univstep.ini
# EMC controller parameters for generic controller. Make these what you need
# for your system.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.


# General section -------------------------------------------------------------
[EMC]

# Version of this INI file
VERSION =               $Revision$

# Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-UNIVSTEP

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0
# DEBUG =               0x00000007
DEBUG =               0x7FFFFFFF

# Sections for display options ------------------------------------------------
[DISPLAY]

# Name of display program, e.g., xemc
DISPLAY =             axis
# DISPLAY =               usrmot
# DISPLAY =    tkemc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             tklinucnc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2

# Prefix to be used
PROGRAM_PREFIX = /home/einar/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2

# Enable popup balloon help
BALLOON_HELP = 1

# Task controller section -----------------------------------------------------
[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010

# Part program interpreter section --------------------------------------------
[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        univstep.var

# Motion control section ------------------------------------------------------
[EMCMOT]

EMCMOT =              motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nanoseconds
SERVO_PERIOD =               1000000

# Hardware Abstraction Layer section --------------------------------------------------
[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE =                    univstep_load.hal
HALFILE =                    univstep_servo.hal
HALFILE =                    univstep_motion.hal
HALFILE =                    univstep_io.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

# Trajectory planner section --------------------------------------------------
[TRAJ]

AXES =                  4
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z A
HOME =                  0 0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.0167
MAX_VELOCITY =          1.20
DEFAULT_ACCELERATION =  15.0
MAX_ACCELERATION =      20.0

# Axes sections ---------------------------------------------------------------

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.0100
MIN_FERROR = 0.001
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0.000126
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0


# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0.000126
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0.000126
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0

# Fourth axis
[AXIS_3]

TYPE =                          ANGULAR
HOME =                          0.0
MAX_VELOCITY =                  65
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              66
BACKLASH = 0.000
SCALE =                   11.11111111
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -3600.0
MAX_LIMIT =                     3600.0
FERROR = 0.1
MIN_FERROR = 0.2
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                        0.046
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0


# section for main IO controller parameters -----------------------------------
[EMCIO]

# Name of IO controller program, e.g., io
EMCIO =     io

# cycle time, in seconds
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE =    univstep.tbl

--------------------------
univstep_load.hal:
# sample file pulls all load commands into a single file
# when emc2 starts it loads iocontrol

# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# next load the PID module, for four PID loops
loadrt pid num_chan=4

# install driver
loadrt hal_ppmc

# make some signals for the scope for tuning.
loadrt ddt count=4
# add components for E-stop logic
loadrt estop_latch count=1
loadrt and2 count=1

# set up the realtime thread
# read inputs first
addf ppmc.0.read servo-thread
# then run the motion controller
addf motion-command-handler servo-thread
addf and2.0 servo-thread
addf estop-latch.0 servo-thread
addf motion-controller servo-thread
# then the PID loops
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
# write outputs last
addf ppmc.0.write servo-thread

----------------
univstep_motion.hal:
# HAL config file for Pico Systems USC board

# set sane pulse timing - these are basically Gecko numbers
# both pulse width and space are set to 3.5 uS, to prevent
# problems if the outputs are inverted externally
setp ppmc.0.stepgen.00-03.pulse-width-ns 3500
setp ppmc.0.stepgen.00-03.pulse-space-min-ns 3500
# setup time is set to 1 uS
setp ppmc.0.stepgen.00-03.setup-time-ns 1000

# connect position feedback signals to encoders
net Xpos-fb <= ppmc.0.encoder.00.position
net Ypos-fb <= ppmc.0.encoder.01.position
net Zpos-fb <= ppmc.0.encoder.02.position
net Apos-fb <= ppmc.0.encoder.03.position

# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [AXIS_0]SCALE
setp ppmc.0.encoder.01.scale [AXIS_1]SCALE
setp ppmc.0.encoder.02.scale [AXIS_2]SCALE
setp ppmc.0.encoder.03.scale [AXIS_3]SCALE

# connect PID output signals to step generators
net Xoutput => ppmc.0.stepgen.00.velocity
net Youtput => ppmc.0.stepgen.01.velocity
net Zoutput => ppmc.0.stepgen.02.velocity
net Aoutput => ppmc.0.stepgen.03.velocity

# connect axis enables to step generators
net Xenable => ppmc.0.stepgen.00.enable
net Yenable => ppmc.0.stepgen.01.enable
net Zenable => ppmc.0.stepgen.02.enable
net Aenable => ppmc.0.stepgen.03.enable

# set output scaling from ini file
# input and output scales should (normally) be the same for a USC
setp ppmc.0.stepgen.00.scale [AXIS_0]SCALE
setp ppmc.0.stepgen.01.scale [AXIS_1]SCALE
setp ppmc.0.stepgen.02.scale [AXIS_2]SCALE
setp ppmc.0.stepgen.03.scale [AXIS_3]SCALE

# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
net Xoutput ddt.0.in
net Xpos-fb ddt.1.in

----------------------
univstep_servo.hal:
# HAL config file for servos -- expanded from core_servo.hal
# for a full four axis setup

# create four position feedback signals

# connect position feedback to PID loop
net Xpos-fb => pid.0.feedback
net Ypos-fb => pid.1.feedback
net Zpos-fb => pid.2.feedback
net Apos-fb => pid.3.feedback

# connect position feedback to motion module
net Xpos-fb => axis.0.motor-pos-fb
net Ypos-fb => axis.1.motor-pos-fb
net Zpos-fb => axis.2.motor-pos-fb
net Apos-fb => axis.3.motor-pos-fb

