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Integrator Manual V2.5, 2013-03-10

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2. rrr 15 13 3 Ontpat Parameters ee a bee ea PRATAP WIG ew te BAGS Bodh See AOS Bk a I ACA eee Ree SRE RES RoR SD Heads 2 I5 4 Paranee oo Root eae bee E NUR Ode ROROS S EUR Y a L5 Hb 3 Cutpat Parameters cuoco eS ae UR putem E end X Be ae ee NR VIO D Cr cu LUE PS Luogo ooo Rome be ebb RUE S EC Y dex Ron OW e up y RO 126 126 126 126 127 128 128 128 129 130 Integrator Manual V2 5 2013 03 10 Nee Parmeter MT TIT SS Rae REE ASS BEG be TT No mulus s DP I5 10 C onBEOEAEION S XOU REUS EXE OE x Y NOE TR RU Ue YU RISUS RU ES 15 16 2 SSE RIAL RG Rr RUM Ge om e uas dude Eodcm A Eur que dd E deu v xa Sub e n IS Example Conf gmas 6 cg ok eee Y EROR Up RO 19 Motenc Driver mW o 2 PV 135 2 4 es wwe Eee Dee we SS Bie ss wa Sweats dx 19 3 DUncusHS 244 6456 224486 beh 664 8b Ste bee ouk be os de ENS Nue Sod 20 Opto22 Driver 20 1 The Spe
3. User data HAL LED b hal pin changed on led pin changed The example in configs gladevcp examples complex shows how this is handled in Python 12 6 5 Buttons This group of widgets are derived from various Gtk buttons and consists of HAL Button HAL_ToggleButton RadioButton and CheckButton widgets All of them have a single output BIT pin named identical to the widget Buttons have no additional properties compared to their base Gtk classes HAL Button instantaneous action does not retain state Important signal pressed e ToggleButton HAL CheckButton retains on off state Important signal toggled e RadioButton a one of many group Important signal toggled per button Important common methods set active get active mportant properties 1abel image chocolate Excute Owa checkbutton strawberry subroutine Check button Radio buttons Toggle button Tip Defining radio button groups in Glade decide on default active button in the other button s General Group select the default active button s name in the Choose a Radio Button in this project dialog See configs gladevcp by widget radiobutton for a GladeVCP application and UI file for working with radio buttons Integrator Manual V2 5 2013 03 10 94 255 12 6 6 Scales HAL HsScale and HAL 5 are derived from the GtkHScale and GtkV Scale respectively They have one o
4. Figure 31 4 AXIS E Stop Note that in this example like in real life you must clear the remote E Stop simulated by the checkbox before the AXIS E Stop or the external Reset will put you in OFF mode If the E Stop in the AXIS screen was pressed you must press it again to clear it You cannot reset from the external after you do an E Stop in AXIS 31 4 Timer Operate Example In this example we are using the Operate block to assign a value to the timer preset based on if an input is on or off Integrator Manual V2 5 2013 03 10 225 255 Section Display OPERATE Figure 31 5 Timer Operate Example In this case 9610 is true so the timer preset value is 10 If 10 was false the timer preset would be 5 Integrator Manual V2 5 2013 03 10 226 255 Part VII Hardware Examples Integrator Manual V2 5 2013 03 10 227 255 Chapter 32 PCI Parallel Port When you add a second parallel port to your PCI bus you have to find out the address before you can use it with LinuxCNC To find the address of your parallel port card open a terminal window and type lbegjsxes w You will see something similar to this as well as info on everything else on the PCI bus 0000 00 10 0 Communication controller NetMos Technology PCI 1 port parallel adapter rev 01 Subsystem LSI Logic Symbios Logic Unknown device 0010 Flags medium devsel 11 I O ports at a800 size 8 I O ports at ac00 size
5. Truth Table in0 inl out False False False True False False False True False True True True 9 5 2 not The not component is a bit inverter Syntax not count n names namel name2 Functions not all not n Pins not n in bit in not n out bit out Truth Table in out True False False True Integrator Manual V2 5 2013 03 10 9 5 3 or2 The or2 component is a two input OR gate Syntax or2 count n names namel name2 Functions or2 n Pins or2 n inO0 bit in Or2 n vinl bit rn or2 n out bit out 49 255 Truth Table in0 inl out True False True True True True False True True False False False 9 5 4 xor2 The xor2 component is a two input XOR exclusive OR gate Syntax xor2 count n names namel name2 Functions xor2 n Pins xor2 n inO bit in xor2 n inl bit in xor2 n out bit out Truth Table ind inl out True False True True True False False True True False False False 9 5 5 Logic Examples An and2 example connecting two inputs to one output loadrt and2 count 1 Integrator Manual V2 5 2013 03 10 50 255 addf and2 0 servo thread net my Siginl and2 0 in0 lt parport 0 pin 11 in net my sigin2 and2 0 inl lt parport 0 pin 12 in net both on parport 0 pin 14 out lt and2 0 out In the above example one copy
6. SE ee EN REDE GE Y 119 14 2 Pause amp Resume 222a ck ES REDE SR RES gk Rech de ded e a 120 IV Hardware Drivers 121 15 Parallel Port Driver 122 TT 122 LXLI ea dece Rd 122 A NU o CC Tcr 123 15 13 Parameters ox Beh m ORO ee Pa ER RC RC RU e 124 15 1 PASOS udo OR Due BORN eec on e AS dr RG necis 124 15 13 Common eu ERR n ae en e 124 bile Usin Doublestey eundo owe EE ad S X Y Yep RA he bo 125 I obs DUFDORE cos Rit due Be Baie ee dite Eu d ag qe tes 125 132 1 4 XU X o m E de RR e wo de Xe v de 125 Integrator Manual V2 5 2013 03 10 16 AX5214H Driver Pel Inst Rc RUE muse CR Erie e RC ERROR te D o ETT C neos y Y ko X RURSUS E 30 Y BOR e E EURO RO SU KO E Yo 164 FUMOS boe ge cos de SSL RS d e UR Bw Gye UR DOR e 17 GS2 VFD Driver LRI Command Line HONS uuo reed xoa qim ee Re eoe se
7. ae HH REEDS EWR ROSES INE File SSQHONS leo Ron oc Ro WU ee oe E y des Sl TENICISSOHON MA a edb xo RD MA aed He f 3 42 EHSPLAY ISGCUOD oor XR Ros EU E UR RR Integrator Manual V2 5 2013 03 10 343 zer m OE PN Bae RU RUE EON EUR PR E UE PRs eee os dd Ad DESOISANELISeGDOU lt 22s Gawd oe Eee oe ges a 323 JENICMUOTISSOBOD p opp ee ee OY eR eR ee be n oe Scena om Bh eS Be eS oh LE SEES Abe eS d Sot HAL nw ke ee he ee ER Oe o Rex a oe eee Als HALU secon Ale eck EUR pn A ea AAG Boe Ld RU OUR A a 24 9 TRAD Pha bee eR a AA ee ee aed a S210 LAXIS tine Secon kk A ee te ee E ERU Ge ee te eh n day ead he Sea RR eee eG ee a oe DEMCIO SSSHOR sca ce RR AR SER ae ARG Ra RED UR a ee A 4 Homing Configuration 4 1 4 2 4 3 kd de ee ea oS ee ew ea ow ae aaa be Re ad oo Hone S6queneb iocus a ehe ES e RSS RD Lai t ek eta A ea
8. umor Pe a 60 OGO Number Diplo 5622464 be he SA ES S SG SUE s 61 O55 INURE RNS BRE SE BS Pe in e eR 0 61 266A os mo he RE UR e des 61 Integrator Manual V2 5 2013 03 10 vi 1066 3 WSC NUMDE iones uer em NR Y ROS ree ER Y ko EURO RR RUE Reip OE ADAC OE RR Ge mu d eee bue EE ERU Y dos dad p LOS Number pus xo exce xo Y BOR e NOE TR RU Ue YU RISUS RC EOS ul SPION REDE ang bue UR bk ip C D RC Tc PTT 305 3 Did uox eos um eee UR Yu ENSURE ee Eu 105 74 Joswhesl coors a Rare A E E Ss de RC ED eng o do ees BESS E adu ERU au due e 10 5 85 creata EE we BU eae Sox Red 10532 122 262 Deor EEG ARE RA Bea Ge des BEDS Conner Logd nA ES 4 eS e sgh boss Seded aus v 1069 1 so e 284 4b aw Rer Rem GR o Op ROS 9 AUR A E E OR R 10 592 EBORE ud gt SERO de t des 100
9. Integrator Manual V2 5 2013 03 10 107 255 all qualifying method names will be connected to the widget tree with connect signals signal autoconnect depending on the type of UI imported GtkBuilder vs the old libglade format the HAL component is finalized with halcomp ready if a window ID was passed as argument the widget tree is re parented to run in this window and Glade s toplevel windowl is abandoned see FAQ e ifa HAL command file was passed with H halfile itis executed with halcmd the Gtk main loop is run So when your handler class is initialized all widgets are existent but not yet realized displayed on screen And the HAL component isn t ready as well so its unsafe to access pins values in your init method If you want to have a callback to execute at program start after it is safe to access HAL pins then a connect a handler to the realize signal of the top level windowl which might be its only real purpose At this point GladeVCP is done with all setup tasks the halfile has been run and GladeVCP is about to enter the Gtk main loop 12 8 6 Multiple callbacks with the same name Within a class method names must be unique However it is OK to have multiple class instances passed to GladeVCP by get handlers with identically named methods When the corresponding signal occurs these methods will be called in definition order module by module and within a module in the order clas
