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Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+7i48

https://cnc-club.ru/forum/viewtopic.php?t=2288

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Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 12 ноя 2013, 11:22
Vova_3000

Код: Выделить всё

# Generated by PNCconf at Wed Nov 21 13:23:12 2012
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

[EMC]
MACHINE = CNC_final
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.0500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/vova/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 40
MAX_LINEAR_VELOCITY = 40
MIN_LINEAR_VELOCITY = 1
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 = linuxcnc.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

[HAL]
HALUI = halui
HALFILE = CNC_final.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal


[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 40
MAX_LINEAR_VELOCITY = 40

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.1
MAX_VELOCITY = 40
MAX_ACCELERATION = 100
P = 7.8
I = 120.0
D = 0.0
FF0 = 0.0005
FF1 = 0.0402
FF2 = 0.0001
BIAS = 0.0
DEADBAND = 0.0003
MAX_OUTPUT = 10.0
ENCODER_SCALE = -6545.359
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 300.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.250000
HOME_FINAL_VEL = 0.083333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.1
MAX_VELOCITY = 40
MAX_ACCELERATION = 100
P = 7.8
I = 120.0
D = 0.0
FF0 = 0.0005
FF1 = 0.0402
FF2 = 0.0001
BIAS = 0.0
DEADBAND = 0.0003
MAX_OUTPUT = 10.0
ENCODER_SCALE = -6545.359
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.250000
HOME_FINAL_VEL = 0.083333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 300.0
FERROR = 
MIN_FERROR = 0.1
MAX_VELOCITY = 40
MAX_ACCELERATION = 100
P = 7.8
I = 120.0
D = 0.0
FF0 = 0.0005
FF1 = 0.0402
FF2 = 0.0001
BIAS = 0.0
DEADBAND = 0.0003
MAX_OUTPUT = 10.0
ENCODER_SCALE = 6545.359
OUTPUT_SCALE = -10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 300.0
HOME_OFFSET = 300.0
HOME_SEARCH_VEL = 0.60000
HOME_LATCH_VEL = 0.250000
HOME_FINAL_VEL = 0.083333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

#********************
# Spindle 
#********************
[SPINDLE_9]

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 12 ноя 2013, 13:04
Nick
Надо scale для pwmgen настроить...
После

Код: Выделить всё

net spindle-vel-cmd     => hm2_5i20.0.pwmgen.01.value
напиши:

Код: Выделить всё

setp hm2_5i20.0.pwmgen.01.scale ХХХ
Вместо XXX значение, должно получиться от -1 до 1. Т.е. value / scale от -1 до 1, т.е. скажем максимальные обороты 1000 об/мин, то надо ставить 1000, вроде как :), в общем подбери значение.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 12 ноя 2013, 16:41
Vova_3000
огромное СПАСИБО!!!
все в порядке!!!
осталось дело за малым.
не отображаются обороты,а только линейка с процентами.
необходимо чтобы приложение запускалось вместе с системой.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 12 ноя 2013, 16:45
Vova_3000
и еще не понятно. как на другом компьютере запустить то что я там наваял?
я установил систему, скопировал папку linuxcnc Со станка, запускаю а там ошибка.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 12 ноя 2013, 16:46
Vova_3000

