bartool/mayo-mill-probasic
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wygenerowana kofiguracja

Browse Source
This commit is contained in:
bartool
2026-06-06 18:16:06 +02:00
parent 3b8e11d127
commit 836f1c6261
3 changed files with 326 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

69
mayo-mill-remora.hal Normal file
View File

@@ -0,0 +1,69 @@
# Generated by stepconf, adapted for Remora Ethernet on RP2040
# Using W5500-EVB-Pico or RP2040 with W5500 module
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=6 num_aio=3
loadrt remora-eth-3.0
# Add Remora read/update/write functions to the servo thread
addf remora.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf remora.update servo-thread
addf remora.write servo-thread
# --- ESTOP ---
net estop-out <= iocontrol.0.user-enable-out
# E-stop input from Remora input 3 (GP28)
# If your hardware E-stop switch is active-low (Normally Closed to GND, open on press)
# and you need to invert it in HAL, you can load a 'not' component.
# Otherwise, we connect it directly here:
net estop-ext <= remora.input.3 => iocontrol.0.emc-enable-in
# --- PROBE ---
# Probe input from Remora input 4 (GP27)
net probe-in <= remora.input.4 => motion.probe-input
# --- SPINDLE ---
# Spindle signal is driven in custom.hal, we connect it here to the Remora output 0 (GP8)
net spindle-on => remora.output.0
# --- JOINT 0 (X AXIS) ---
setp remora.joint.0.scale [JOINT_0]SCALE
setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp remora.joint.0.pgain [JOINT_0]P_GAIN
setp remora.joint.0.deadband [JOINT_0]DEADBAND
net xpos-cmd joint.0.motor-pos-cmd => remora.joint.0.pos-cmd
net xpos-fb remora.joint.0.pos-fb => joint.0.motor-pos-fb
net xenable joint.0.amp-enable-out => remora.joint.0.enable
net home-x <= remora.input.0 => joint.0.home-sw-in
# --- JOINT 1 (Y AXIS) ---
setp remora.joint.1.scale [JOINT_1]SCALE
setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp remora.joint.1.pgain [JOINT_1]P_GAIN
setp remora.joint.1.deadband [JOINT_1]DEADBAND
net ypos-cmd joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
net ypos-fb remora.joint.1.pos-fb => joint.1.motor-pos-fb
net yenable joint.1.amp-enable-out => remora.joint.1.enable
net home-y <= remora.input.1 => joint.1.home-sw-in
# --- JOINT 2 (Z AXIS) ---
setp remora.joint.2.scale [JOINT_2]SCALE
setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp remora.joint.2.pgain [JOINT_2]P_GAIN
setp remora.joint.2.deadband [JOINT_2]DEADBAND
net zpos-cmd joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
net zpos-fb remora.joint.2.pos-fb => joint.2.motor-pos-fb
net zenable joint.2.amp-enable-out => remora.joint.2.enable
net home-z <= remora.input.2 => joint.2.home-sw-in
# --- TOOL CHANGE ---
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

188
mayo-mill-remora.ini Normal file
View File

@@ -0,0 +1,188 @@
# Generated by stepconf 1.1 at Thu May 29 11:48:34 2025
# Modified for Remora Ethernet configuration
[EMC]
MACHINE = mayo-mill-remora
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = probe_basic
OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc
CONFIG_FILE = custom_config.yml
LOG_FILE = mayo-mill-remora.log
LOG_LEVEL = DEBUG
#PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INTRO_GRAPHIC = pbsplash.png
INTRO_TIME = 5
#ARCDIVISION = 64
#GRIDS = 10mm 20mm 50mm 100mm
GEOMETRY = xyz
INCREMENTS = JOG 10mm 1mm .1mm .01mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 50.00
DEFAULT_LINEAR_VELOCITY = 5.00
USER_TABS_PATH = user_tabs/
USER_BUTTONS_PATH = user_buttons/
USER_DROS_PATH = user_dro_display/
DRO_DISPLAY = xyz
# ATC tab display options, 0 = no atc tab displayed, 1 = Carousel atc display, 2 = rack atc display
ATC_TAB_DISPLAY = 0
#USER_ATC_BUTTONS_PATH = user_atc_buttons/
CYCLE_TIME = 0.100
KEYBOARD_JOG = true
KEYBOARD_JOG_SAFETY_OFF = true
TOOL_TABLE_COLUMNS = TZDR
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[PYTHON]
TOPLEVEL = ./python/toplevel.py
PATH_APPEND = ./python/
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0127 G80 G90 G94 G97 M5 M9
#RS274NGC_STARTUP_CODE = F10 S300 G20 G17 G40 G49 G54 G64 P.001 G80 G90 G91.1 G92.1 G94 G97 G98
PARAMETER_FILE = linuxcnc.var
OWORD_NARGS = 1
NO_DOWNCASE_OWORD = 1
SUBROUTINE_PATH = subroutines
# The remap code for QtVCP's versaprobe's automatic tool probe of Z
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=aaa epilog=change_epilog
[HAL]
HALUI = halui
HALFILE = mayo-mill-remora.hal
HALFILE = custom.hal
POSTGUI_HALFILE = probe_basic_postgui.hal
TWOPASS = one
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
# BASE_PERIOD is not required for Remora hardware step generation
# BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[CHANGE_POSITION]
X = 10
Y = 10
Z = -2
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 5.00
MAX_LINEAR_VELOCITY = 50.00
#*** AXIS_X *******************************
[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 780.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 780.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -6.250000
HOME_SEQUENCE = 2
P_GAIN = 1000.0
DEADBAND = 0.001
#******************************************
#*** AXIS_Y *******************************
[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 485.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 485.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -6.250000
HOME_SEQUENCE = 1
P_GAIN = 1000.0
DEADBAND = 0.001
#******************************************
#*** AXIS_Z *******************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 6.250000
HOME_SEQUENCE = 0
P_GAIN = 1000.0
DEADBAND = 0.001
#******************************************

69
remora_pico_config.json Normal file
View File

@@ -0,0 +1,69 @@
{
"Version": "1.0",
"Communication": {
"Type": "Ethernet",
"IP": "10.10.10.10",
"Port": 27182
},
"Hardware": {
"Modules": [
{
"Type": "Stepgen",
"Joint": 0,
"Step Pin": "GP2",
"Direction Pin": "GP3",
"Enable Pin": "GP9"
},
{
"Type": "Stepgen",
"Joint": 1,
"Step Pin": "GP4",
"Direction Pin": "GP5",
"Enable Pin": "GP10"
},
{
"Type": "Stepgen",
"Joint": 2,
"Step Pin": "GP6",
"Direction Pin": "GP7",
"Enable Pin": "GP11"
},
{
"Type": "Digital Input",
"Pin": "GP13",
"Mode": "PullUp",
"Data Bit": 0
},
{
"Type": "Digital Input",
"Pin": "GP14",
"Mode": "PullUp",
"Data Bit": 1
},
{
"Type": "Digital Input",
"Pin": "GP15",
"Mode": "PullUp",
"Data Bit": 2
},
{
"Type": "Digital Input",
"Pin": "GP28",
"Mode": "PullUp",
"Data Bit": 3
},
{
"Type": "Digital Input",
"Pin": "GP27",
"Mode": "PullUp",
"Data Bit": 4
},
{
"Type": "Digital Output",
"Pin": "GP8",
"Invert": true,
"Data Bit": 0
}
]
}
}