10. Integrator Manual V2 5 2013 03 10 111 255 Self max value hal glib GPin halcomp newpin max value hal HAL FLOAT hal lt HAL IN self max_value connect value changed self on max value change inifile linuxcenc ini os getenv INI FILE NAME nmin ficet initile find METER MIN or 0 0 self meter self builder get_object meter self meter min mmin def get handlers halcomp builder useropts return HandlerClass halcomp builder useropts 12 8 16 Examples and rolling your own GladeVCP application Visit Linuxcnc configs gladevcp for running examples and starters for your own projects 12 9 FAQ 1 I get an unexpected event in my handler function right after startup What s this This is a consequence of your Glade UI file having the window Visible property set to True together with re parenting the GladeVCP window into Axis or touchy The GladeVCP widget tree is created including a top level window and then reparented into Axis leaving that toplevel window laying around orphaned To avoid having this useless empty window hanging around it is unmapped made invisible which is the cause of the unmap signal you get Suggested fix set windowl visible to False and ignore an initial unmap event 2 My GladeVCP program starts but no window appears where I expect it to be The window Axis allocates for GladeVCP will obtain the natural size o
11. Integrator Manual V2 5 2013 03 10 xvi The LinuxCNC Team Integrator Manual V2 5 2013 03 10 1 255 Part I LinuxCNC Introduction Integrator Manual V2 5 2013 03 10 2 255 This handbook is a work in progress If you are able to help with writing editing or graphic preparation please contact any member of the writing team or join and send an email to emc users lists sourceforge net Copyright O 2000 2012 LinuxCNC org Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with no Invariant Sections no Front Cover Texts and one Back Cover Text This LinuxCNC Handbook is the product of several authors writing for linuxCNC org As you find it to be of value in your work we invite you to contribute to its revision and growth A copy of the license is included in the section entitled GNU Free Documentation License If you do not find the license you may order a copy from Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 LINUX is the registered trademark of Linus Torvalds in the U S and other countries The registered trademark Linux is used pursuant to a sublicense from LMI the exclusive licensee of Linus Torvalds owner of the mark on a world wide basis Integrator Manual V2 5 2013 03 10 3 255 Chapter 1 Integrator Concepts 1 4 Stepp
12. a Ole WARS PP c r 17 3 oan oko Roe E Rok s ek Rr gos he P on mu BALDI Fo edem IRR eO Oe EU Te este E Reus X Be s SUY BE xoc Se dom edge qb Se xe Medios d 9 2 2 32 32 33 33 34 35 35 35 36 36 36 37 37 37 37 38 39 39 40 40 40 40 Integrator Manual V2 5 2013 03 10 Oe TET PLE 47 GERE pew eee APE dod ox UPS ted x PRS EGGS 4 x pup wets da 47 27 nio M Cv 47 oA HALCOomponeniS 2 ee eee bb eee eA br GR om Ade M ORC d 47 95 Lost Components liu kx RU EER e bem d RAOUL de ede RUE edes a 48 S kos Oe he BAS PR Re RGB Qe Ru io aL XS 48 DOO QO TTC 48 USS ME ligero RAUS crm eb dee e b dee EAS dede 49 9 599 oou Se EE ASE BES m E pd Bae ce p em de Ee Rel d tes ia 49 9435 5 Logic Etampes exem v eR E ew ae a E 49 9e Gods Componentes 45 a each rero BAS ed we xem pde qiu 50 TGT oo Ro P 50 GUI 51 10 Python Virtual Control Panel 52 ncn ss sete TT 52 10 2 Paneli ORSUUCHOUE nuoto a REOR os eR eee as 53 Dieu cni DD 54
13. 12 Read INPUTS fnct 2 Iya J verted Read_INPUTS 2 fa jo Inverted Write REG S fnct 6 16 Read INPUTS fnct 2 1 O Inverted Figure 30 9 Config os i 2 Period object info Modbus O register setup 1 Modbus I O register setup 2 lst I Q W Mapped Bo e o e Integrator Manual V2 5 2013 03 10 209 255 Period object info Modbus communication setup Modbus register setup Serial port blank 2 IP mode Jdev ttySO v Serial baud rate 9600 v After transmit pause milliseconds D After receive pause milliseconds 200 Request Timeout length milliseconds 500 Use RTS to send O YES Modbus element offset Oo 1 Debug level QUIET LEVEL 1 O LEVEL 2 LEVEL 3 Read Coils inputs mapto 96B O 90 Write Coils map from 90 90 Read register holding map to 9eW amp QW Write registers map from O 9eW QW O IW Figure 30 10 Config Coms SERIAL PORT For IP blank For serial the location name of serial driver eg dev ttySO or dev tty USBO for a USB to serial converter SERIAL SPEED Should be set to speed the slave is set for 300 600 1200 2400 4800 9600 19200 38400 57600 115200 are supported PAUSE AFTER TRANSMIT Pause milliseconds after transmit and before receiving answer some devices
14. Hardware assumptions An encoder is connected to the spindle and puts out 100 pulses per revolution on phase A The encoder phase is connected to the parallel port pin 10 The encoder index pulse is connected to the parallel port pin 11 Basic Steps to add the components and configure them add the encoder to HAL and attach it to threads loadrt encoder num 1 addf encoder update counters base thread addf encoder capture position servo thread set the HAL encoder to 100 pulses per revolution setp encoder 3 position scale 100 set the HAL encoder to non quadrature simple counting using A only setp encoder 3 counter mode true connect the HAL encoder outputs to LinuxCNC net spindle position encoder 3 position motion spindle revs net spindle velocity encoder 3 velocity motion spindle speed in net spindle index enabl ncoder 3 index enable motion spindle index enabl connect the HAL encoder inputs to the real encoder net spindle phase a encoder 3 phase A lt parport 0 pin 10 in net spindle phase b encoder 3 phase B net spindle index encoder 3 phase Z lt parport 0 pin 11 in lIn this example we will assume that some encoders have already been issued to axes joints 0 1 and 2 So the next encoder available for us to attach to the spindle would be number 3 Your situation may differ The HAL encoder index enable is an exception to the r
15. Kinematics 26 1 Introduction When we talk about CNC machines we usually think about machines that are commanded to move to certain locations and perform various tasks In order to have an unified view of the machine space and to make it fit the human point of view over 3D space most of the machines if not all use a common coordinate system called the Cartesian Coordinate System The Cartesian Coordinate system is composed of three axes X Y Z each perpendicular to the other two When we talk about a G code program RS274 NGC we talk about a number of commands GO G1 etc which have positions as parameters X Y Z These positions refer exactly to Cartesian positions Part of the LinuxCNC motion controller is responsible for translating those positions into positions which correspond to the machine kinematics 26 1 1 Joints vs Axes A joint of a CNC machine is a one of the physical degrees of freedom of the machine This might be linear leadscrews or rotary rotary tables robot arm joints There can be any number of joints on a given machine For example one popular robot has 6 joints and a typical simple milling machine has only 3 There are certain machines where the joints are laid out to match kinematics axes joint 0 along axis X joint 1 along axis Y joint 2 along axis Z and these machines are called Cartesian machines or machines with Trivial Kinematics These are the most common machines used in milling bu
