontrol.0.emc-enable-in
...
...
@@ -15,11 +21,33 @@ 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 => lcec.0.0.drivecontrol-0
net Yachse_AF joint.1.amp-enable-out => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
setp lcec.0.0.modecontrol-0 0
setp lcec.0.0.modecontrol-4 0
setp lcec.0.1.modecontrol-0 0
setp lcec.0.1.modecontrol-4 0
net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
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 Xaxis_fault lcec.0.0.drivestatus-3 => joint.0.amp-fault-in
net Zachse_AF joint.2.amp-enable-out => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
net Zachse_fb lcec.0.1.pos => joint.2.motor-pos-fb
net Zachse_cmd joint.2.motor-pos-cmd => lcec.0.1.poscommand
net Zaxis_fault lcec.0.1.drivestatus-3 => joint.2.amp-fault-in
net Xmodehome lcec.0.0.modestatus-3 <= and2.0.in0
net Xstat4 lcec.0.0.drivestatus-12 <= and2.0.in1
net Xhomed and2.0.out => joint.0.home-sw-in
net Xhoming joint.0.homing => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 => lcec.0.0.drivecontrol-4 => not.0.in
net Xposition not.0.out => lcec.0.0.modecontrol-3
net Zmodehome lcec.0.1.modestatus-3 <= and2.1.in0
net Zstat4 lcec.0.1.drivestatus-12 <= and2.1.in1
net Zhomed and2.1.out => joint.2.home-sw-in
net Zhoming joint.2.homing => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 => lcec.0.1.drivecontrol-4 => not.1.in
net Zposition not.1.out => lcec.0.1.modecontrol-3
net Yachse_fb lcec.0.1.pos => joint.1.motor-pos-fb
net Yachse_cmd joint.1.motor-pos-cmd => lcec.0.1.poscommand
maurice.ini
View file @
d872f44d
...
...
@@ -63,7 +63,7 @@ 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
JOINTS
=
3
[AXIS_X]
MIN_LIMIT
=
-200
...
...
@@ -84,13 +84,18 @@ 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_OFFSET
=
0
HOME_SEARCH_VEL
=
0
HOME_LATCH_VEL
=
0
HOME_USE_INDEX
=
NO
HOME_IGNORE_LIMITS
=
NO
HOME_SEQUENCE
=
0
[JOINT_1]
# JOINT_1: not used, home immediately:
HOME_SEARCH_VEL
=
0
HOME_LATCH_VEL
=
0
HOME_SEQUENCE
=
0
[AXIS_Z]
MIN_LIMIT
=
-200
...
...
@@ -98,7 +103,7 @@ MAX_LIMIT = 200
MAX_VELOCITY
=
400.0
MAX_ACCELERATION
=
2000.0
[JOINT_
1
]
[JOINT_
2
]
TYPE
=
LINEAR
HOME
=
0.0
MAX_VELOCITY
=
400.0
...
...
@@ -111,9 +116,9 @@ 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_OFFSET
=
0
HOME_SEARCH_VEL
=
0
HOME_LATCH_VEL
=
0
HOME_USE_INDEX
=
NO
HOME_IGNORE_LIMITS
=
NO
HOME_SEQUENCE
=
1
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment