dodalem probe basic

configs/probe_basic/hallib/coolant_cannon.hal

@@ -0,0 +1,14 @@
+### RC Servo Test Configuration - coolant_cannon.hal ###
+
+# loadrt 2 scale comps
+addf scale.servo servo-thread
+setp scale.servo.gain -0.00741
+setp scale.servo.offset .8333
+
+# enable 7i92 pwmgen0
+setp hm2_7i92.0.pwmgen.00.enable 1
+setp hm2_7i92.0.pwmgen.pwm_frequency 333
+
+#CONNECTIONS
+net scale-sig    motion.analog-out-00    =>    scale.servo.in
+net scale-pwm    scale.servo.out    =>    hm2_7i92.0.pwmgen.00.value

configs/probe_basic/hallib/core_sim_3.hal

@@ -0,0 +1,68 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS unlock_joints_mask=16 num_dio=6 num_aio=3
+# load 6 differentiators (for velocity and accel signals)
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+#net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+#net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
+#net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
+#net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
+#net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
+#net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# probe input
+net probe-in  =>  motion.probe-input
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+# net lube iocontrol.0.lube  # deprecated in lcnc 2.10
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist
+net tlo motion.analog-in-01 <= halui.tool.length_offset.z

configs/probe_basic/hallib/core_sim_4.hal

@@ -0,0 +1,68 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS unlock_joints_mask=16 num_dio=6 num_aio=3
+# load 6 differentiators (for velocity and accel signals)
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+#net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
+#net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
+#net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
+#net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
+#net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# probe input
+net probe-in  =>  motion.probe-input
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+# net lube iocontrol.0.lube  # deprecated in lcnc 2.10
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist
+net tlo motion.analog-in-01 <= halui.tool.length_offset.z

configs/probe_basic/hallib/core_sim_5.hal

@@ -0,0 +1,77 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS unlock_joints_mask=16 num_dio=6 num_aio=3
+# load 6 differentiators (for velocity and accel signals)
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+#net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
+net Cpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
+#net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
+#net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
+#net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# probe input
+net probe-in  =>  motion.probe-input
+
+# create signals for tool loading loopback
+#net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+#net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+#  ---manual tool change signals---
+net tool-change-request    <= iocontrol.0.tool-change
+net tool-change-confirmed  => iocontrol.0.tool-changed
+net tool-number            <= iocontrol.0.tool-prep-number
+
+#  ---ignore tool prepare requests---
+net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+# net lube iocontrol.0.lube  # deprecated in lcnc 2.10
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist
+net tlo motion.analog-in-01 <= halui.tool.length_offset.z
+

configs/probe_basic/hallib/probe_basic_postgui.hal

@@ -0,0 +1,25 @@
+loadrt time
+loadrt not
+
+addf time.0 servo-thread
+addf not.0 servo-thread
+
+net prog-running not.0.in <= halui.program.is-idle
+net prog-paused halui.program.is-paused => time.0.pause
+net cycle-timer time.0.start <= not.0.out
+net cycle-seconds qtpyvcp.timerseconds.in <= time.0.seconds
+net cycle-minutes qtpyvcp.timerminutes.in <= time.0.minutes
+net cycle-hours qtpyvcp.timerhours.in <= time.0.hours
+# *** Time items required for Probe Basic to run ***
+
+#  ---manual tool change signals---
+net tool-change-request     =>  qtpyvcp_manualtoolchange.change
+net tool-change-confirmed   <=  qtpyvcp_manualtoolchange.changed
+net tool-number             =>  qtpyvcp_manualtoolchange.number
+
+# *** Probe graphic simulation trigger push probe tip ***
+net probe-in  =>  qtpyvcp.probe-in.out
+net probe-in  <=  qtpyvcp.probe-led.on
+
+# *** Set line below for actual spindle readout from your hal file ***
+net spindle-rpm-filtered scale_to_rpm.out  =>  qtpyvcp.spindle-encoder-rpm.in

configs/probe_basic/hallib/sim_cannon.hal

@@ -0,0 +1,15 @@
+loadrt pwmgen output_type=0
+addf scale.servo servo-thread
+
+addf pwmgen.update servo-thread
+addf pwmgen.make-pulses servo-thread
+
+setp pwmgen.0.enable 1
+setp pwmgen.0.pwm-freq 333
+
+setp scale.servo.gain 0.0037
+setp scale.servo.offset 0.333
+
+#CONNECTIONS
+net scale-sig    motion.analog-out-00    =>    scale.servo.in    #input degrees
+net scale-pwm    scale.servo.out    =>    pwmgen.0.value