16. L E Figure 30 3 Bit Status Window The Bit Status Window displays some of the boolean on off variable data Notice all variables start with the sign The 1 variables represent HAL input bit pins The Q represents the relay coil and HAL output bit pins The B represents an internal relay coil or internal contact The three edit areas at the top allow you to select what 15 variables will be displayed in each column For instance if the B Variable column were 15 entries high and you entered 5 at the top of the column variables 6B5 to B19 would be displayed The check boxes allow you to set and unset B variables manually as long as the ladder program isn t setting them as outputs Any Bits that are set as outputs by the program when Classic Ladder is running can not be changed and will be displayed as checked if on and unchecked if off Integrator Manual V2 5 2013 03 10 195 255 Watch Window memory o Figure 30 4 Watch Window The Watch Window displays variable status The edit box beside it is the number stored in the variable and the drop down box beside that allow you to choose whether the number to be displayed in hex decimal or binary If there are symbol names defined in the symbols window for the word variables showing and the display symbols checkbox is checked in the section display window symbol names will be displayed To change the variable displayed type the
17. Servo thread 1 0ms 1001089 5929 995302 Base thread 25 0 5 33954 9075 24843 Reset Statistics Figure 2 1 HAL Latency Test While the test is running you should abuse the computer Move windows around on the screen Surf the web Copy some large files around on the disk Play some music Run an OpenGL program such as glxgears The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are Note Do not run LinuxCNC or Stepconf while the latency test is running The important numbers are the max jitter In the example above that is 9075 nanoseconds or 9 075 microseconds Record this number and enter it in Stepconf when it is requested In the example above latency test only ran for a few seconds You should run the test for at least several minutes sometimes the worst case latency doesn t happen very often or only happens when you do some particular action For instance one Intel motherboard worked pretty well most of the time but every 64 seconds it had a very bad 300 us latency Fortunately that was fixable see http wiki linuxcnc org cgi bin emcinfo pl FixingSMlIIssues So what do the results mean If your Max Jitter number is less than about 15 20 microseconds 15000 20000 nanoseconds the computer should give very nice results with software stepping If the max latency is more like 30 50 microseconds you can still get good results but your maximum step rate might be
18. column the column index type 532 defaults to 1 range from 1 100 In default mode this widgets sets the pins to the index of the chosen list entry So if your widget has three labels it may only assume values 0 1 and 2 In column mode column gt 1 the value reported is chosen from the ListStore array as defined in Glade So typically your widget definition would have two columns in the ListStore one with text displayed in the dropdown and an int or float value to use for that choice There s an example in configs gladevcp by widget combobox combobox py ui which uses column mode to pick a float value from the ListStore If you re confused like me about how to edit ComboBox ListStores and CellRenderer see http www youtube com watch vzZ5 rW2cL8 12 6 13 Bars HAL Bar and VBar widgets for horizontal and vertical bars representing float values They have one input FLOAT hal pin Both bars have the following properties invert Swap min and max direction inverted HBar grows from right to left an inverted VBar from top to bottom Integrator Manual V2 5 2013 03 10 97 255 min max Minimum and maximum value of desired range It is not an error condition if the current value is outside this range zero Zero point of range If it s inside of min max range then the bar will grow from that value and not from the left or right side of the widget Useful to represent values that may be both positive or
19. e e RD DX LT Haltel Poramipleg s oo poer ROS Xo eR SUE Ch be Ur doy V m CROSS NUR a Hanel Meneses ee Swe hw Bite eee AA BG RE RA ER Ae Distribution Examples Sim zoo ee ER EE ee yo ew 15 15 16 16 16 17 17 18 19 23 24 24 24 26 26 26 26 26 27 27 27 27 27 27 27 28 28 28 Integrator Manual V2 5 2013 03 10 7 Core Components 7 Motion Tal Mpeg arque bar qub eee x as Sub d d es 1n a kX Ree tee ee A nee TES PORSCHES a ES ER Ok Oe Ut eee Tl Functions o ss e eso garate Y Roo ee UE o 9 RE LE eS Ta JODS AR tere edes d LFU Fas Parameters AD ee eh EEA She Ea o TI Deel ees Ge RE Baa ae 8 Stepper Configuration SA we Get See e wee
20. ee ek BC ee ee eke ek ee Ie UE 1e a E VEM II PPP E 205 FUNCTIONS ok edpoe ES dp ee a eh 4205 UOTOHS usc uso EUE RC o de 20 7 Pig Numbering ue oso mop e oe PA Oe X RoR pod WR dO ORG ee S d S eee 21 Pico Drivers PLE OO aaa eae a ee A ITO i RP SABE LUCULENTER a ee ee eS BO ee ee Ee eee a S 22 Pluto P Driver 22d Genea MMS Ss hee m amp BST eae eS 22 1 1 ee oe be BAe aa Ge we ele Ged ie ERE SLE TE x ALIG CODUGODOUS 22 22 o9 BAe hae 9 X EC ee PEAR RON EEA ee m ew RO 8 2240 3 Physical PIBS ee eee ee a RO ee eS ZINA LED GR Rn ede Xem v Bae Sa es ES eS E ALIO POW so x6 tA baw wha ee RURSUS RON Eo e EUR UR OE odor eRe EO y S poRR PR DC TT Rebuildme the FPGA MAWA ues mee y cR eb Bee Su s 22 18 PFordmipeiDIoPHaOR lt coo Ro xo ROS X oS ES Ro ox E om e a Junio M ru De PROWL CL CTI 22 2 2 Input latching and output updating o omo RR Ro mo t 142 142 14
21. your input pin Your input and output pins are connected to the pins wired to the other controller They may be parallel port pins or any other I O pins that you have access to This system works in the following way When an MO is encountered in your G code the halui program is paused signal goes true This turns on your output pin so that the external controller knows that LinuxCNC is paused To resume the LinuxCNC gcode program when the external controller is ready it will make its output true This will signal LinuxCNC that it should resume executing Gcode Difficulties in timing The resume input return signal should not be longer than the time required to get the g code running again The is paused output should no longer be active by the time the resume signal ends These timing problems could be avoided by using ClassicLadder to activate the is paused output via a monostable timer to deliver one narrow output pulse The resume pulse could also be received via a monostable timer Integrator Manual V2 5 2013 03 10 121 255 Part IV Hardware Drivers Integrator Manual V2 5 2013 03 10 122 255 Chapter 15 Parallel Port Driver 15 1 Parport Parport is a driver for the traditional PC parallel port The port has a total of 17 physical pins The original parallel port divided those pins into three groups data control and status The data group consists of 8 output pins the control group consists of 4
22. 0 Sx gt ebrei 9 110 100 11 gt pinl1 Tmn 2 skin oin do sam pin 14 out c gatior dbi 10 Tonm far or far ier mr ier ier iar lt pin01 lt pin02 78 255 Integrator Manual V2 5 2013 03 10 79 255 Zi IN FALSE parport 0 pin 17 out 4 bit preske gengi gt p 4 bit OUT FALSE ptest btn02 gt pin02 4 bit IN FALSE ptest led 01 lt pin01 4 bit IN FALSE ptest led 02 lt pin02 4 bit IN RUE ptest led 10 10 4 bit ptest led 11 lt 11 This will show you what pins IN and what pins are OUT as well as any connections 11 5 GS2 RPM Meter The following example uses the Automation Direct GS2 VDF driver and displays the RPM and other info in a PyVCP panel This example is based on the GS2 example in the Hardware Examples section this manual 11 5 4 The Panel To create the panel we add the following to the xml file lt pyvcp gt lt the RPM meter gt lt hbox gt lt relief gt RAISED lt relief gt lt bd gt 3 lt bd gt lt meter gt lt halpin gt spindle_rpm lt halpin gt lt text gt Spindle lt text gt lt subtext gt RPM lt subtext gt lt size gt 200 lt size gt lt min_ gt 0 lt min_ gt lt max_ gt
23. 255 11 3 Jog Buttons In this example we will create a PyVCP panel with jog buttons for X Y and 7 This configuration will be built upon a Stepconf Wizard generated configuration First we run the Stepconf Wizard and configure our machine then on the Advanced Configura tion Options page we make a couple of selections to add a blank PyVCP panel as shown in the following figure For this example we named the configuration pyvcp_xyz on the Basic Machine Information page of the Stepconf Wizard a EMG Stepper Mil Gontiguration TX Advanced Configuration Options Include HalUI user interface component Include custom GUI panel Pyvcp Options Spindle speed tool position display XYZ buttons uses Existing custom program Allow connections to HAL 0 Include Classicladder PLC PLC Options IED IED Figure 11 1 XYZ Wizard Configuration The Stepconf Wizard will create several files and place them in the emc configs pyvcp_xyz directory If you left the create link checked you will have a link to those files on your desktop Integrator Manual V2 5 2013 03 10 74 255 11 3 1 Create the Widgets Open up the custompanel xml file by right clicking on it and selecting open with text editor Between the lt pyvcp gt lt pyvcp gt tags we will add the widgets for our panel Look in the PyVCP Widgets Reference section of the manual for more detailed information on each widget