Код: Выделить всё

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.3
Machine configuration directory is '/home/vova/linuxcnc/configs/CNC_final'
Machine configuration file is 'CNC_final.ini'
INIFILE=/home/vova/linuxcnc/configs/CNC_final/CNC_final.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=1897
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hm2_pci.ko': -1 No such device
CNC_final.hal:9: exit value: 1
CNC_final.hal:9: insmod failed, returned -1
See the output of 'dmesg' for more information.
1897
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[  494.485374] I-pipe: Domain RTAI registered.
[  494.485378] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[  494.485379] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[  494.485422] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[  494.485423] PIPELINE layers:
[  494.485425] f8815e20 9ac15d93 RTAI 200
[  494.485426] c085cb20 0 Linux 100
[  494.495266] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[  494.495370] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[  494.495373] RTAI[sched]: hard timer type/freq = APIC/6437477(Hz); default timing: periodic; linear timed lists.
[  494.495375] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3296571000 hz.
[  494.495377] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[  494.495409] RTAI[usi]: enabled.
[  494.505805] RTAI[math]: loaded.
[  494.601347] hm2: loading Mesa HostMot2 driver version 0.15
[  494.603114] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[  494.814084] hm2: unloading
[  494.874777] RTAI[math]: unloaded.
[  494.880562] SCHED releases registered named ALIEN RTGLBH
[  494.942544] RTAI[malloc]: unloaded.
[  495.042201] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[  495.043234] I-pipe: Domain RTAI unregistered.
[  495.043280] RTAI[hal]: unmounted.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 00:16
Nick
Vova_3000 писал(а):insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hm2_pci.ko': -1 No such device
А там меса вставлена?
Vova_3000 писал(а):необходимо чтобы приложение запускалось вместе с системой.
Или в ./etc/rc.local прописать linuxcnc + путь до конфига. Или через Система - Параметры - Автозапуск.
Vova_3000 писал(а):не отображаются обороты,а только линейка с процентами.
Хм... тоже на днях искал обороты... можно сделать панельку pyvcp - можно даже со стрелкой...

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 00:46
NightV
Vova_3000, у нас за хороший ответ ставят плюсик, рядом с цитата

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 11:49
Vova_3000
понял Спасибо!!

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 11:54
Vova_3000
Хм... тоже на днях искал обороты... можно сделать панельку pyvcp - можно даже со стрелкой...
Я панельку делать пытаюсь, да только она не работает.
висит просто как картинка и все тут.
вроде все по учебнику а чет не идет.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 12:16
nkp
Vova_3000 писал(а):Я панельку делать пытаюсь, да только она не работает.
то есть :
панель видна ,кнопочки нажимаются и все отстальное визуально срабатывает, пины панели скоммутированны в
файле postgui_call_list.hal ,а реально пины не отрабатывают?
и ошибки никакой нет?

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 12:18
Nick
Покажи свои все hal, ini и саму панельку.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 16:31
Vova_3000
hal

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/SV12IM_2X7I48_72.BIT num_encoders=6 num_pwmgens=6 num_3pwmgens=0 num_stepgens=0  " 
setp     hm2_5i20.0.pwmgen.pwm_frequency 24000
setp     hm2_5i20.0.pwmgen.pdm_frequency 24000
setp     hm2_5i20.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z

addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf hm2_5i20.0.write         servo-thread
addf hm2_5i20.0.pet_watchdog  servo-thread

#------- Limits 
       # --- MIN-HOME-X ---
net min-home-x     <=  hm2_5i20.0.gpio.024.in
       # --- MAX-X ---
net max-x     <=  hm2_5i20.0.gpio.025.in
       # --- MIN-HOME-Y ---
net min-home-y     <=  hm2_5i20.0.gpio.026.in
       # --- MAX-Y ---
net max-y     <=  hm2_5i20.0.gpio.027.in
       # --- MAX-HOME-Z ---
net max-home-z     <=  hm2_5i20.0.gpio.028.in
       # --- MIN-Z ---
net min-z     <=  hm2_5i20.0.gpio.029.in
#------- Limits 

# ---setup home / limit switch signals---

net min-home-x     =>  axis.0.home-sw-in
net min-home-x     =>  axis.0.neg-lim-sw-in
net max-x     =>  axis.0.pos-lim-sw-in

net min-home-y     =>  axis.1.home-sw-in
net min-home-y     =>  axis.1.neg-lim-sw-in
net max-y     =>  axis.1.pos-lim-sw-in

net max-home-z     =>  axis.2.home-sw-in
net min-z     =>  axis.2.neg-lim-sw-in
net max-home-z     =>  axis.2.pos-lim-sw-in