configs/probe_basic/hallib/sim_spindle_encoder.hal

@@ -0,0 +1,39 @@
+# simulated spindle encoder (for spindle-synced moves)
+loadrt sim_spindle names=sim_spindle
+setp sim_spindle.scale 0.01666667
+
+loadrt limit2 names=limit_speed
+loadrt lowpass names=spindle_mass
+loadrt near names=near_speed
+
+# this limit doesnt make any sense to me:
+setp limit_speed.maxv 5000.0 # rpm/second
+
+# encoder reset control
+# hook up motion controller's sync output
+net spindle-index-enable spindle.0.index-enable <=> sim_spindle.index-enable
+
+# report our revolution count to the motion controller
+net spindle-pos sim_spindle.position-fb => spindle.0.revs
+
+# simulate spindle mass
+setp spindle_mass.gain .07
+
+# spindle speed control
+net spindle-speed-cmd  spindle.0.speed-out => limit_speed.in
+net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
+
+# for spindle velocity estimate
+net spindle-rpm-filtered spindle_mass.out spindle.0.speed-in near_speed.in2
+
+# at-speed detection
+setp near_speed.scale 1.1
+setp near_speed.difference 10
+
+net spindle-speed-cmd => near_speed.in1
+net spindle-at-speed near_speed.out spindle.0.at-speed
+
+addf limit_speed servo-thread
+addf spindle_mass servo-thread
+addf near_speed servo-thread
+addf sim_spindle servo-thread

configs/probe_basic/hallib/simulated_home_probe_basic.hal

@@ -0,0 +1,53 @@
+loadrt or2 names=or2_0
+loadrt comp names=comp_x,comp_y,comp_z
+
+net Xhomeswpos => comp_x.in0
+net Yhomeswpos => comp_y.in0
+net Zhomeswpos => comp_z.in0
+#net Ahomeswpos => comp_a.in0
+#net Bhomeswpos => comp_b.in0
+#net Chomeswpos => comp_c.in0
+
+
+
+sets Xhomeswpos 1
+sets Yhomeswpos .5
+sets Zhomeswpos 2
+#sets Ahomeswpos 2
+#sets Bhomeswpos 2
+#sets Chomeswpos 2
+
+net Xpos => comp_x.in1
+net Ypos => comp_y.in1
+net Zpos => comp_z.in1
+#net Apos => comp_a.in1
+#net Bpos => comp_b.in1
+#net Cpos => comp_c.in1
+
+setp comp_x.hyst .02
+setp comp_y.hyst .02
+setp comp_z.hyst .02
+#setp comp_a.hyst .02
+#setp comp_b.hyst .02
+#setp comp_c.hyst .02
+
+
+net Xhomesw <= comp_x.out => joint.0.home-sw-in
+net Yhomesw <= comp_y.out => joint.1.home-sw-in
+net Zhomesw <= comp_z.out => joint.2.home-sw-in
+#net Ahomesw <= comp_a.out => joint.3.home-sw-in
+#net Bhomesw <= comp_b.out => joint.4.home-sw-in
+#net Chomesw <= comp_c.out => joint.4.home-sw-in
+
+# net Xhomesw => or2_0.in0
+# net Zhomesw => or2_0.in1
+# net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
+
+addf comp_x servo-thread
+addf comp_y servo-thread
+addf comp_z servo-thread
+#addf comp_a servo-thread
+#addf comp_b servo-thread
+#addf comp_c servo-thread
+
+addf or2_0 servo-thread

configs/probe_basic/hallib/spindle_sim.hal

@@ -0,0 +1,69 @@
+# counting the spindle encoder in software
+loadrt encoder names=encoder_0
+# simulate the encoder
+loadrt sim_encoder names=sim_encoder_0
+loadrt limit2 names=limit_speed
+
+addf limit_speed servo-thread
+
+#######################################################
+# Beginning of threading related stuff
+#######################################################
+
+# spindle speed control
+net spindle-speed-cmd  spindle.0.speed-out => limit_speed.in
+net spindle-speed-limited limit_speed.out => sim_encoder_0.speed
+
+# simulate spindle mass
+setp limit_speed.maxv 3000.0 # rpm/second
+
+# spindle encoder
+# connect encoder signals to encoder counter
+net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
+net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
+net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
+
+# assume 120 ppr = 480 counts/rev for the spindle
+setp sim_encoder_0.ppr 12
+# iocontrol output is in rpm, but sim-encoder speed is rps
+setp sim_encoder_0.scale 60
+# scale encoder output to read in revolutions
+# (that way thread pitches can be straightforward,
+#  a 20 tpi thread would multiply the encoder output
+#  by 1/20, etc)
+setp encoder_0.position-scale 48
+
+# encoder reset control
+# hook up motion controller's sync output
+net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
+
+# report our revolution count to the motion controller
+net spindle-pos encoder_0.position => spindle.0.revs
+
+# for spindle velocity estimate
+loadrt lowpass names=lowpass_velocity
+loadrt scale names=scale_to_rpm,scale.servo
+net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
+net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in spindle.0.speed-in
+net spindle-rpm-filtered scale_to_rpm.out
+setp scale_to_rpm.gain 60
+setp lowpass_velocity.gain .07
+addf lowpass_velocity servo-thread
+addf scale_to_rpm servo-thread
+
+# for at-speed detection
+loadrt near names=near_speed
+addf near_speed servo-thread
+setp near_speed.scale 1.1
+setp near_speed.difference 10
+net spindle-speed-cmd => near_speed.in1
+net spindle-rpm-filtered => near_speed.in2
+net spindle-at-speed near_speed.out spindle.0.at-speed
+
+net  spindle-fwd <= spindle.0.forward
+
+addf encoder.capture-position servo-thread
+addf sim-encoder.update-speed servo-thread
+
+addf sim-encoder.make-pulses    base-thread
+addf encoder.update-counters    base-thread