24. Backlash in machine units configuration parameter reflects AXIS_x BACKLASH enabled returns integer non zero means enabled fault returns integer non zero means axis amp fault ferror_current returns float current following error ferror_highmark returns float magnitude of max following error homed returns integer non zero means has been homed Integrator Manual V2 5 2013 03 10 168 255 homing returns integer non zero means homing in progress inpos returns integer non zero means in position input returns float current input position max ferror returns float maximum following error configuration parameter reflects AXIS x FERROR max hard limit returns integer non zero means max hard limit exceeded max position limit returns float maximum limit soft limit for axis motion in machine units configuration parameter reflects AXIS LIV max soft limit non zero means max position limit was exceeded int min ferror returns float configuration parameter reflects AXIS xI MIN FERROR min hard limit returns integer non zero means min hard limit exceeded min position limit returns float minimum limit soft limit for axis motion in machine units configuration parameter reflects AXIS x MIN LIMI min soft limit returns integer non zero means min position limit was exceeded output returns float commanded output
25. Jogging ENT D mL EM dE or 0 01 X ipd m iier fH D 001 Y Gan Doer ieri adim 0 0001 Startup MDi Manual Auto Status Preferences GladeVCP demo upin n D emba Integrator Manual V2 5 2013 03 10 86 255 Functionally these setups are identical they only differ in screen real estate requirements and visibility Since it is possible to run several GladeVCP components in parallel with different HAL component names mixed setups are possible as well for instance a panel on the right hand side and one or more tabs for less frequently used parts of the interface 12 2 1 Exploring the example panel While running Axis explore Show HAL Configuration you will find the gladevcp HAL component and may observe their pin values while interacting with the widgets in the panel The HAL setup can be found in configs gladevcp manual example hal The example panel has two frames at the bottom The panel is configured so that resetting ESTOP activates the Settings frame and turning the machine on enables the Commands frame at the bottom The HAL widgets in the Settings frame are linked to LEDs and labels in the Status frame and to the current and prepared tool number play with them to see the effect Executing the T lt toolnumber gt and M6 commands in the MDI window will change the current and prepared tool number fields The buttons in the Commands frame are MDI Action widget
26. The default pinout is described in a PIN file human readable text When you install a firmware package the PIN files are installed in usr share doc hostmot2 firmware board 18 9 Firmware The selected firmware BIT file and configuration is uploaded from the PC motherboard to the Mesa mothercard on LinuxCNC startup If you are using Run In Place you must still install a hostmot2 firmware board package There is more information about firmware and configuration in the Configurations section 18 10 HAL Pins The HAL pins for each configuration can be seen by opening up Show HAL Configuration from the Machine menu All the HAL pins and parameters can be found there The following figure is of the 5120 configuration used above Integrator Manual V2 5 2013 03 10 134 255 a HAL Configuration SHOW WATCH Component Pins Owner Dir Value Name 7 0 2_5120 0 00 7 bit 1 0 FALSE hm2 5120 0 encoder 00 index enable 7 float OUT 0 hm2_5120 0 encoder 00 position 7 332 OUT 0 hm2_5i20 0 encoder 00 ravcounts 7 bit IN FALSE hm2 5120 0 encoder 00 reset 7 float OUT 0 hm2 5120 0 encoder 00 velocity Test HAL command Commands may be tested here but they will NOT be saved Figure 18 1 5120 HAL Pins 18 11 Configurations The Hostmot2 firmware is available in several versions depending on what you are trying to accomplish You can get a reminder of what a p
27. auto linuxcnc AU autotlinuxeuc AU auto linuxcnc AU UN PAUSE O_RESUME CG brake linuxcnc BRAKE_ENGAG C brake linuxcnc BRAKE RELEAS program start line Hj Creek Koo code koock LOOD ON HOOD 09127 c home 2 Jog Ganuxcne JOGESIOR c load tool table c maxvel 200 0 ermo GG Oh xe 200 759 010 comrsti linuxencMIST ON palsies o eis MULES OI RE c mode linuxcnc MODE MDI c mode linuxcnc MODE AUTO c mode linuxcnc MODE MANUAL Cc override limits C program open foo ngc reset interpreter Q axis Cc jog linuxcenc JOG CONTINUOUS C jog linuxcenc JOG INCREMENT axis speed axis speed increment lt gt 169 255 Integrator Manual V2 5 2013 03 10 2 offset x offset diameter 25 5 1 linuxcnc command attributes serial the current command serial number 25 5 2 linuxcnc command methods abort send EMC TASK ABORT message auto int int run step pause or resume a program brake int engage or release spindle brake debug int set debug level via EMC SET DEBUG message feedrate float set the feedrate flood int turn on off flooding home int home a given axis jog int int int int Syntax jeg command axis velocity
28. halui joint selected has fault bit out status pin telling that the joint n has a fault halui joint selected home bit in pin for homing the selected joint halui joint selected is homed bit out status pin telling that the selected joint is homed halui joint selected on hard max limit bit out status pin telling that the selected joint is on the positive hardware limit halui joint selected on hard min limit bit out status pin telling that the selected joint is on the negative hardware limit halui joint selected on soft max limit bit out status pin telling that the selected joint is on the positive software limit halui joint selected on soft min limit bit out status pin telling that the selected joint is on the negative software limit halui joint selected unhome bit in pin for unhoming the selected joint LUBE halui lube is on bit out indicates lube is on halui lube off bit in pin for requesting lube off halui lube on bit in pin for requesting lube on MACHINE halui machine is on bit out indicates machine on halui machine off bit in pin for requesting machine off halui machine on bit in pin for requesting machine on Max Velocity The maximum linear velocity can be adjusted from 0 to the MAX VELOCITY that is set in the TRAJ section of the ini file halui max velocity count enable bit in must be true for counts or direct value to work Integrator Manual V2 5
29. lt font gt is a Tkinter font type and size specification One font that will show up to at least size 200 is courier 10 pitch so for really big Number widget you could specify courier lt font gt e format is C style format specified that determines how the number is displayed 10 6 6 2 532 Number The 532 number widget displays the value of a 532 number The syntax is the same as number except the name which is lt s32 gt Make sure the width is wide enough to cover the largest number you expect to use S32 lt halpin gt my number lt halpin gt lt font gt Helvetica 24 lt font gt lt format gt 6d lt format gt lt width gt 6 lt width gt cy The above code produced this example 123456 Integrator Manual V2 5 2013 03 10 62 255 10 6 6 3 u32 Number The u32 number widget displays the value of a u32 number The syntax is the same as number except the name which is lt u32 gt 10 6 6 4 Bar A bar widget displays the value of a FLOAT signal both graphically using a bar display and numerically lt bar gt halpin my bar halpin min 0 min gt max 123 max lt bgcolor gt grey lt bgcolor gt Us TE LTEM exo dioses lt bar gt The above code produced this example 10 6 6 5 Meter Meter displays the value of a FLOAT signal using a traditional dial indicator lt meter gt lt halpin gt mymeter lt halpin
