выбрал это SVST8_4. теперь куда копать?
Код: Выделить всё
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=2 num_stepgens=0"
setp hm2_5i20.0.pwmgen.pwm_frequency 100000
setp hm2_5i20.0.pwmgen.pdm_frequency 100000
setp hm2_5i20.0.watchdog.timeout_ns 10000000
loadrt abs names=abs.0
loadrt lowpass names=
loadrt scale names=scale.0
loadrt near
addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
loadrt pid num_chan=2
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
alias pin pid.1.Pgain pid.x.Pgain
alias pin pid.1.Igain pid.x.Igain
alias pin pid.1.Dgain pid.x.Dgain
alias pin pid.1.bias pid.x.bias
alias pin pid.1.FF0 pid.x.FF0
alias pin pid.1.FF1 pid.x.FF1
alias pin pid.1.FF2 pid.x.FF2
alias pin pid.1.deadband pid.x.deadband
alias pin pid.1.maxoutput pid.x.maxoutput
alias pin pid.1.enable pid.x.enable
alias pin pid.1.command pid.x.command
alias pin pid.1.feedback pid.x.feedback
alias pin pid.1.output pid.x.output
alias pin pid.1.index-enable pid.x.index-enable
addf abs.0 servo-thread
addf scale.0 servo-thread
addf near.0 servo-thread
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread
# external output signals
# external input signals
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-index-enable <=> pid.x.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
net xenable => pid.x.enable
net xoutput pid.x.output => hm2_5i20.0.pwmgen.00.value
net xpos-cmd axis.0.motor-pos-cmd => pid.x.command
net xenable axis.0.amp-enable-out => hm2_5i20.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 0
setp hm2_5i20.0.encoder.02.filter 1
setp hm2_5i20.0.encoder.02.index-invert 0
setp hm2_5i20.0.encoder.02.index-mask 0
setp hm2_5i20.0.encoder.02.index-mask-invert 0
setp hm2_5i20.0.encoder.02.scale [AXIS_0]INPUT_SCALE
net xpos-fb <= hm2_5i20.0.encoder.02.position
net xpos-fb => pid.x.feedback
net xpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i20.0.encoder.02.index-enable
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# ---setup home / limit switch signals---
net z-home-sw => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---jog button signals---
net jog-speed halui.jog-speed
sets jog-speed 1.000000
net joint-select-a halui.joint.0.select
net joint-select-c halui.joint.2.select
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
И вот это
Код: Выделить всё
[EMC]
MACHINE = sp2
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/dmaster/emc2/nc_files
PYVCP = custompanel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
# [HOSTMOT2]
# This is for info only
# DRIVER0=hm2_pci
# BOARD0=5i20
# CONFIG0="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=2 num_stepgens=0"
[HAL]
HALUI = halui
HALFILE = sp2.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
MDI_COMMAND = G0 G53 Z0
MDI_COMMAND = G28
MDI_COMMAND = G92 X0
MDI_COMMAND = G92 Y0
MDI_COMMAND = G92 Z0
MDI_COMMAND = G92.1
[TRAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.17
MAX_LINEAR_VELOCITY = 1.67
POSITION_FILE = position.txt
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOLCHANGE_WITH_SPINDLE_ON = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
OUTPUT_SCALE = 1.0
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
INPUT_SCALE = 800.0
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.67
MAX_ACCELERATION = 2.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
OUTPUT_SCALE = 1.0
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
INPUT_SCALE = 1000.0
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
HOME_OFFSET = 0.0
#********************
# Spindle
#********************
[SPINDLE_9]
MAX_VELOCITY = 1.67
MAX_ACCELERATION = 2
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0
MAX_OUTPUT = 10
INPUT_SCALE = 0
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