dzialajaca konfiguracja

example z remora
skopiowana konfiguracja z expertia
2026-06-07 17:16:29 +02:00 · 2026-06-07 08:08:12 +02:00 · 2026-06-07 07:30:07 +02:00 · 2026-06-06 18:16:06 +02:00 · 2026-01-09 10:24:19 +01:00 · 2026-01-09 10:22:36 +01:00
9 changed files with 938 additions and 3 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
 __pycache__
 *.pickle
-*.pyc
+*.pyc
+*.log
+*.preferences
--- a/mayo-mill-remora.hal
+++ b/mayo-mill-remora.hal
@@ -0,0 +1,128 @@
+# Basic HAL config file for NVEM controller board running Remora firmware
+# Configured for 3 joints (A, Y, Z axes) with home and limit switches
+
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+# load the Remora real-time component
+
+	loadrt remora-eth-3.0 PRU_base_freq=75000
+	
+	loadrt estop_latch names=estop_latch
+	loadrt and2 names=run_and,step_and
+	loadrt toggle names=hold_button_toggle
+	loadrt toggle2nist names=hold_toggle,paused_toggle	
+
+# add the remora and motion functions to threads
+
+	addf remora.read 			servo-thread
+	addf motion-command-handler servo-thread
+	addf motion-controller 		servo-thread
+	addf remora.update-freq 	servo-thread
+	addf remora.write 			servo-thread
+	addf estop_latch 			servo-thread
+	addf run_and 				servo-thread
+	addf step_and 				servo-thread
+	addf hold_toggle 			servo-thread
+	addf hold_button_toggle 	servo-thread	
+
+#toggle2nist states & mux selectors
+#	net program-is-paused hold_toggle.is-on <= halui.program.is-paused
+
+# vfdmod - uncomment the below if using vfdmod (default). There are also a couple items to edit in spindle_load.hal
+#	loadusr -W vfdmod vfdmod.ini
+#	net spindle-speed-cmd vfdmod.spindle.rpm-in <= spindle.0.speed-out
+#	net spindle-speed-fb vfdmod.spindle.rpm-out <= spindle.0.speed-in
+#	net spindle-at-speed vfdmod.spindle.at-speed <= spindle.0.at-speed
+#	net spindle-forward vfdmod.control.run-forward <= spindle.0.forward
+#	net spindle-reverse vfdmod.control.run-reverse <= spindle.0.reverse
+	
+# estop and SPI comms enable and feedback
+
+	net user-enable-out		<= iocontrol.0.user-enable-out		=> remora.enable
+	net user-request-enable <= iocontrol.0.user-request-enable => remora.reset estop_latch.reset
+	#Halt is shared with motor alarms and is in the estop loop.	
+	#estop_latch returns 'ok' when fault-in is false, ok-in is true, and reset changes from false to true. 
+	net estop-fault_in remora.input.03 => estop_latch.fault-in
+	net remora-status 		remora.status 				    => estop_latch.ok-in
+	net estop-status estop_latch.ok-out => iocontrol.0.emc-enable-in	
+
+
+# joint 0 setup (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.ff1gain 	[JOINT_0]FF1_GAIN
+	setp remora.joint.0.deadband 	[JOINT_0]DEADBAND
+
+	net j0pos-cmd 		joint.0.motor-pos-cmd 	=> remora.joint.0.pos-cmd
+	net j0pos-fb 		remora.joint.0.pos-fb 	=> joint.0.motor-pos-fb
+	net j0enable 		joint.0.amp-enable-out 	=> remora.joint.0.enable
+	
+	net x-home joint.0.home-sw-in => remora.input.00
+
+# joint 1 setup (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.ff1gain 	[JOINT_1]FF1_GAIN
+	setp remora.joint.1.deadband 	[JOINT_1]DEADBAND
+
+	net j1pos-cmd 		joint.1.motor-pos-cmd 	=> remora.joint.1.pos-cmd
+	net j1pos-fb 		remora.joint.1.pos-fb 	=> joint.1.motor-pos-fb
+	net j1enable 		joint.1.amp-enable-out 	=> remora.joint.1.enable
+
+	net y-home joint.1.home-sw-in => remora.input.01
+
+# joint 2 setup (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.ff1gain 	[JOINT_2]FF1_GAIN
+	setp remora.joint.2.deadband 	[JOINT_2]DEADBAND
+
+	net j2pos-cmd 		joint.2.motor-pos-cmd 	=> remora.joint.2.pos-cmd
+	net j2pos-fb 		remora.joint.2.pos-fb 	=> joint.2.motor-pos-fb
+	net j2enable 		joint.2.amp-enable-out 	=> remora.joint.2.enable
+	
+	net z-home joint.2.home-sw-in => remora.input.02
+
+# Motor enables
+
+	net j0enable => remora.output.00
+	net j1enable => remora.output.01
+	net j2enable => remora.output.02	
+
+# Flood and mist outputs
+#	net flood remora.output.02 <= iocontrol.0.coolant-flood
+#	net mist remora.output.03 <= iocontrol.0.coolant-mist
+
+# User buttons
+	#Halt is shared with motor alarms and is up in the estop loop.