30. sudo dmesg c Now when you run LinuxCNC and then do a dmesg gt hm2 txt in the terminal only the info from the time you loaded LinuxCNC will be in your file along with your pinout The file will be in the current directory of the terminal window Each line will contain the card name the card number the I O Pin number the connector and pin and the usage From this printout you will know the physical connections to your card based on your configuration An example of a 5120 configuration HOSTMOT2 DRIVER hm2 pci BOARD 5120 CONFIG firmware hm2 5i20 SVST8_4 BIT num encoders 1 num pwmgens 1 num stepgens 3 The above configuration produced this printout LOSSIS m 2A ORE Eum SEULS e ce S992 m2 Am2 557 000 1O Pim 000 2 01 TOPOLE 0 555 m2m 5120 05 1O Wain 00L PA Os 8 TOPOrE TAL 580 520 03 TO Pim 0027 19 05 SHIT CO dc O oLa Ber PITT tis TAL 053405 5120 03 I0 Pin 003 70 Maecen Op oim A TNE AO SSAC Si 5120 03 I0 Pim 004 2209 TOPOLE IAL OSHS oni 5 20 03 TO Pin OOS 5 JayoveXoxolsse sO oinm InmoE Lorit Mmm 5120 03 TO atin 006 Integrator Manual V2 5 2013 03 10 133 255 1141 0534181 hm2 hm2 5i20 0 IO Pin 007 2 15 PWMGen 0 pin OutO or Up Output TITAL 1 10 28692 E8240 IB TO EIER ORE 2555 9 2 E
31. 2013 03 10 222 255 Section Display Current in edit Figure 31 3 E Stop Section Display After building the ladder select Save As and save the ladder as estop clp Now add the following line to your custom hal file Load the ladder loadusr classicladder nogui estop clp I O assignments 910 Input from the py VCP panel simulated E Stop the checkbox 1 Input from LinuxCNC s E Stop 912 Input from LinuxCNC s E Stop Reset Pulse 913 Input from the py VCP panel reset button 9000 Ouput to LinuxCNC to enable 9001 Output to external driver board enable pin use N C output if your board had a disable pin Next we add the following lines to the custom postgui hal file Integrator Manual V2 5 2013 03 10 Request E Stop Enable from LinuxCNC 223 255 E Stop example using pyVCP buttons to simulate external components The pyVCP checkbutton simulates a normally closed external E Stop net ext estop classicladder 0 in 00 lt pyvcp py estop net estop all ok iocontrol 0 emc enabl This line resets the E Stop from LinuxCNC lt classicladder 0 out 00 Request E Stop Enable from pyVCP or external source net ext estop reset classicladder 0 in 03 lt pyvcp py reset net emc reset estop iocontrol 0 user request enable gt classicladder 0 in 02 This line enables LinuxCNC to unlatch the net emc estop iocontrol 0 user ena
32. Acknowledgements and any sections entitled Dedications You must delete all sections entitled Endorsements 6 COLLECTIONS OF DOCUMENTS You may make a collection consisting of the Document and other documents released under this License and replace the indi vidual copies of this License in the various documents with a single copy that is included in the collection provided that you follow the rules of this License for verbatim copying of each of the documents in all other respects Integrator Manual V2 5 2013 03 10 252 255 You may extract a single document from such a collection and distribute it individually under this License provided you insert a copy of this License into the extracted document and follow this License in all other respects regarding verbatim copying of that document 7 AGGREGATION WITH INDEPENDENT WORKS A compilation of the Document or its derivatives with other separate and independent documents or works in or on a volume of a storage or distribution medium does not as a whole count as a Modified Version of the Document provided no compilation copyright is claimed for the compilation Such a compilation is called an aggregate and this License does not apply to the other self contained works thus compiled with the Document on account of their being thus compiled if they are not themselves derivative works of the Document If the Cover Text requirement of section 3 is applicable to these copies of th
33. Eu XR EURO E RR 12 3 Creating and Integraung Glade user Interface s zo Ge Seed x vy RE AU S 12 3 1 Prerequisite Glade installation os o os octo goo oh Reo y eR Rom ER y yos 62 62 62 63 63 63 64 65 66 66 66 67 67 68 68 69 69 70 72 72 72 73 74 76 76 79 79 81 Integrator Manual V2 5 2013 03 10 vii 12 3 7 Running Glade t create new user interface sso Ro RR ee ed e 0 87 Enega vu lone EIS ROUES RSE Yer Se Ue MES Eod due Hew ee eae 0 88 12 34 Preparing the HAL command oc repoa ERR REOR UR RELIER RR AL eda 88 12 35 Integrating into Ass like PYVCP oso qoc Eo how Aa eo wok e m Rm x HO 88 12 3 6 Integrating into Axis as tab next to DRO and Preview ees 89 1233 7 litsgeotug into cecce ec ee a RORIS EUN RC RU E TR 89 124 Glade VCP command line options lt ete eesse o9 9 om ero ee x 90 12 5 Understanding the gladeVCP startup pro ess so E Rech m RR OR RR E 90 126 HAL Wideetrererence s doo e 3 ORO S BOR RUE cy eee ee B a 91 120 1 Widget and pra su ey bebe ba eh RUSO S EA 91 12 6 2 Python attributes and methods of HAL 92 12 6 3 Setting pinend widgetvalues so ecrire dese ee w
34. Home A specific location in the machine s work envelope that is used to make sure the computer and the actual machine both agree on the tool position ini file A text file that contains most of the information that configures EMC for a particular machine Instance One can have an instance of a class or a particular object The instance is the actual object created at runtime In programmer jargon the Lassie object is an instance of the Dog class Joint Coordinates These specify the angles between the individual joints of the machine See also Kinematics Jog Manually moving an axis of a machine Jogging either moves the axis a fixed amount for each key press or moves the axis at a constant speed as long as you hold down the key In manual mode jog speed can be set from the graphical interface kernel space See real time Kinematics The position relationship between world coordinates and joint coordinates of a machine There are two types of kinematics Forward kinematics is used to calculate world coordinates from joint coordinates Inverse kinematics is used for exactly the opposite purpose Note that kinematics does not take into account the forces moments etc on the machine It is for positioning only Lead screw An screw that is rotated by a motor to move a table or other part of a machine Lead screws are usually either ball screws or acme screws although conventional triangular threaded screws may be used where accuracy and lon
35. IST Poets 1141 053425 hm2 hm2 5i20 0 IO Pin 009 P2 19 PWMGen 0 pin Outl Dir or Down lt Output 5120 03 1O Pim MIO 2 21 TOPOLE 1141 053432 hm2 hm2 5120 0 IO Pin 011 P2 23 PWMGen 40 pin Not Enable Output SIE 1141 053589 hm2 hm2 5i20 0 IO Pin 060 P4 25 StepGen 2 pin Step Output 9S1 S120 0s ater usd 2 StepGen 2 pin Direction Output HALAL OSS 5S IO ati 062 24 20 StepGen 2 pin unused Output mme Aan 5 2 0s TO 063 24 81 StepGen 2 pin unused Output 1141 053605 hm2 hm2_5i20 0 IO Pin 064 P4 33 StepGen 2 pin unused Output 1141 053609 hm2 hm2 5i20 0 IO Pin 065 P4 35 StepGen 42 pin unused Output 1S Hoi Pin 066 094 977 8 TOPOLE 1A053616 m2 Am2 5120 03 10 Pin OG PASO TQ POTES TA Mmm S120 OF 1O Rin OG Cee EAMA TOPOLE 58 6218 mMm Pim 069 PAAR TOPOLE TL 053624 S512003 IO Pim 07O PAAS TOPOLE TAAL LOSSG27 Moir 5120 03 IO Pim Qui PAAT 3 TOPOLE 1141 0538111 hm2 hm2 5i20 0 registered mme 200 eiw 0 0 00 5 02 020 Note That the I O Pin nnn will correspond to the pin number shown on the HAL Configuration screen for GPIOs Some of the Stepgen Encoder and PWMGen will also show up as GPIOs in the HAL Configuration screen 18 8 PINFiles