#*******************
#  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
net x-enable       => pid.x.enable
net x-output       => pid.x.output
net x-pos-cmd      => pid.x.command
net x-vel-fb       => pid.x.command-deriv
net x-pos-fb       => pid.x.feedback

# ---PWM Generator signals/setup---

setp   hm2_5i20.0.pwmgen.00.output-type 2
setp   hm2_5i20.0.pwmgen.00.scale  [AXIS_0]OUTPUT_SCALE

net x-output                             => hm2_5i20.0.pwmgen.00.value
net x-pos-cmd    axis.0.motor-pos-cmd
net x-enable     axis.0.amp-enable-out  => hm2_5i20.0.pwmgen.00.enable

# ---Encoder feedback signals/setup---

setp    hm2_5i20.0.encoder.00.counter-mode 0
setp    hm2_5i20.0.encoder.00.filter 1
setp    hm2_5i20.0.encoder.00.index-invert 0
setp    hm2_5i20.0.encoder.00.index-mask 0
setp    hm2_5i20.0.encoder.00.index-mask-invert 0
setp    hm2_5i20.0.encoder.00.scale  [AXIS_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_5i20.0.encoder.00.position
net x-vel-fb               <=  hm2_5i20.0.encoder.00.velocity
net x-pos-fb               =>  axis.0.motor-pos-fb
net x-index-enable    axis.0.index-enable  <=>  hm2_5i20.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_5i20.0.encoder.00.rawcounts

# ---setup home / limit switch signals---


#*******************
#  AXIS Y
#*******************

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

net y-index-enable  <=>  pid.y.index-enable
net y-enable       => pid.y.enable
net y-output       => pid.y.output
net y-pos-cmd      => pid.y.command
net y-vel-fb       => pid.y.command-deriv
net y-pos-fb       => pid.y.feedback

# ---PWM Generator signals/setup---

setp   hm2_5i20.0.pwmgen.02.output-type 2
setp   hm2_5i20.0.pwmgen.02.scale  [AXIS_1]OUTPUT_SCALE

net y-output                             => hm2_5i20.0.pwmgen.02.value
net y-pos-cmd    axis.1.motor-pos-cmd
net y-enable     axis.1.amp-enable-out  => hm2_5i20.0.pwmgen.02.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_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_5i20.0.encoder.02.position
net y-vel-fb               <=  hm2_5i20.0.encoder.02.velocity
net y-pos-fb               =>  axis.1.motor-pos-fb
net y-index-enable    axis.1.index-enable  <=>  hm2_5i20.0.encoder.02.index-enable
net y-pos-rawcounts        <=  hm2_5i20.0.encoder.02.rawcounts


#*******************
#  AXIS Z
#*******************

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

net z-index-enable  <=>  pid.z.index-enable
net z-enable       => pid.z.enable
net z-output       => pid.z.output
net z-pos-cmd      => pid.z.command
net z-vel-fb       => pid.z.command-deriv
net z-pos-fb       => pid.z.feedback

# ---PWM Generator signals/setup---

setp   hm2_5i20.0.pwmgen.04.output-type 2
setp   hm2_5i20.0.pwmgen.04.scale  [AXIS_2]OUTPUT_SCALE

net z-output                             => hm2_5i20.0.pwmgen.04.value
net z-pos-cmd    axis.2.motor-pos-cmd
net z-enable     axis.2.amp-enable-out  => hm2_5i20.0.pwmgen.04.enable

# ---Encoder feedback signals/setup---

setp    hm2_5i20.0.encoder.04.counter-mode 0
setp    hm2_5i20.0.encoder.04.filter 1
setp    hm2_5i20.0.encoder.04.index-invert 0
setp    hm2_5i20.0.encoder.04.index-mask 0
setp    hm2_5i20.0.encoder.04.index-mask-invert 0
setp    hm2_5i20.0.encoder.04.scale  [AXIS_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_5i20.0.encoder.04.position
net z-vel-fb               <=  hm2_5i20.0.encoder.04.velocity
net z-pos-fb               =>  axis.2.motor-pos-fb
net z-index-enable    axis.2.index-enable  <=>  hm2_5i20.0.encoder.04.index-enable
net z-pos-rawcounts        <=  hm2_5i20.0.encoder.04.rawcounts