+
+	#Hold logic
+#	net hold_button remora.input.05 => hold_button_toggle.in
+#	net hold_toggle_latch hold_button_toggle.out => hold_toggle.in
+#	net hold_on halui.program.pause <= hold_toggle.on
+#	net hold_off halui.program.resume <= hold_toggle.off
+
+	#Cycle start logic. When not running, start the program. When in feed hold, single step through the program.
+#	net run-step_button remora.input.06 => run_and.in0 step_and.in0
+#	net program-is-idle halui.program.is-idle => run_and.in1 #if not running AND button pressed
+#	net program-run run_and.out => halui.program.run #run program
+#	net program-is-paused => step_and.in1 #if paused AND button pressed
+#	net single-step step_and.out => halui.program.step #single step
+
+
+# Probe
+	net probe-in motion.probe-input <= remora.input.04
+
+# Manual toolchange
+
+    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
--- a/mayo-mill-remora.ini
+++ b/mayo-mill-remora.ini
@@ -0,0 +1,190 @@
+# 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 = 0
+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 = 2.0
+MIN_FERROR = 2
+FF1_GAIN = 1
+P_GAIN = 1.0
+DEADBAND = 0.005
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = -20.000000
+HOME_LATCH_VEL = -6.250000
+HOME_SEQUENCE = 2
+#******************************************
+
+#*** 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 = 2.0
+MIN_FERROR = 2
+FF1_GAIN = 1
+P_GAIN = 1.0
+DEADBAND = 0.005
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = -20.000000
+HOME_LATCH_VEL = -6.250000
+HOME_SEQUENCE = 1
+#******************************************
+
+#*** 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 = 2
+MIN_FERROR = 2
+FF1_GAIN = 1
+P_GAIN = 1.0
+DEADBAND = 0.005
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = 10.000000
+HOME_LATCH_VEL = 6.250000
+HOME_SEQUENCE = 0
+#******************************************
--- a/mayo-mill.stepconf
+++ b/mayo-mill.stepconf
@@ -0,0 +1,245 @@
+<?xml version="1.0" ?>
+<stepconf>
+  <property type="int" name="ahomepos" value="0"/>
+  <property type="int" name="ahomesw" value="0"/>
+  <property type="float" name="ahomevel" value="0.05"/>
+  <property type="int" name="alatchdir" value="0"/>
+  <property type="int" name="aleadscrew" value="360"/>
+  <property type="int" name="amaxacc" value="1200"/>
+  <property type="int" name="amaxlim" value="9999"/>
+  <property type="int" name="amaxvel" value="360"/>
+  <property type="int" name="amicrostep" value="2"/>
+  <property type="int" name="aminlim" value="-9999"/>
+  <property type="int" name="apulleyden" value="1"/>
+  <property type="int" name="apulleynum" value="1"/>
+  <property type="int" name="ascale" value="0"/>
+  <property type="int" name="asteprev" value="200"/>
+  <property type="int" name="axes" value="0"/>
+  <property type="eval" name="axislist" value="[]"/>
+  <property type="bool" name="classicladder" value="False"/>
+  <property type="bool" name="createshortcut" value="True"/>
+  <property type="bool" name="createsymlink" value="True"/>
+  <property type="int" name="customhal" value="1"/>
+  <property type="float" name="digitsin" value="15.0"/>
+  <property type="float" name="digitsout" value="15.0"/>
+  <property type="float" name="dirhold" value="20000.0"/>
+  <property type="float" name="dirsetup" value="20000.0"/>
+  <property type="string" name="drivertype" value="other"/>
+  <property type="float" name="floatsin" value="10.0"/>
+  <property type="float" name="floatsout" value="10.0"/>