36. L Preserve all the Invariant Sections of the Document unaltered in their text and in their titles Section numbers or the equivalent are not considered part of the section titles M Delete any section entitled Endorsements Such a section may not be included in the Modified Version N Do not retitle any existing section as Endorsements or to conflict in title with any Invariant Section If the Modified Version includes new front matter sections or appendices that qualify as Secondary Sections and contain no material copied from the Document you may at your option designate some or all of these sections as invariant To do this add their titles to the list of Invariant Sections in the Modified Version s license notice These titles must be distinct from any other section titles You may add a section entitled Endorsements provided it contains nothing but endorsements of your Modified Version by various parties for example statements of peer review or that the text has been approved by an organization as the authoritative definition of a standard You may add a passage of up to five words as a Front Cover Text and a passage of up to 25 words as a Back Cover Text to the end of the list of Cover Texts in the Modified Version Only one passage of Front Cover Text and one of Back Cover Text may be added by or through arrangements made by any one entity If the Document already includes a cover text for the same cover previously added by yo
37. RS274NGC gladevcp Demo specific Oword subs live here SUBROUTINE_PATH gladevcp nc_files Note the halcmd loadusr way of starting the tab command this assures that POSTGUI_HALFILE will only be run after the HAL component is ready In rare cases you might run a a command here which uses a tab but does not have an associated HAL component Such a command can be started without halcmd loadusr and this signifies to Axis that it does not have to wait for a HAL component since there is none When changing the component name in the above example note that the names usedin Wn lt component gt and c component must be identical Try it out by running Axis there should be a new tab called GladeVCP demo near the DRO tab Select that tab you should see the example panel nicely fit within Axis Note Make sure the UI file is the last option passed to GladeVCP in both the GLADEVCP and EMBED TAB COMMAND state ments 12 3 7 Integrating into Touchy do add a GladeVCP tab to Touchy edit your ini file as follows DISPLAY add GladeVCP panel as a tab BED TAB NAME GladeVCP demo BED TAB COMMAND gladevcp c gladevcp x XID u gladevcp hitcounter py H gladevcp lt gt gladevcp touchy hal gladevcp manual example ui RS274NGC gladevcp Demo specific Oword subs live here UBROUTINE PATH gladevcp nc files n Note the following differences to the Ax
38. Ry ORE e on eC CX E 192 3054 Secon Display wc ke oe AR RUBORE EC er LA 192 303 The Variable Windows os hs EE RS E Robes 9 nU Sor de vor v da 193 3054 Symbol WIN ce c soc Rey RR OR Oe o oov a doe OR UR OR AE ee Sox LE n 196 305 The Editor window jc ake oe AR REIR RED LOL C 197 3055 Confie Wine uod ego hs eee eae Xd RS E So ee eee e pum dv UE 04 198 Ladder objects 4006445 dex eo emo bbe eA baw Ge x Pec e cm AUR ae Roe e o 200 20850 CONTACTS d ROR Re OX ERO SREY ee Gen X E ke 98 3 EUR Rex R OR mis 200 TEC xxx be OR R6 Rx 6404428564644 546 RSS ch 200 30 5 9 TIMERS 269m RERO E HR ee Ce eae POR E OO Sox e 201 3004 MONOSIABLBES a cc 5 o oom RES REOR Sa SX RR ROS Rcx Ade Ew RO sd 201 300 COUNTERS b2c 54258848556 64444285 6444546 25556 obs oe Dt SHES d 201 300 0 COMPARE ee ee Ce RR S Oe eae Gea dn 202 30 6 7 VARIABLE ASSIGNMENT YORE SAREE ES we Ee RE ESS 203 300S COILS ode ook ee E a eR Re we ee E eR de ee eR 204 30681 JUMP COM oe ac Rex cedex yen kc eee Re ee eae e PR 205 309002
39. These pins parameters and functions are created by the realtime motmod module motion adaptive feed float in When adaptive feed is enabled with M52 P1 the commanded velocity is multiplied by this value This effect is multiplicative with the NML level feed override value and motion feed hold motion analog in 00 float in These pins 00 01 02 03 or more if configured are controlled by M66 motion analog out 00 float out These pins 00 01 02 03 or more if configured are controlled by M67 or M68 motion coord error bit out TRUE when motion has encountered an error such as exceeding a soft limit motion coord mode bit out TRUE when motion is in coordinated mode as opposed to teleop mode motion current vel float out The current tool velocity in user units per second motion digital in 00 bit in These pins 00 01 02 03 or more if configured are controlled by M62 65 motion digital out 00 bit out These pins 00 01 02 03 or more if configured are controlled by the M62 65 motion distance to go float out The distance remaining in the current move motion enable bit in If this bit is driven FALSE motion stops the machine is placed in the machine off state and a message is displayed for the operator For normal motion drive this bit TRUE motion feed hold bit in When Feed Stop Control is enabled with M53 P1 and this bit is TRUE the feed rate is set to 0 motion in po
40. This value improves the tuning of stepgen s position loop If you have added backlash compen sation to an axis then this should be 1 5 to 2 times greater than MAX ACCELERATION STEPGEN MAXVEL 1 4 Older configuration files have a velocity limit for the step generator as well If specified it should also be 1 to 10 larger than the axis MAX VELOCITY Subsequent testing has shown that use of STEPGEN MAXVEL does not improve the tuning of stepgen s position loop Integrator Manual V2 5 2013 03 10 23 255 3 2 11 EMCIO Section EMCIO io Name of IO controller program CYCLE TIME 0 100 The period in seconds at which EMCIO will run Making it 0 0 or a negative number will tell EMCIO not to sleep at all There is usually no need to change this number TOOL TABLE tool tbl The file which contains tool information described in the User Manual TOOL CHANGE POSITION 0 0 2 Specifies the XYZ location to move to when performing a tool change if three digits are used Specifies the XYZABC location when 6 digits are used Specifies the XYZABCUVW location when 9 digits are used Tool Changes can be combined For example if you combine the quill up with change position you can move the Z first then the X and Y TOOL CHANGE WITH SPINDLE ON 1 The spindle will be left on during the tool change when the value is 1 Useful for lathes or machines where the material is in the spindle not the tool TOOL CHANGE 1 Th
41. Zen To connect them use the following example net Xen parport 0 pin 08 out You can either have one single pin that enables all drives or several depending on the setup you have Note however that usually when one axis faults all the other drives will be disabled as well so having only one enable signal pin for all drives is a common practice 8 3 7 External ESTOP button As you can see in the standard pinout hal file by default the stepper configuration assumes no external ESTOP button 2 To add a simple external button you need to replace the line An extensive explanation of hooking up ESTOP circuitry is explained in the wiki linuxcnc org and elsewhere in the Integrator Manual Integrator Manual V2 5 2013 03 10 41 255 net estop loop iocontrol 0 user enable out iocontrol 0 emc enable in with net estop loop parport 0 pin 01 in iocontrol 0 emc enable in This assumes an ESTOP switch connected to pin 01 on the parport As long as the switch will stay pushed LinuxCNC will be in the ESTOP state When the external button gets released LinuxCNC will immediately switch to the ESTOP RESET state and all you need to do is switch to Machine On and you ll be able to continue your work with LinuxCNC 3make sure you use a maintained switch for ESTOP Integrator Manual V2 5 2013 03 10 42 255 Chapter 9 Basic HAL Tutorial 9 1 HAL Commands More detailed information can be found in the man page for halcmd ma
42. ee e 34 9 9 KOM ACCESS Ls La REGE ooo EAE ESSA Ov Roe m o UE e 371 0 Terminal Commands col ROO e y pow ON RE we WUE cU pog Rn S15 Working DIGG 2 RG Rae LA C DG P s 34 0 Change DUeCtontes ndo o edo s xen Sd RS Sew Ee RU Pozo Gu UE 37 03 Lis ng lesin a direct ry 22222 oom Roe o dex OE RR Ee ALE eC MOX on 2rd Podio s Pe ES REIR CURL RD LULA 340 5 for Text 122 hee he 94989 ean SESS eee e zum dv Ux e vd 37 06 Boop MessHEBB oo c gone aw ce dore oce Roy TR ec x dece Voy eon 314 DONNE s RR RU x Ee Tux XU RC ON Rb opu HEURE Se eS oe 3X1 Terminal Launcher cine eb ev ee Shee Rae RAS ovo Xx gue de GE Ee 35 5 Hardware Problemi soo oy RR OE RU ee ea Res Siok Hanae MP ke bo ee Ed aoe GO A ee SS TIT 31 5 2 Monitor Resolution uomo oko he eee ER AS RA ee oU es Be i REED CTI 38 Glossary 39 Legal Section e ur MIO E ERE Sh ee a ee Pee eR ey ee eB 39 2 GNU Free Documentation License oeo uo eredama se m oom ee ee wow Bo ROS e ee RO xs 40 Index XV 240 240 240 240 241 241 241 241 241 241 241 242 242 242 242 243 243 243 243 243 243 243 244 249 249 249 253