#*******************
#  SPINDLE S
#*******************



net spindle-vel-cmd     => hm2_5i20.0.pwmgen.01.value
setp   hm2_5i20.0.pwmgen.01.scale 6000

net machine-is-enabled      => hm2_5i20.0.pwmgen.01.enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps    <=  motion.spindle-speed-out-rps
net spindle-vel-cmd        <=  motion.spindle-speed-out
net spindle-on             <=  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
#******************************

#  ---HALUI signals---

net joint-select-a        halui.joint.0.select
net x-is-homed            halui.joint.0.is-homed
net jog-x-pos             halui.jog.0.plus
net jog-x-neg             halui.jog.0.minus
net jog-x-analog          halui.jog.0.analog
net joint-select-b        halui.joint.1.select
net y-is-homed            halui.joint.1.is-homed
net jog-y-pos             halui.jog.1.plus
net jog-y-neg             halui.jog.1.minus
net jog-y-analog          halui.jog.1.analog
net joint-select-c        halui.joint.2.select
net z-is-homed            halui.joint.2.is-homed
net jog-z-pos             halui.jog.2.plus
net jog-z-neg             halui.jog.2.minus
net jog-z-analog          halui.jog.2.analog
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
net machine-is-on         halui.machine.is-on
net jog-speed             halui.jog-speed 
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

#net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---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

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 16:33
Vova_3000
custom

Код: Выделить всё


#  ---classicladder---
loadrt classicladder_rt
addf classicladder.0.refresh servo-thread
loadusr -w classicladder --nogui classicladder_as.clp

# zashim-otshim
net zashim-sig  classicladder.0.in-00  <= hm2_5i20.0.gpio.036.in
net zashim-sig-out classicladder.0.out-00 => hm2_5i20.0.gpio.044.out
net otshim-sig  classicladder.0.in-02  <= hm2_5i20.0.gpio.035.in
net otshim-sig-out classicladder.0.out-01 => hm2_5i20.0.gpio.045.out
net machine-is-enabled => classicladder.0.in-01

# lube-cycle
net lube-sig  classicladder.0.in-03  <= hm2_5i20.0.gpio.033.in
net lube-sig-out classicladder.0.out-02 => hm2_5i20.0.gpio.043.out
net lube iocontrol.0.lube => classicladder.0.in-04

setp hm2_5i20.0.gpio.043.is_output true
setp hm2_5i20.0.gpio.043.is_opendrain  true
setp hm2_5i20.0.gpio.043.invert_output true

setp hm2_5i20.0.gpio.044.is_output true
setp hm2_5i20.0.gpio.044.is_opendrain  true
setp hm2_5i20.0.gpio.044.invert_output true

setp hm2_5i20.0.gpio.045.is_output true
setp hm2_5i20.0.gpio.045.is_opendrain  true
setp hm2_5i20.0.gpio.045.invert_output true



# external output signals

# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i20.0.gpio.040.out
setp hm2_5i20.0.gpio.040.is_output true
setp    hm2_5i20.0.gpio.040.is_opendrain  true
setp hm2_5i20.0.gpio.040.invert_output true

# --- SPINDLE-ON ---
net spindle-on hm2_5i20.0.gpio.041.out
setp hm2_5i20.0.gpio.041.is_output true
setp    hm2_5i20.0.gpio.041.is_opendrain  true
setp hm2_5i20.0.gpio.041.invert_output true

# --- SOH-OUT ---
net coolant-flood  hm2_5i20.0.gpio.042.out
setp hm2_5i20.0.gpio.042.is_output true
setp    hm2_5i20.0.gpio.042.is_opendrain  true
setp hm2_5i20.0.gpio.042.invert_output true