+  <property type="bool" name="halui" value="False"/>
+  <property type="eval" name="halui_list" value="[]"/>
+  <property type="string" name="ioaddr" value="0"/>
+  <property type="string" name="ioaddr2" value="0"/>
+  <property type="string" name="ioaddr3" value="2"/>
+  <property type="bool" name="ladderconnect" value="True"/>
+  <property type="int" name="ladderhaltype" value="0"/>
+  <property type="string" name="laddername" value="custom.clp"/>
+  <property type="float" name="latency" value="50000.0"/>
+  <property type="eval" name="lparport" value="['0']"/>
+  <property type="string" name="machinename" value="mayo-mill"/>
+  <property type="bool" name="manualtoolchange" value="True"/>
+  <property type="eval" name="md5sums" value="[]"/>
+  <property type="bool" name="modbus" value="False"/>
+  <property type="int" name="number_pports" value="1"/>
+  <property type="int" name="ohmiccontact" value="0"/>
+  <property type="int" name="period" value="25000"/>
+  <property type="string" name="pin1" value="spindle-on"/>
+  <property type="string" name="pin10" value="home-x"/>
+  <property type="bool" name="pin10inv" value="False"/>
+  <property type="string" name="pin11" value="home-y"/>
+  <property type="bool" name="pin11inv" value="False"/>
+  <property type="string" name="pin12" value="home-z"/>
+  <property type="bool" name="pin12inv" value="False"/>
+  <property type="string" name="pin13" value="estop-ext"/>
+  <property type="bool" name="pin13inv" value="True"/>
+  <property type="string" name="pin14" value="unused-output"/>
+  <property type="bool" name="pin14inv" value="False"/>
+  <property type="string" name="pin15" value="probe-in"/>
+  <property type="bool" name="pin15inv" value="False"/>
+  <property type="string" name="pin16" value="unused-output"/>
+  <property type="bool" name="pin16inv" value="False"/>
+  <property type="string" name="pin17" value="unused-output"/>
+  <property type="bool" name="pin17inv" value="False"/>
+  <property type="bool" name="pin1inv" value="True"/>
+  <property type="string" name="pin2" value="xdir"/>
+  <property type="bool" name="pin2inv" value="False"/>
+  <property type="string" name="pin3" value="xstep"/>
+  <property type="bool" name="pin3inv" value="False"/>
+  <property type="string" name="pin4" value="ydir"/>
+  <property type="bool" name="pin4inv" value="False"/>
+  <property type="string" name="pin5" value="ystep"/>
+  <property type="bool" name="pin5inv" value="False"/>
+  <property type="string" name="pin6" value="zdir"/>
+  <property type="bool" name="pin6inv" value="False"/>
+  <property type="string" name="pin7" value="zstep"/>
+  <property type="bool" name="pin7inv" value="False"/>
+  <property type="string" name="pin8" value="unused-output"/>
+  <property type="bool" name="pin8inv" value="False"/>
+  <property type="string" name="pin9" value="unused-output"/>
+  <property type="bool" name="pin9inv" value="False"/>
+  <property type="int" name="pp2_direction" value="0"/>
+  <property type="string" name="pp2_pin1" value="unused-output"/>
+  <property type="string" name="pp2_pin10_in" value="unused-input"/>
+  <property type="int" name="pp2_pin10_in_inv" value="0"/>
+  <property type="string" name="pp2_pin11_in" value="unused-input"/>
+  <property type="int" name="pp2_pin11_in_inv" value="0"/>
+  <property type="string" name="pp2_pin12_in" value="unused-input"/>
+  <property type="int" name="pp2_pin12_in_inv" value="0"/>
+  <property type="string" name="pp2_pin13_in" value="unused-input"/>
