cnc-club.ru

Код: Выделить всё

# Generated by stepconf at Sun Jan 27 12:43:35 2013
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = 333
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/vic/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[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
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = 333.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
MAX_ANGULAR_VELOCITY = 0.10
DEFAULT_ANGULAR_VELOCITY = 0.01
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 20.00
MAX_LINEAR_VELOCITY = 200.00

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

[AXIS_0]
TYPE = LINEAR
HOME = 20.0
MAX_VELOCITY = 45.0
MAX_ACCELERATION = 80.0
STEPGEN_MAXACCEL = 85.0
SCALE = 33.9612629345
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 2500.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = -15.058250
HOME_SEQUENCE = 1

[AXIS_1]
TYPE = LINEAR
HOME = 10.0
MAX_VELOCITY = 150.0
MAX_ACCELERATION = 250.0
STEPGEN_MAXACCEL = 270
SCALE = 33.9610
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 1600.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL =50.000000
HOME_LATCH_VEL = -25.000000
HOME_SEQUENCE = 1

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 33.0
SCALE = 1777.77777778
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -2.500000
HOME_LATCH_VEL = 0.5
HOME_SEQUENCE = 0

Код: Выделить всё

# Generated by stepconf at Sun Jan 27 12:43:35 2013
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x1020 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
net dout-00 <= motion.digital-out-00
net dout-01 <= motion.digital-out-01
net dout-02 <= motion.digital-out-02

net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net zstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net astep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net dout-00 => parport.0.pin-06-out
setp parport.0.pin-07-out-invert 1
net xdir => parport.0.pin-07-out
net zdir => parport.0.pin-08-out
net ydir => parport.0.pin-09-out
net adir => parport.0.pin-14-out
net dout-01 => parport.0.pin-16-out
net dout-02 => parport.0.pin-17-out


net home-x <= parport.0.pin-10-in
net home-z <= parport.0.pin-11-in
net home-y <= parport.0.pin-12-in
net all-limit <= parport.0.pin-15-in-not


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 55000
setp stepgen.0.dirsetup 55000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net home-x => axis.0.home-sw-in
net all-limit => axis.0.neg-lim-sw-in
net all-limit => axis.0.pos-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 55000
setp stepgen.1.dirsetup 55000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net home-y => axis.1.home-sw-in
net all-limit => axis.1.neg-lim-sw-in
net all-limit => axis.1.pos-lim-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 55000
setp stepgen.2.dirsetup 55000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net home-z => axis.2.home-sw-in
net all-limit => axis.2.neg-lim-sw-in
net all-limit => axis.2.pos-lim-sw-in

setp stepgen.3.position-scale 800
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 55000
setp stepgen.3.dirsetup 55000
setp stepgen.3.maxaccel 5.5
net avel-cmd <= motion.spindle-speed-out-rps
net avel-cmd => stepgen.3.velocity-cmd
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable
net all-limit => axis.3.neg-lim-sw-in
net all-limit => axis.3.pos-lim-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed 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

Код: Выделить всё

setp stepgen.3.position-scale 
setp stepgen.3.maxaccel 

Код: Выделить всё

setp  stepgen.3.enable 1

Код: Выделить всё

#!/usr/bin/python
import hal
import math
h = hal.component("vel")
h.newpin("vaxis1", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("vaxis2", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("velout", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("setpyvcp", hal.HAL_FLOAT, hal.HAL_IN)
h.newparam("setvel",hal.HAL_FLOAT, hal.HAL_RW)
h.ready()
try:
    while 1:
	 h['velout'] = h["setpyvcp"]*h["setvel"]* math.sqrt(h["vaxis1"]**2 + h["vaxis2"]**2)
except KeyboardInterrupt:
    raise SystemExit