# --- E-stop ---
#net e-stop     <=  hm2_5i20.0.gpio.030.in

# --- SPINDLE ---
net spindle     <=  hm2_5i20.0.gpio.031.in

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 16:36
Vova_3000
ini

Код: Выделить всё

[EMC]
MACHINE = CNC_final
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.0500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/vova/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 40
MAX_LINEAR_VELOCITY = 40
MIN_LINEAR_VELOCITY = 1
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
PYVCP = custompanel.xml

[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 = linuxcnc.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

[HAL]
HALUI = halui
HALFILE = CNC_final.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
POSTGUI_HALFILE = spindle_to_pyvcp.hal


[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 40
MAX_LINEAR_VELOCITY = 40

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.1
MAX_VELOCITY = 40
MAX_ACCELERATION = 100
P = 7.8
I = 120.0
D = 0.0
FF0 = 0.0005
FF1 = 0.0402
FF2 = 0.0001
BIAS = 0.0
DEADBAND = 0.0003
MAX_OUTPUT = 10.0
ENCODER_SCALE = -6545.359
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 300.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.250000
HOME_FINAL_VEL = 0.083333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.1
MAX_VELOCITY = 40
MAX_ACCELERATION = 100
P = 7.8
I = 120.0
D = 0.0
FF0 = 0.0005
FF1 = 0.0402
FF2 = 0.0001
BIAS = 0.0
DEADBAND = 0.0003
MAX_OUTPUT = 10.0
ENCODER_SCALE = -6545.359
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.250000
HOME_FINAL_VEL = 0.083333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 300.0
FERROR = 
MIN_FERROR = 0.1
MAX_VELOCITY = 40
MAX_ACCELERATION = 100
P = 7.8
I = 120.0
D = 0.0
FF0 = 0.0005
FF1 = 0.0402
FF2 = 0.0001
BIAS = 0.0
DEADBAND = 0.0003
MAX_OUTPUT = 10.0
ENCODER_SCALE = 6545.359
OUTPUT_SCALE = -10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 300.0
HOME_OFFSET = 300.0
HOME_SEARCH_VEL = 0.60000
HOME_LATCH_VEL = 0.250000
HOME_FINAL_VEL = 0.083333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

#********************
# Spindle 
#********************
[SPINDLE_9]

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 16:39
Vova_3000
сама картинка

Код: Выделить всё

<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
         <vbox>
         <relief>RIDGE</relief>         
         <bd>6</bd>
                <label>
                        <text>"Spindle Speed:"</text>
                        <font>("Helvetica",20)</font>
                </label>
                <bar>
                        <halpin>"spindle-speed"</halpin>
                        <max_>3000</max_>
                </bar>
                <label>
                        <text>"Spindle-At-Speed:"</text>
                        <font>("Helvetica",20)</font>
                </label>
                <hbox>
                    <label>
                            <text>"             "</text>
                            <font>("Helvetica",20)</font>
                    </label>
                    <led>
                        <halpin>"spindle-at-speed-led"</halpin> 
                        <size>30</size> 
                        <on_color>"green"</on_color>
                        <off_color>"red"</off_color>
                    </led>
                </hbox>
        </vbox>
</pyvcp>

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 16:42
Vova_3000
и вот так а когда в хал прописываю net spindle-rpm-filtered => pyvcp.spindle-speed то emc не запускается.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 13 ноя 2013, 17:35
Nick
А что говорит? Пина нет? В какой hal прописываешь?
Надо в

Код: Выделить всё

POSTGUI_HALFILE = postgui_call_list.hal
POSTGUI_HALFILE = spindle_to_pyvcp.hal
А у тебя наверное в нем есть...