+  <property type="int" name="pp2_pin13_in_inv" value="0"/>
+  <property type="string" name="pp2_pin14" value="unused-output"/>
+  <property type="int" name="pp2_pin14inv" value="0"/>
+  <property type="string" name="pp2_pin15_in" value="unused-input"/>
+  <property type="int" name="pp2_pin15_in_inv" value="0"/>
+  <property type="string" name="pp2_pin16" value="unused-output"/>
+  <property type="int" name="pp2_pin16inv" value="0"/>
+  <property type="string" name="pp2_pin17" value="unused-output"/>
+  <property type="int" name="pp2_pin17inv" value="0"/>
+  <property type="int" name="pp2_pin1inv" value="0"/>
+  <property type="string" name="pp2_pin2" value="unused-output"/>
+  <property type="string" name="pp2_pin2_in" value="unused-input"/>
+  <property type="int" name="pp2_pin2_in_inv" value="0"/>
+  <property type="int" name="pp2_pin2inv" value="0"/>
+  <property type="string" name="pp2_pin3" value="unused-output"/>
+  <property type="string" name="pp2_pin3_in" value="unused-input"/>
+  <property type="int" name="pp2_pin3_in_inv" value="0"/>
+  <property type="int" name="pp2_pin3inv" value="0"/>
+  <property type="string" name="pp2_pin4" value="unused-output"/>
+  <property type="string" name="pp2_pin4_in" value="unused-input"/>
+  <property type="int" name="pp2_pin4_in_inv" value="0"/>
+  <property type="int" name="pp2_pin4inv" value="0"/>
+  <property type="string" name="pp2_pin5" value="unused-output"/>
+  <property type="string" name="pp2_pin5_in" value="unused-input"/>
+  <property type="int" name="pp2_pin5_in_inv" value="0"/>
+  <property type="int" name="pp2_pin5inv" value="0"/>
+  <property type="string" name="pp2_pin6" value="unused-output"/>
+  <property type="string" name="pp2_pin6_in" value="unused-input"/>
+  <property type="int" name="pp2_pin6_in_inv" value="0"/>
+  <property type="int" name="pp2_pin6inv" value="0"/>
+  <property type="string" name="pp2_pin7" value="unused-output"/>
+  <property type="string" name="pp2_pin7_in" value="unused-input"/>
+  <property type="int" name="pp2_pin7_in_inv" value="0"/>
+  <property type="int" name="pp2_pin7inv" value="0"/>
+  <property type="string" name="pp2_pin8" value="unused-output"/>
+  <property type="string" name="pp2_pin8_in" value="unused-input"/>
+  <property type="int" name="pp2_pin8_in_inv" value="0"/>
+  <property type="int" name="pp2_pin8inv" value="0"/>
+  <property type="string" name="pp2_pin9" value="unused-output"/>
+  <property type="string" name="pp2_pin9_in" value="unused-input"/>
+  <property type="int" name="pp2_pin9_in_inv" value="0"/>
+  <property type="int" name="pp2_pin9inv" value="0"/>
+  <property type="int" name="pp3_direction" value="0"/>
+  <property type="bool" name="pyvcp" value="False"/>
+  <property type="bool" name="pyvcpconnect" value="True"/>
+  <property type="int" name="pyvcphaltype" value="0"/>
+  <property type="string" name="pyvcpname" value="custom.xml"/>
+  <property type="eval" name="qtplasmac_bcodes" value="['ohmic-test', 'probe-test 10', 'single-cut', 'cut-type', 'torch-pulse 0.5', 'framing', 'user-manual', '', '', '', '', '', '', '', '', '', '', '', '', '']"/>
+  <property type="eval" name="qtplasmac_bnames" value="['OHMIC\\TEST', 'PROBE\\TEST', 'SINGLE\\CUT', 'NORMAL\\CUT', 'TORCH\\PULSE', 'FRAMING', 'USER\\MANUAL', '', '', '', '', '', '', '', '', '', '', '', '', '']"/>
+  <property type="int" name="qtplasmacdro" value="0"/>
+  <property type="int" name="qtplasmacerror" value="0"/>
