Hardinge-1

INI File:

# 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 =               Hardinge 1

# 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

LATHE = 1

EDITOR = gedit
# DISPLAY =               usrmot
# DISPLAY =    tkemc

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             tkemc.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/nick/linuxcnc/nc_files
PROGRAM_PREFIX = /home/nick/linuxcnc/m_files

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2

PYVCP = spindle.xml

# 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 =        univpwm.var
RS274NGC_STARTUP_CODE = G18 M9
# 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 =                    univpwm_load.hal
HALFILE =                    univpwm_servo.hal
HALFILE =                    univpwm_motion.hal
HALFILE =                    univpwm_io.hal

POSTGUI_HALFILE = post-gui.hal


HALUI = halui


[HALUI]
# MDI commands
MDI_COMMAND = T1 M6 G43
MDI_COMMAND = T2 M6 G43
MDI_COMMAND = T3 M6 G43
MDI_COMMAND = T4 M6 G43
MDI_COMMAND = T5 M6 G43
MDI_COMMAND = T6 M6 G43
MDI_COMMAND = T7 M6 G43
MDI_COMMAND = T8 M6 G43

#MDI_COMMAND = M102
#MDI_COMMAND = M103

#uncomment the following line to enable the pendant function
#HALFILE =                    pendant.hal
#uncomment the following line to enable the spindle speed display
POSTGUI_HALFILE =            spindle.hal
#You need to remove axis 3 or provide another path for a spindle encoder to
#  feed into EMC for this to work.



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

AXES =                  3
# COORDINATES =         X Y Z R P W
COORDINATES =           X Z
HOME =                  0 0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.5
MAX_VELOCITY =          4.0
DEFAULT_ACCELERATION =  3.0
MAX_ACCELERATION =      3.0

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

# Scaling:  The OUTPUT_SCALE should be the speed
# in UNITS/second  (inches/sec or mm/sec) that would be
# reached if the PWM duty cycle was 100%.  It depends on
# the power supply voltage, motor RPM/Volt factor, and
# gearing/screw pitch.  For example:
#
# Power supply voltage 50V
# Motor RPM/V     1000RPM/24V
# Gearing:  2 motor revs per 1 screw rev
# Screw pitch: 0.2" per turn
#
# Max motor speed = 50V * 1000RPM/24V = 2083 RPM
# Max screw speed = 2083RPM * 1(screw)/2(motor) = 1041RPM
# Max table speed = 1041RPM * 0.2"/turn = 208 in/min
# Max table speed = 208 in/min / 60 seconds = 3.47 inches/sec
#
# Since max speed is reached at 100% duty cycle, OUTPUT_SCALE
# should be 3.47

# First axis  X Axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.0000
MAX_VELOCITY =                  3.0
MAX_ACCELERATION =              3.0
PID_MAX_VEL =              150
BACKLASH = 0.000
INPUT_SCALE =                   -40000
OUTPUT_SCALE =                  1
MIN_LIMIT =                     -12.0
MAX_LIMIT =                     10.0
FERROR = 0.2
MIN_FERROR = 0.2
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                -0.1
HOME_LATCH_VEL =                 -0.1
HOME_USE_INDEX =                 YES
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0
P =                              270
I =                              0
D =                                2
BIAS =                             0.0
FF0 =                              0
FF1 =                              0.26
FF2 =				0.006


# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  3.0
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  5.0
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 =                              175
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0

# Third axis  Z Axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0000
MAX_VELOCITY =                  3.0
MAX_ACCELERATION =              3.0
PID_MAX_VEL =              100
BACKLASH = 0.000
INPUT_SCALE =                   -40000
OUTPUT_SCALE =                  1
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.250
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                -0.1
HOME_LATCH_VEL =                 -0.1
HOME_USE_INDEX =                 YES
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0
P =                              260
I =                              0
D =                                2
BIAS =                             0
FF0 =                              0
FF1 =                              0.275
FF2 =				0.006

# Fourth axis
#[AXIS_3]

#TYPE =                          ANGULAR
#HOME =                          0.0
#MAX_VELOCITY =                  65
#MAX_ACCELERATION =              20.0
#PID_MAX_VEL =              66
#BACKLASH = 0.000
#INPUT_SCALE =                   11.11111111
#OUTPUT_SCALE =                  5.0
#MIN_LIMIT =                     -3600.0
#MAX_LIMIT =                     3600.0
#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 =                        0.046
#P =                              150
#I =                              100
#D =                                0.1
#BIAS =                             0.0
#FF0 =                              0
#FF1 =                              1
#FF2 =				0.0


# section for main IO controller parameters -----------------------------------
[EMCIO]
TOOL_CHANGE_WITH_SPINDLE_ON = 1

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

# cycle time, in seconds
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE =    univpwm.tbl


#Turret inserted Info
[TURRET]
STOP_SETTLE =        500
PARK_SETTLE =        500




HAL File:
# HAL config file for Pico Systems USC board
#
# Connect motion controller I/Os
#

# connect limit/home switch outputs to motion controller
newsig Xminlim bit
newsig Xmaxlim  bit
newsig Xhome bit
linksp Xminlim <= ppmc.0.din.01.in-not
linksp Xminlim => axis.0.neg-lim-sw-in
linksp Xmaxlim <= ppmc.0.din.02.in-not
linksp Xmaxlim => axis.0.pos-lim-sw-in
linksp Xhome <= ppmc.0.din.00.in
linksp Xhome => axis.0.home-sw-in