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 14 ноя 2013, 12:42
Vova_3000

Код: Выделить всё

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.1
Machine configuration directory is '/home/cnc01/linuxcnc/configs/CNC_final'
Machine configuration file is 'CNC_final.ini'
INIFILE=/home/cnc01/linuxcnc/configs/CNC_final/CNC_final.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=3069
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 
CNC_final.hal:226: Pin 'pyvcp.spindle-speed' does not exist
3069
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 7032.398316] I-pipe: Domain RTAI registered.
[ 7032.398340] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 7032.398345] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 7032.398360] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 7032.398365] PIPELINE layers:
[ 7032.398371] e116fe20 9ac15d93 RTAI 200
[ 7032.398375] c085cb20 0 Linux 100
[ 7032.454237] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 7032.454640] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 7032.454651] RTAI[sched]: hard timer type/freq = APIC/6264148(Hz); default timing: periodic; linear timed lists.
[ 7032.454658] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004577000 hz.
[ 7032.454662] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 7032.454870] RTAI[usi]: enabled.
[ 7032.692505] RTAI[math]: loaded.
[ 7032.883684] hm2: loading Mesa HostMot2 driver version 0.15
[ 7032.893704] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 7032.893771] hm2_pci: discovered 5i20 at 0000:03:03.0
[ 7032.893908]  hm2_5i20.0: firmware: requesting hm2/5i20/SV12IM_2X7I48_72.BIT
[ 7033.035796] hm2/hm2_5i20.0: WARNING: this firmware has Muxed Encoder v2!
[ 7033.035806] hm2/hm2_5i20.0: WARNING: velocity computation will be incorrect!
[ 7033.035810] hm2/hm2_5i20.0: WARNING: upgrade your firmware!
[ 7033.047940] hm2/hm2_5i20.0: 72 I/O Pins used:
[ 7033.047953] hm2/hm2_5i20.0:     IO Pin 000 (P2-01): PWMGen #0, pin Not-Enable (Output)
[ 7033.047959] hm2/hm2_5i20.0:     IO Pin 001 (P2-03): Muxed Encoder #0, pin Muxed A (Input)
[ 7033.047965] hm2/hm2_5i20.0:     IO Pin 002 (P2-05): Muxed Encoder #0, pin Muxed B (Input)
[ 7033.047971] hm2/hm2_5i20.0:     IO Pin 003 (P2-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 7033.047976] hm2/hm2_5i20.0:     IO Pin 004 (P2-09): Muxed Encoder #1, pin Muxed A (Input)
[ 7033.047982] hm2/hm2_5i20.0:     IO Pin 005 (P2-11): Muxed Encoder #1, pin Muxed B (Input)
[ 7033.047987] hm2/hm2_5i20.0:     IO Pin 006 (P2-13): Muxed Encoder #1, pin Muxed Index (Input)
[ 7033.047993] hm2/hm2_5i20.0:     IO Pin 007 (P2-15): Muxed Encoder #2, pin Muxed A (Input)
[ 7033.047999] hm2/hm2_5i20.0:     IO Pin 008 (P2-17): Muxed Encoder #2, pin Muxed B (Input)