+  <property type="int" name="qtplasmacestop" value="0"/>
+  <property type="int" name="qtplasmacmode" value="0"/>
+  <property type="int" name="qtplasmacpause" value="0"/>
+  <property type="string" name="qtplasmacpmx" value=""/>
+  <property type="int" name="qtplasmacscreen" value="0"/>
+  <property type="int" name="qtplasmacstart" value="0"/>
+  <property type="int" name="qtplasmacstop" value="0"/>
+  <property type="float" name="s32in" value="10.0"/>
+  <property type="float" name="s32out" value="10.0"/>
+  <property type="bool" name="select_axis" value="False"/>
+  <property type="bool" name="select_gmoccapy" value="False"/>
+  <property type="bool" name="select_qtdragon" value="True"/>
+  <property type="bool" name="select_qtplasmac" value="False"/>
+  <property type="bool" name="sim_hardware" value="False"/>
+  <property type="int" name="spindlecarrier" value="100"/>
+  <property type="int" name="spindlecpr" value="100"/>
+  <property type="float" name="spindlefiltergain" value="0.01"/>
+  <property type="float" name="spindlenearscale" value="1.5"/>
+  <property type="float" name="spindlepwm1" value="0.2"/>
+  <property type="float" name="spindlepwm2" value="0.8"/>
+  <property type="int" name="spindlespeed1" value="100"/>
+  <property type="int" name="spindlespeed2" value="800"/>
+  <property type="float" name="stepspace" value="5000.0"/>
+  <property type="float" name="steptime" value="5000.0"/>
+  <property type="eval" name="tandemjoints" value="[]"/>
+  <property type="int" name="tempexists" value="0"/>
+  <property type="int" name="thcadenc" value="0"/>
+  <property type="int" name="uhomepos" value="0"/>
+  <property type="int" name="uhomesw" value="0"/>
+  <property type="float" name="uhomevel" value="1.5"/>
+  <property type="int" name="ulatchdir" value="0"/>
+  <property type="int" name="uleadscrew" value="5"/>
+  <property type="int" name="umaxacc" value="750"/>
+  <property type="int" name="umaxlim" value="200"/>
+  <property type="int" name="umaxvel" value="25"/>
+  <property type="int" name="umicrostep" value="2"/>
+  <property type="int" name="uminlim" value="0"/>
+  <property type="int" name="units" value="1"/>
+  <property type="int" name="upulleyden" value="1"/>
+  <property type="int" name="upulleynum" value="1"/>
+  <property type="int" name="uscale" value="0"/>
+  <property type="bool" name="usespindleatspeed" value="False"/>
+  <property type="int" name="usteprev" value="200"/>
+  <property type="int" name="vhomepos" value="0"/>
+  <property type="int" name="vhomesw" value="0"/>
+  <property type="float" name="vhomevel" value="1.5"/>
+  <property type="int" name="vlatchdir" value="0"/>
+  <property type="int" name="vleadscrew" value="5"/>
+  <property type="int" name="vmaxacc" value="750"/>
+  <property type="int" name="vmaxlim" value="200"/>
+  <property type="int" name="vmaxvel" value="25"/>
+  <property type="int" name="vmicrostep" value="2"/>
+  <property type="int" name="vminlim" value="0"/>
+  <property type="string" name="voltsfjumper" value="64"/>
+  <property type="float" name="voltsfullf" value="999.0"/>
+  <property type="string" name="voltsmodel" value="10"/>
+  <property type="int" name="voltsrdiv" value="20"/>
+  <property type="float" name="voltszerof" value="100.0"/>
+  <property type="int" name="vpulleyden" value="1"/>
+  <property type="int" name="vpulleynum" value="1"/>
+  <property type="int" name="vscale" value="0"/>
+  <property type="int" name="vsteprev" value="200"/>
+  <property type="float" name="xhomepos" value="0.0"/>
