dzialajaca konfiguracja

mayo-mill-remora.hal

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+# 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

mayo-mill-remora.ini

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+# 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
+#******************************************

remora_example.txt

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+{
+	"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
+	}
+	]
+}

remora_pico_config.json

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+{
+	"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"
+		}
+	]
+}

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"
+		}
+	]
+}

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)