43. etc emc2 sample configs stepper 8 2 Maximum step rate With software step generation the maximum step rate is one step per two BASE PERIODS for step and direction output The maximum requested step rate is the product of an axis VELOCITY and its INPUT SCALE If the requested step rate is not attainable following errors will occur particularly during fast jogs and GO moves If your stepper driver can accept quadrature input use this mode With a quadrature signal one step is possible for each BASE PERIOD doubling the maximum step rate The other remedies are to decrease one or more of the BASE PERIOD setting this too low will cause the machine to become unresponsive or even lock up the INPUT SCALE if you can select different step sizes on your stepper driver change pulley ratios or leadscrew pitch or the MAX VELOCITY and STEPGEN_MAXVEL If no valid combination of BASE PERIOD INPUT SCALE and VELOCITY is acceptable then consider using hard ware step generation such as with the Linux CNC supported Universal Stepper Controller Mesa cards and others 8 3 Pinout One of the major flaws in LinuxCNC was that you couldn t specify the pinout without recompiling the source code LinuxCNC is far more flexible and now thanks to the Hardware Abstraction Layer you can easily specify which signal goes where See the HAL manual for more detailed information on HAL As it is described in the HAL Introduction and tutor
44. pins and the status group consists of 5 input pins In the early 1990 s the bidirectional parallel port was introduced which allows the data group to be used for output or input The HAL driver supports the bidirectional port and allows the user to set the data group as either input or output If configured as output a port provides a total of 12 outputs and 5 inputs If configured as input it provides 4 outputs and 13 inputs In some parallel ports the control group pins are open collectors which may also be driven low by an external gate On a board with open collector control pins the x mode allows a more flexible mode with 8 outputs and 9 inputs In other parallel ports the control group has push pull drivers and cannot be used as an input HAL and Open Collectors HAL cannot automatically determine if the x mode bidirectional pins are actually open collectors OC If they are not they cannot be used as inputs and attempting to drive them LOW from an external source can damage the hardware To determine whether your port has open collector pins load hal parport in x mode With no device attached HAL should read the pin as TRUE Next insert a 470 ohm resistor from one of the control pins to GND If the resulting voltage on the control pin is close to OV and HAL now reads the pin as FALSE then you have an OC port If the resulting voltage is far from OV HAL does not read the pin as FALSE then your port cannot be used in x m
45. text gt lt bd gt 3 lt bd gt lt button gt lt hbox gt The above code produced this example borders FLAT SUHKEH RAISED GROOVE Rice 10 6 9 2 Hbox Use an Hbox when you want to stack widgets horizontally next to each other hbox lt relief gt RIDGE lt relief gt lt bd gt 6 lt bd gt lt label gt lt text gt a hbox lt text gt lt label gt lt led gt lt led gt lt number gt lt number gt lt bar gt lt bar gt lt hbox gt The above code produced this example hbox Inside Hbox you can use the lt boxfill fill gt boxanchor anchor gt and boxexpand expand gt tags to choose how items in the box behave when the window is re sized For details of how fill anchor and expand behave refer to the Tk pack manual page pack 3tk By default fill anchor center expand yes 10 6 9 3 Vbox Use a Vbox when you want to stack widgets vertically on top of each other lt vbox gt lt relief gt RIDGE lt relief gt lt bd gt 6 lt bd gt lt label gt lt text gt a vbox lt text gt lt label gt lt led gt lt led gt lt number gt lt number gt lt bar gt lt bar gt lt vbox gt The above code produced this example Integrator Manual V2 5 2013 03 10 69 255 Inside a Hbox you can use the boxfill fill gt boxanchor anchor gt and boxexpand expand gt tags to choose how items in the box behave when the window
46. 03 10 109 255 12 8 10 Saving the state on Gladvcp shutdown To save the widget and or variable state on exit proceed as follows select some interior widget type is not important for instance a table in the Signals tab select GtkObject It should show a destroy signal in the first column add the handler name e g destroy to the second column add a Python handler like below import gtk def on destroy self obj data None self ini save state self This will save state and shutdown GladeVCP properly regardless whether the panel is embedded in Axis or a standalone window Caution Do not use windowl the toplevel window to connect dest roy event Due to the way GladeVCP panel interacts with Axis if a panel is embedded within Axis window1 will not receive destroy events properly However since on shutdown all widgets are destroyed anyone will do Recommended use a second level widget for instance if you have a table container in your panel use that Next time you start the GladeVCP application the widgets should come up in the state when the application was closed Caution D The GtkWidget line has a similarly sounding destroy event dont use that to connect to the on_destroy handler it wont work make sure you use the destroy event from the GtkObject line 12 8 11 Saving state when Ctrl C is pressed By default the reaction of Glade VCP to a Ctrl C event is to just exit witho
47. 03 out mere aport 0 onm 0 2 ome can be changed to net Xstep parport 0 pin 02 out met oveueioxoucic 0 1902010100 3 0 or basically any other out pin you like Hint make sure you don t have more than one signal connected to the same pin 8 3 4 Changing polarity of a signal If external hardware expects an active low signal set the corresponding invert parameter For instance to invert the spindle control signal setp parport 0 pin 09 invert TRUE 8 3 5 Adding PWM Spindle Speed Control If your spindle can be controlled by a PWM signal use the pwmgen component to create the signal loadrt pwmgen output type 0 addf pwmgen update servo thread addf pwmgen make pulses base thread net spindle speed cmd motion spindle speed out gt pwmgen 0 value net spindle on motion spindle on gt pwmgen 0 enabl net spindle pwm pwmgen 0 pwm gt parport 0 pin 09 out setp pwmgen 0 scale 1800 4 Change to your spindles top speed in RPM This assumes that the spindle controller s response to PWM is simple 0 PWM gives 0 RPM 10 PWM gives 180 RPM etc If there is a minimum PWM required to get the spindle to turn follow the example in the nist lathe sample configuration to use a scale component 8 3 6 Adding an enable signal Some amplifiers drives require an enable signal before they accept and command movement of the motors For this reason there are already defined signals called Xen Yen
48. 2013 03 10 116 255 e halui max velocity counts s32 in counts scale MV percentage Can be used with an encoder or direct value halui max velocity direct value bit in false when using encoder to change counts true when setting counts directly The count enable pin must be true halui max velocity decrease bit in pin for decreasing max velocity halui max velocity increase bit in pin for increasing max velocity halui max velocity scale float in the amount applied to the current maximum velocity with each transition from off to on of the increase or decrease pin in machine units per second halui max velocity value float out is the maximum linear velocity in machine units per second MDI Sometimes the user wants to add more complicated tasks to be performed by the activation of a HAL pin This is possible using the following MDI commands scheme The MDI COMMAND is added to the ini file in the HALUI section HALUT MDI COMMAND GO When halui starts it will read the MDI COMMAND fields in the ini and export pins from 00 to the number of MDI COMMAND s found in the ini up to a maximum of 64 commands halui mdi command lt nn gt bit in halui will try to send the MDI command defined in the ini This will not always succeed depending on the operating mode LinuxCNC is in e g while in AUTO halui can t successfully send MDI commands If the command succeeds then it will place