+  <property type="float" name="xhomesw" value="0.0"/>
+  <property type="float" name="xhomevel" value="-20.0"/>
+  <property type="int" name="xlatchdir" value="0"/>
+  <property type="float" name="xleadscrew" value="5.0"/>
+  <property type="float" name="xmaxacc" value="500.0"/>
+  <property type="float" name="xmaxlim" value="780.0"/>
+  <property type="float" name="xmaxvel" value="50.0"/>
+  <property type="float" name="xmicrostep" value="2.0"/>
+  <property type="float" name="xminlim" value="0.0"/>
+  <property type="float" name="xpulleyden" value="1.0"/>
+  <property type="float" name="xpulleynum" value="1.0"/>
+  <property type="float" name="xscale" value="80.0"/>
+  <property type="float" name="xsteprev" value="200.0"/>
+  <property type="float" name="yhomepos" value="0.0"/>
+  <property type="float" name="yhomesw" value="0.0"/>
+  <property type="float" name="yhomevel" value="-20.0"/>
+  <property type="int" name="ylatchdir" value="0"/>
+  <property type="float" name="yleadscrew" value="5.0"/>
+  <property type="float" name="ymaxacc" value="500.0"/>
+  <property type="float" name="ymaxlim" value="485.0"/>
+  <property type="float" name="ymaxvel" value="50.0"/>
+  <property type="float" name="ymicrostep" value="2.0"/>
+  <property type="float" name="yminlim" value="0.0"/>
+  <property type="float" name="ypulleyden" value="1.0"/>
+  <property type="float" name="ypulleynum" value="1.0"/>
+  <property type="float" name="yscale" value="80.0"/>
+  <property type="float" name="ysteprev" value="200.0"/>
+  <property type="float" name="zhomepos" value="0.0"/>
+  <property type="float" name="zhomesw" value="0.0"/>
+  <property type="float" name="zhomevel" value="10.0"/>
+  <property type="int" name="zlatchdir" value="0"/>
+  <property type="float" name="zleadscrew" value="5.0"/>
+  <property type="float" name="zmaxacc" value="500.0"/>
+  <property type="float" name="zmaxlim" value="0.0"/>
+  <property type="float" name="zmaxvel" value="25.0"/>
+  <property type="float" name="zmicrostep" value="2.0"/>
+  <property type="float" name="zminlim" value="-100.0"/>
+  <property type="float" name="zpulleyden" value="1.0"/>
+  <property type="float" name="zpulleynum" value="1.0"/>
+  <property type="float" name="zscale" value="80.0"/>
+  <property type="float" name="zsteprev" value="200.0"/>
+</stepconf>
--- a/remora_example.txt
+++ b/remora_example.txt
@@ -0,0 +1,44 @@
+{
+	"Board": "W5500-EVB-Pico",
+	"Modules":[
+	{
+	"Thread": "Servo",
+	"Type": "Blink",
+		"Comment":			"Blinky",
+		"Pin":				"GP25",
+		"Frequency": 		2
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"X - Joint 0 step generator",
+		"Joint Number":		0,
+		"Step Pin": 		"GP22",
+		"Direction Pin": 	"GP09"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"Y - Joint 1 step generator",
+		"Joint Number":		1,
+		"Step Pin": 		"GP23",
+		"Direction Pin": 	"GP10"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"Z - Joint 2 step generator",
+		"Joint Number":		2,
+		"Step Pin": 		"GP24",
+		"Direction Pin": 	"GP11"
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment": "light",
+		"Pin": "GP12",
+		"Mode": "Output",
+		"Data Bit": 0
+	}
+	]
+}
--- a/remora_pico_config.json
+++ b/remora_pico_config.json
@@ -0,0 +1,127 @@
+{
+	"Board": "W5500-EVB-Pico",
+	"Threads": [
+		{
+			"Thread": "Base",
+			"Frequency": 40000
+		},
+		{
+			"Thread": "Servo",
+			"Frequency": 1000
+		}
+	],
+	"Modules": [
+		{
+			"Thread": "Servo",