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

newsig Zminlim bit
newsig Zmaxlim  bit
newsig Zhome bit
linksp Zminlim <= ppmc.0.din.04.in-not
#linksp Zminlim <= ppmc.0.din.09.in
linksp Zminlim => axis.2.neg-lim-sw-in
linksp Zmaxlim <= ppmc.0.din.05.in-not
#linksp Zmaxlim <= ppmc.0.din.10.in
linksp Zmaxlim => axis.2.pos-lim-sw-in
linksp Zhome <= ppmc.0.din.03.in
#linksp Zhome <= ppmc.0.din.08.in
linksp Zhome => axis.2.home-sw-in

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


# connect index pulses to motion controller
# uncomment these lines only if you have a Rev 3 UPC board
# The ppmc.x.encoder.xx.index-enable pin is ONLY exported by the driver
#     if the UPC has rev 3 or above firmware
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 univpwm's fault with estop's output, so  estop FF is reset, but
#      prevent continued estop signal from univpwm from holding FF cleared
newsig ppmcEstop bit
linksp ppmcEstop ppmc.0.din.15.in-not
linksp ppmcEstop and2.0.in0
newsig EstopOkIn bit
linksp EstopOkIn estop-latch.0.fault-in
linksp EstopOkIn and2.0.out
newsig EstopOkOut bit
linksp EstopOkOut <= ppmc.0.dout.07.out
linksp EstopOkOut iocontrol.0.emc-enable-in
linksp EstopOkOut estop-latch.0.ok-out
linksp EstopOkOut and2.0.in1
newsig emc-estop-out bit
linksp emc-estop-out iocontrol.0.user-enable-out
linksp emc-estop-out estop-latch.0.ok-in
newsig emc-estop-reset bit
linksp emc-estop-reset iocontrol.0.user-request-enable
linksp emc-estop-reset estop-latch.0.reset

### TURRET ###
# create signals for tool loading loopback
net ToolPrep iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net ToolChange iocontrol.0.tool-change turret.0.position-change
net ToolChanged turret.0.position-changed iocontrol.0.tool-changed

# decode turret encoder inputs
newsig ones bit
newsig twos bit
newsig fours bit
newsig eights bit

linksp ones ppmc.0.din.06.in

linksp ones wsum.0.bit.0.in
linksp twos ppmc.0.din.07.in
linksp twos wsum.0.bit.1.in
linksp fours ppmc.0.din.08.in
linksp fours wsum.0.bit.2.in
linksp eights ppmc.0.din.09.in
linksp eights wsum.0.bit.3.in
# wsum.N.hold bit in

newsig TurretCurrentPosition s32
linksp TurretCurrentPosition wsum.0.sum
linksp TurretCurrentPosition turret.0.position-current

newsig TurretRequestedPosition s32
linksp TurretRequestedPosition iocontrol.0.tool-prep-number
linksp TurretRequestedPosition turret.0.position-requested

setp turret.0.settle-stop [TURRET]STOP_SETTLE
setp turret.0.settle-park [TURRET]PARK_SETTLE

# connect turret to parallel port
newsig TurretSeek bit
linksp TurretSeek turret.0.seek
linksp TurretSeek ppmc.0.dout.05.out

newsig TurretStop bit
linksp TurretStop turret.0.stop
linksp TurretStop ppmc.0.dout.06.out

#addf turret.0 servo-thread

#Turret Info End





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

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

# connect mist/flood coolant to I/O controller
newsig MistOn bit
newsig FloodOn bit
linksp MistOn <= ppmc.0.dout.03.out
linksp MistOn => iocontrol.0.coolant-mist
linksp FloodOn <= parport.0.pin-02-out
setp parport.0.pin-02-out-invert 1
linksp FloodOn => iocontrol.0.coolant-flood
# Line 159 ppmc.0.dout.04.out
#parport.0.pin-02-out

setp parport.0.pin-05-out-invert 1
setp parport.0.pin-06-out-invert 1

#Connect  Verticle Slide switch
#setp parport.0.pin-10-in
net slide-input motion.digital-in-00 <= parport.0.pin-10-in


# pull the CR-1 relay in when the Power Button is on JT
net machine-power <= motion.motion-enabled =>
# CR-1 Control Power
net machine-power => parport.0.pin-01-out
setp parport.0.pin-01-out-invert 1

net brake-off => parport.0.pin-07-out
#setp parport.0.pin-07-out-invert 1



#File from email
#set scale for 5000 RPM MAX and connect spindle speed to USC DAC
setp ppmc.0.DAC8.00.scale 410.0
net spinspeed    motion.spindle-speed-out    ppmc.0.DAC8.00.value

#new info
# These 3 lines from Andy
net spindle-revs-in ppmc.0.encoder.03.velocity => motion.spindle-speed-in

net spindle-pos ppmc.0.encoder.03.position => motion.spindle-revs

net spindle-index-enable motion.spindle-index-enable <=> ppmc.0.encoder.03.index-enable



# 2 commented out lines from inputing 3 above lines
#net spinraw  ppmc.0.encoder.03.delta  conv-s32-float.0.in
net spinfloat conv-s32-float.0.out  mult2.0.in0
setp mult2.0.in1  0.273066667
#net SpindleRPM  mult2.0.out  motion.spindle-speed-in


#    4.096 0.06826667 0.273066667

#File from spin
#set scale for 5000 RPM MAX and connect spindle speed to USC DAC
#setp ppmc.0.DAC8.00.scale 500.0
#newsig spinspeed float
#linksp spinspeed <= motion.spindle-speed-out
#linksp spinspeed => ppmc.0.DAC8.00.value

#File from 2.3.5
#setp ppmc.0.DAC8.00.scale 390.0
#net spinspeed motiom.spindle-speed-out ppmc.0.DAC8.00.value
#newsig spinspeed float
#linksp spinspeed <= motion.spindle-speed-out
#linksp spinspeed => ppmc.0.DAC8.00.value



loadrt classicladder_rt
addf classicladder.0.refresh servo-thread