[ 7033.048004] hm2/hm2_5i20.0:     IO Pin 009 (P2-19): Muxed Encoder #2, pin Muxed Index (Input)
[ 7033.048010] hm2/hm2_5i20.0:     IO Pin 010 (P2-21): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 7033.048016] hm2/hm2_5i20.0:     IO Pin 011 (P2-23): PWMGen #0, pin Out0 (PWM or Up) (Output)
[ 7033.048022] hm2/hm2_5i20.0:     IO Pin 012 (P2-25): PWMGen #0, pin Out1 (Dir or Down) (Output)
[ 7033.048028] hm2/hm2_5i20.0:     IO Pin 013 (P2-27): PWMGen #1, pin Out0 (PWM or Up) (Output)
[ 7033.048034] hm2/hm2_5i20.0:     IO Pin 014 (P2-29): PWMGen #1, pin Out1 (Dir or Down) (Output)
[ 7033.048110] hm2/hm2_5i20.0:     IO Pin 015 (P2-31): PWMGen #2, pin Out0 (PWM or Up) (Output)
[ 7033.048121] hm2/hm2_5i20.0:     IO Pin 016 (P2-33): PWMGen #2, pin Out1 (Dir or Down) (Output)
[ 7033.048126] hm2/hm2_5i20.0:     IO Pin 017 (P2-35): PWMGen #3, pin Out0 (PWM or Up) (Output)
[ 7033.048132] hm2/hm2_5i20.0:     IO Pin 018 (P2-37): PWMGen #3, pin Out1 (Dir or Down) (Output)
[ 7033.048137] hm2/hm2_5i20.0:     IO Pin 019 (P2-39): PWMGen #4, pin Out0 (PWM or Up) (Output)
[ 7033.048143] hm2/hm2_5i20.0:     IO Pin 020 (P2-41): PWMGen #4, pin Out1 (Dir or Down) (Output)
[ 7033.048148] hm2/hm2_5i20.0:     IO Pin 021 (P2-43): PWMGen #5, pin Out0 (PWM or Up) (Output)
[ 7033.048153] hm2/hm2_5i20.0:     IO Pin 022 (P2-45): PWMGen #5, pin Out1 (Dir or Down) (Output)
[ 7033.048158] hm2/hm2_5i20.0:     IO Pin 023 (P2-47): PWMGen #0, pin Not-Enable (Output)
[ 7033.048163] hm2/hm2_5i20.0:     IO Pin 024 (P3-01): IOPort
[ 7033.048167] hm2/hm2_5i20.0:     IO Pin 025 (P3-03): IOPort
[ 7033.048171] hm2/hm2_5i20.0:     IO Pin 026 (P3-05): IOPort
[ 7033.048176] hm2/hm2_5i20.0:     IO Pin 027 (P3-07): IOPort
[ 7033.048180] hm2/hm2_5i20.0:     IO Pin 028 (P3-09): IOPort
[ 7033.048184] hm2/hm2_5i20.0:     IO Pin 029 (P3-11): IOPort
[ 7033.048188] hm2/hm2_5i20.0:     IO Pin 030 (P3-13): IOPort
[ 7033.048192] hm2/hm2_5i20.0:     IO Pin 031 (P3-15): IOPort
[ 7033.048196] hm2/hm2_5i20.0:     IO Pin 032 (P3-17): IOPort
[ 7033.048200] hm2/hm2_5i20.0:     IO Pin 033 (P3-19): IOPort
[ 7033.048206] hm2/hm2_5i20.0:     IO Pin 034 (P3-21): Muxed Encoder Select #3, pin Mux Select 0 (Output)
[ 7033.048210] hm2/hm2_5i20.0:     IO Pin 035 (P3-23): IOPort
[ 7033.048215] hm2/hm2_5i20.0:     IO Pin 036 (P3-25): IOPort
[ 7033.048219] hm2/hm2_5i20.0:     IO Pin 037 (P3-27): IOPort
[ 7033.048223] hm2/hm2_5i20.0:     IO Pin 038 (P3-29): IOPort
[ 7033.048227] hm2/hm2_5i20.0:     IO Pin 039 (P3-31): IOPort
[ 7033.048231] hm2/hm2_5i20.0:     IO Pin 040 (P3-33): IOPort
[ 7033.048235] hm2/hm2_5i20.0:     IO Pin 041 (P3-35): IOPort
[ 7033.048239] hm2/hm2_5i20.0:     IO Pin 042 (P3-37): IOPort
[ 7033.048244] hm2/hm2_5i20.0:     IO Pin 043 (P3-39): IOPort