+			"Type": "Blink",
+			"Comment": "Blinky status LED",
+			"Pin": "GP25",
+			"Frequency": 2
+		},
+		{
+			"Thread": "Base",
+			"Type": "Stepgen",
+			"Comment": "X - Joint0",
+			"Joint Number": 0,
+			"Step Pin": "GP02",
+			"Direction Pin": "GP03"
+		},
+		{
+			"Thread": "Base",
+			"Type": "Stepgen",
+			"Comment": "Y - Joint1",
+			"Joint Number": 1,
+			"Step Pin": "GP04",
+			"Direction Pin": "GP05"
+		},
+		{
+			"Thread": "Base",
+			"Type": "Stepgen",
+			"Comment": "Z - Joint2",
+			"Joint Number": 2,
+			"Step Pin": "GP06",
+			"Direction Pin": "GP07"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "X limit",
+			"Pin": "GP13",
+			"Mode": "Input",
+			"Data Bit": 0,
+			"Invert": "True"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Y limit",
+			"Pin": "GP14",
+			"Mode": "Input",
+			"Data Bit": 1,
+			"Invert": "True"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Z limit",
+			"Pin": "GP15",
+			"Mode": "Input",
+			"Data Bit": 2,
+			"Invert": "True"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "E-Stop",
+			"Pin": "GP28",
+			"Mode": "Input",
+			"Data Bit": 3,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Probe",
+			"Pin": "GP27",
+			"Mode": "Input",
+			"Data Bit": 4,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "X enable",
+			"Pin": "GP09",
+			"Mode": "Output",
+			"Data Bit": 0,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Y enable",
+			"Pin": "GP10",
+			"Mode": "Output",
+			"Data Bit": 1,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Z enable",
+			"Pin": "GP11",
+			"Mode": "Output",
+			"Data Bit": 2,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Spindle",
+			"Pin": "GP08",
+			"Mode": "Output",
+			"Data Bit": 3,
+			"Invert": "True"
+		}
+	]
+}
--- a/remora_pico_config.txt
+++ b/remora_pico_config.txt
@@ -0,0 +1,127 @@
+{
+	"Board": "W5500-EVB-Pico",
+	"Threads": [
+		{
+			"Thread": "Base",
+			"Frequency": 40000
+		},
+		{
+			"Thread": "Servo",
+			"Frequency": 1000
+		}
+	],
+	"Modules": [
+		{
+			"Thread": "Servo",
+			"Type": "Blink",
+			"Comment": "Blinky status LED",
+			"Pin": "GP25",
+			"Frequency": 2
+		},
+		{
+			"Thread": "Base",
+			"Type": "Stepgen",
+			"Comment": "X - Joint 0 step generator",
+			"Joint Number": 0,
+			"Step Pin": "GP2",
+			"Direction Pin": "GP3"
+		},
+		{
+			"Thread": "Base",
+			"Type": "Stepgen",
+			"Comment": "Y - Joint 1 step generator",
+			"Joint Number": 1,
+			"Step Pin": "GP4",
+			"Direction Pin": "GP5"
+		},
+		{
+			"Thread": "Base",
+			"Type": "Stepgen",
+			"Comment": "Z - Joint 2 step generator",
+			"Joint Number": 2,
+			"Step Pin": "GP6",
+			"Direction Pin": "GP7"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "X axis limit/home switch",
+			"Pin": "GP13",
+			"Mode": "Input",
+			"Data Bit": 0,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Y axis limit/home switch",
+			"Pin": "GP14",
+			"Mode": "Input",
+			"Data Bit": 1,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Z axis limit/home switch",
+			"Pin": "GP15",
+			"Mode": "Input",
+			"Data Bit": 2,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Emergency Stop switch",
+			"Pin": "GP28",
+			"Mode": "Input",
+			"Data Bit": 3,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Versaprobe tool probe input",
+			"Pin": "GP27",
+			"Mode": "Input",
+			"Data Bit": 4,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "X axis driver enable pin",
+			"Pin": "GP9",
+			"Mode": "Output",