# create PID to DAC output signals

# connect output signals to output of PID loops
net Xoutput <= pid.0.output
net Youtput <= pid.1.output
net Zoutput <= pid.2.output
net Aoutput <= pid.3.output

# set PID loop output limits to +/-1.00
setp pid.0.maxoutput [AXIS_0]PID_MAX_VEL
setp pid.1.maxoutput [AXIS_1]PID_MAX_VEL
setp pid.2.maxoutput [AXIS_2]PID_MAX_VEL
setp pid.3.maxoutput [AXIS_3]PID_MAX_VEL

# set PID loop gains
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND

setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND

setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND

setp pid.3.Pgain [AXIS_3]P
setp pid.3.Igain [AXIS_3]I
setp pid.3.Dgain [AXIS_3]D
setp pid.3.bias [AXIS_3]BIAS
setp pid.3.FF0 [AXIS_3]FF0
setp pid.3.FF1 [AXIS_3]FF1
setp pid.3.FF2 [AXIS_3]FF2
setp pid.3.deadband [AXIS_3]DEADBAND

# create four position command signals

# connect position commands to motion controller
net Xpos-cmd <= axis.0.motor-pos-cmd
net Ypos-cmd <= axis.1.motor-pos-cmd
net Zpos-cmd <= axis.2.motor-pos-cmd
net Apos-cmd <= axis.3.motor-pos-cmd

# connect position commands to PID input
net Xpos-cmd => pid.0.command
net Ypos-cmd => pid.1.command
net Zpos-cmd => pid.2.command
net Apos-cmd => pid.3.command

# create bit signals to enable/disable the PID loops

# connect the signals to the motion controller
net Xenable <= axis.0.amp-enable-out
net Yenable <= axis.1.amp-enable-out
net Zenable <= axis.2.amp-enable-out
net Aenable <= axis.3.amp-enable-out

# connect the signals to the PID blocks
net Xenable => pid.0.enable
net Yenable => pid.1.enable
net Zenable => pid.2.enable
net Aenable => pid.3.enable

--------------------------
univstep_io.hal:
# HAL config file for Pico Systems USC board
#
# Connect motion controller I/Os
#

# connect limit/home switch outputs to motion controller
net Xminlim <= ppmc.0.din.01.in
net Xminlim => axis.0.neg-lim-sw-in
net Xmaxlim <= ppmc.0.din.02.in
net Xmaxlim => axis.0.pos-lim-sw-in
net Xhome <= ppmc.0.din.00.in
net Xhome => axis.0.home-sw-in

net Yminlim <= ppmc.0.din.05.in
net Yminlim => axis.1.neg-lim-sw-in
net Ymaxlim <= ppmc.0.din.06.in
net Ymaxlim => axis.1.pos-lim-sw-in
net Yhome <= ppmc.0.din.04.in
net Yhome => axis.1.home-sw-in

net Zminlim <= ppmc.0.din.09.in
net Zminlim => axis.2.neg-lim-sw-in
net Zmaxlim <= ppmc.0.din.10.in
net Zmaxlim => axis.2.pos-lim-sw-in
net Zhome <= ppmc.0.din.08.in
net Zhome => axis.2.home-sw-in

net Aminlim <= ppmc.0.din.12.in
net Aminlim => axis.3.neg-lim-sw-in
net Amaxlim <= ppmc.0.din.13.in
net Amaxlim => axis.3.pos-lim-sw-in
net Ahome <= ppmc.0.din.11.in
net Ahome => axis.3.home-sw-in


# connect index pulses to motion controller
# uncomment these lines only if you have a Rev 2 USC board
#newsig Xindex bit
#newsig Yindex  bit
#newsig Zindex bit
#linksp Xindex <= ppmc.0.encoder.00.index-enable
#linksp Xindex => axis.0.index-enable
#linksp Yindex <= ppmc.0.encoder.01.index-enable
#linksp Yindex => axis.1.index-enable
#linksp Zindex <= ppmc.0.encoder.02.index-enable
#linksp Zindex => axis.2.index-enable

#
# Connect I/O controller I/Os
#

# connect e-stop write/sense to I/O controller
# and univstep's fault with estop's output, so  estop FF is reset, but
#      prevent continued estop signal from univstep from holding FF cleared
net ppmcEstop ppmc.0.din.15.in-not
net ppmcEstop and2.0.in0
net EstopOkIn estop-latch.0.fault-in
net EstopOkIn and2.0.out
net EstopOkOut <= ppmc.0.dout.07.out
net EstopOkOut iocontrol.0.emc-enable-in
net EstopOkOut estop-latch.0.ok-out
net EstopOkOut and2.0.in1
net emc-estop-out iocontrol.0.user-enable-out
net emc-estop-out estop-latch.0.ok-in
net emc-estop-reset iocontrol.0.user-request-enable
net emc-estop-reset estop-latch.0.reset

# connect spindle fwd/rev to I/O controller
net SpindleFwd <= ppmc.0.dout.00.out
net SpindleFwd => motion.spindle-forward
net SpindleRev <= ppmc.0.dout.01.out
net SpindleRev => motion.spindle-reverse

# connect spindle brake to I/O controller
net SpindleBrakeOn <= ppmc.0.dout.02.out
net SpindleBrakeOn => motion.spindle-brake

# connect mist/flood coolant to I/O controller
net MistOn <= ppmc.0.dout.03.out
net MistOn => iocontrol.0.coolant-mist
net FloodOn <= ppmc.0.dout.04.out
net FloodOn => iocontrol.0.coolant-flood