[ 7033.048248] hm2/hm2_5i20.0:     IO Pin 044 (P3-41): IOPort
[ 7033.048252] hm2/hm2_5i20.0:     IO Pin 045 (P3-43): IOPort
[ 7033.048256] hm2/hm2_5i20.0:     IO Pin 046 (P3-45): IOPort
[ 7033.048260] hm2/hm2_5i20.0:     IO Pin 047 (P3-47): IOPort
[ 7033.048265] hm2/hm2_5i20.0:     IO Pin 048 (P4-01): Muxed Encoder #0, pin Muxed IndexMask (Input)
[ 7033.048271] hm2/hm2_5i20.0:     IO Pin 049 (P4-03): Muxed Encoder #1, pin Muxed IndexMask (Input)
[ 7033.048276] hm2/hm2_5i20.0:     IO Pin 050 (P4-05): Muxed Encoder #2, pin Muxed IndexMask (Input)
[ 7033.048281] hm2/hm2_5i20.0:     IO Pin 051 (P4-07): IOPort
[ 7033.048285] hm2/hm2_5i20.0:     IO Pin 052 (P4-09): IOPort
[ 7033.048289] hm2/hm2_5i20.0:     IO Pin 053 (P4-11): IOPort
[ 7033.048293] hm2/hm2_5i20.0:     IO Pin 054 (P4-13): IOPort
[ 7033.048297] hm2/hm2_5i20.0:     IO Pin 055 (P4-15): IOPort
[ 7033.048301] hm2/hm2_5i20.0:     IO Pin 056 (P4-17): IOPort
[ 7033.048305] hm2/hm2_5i20.0:     IO Pin 057 (P4-19): IOPort
[ 7033.048309] hm2/hm2_5i20.0:     IO Pin 058 (P4-21): IOPort
[ 7033.048313] hm2/hm2_5i20.0:     IO Pin 059 (P4-23): IOPort
[ 7033.048318] hm2/hm2_5i20.0:     IO Pin 060 (P4-25): IOPort
[ 7033.048322] hm2/hm2_5i20.0:     IO Pin 061 (P4-27): IOPort
[ 7033.048326] hm2/hm2_5i20.0:     IO Pin 062 (P4-29): IOPort
[ 7033.048330] hm2/hm2_5i20.0:     IO Pin 063 (P4-31): IOPort
[ 7033.048334] hm2/hm2_5i20.0:     IO Pin 064 (P4-33): IOPort
[ 7033.048338] hm2/hm2_5i20.0:     IO Pin 065 (P4-35): IOPort
[ 7033.048342] hm2/hm2_5i20.0:     IO Pin 066 (P4-37): IOPort
[ 7033.048346] hm2/hm2_5i20.0:     IO Pin 067 (P4-39): IOPort
[ 7033.048350] hm2/hm2_5i20.0:     IO Pin 068 (P4-41): IOPort
[ 7033.048354] hm2/hm2_5i20.0:     IO Pin 069 (P4-43): IOPort
[ 7033.048359] hm2/hm2_5i20.0:     IO Pin 070 (P4-45): IOPort
[ 7033.048363] hm2/hm2_5i20.0:     IO Pin 071 (P4-47): IOPort
[ 7033.048583] hm2/hm2_5i20.0: registered
[ 7033.048589] hm2_5i20.0: initialized AnyIO board at 0000:03:03.0
[ 7034.058782] hm2_5i20.0: dropping AnyIO board at 0000:03:03.0
[ 7034.058802] hm2/hm2_5i20.0: unregistered
[ 7034.062427] hm2_pci: driver unloaded
[ 7034.071441] hm2: unloading
[ 7034.203552] RTAI[math]: unloaded.
[ 7034.374330] SCHED releases registered named ALIEN RTGLBH
[ 7034.388666] RTAI[malloc]: unloaded.
[ 7034.488045] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 7034.497181] I-pipe: Domain RTAI unregistered.
[ 7034.497205] RTAI[hal]: unmounted.

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 14 ноя 2013, 12:46
Vova_3000
Не пойму где нужно прописать , и что

Re: Модернизация фрезерного станка 6720вф2+EMC2 + MESA 5i20+

Добавлено: 14 ноя 2013, 12:47
nkp
попробуй просто в ини HALFILE = CNC_final.hal
заменить на POSTGUI_HALFILE = CNC_final.hal
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