+			"Data Bit": 0,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Y axis driver enable pin",
+			"Pin": "GP10",
+			"Mode": "Output",
+			"Data Bit": 1,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Z axis driver enable pin",
+			"Pin": "GP11",
+			"Mode": "Output",
+			"Data Bit": 2,
+			"Invert": "False"
+		},
+		{
+			"Thread": "Servo",
+			"Type": "Digital Pin",
+			"Comment": "Spindle On command relay",
+			"Pin": "GP8",
+			"Mode": "Output",
+			"Data Bit": 3,
+			"Invert": "True"
+		}
+	]
+}
--- a/tool.tbl
+++ b/tool.tbl
@@ -1,7 +1,7 @@
 T0   P0   ;Probe 
-T1   P0   D+0.850000 ;0.85 Flat end mill 
+T1   P0   D+0.850000 Z+20.461301 ;0.85 Flat end mill 
 T2   P0   D+3.175000 Z-0.012833 ;3.175 Flat end mill 
 T3   P0   D+3.175000 ;3.175 Engrave mill 30* 0.2 
 T4   P0   D+6.000000 Z+15.800167 ;6mm Flat end mill 
-T5   P0   D+1.000000 Z+20.456300 ;1mm Flat end mill 
+T5   P0   D+1.000000 Z+20.472301 ;1mm Flat end mill 
 T6   P0   D+0.800000 ;drill 0.7 
--- a/upload_config.py
+++ b/upload_config.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import binascii
+import sys
+import math
+import json
+import tftpy
+import time
+
+
+if len(sys.argv) < 2:
+    print("usage: upload.py <config.txt>")
+    exit(-1)
+
+
+# Check for a valid JSON formatted file, if ok upload to NVEM board via TFTP
+with open(sys.argv[1], 'r') as jsonFile:
+    try:
+        testForValidJson = json.load(jsonFile)
+        print('Valid JSON config file, uploading to NVEM board')
+                
+    except ValueError:
+        print('Incorrectly formatted JSON configuration file')
+        exit(-1)
+
+
+# Load File
+config = open(sys.argv[1], "rb").read()
+
+# Compute length (in bytes and words)
+jsonLength = len(config)
+length = math.ceil(jsonLength / 4)
+mod = jsonLength % 4
+print('Config file length (words) =', length)
+print('Config file length (bytes) =', jsonLength)
+print('Remainder =', mod)
+
+# add padding at end of file to ensure length is multiple of 4 bytes (word)
+# to ensure correct CRC32 calculation
+if mod > 0:
+    padding = [0 for i in range(4 - mod)]
+    print('Padding added = ', padding)
+    config = config + bytes(padding)
+
+newLength = len(config)
+print('Config file length with padding (bytes) =', newLength)
+
+# Compute crc32
+crc32 = binascii.crc32(config)
+print('CRC-32 =',hex(crc32))
+
+# Insert metadata
+metadata = [0 for i in range(512)]
+metadata[0] = crc32 & 0xff
+metadata[1] = (crc32 >> 8) & 0xff
+metadata[2] = (crc32 >> 16) & 0xff
+metadata[3] = (crc32 >> 24) & 0xff
+metadata[4] = length & 0xff
+metadata[5] = (length >> 8) & 0xff
+metadata[6] = (length >> 16) & 0xff
+metadata[7] = (length >> 24) & 0xff
+metadata[8] = jsonLength & 0xff
+metadata[9] = (jsonLength >> 8) & 0xff
+metadata[10] = (jsonLength >> 16) & 0xff
+metadata[11] = (jsonLength >> 24) & 0xff
+config = bytes(metadata) + config
+
+open("/tmp/config.txt", "wb").write(config)
+
+# Upload using TFTP, set large timeout
+client = tftpy.TftpClient("10.10.10.10", 69)
+client.upload("config", "/tmp/config.txt", timeout=30)
Author	SHA1	Message	Date
bartool	a3870cb152	dzialajaca konfiguracja	2026-06-07 17:16:29 +02:00
bartool	8a166698ce	example z remora	2026-06-07 08:08:12 +02:00
bartool	b3d7d3a5ed	skopiowana konfiguracja z expertia	2026-06-07 07:30:07 +02:00
bartool	836f1c6261	wygenerowana kofiguracja	2026-06-06 18:16:06 +02:00
bartoolina	3b8e11d127	dodalem kopie stepconf	2026-01-09 10:24:19 +01:00
bartoolina	715f8d082b	update gitignore	2026-01-09 10:22:36 +01:00