49. 24 maxlimit 24 maxfullscale 24 If you wanted to scale the analog out of a channel to RPM for a 0 to 6000 RPM spindle with 0 10V control you could set the limits like this minlimit 0 maxlimit 6000 maxfullscale 6000 this would prevent unwanted negative output voltages from being set 18 17 Example Configurations Several example configurations for Mesa hardware are included with LinuxCNC The configurations are located in the hm2 servo and hm2 stepper sections of the Configuration Selector Typically you will need the board installed for the configuration you pick to load The examples are a good place to start and will save you time Just pick the proper example from the LinuxCNC Configuration Selector and save a copy to your computer so you can edit it To see the exact pins and parameters that your configuration gave you open the Show HAL Configuration window from the Machine menu or do dmesg as outlined above Integrator Manual V2 5 2013 03 10 142 255 Chapter 19 Motenc Driver Vital Systems Motenc 100 and Motenc LITE The Vital Systems Motenc 100 and Motenc LITE are 8 and 4 channel servo control boards The Motenc 100 provides 8 quadra ture encoder counters 8 analog inputs 8 analog outputs 64 68 digital inputs and 32 digital outputs The Motenc LITE has only 4 encoder counters 32 digital inputs and 16 digital outputs but it still has 8 analog inputs and 8 analog outputs The driver automatically identifies the installed
50. 2e EC D Figure 30 13 Editor Window Now click in the upper left grid to place the N O Input into the ladder Integrator Manual V2 5 2013 03 10 215 255 Section Display of custom a Current in edit Figure 30 14 Section Display with Input Repeat the above steps to add a N O Output to the upper right grid and use the Horizontal Connection to connect the two It should look like the following If not use the Eraser to remove unwanted sections Integrator Manual V2 5 2013 03 10 216 255 Section Display of custom clip isplsy IM Current in edit Figure 30 15 Section Display with Rung Now click on the OK button in the Editor window Now your Section Display should look like this Integrator Manual V2 5 2013 03 10 217 255 Section Display of custom clp Figure 30 16 Section Display Finished To save the new file select Save As and give it a name The clp extension will be added automatically It should default to the running config directory as the place to save it Integrator Manual V2 5 2013 03 10 218 255 Please select the project to save 7 Browse for other folders Efe om places v Modified d Search D custom clp Today at 10 35 Recently Used jet Desktop C File System Documents Music Pictures Videos ClassicLadder projects Figure 30 17 Save As Dialog Again
51. 8 ones for the 8 outputs Which converts to FF on the calculator so is the number to use for portconfigO and or portconfig when loading the driver Integrator Manual V2 5 2013 03 10 146 255 20 7 Pin Numbering HAL pin 00 corresponds to bit 1 the rightmost which represents position 0 on an Opto22 relay rack HAL pin 01 corresponds to bit 2 one spot to the left of the rightmost which represents position 1 on an Opto22 relay rack HAL pin 23 corresponds to bit 24 the leftmost which represents position 23 on an Opto22 relay rack HAL pin 00 connects to pin 47 on the 50 pin connector of each port HAL pin 01 connects to pin 45 on the 50 pin connector of each port HAL pin 23 connects to pin 1 on the 50 pin connector of each port Note that Opto22 and Mesa use opposite numbering systems Opto22 position 23 connector pin 1 and the position goes down as the connector pin number goes up Mesa Hostmot2 position 1 connector pin 1 and the position number goes up as the connector pin number goes up Integrator Manual V2 5 2013 03 10 147 255 Chapter 21 Pico Drivers Pico Systems has a family of boards for doing analog servo stepper and PWM digital servo control The boards connect to the PC through a parallel port working in EPP mode Although most users connect one board to a parallel port in theory any mix of up to 8 or 16 boards can be used on a single parport One driver serves all types of boards The final mix of I
52. Defined Actions Most widget sets and their associated user interface editors support the concept of callbacks functions in user written code which are executed when something happens in the UI events like mouse clicks characters typed mouse movement timer events window hiding and exposure and so forth HAL output widgets typically map input type events like a button press to a value change of the associated HAL pin by means of such a predefined callback Within PyVCP this is really the only type of event handling supported doing something more complex like executing MDI commands to call a G code subroutine is not supported Within GladeVCP HAL pin changes are just one type of the general class of events called signals in GTK Most widgets may originate such signals and the Glade editor supports associating such a signal with a Python method or function name If you decide to use user defined actions your job is to write a Python module whose class methods or in the simple case just functions can be referred to in Glade as event handlers GladeVCP provides a way to import your module s at startup and will automatically link your event handlers with the widget signals as set in the Glade UI description 12 8 2 An example adding custom user callbacks in Python This is just a minimal example to convey the idea details are laid out in the rest of this section GladeVCP can not only manipulate or display HAL pins you c
53. EE be wr wa xus 5 4 Hepat be bt ae s Roh hes o NUR See EORR 8 3 Pinout 8 3 1 5 32 23 8 3 4 8 3 5 8 3 6 8 3 7 standard dom xc qe AU EOS EORR Ag EUR UE ds a bo cocos ke ha TI Chae ae Changing the standard pioubhal Re Oe Oe Re E Eo roy Y POS SOROR e Y Changing polarity Ol ASIN ono Ra m Re ORARE ORC Adding PWM Spindle Speed Control cs oss ee ee ee eee ee amenable signal oos NUN E Y Bee Exterual ESTOP DUMON o Roe RR RD RR A OR a 9 Basic HAL Tutorial 9i HAL COMANO cu vie ae a we ee a we aR Sees BeOS Sw Y e xp Ne ee des de PCD D UL GEN codigo Ate eee oe amp Wh eds ed A ae ce WS oe ewe ce SE ee SES BWR Eee BS we WES Ee we Hie Ree Sx OAS Bae Bb nik ones m Mer egi dose aedi eros e RUE eee Me eae des 917 Obsolete Commands s oo oor xo RR d Xv RO 9 ook E RC S TRP BAGS mdp m pee BALA A ed eR
54. Generally any motor that is used with error sensing feedback to correct the position of an actuator Also a motor which is specially designed to provide improved performance in such applications Servo Loop A control loop used to control position or velocity of an motor equipped with a feedback device Signed Integer A whole number that can have a positive or negative sign In HAL it is known as s32 A signed 32 bit integer has a usable range of 2 147 483 647 to 2 147 483 647 Spindle The part of a machine tool that spins to do the cutting On a mill or drill the spindle holds the cutting tool On a lathe the spindle holds the workpiece Integrator Manual V2 5 2013 03 10 248 255 Spindle Speed Override A manual operator controlled change in the rate at which the tool rotates while cutting Often used to allow the operator to adjust for chatter caused by the cutter s teeth Spindle Speed Override assumes that the LinuxCNC software has been configured to control spindle speed Stepconf An LinuxCNC configuration wizard It is able to handle many step and direction motion command based machines It writes a full configuration after the user answers a few questions about the computer and machine that LinuxCNC is to run on Stepper Motor A type of motor that turns in fixed steps By counting steps it is possible to determine how far the motor has turned If the load exceeds the torque capability of the motor it will skip one or m
55. In your custompanel xml file we will add the description of the widgets lt pyvcp gt lt labelframe text Jog Buttons gt lt font gt Helvetica 16 lt font gt lt the X Jog buttons gt lt hbox gt lt relief gt RAISED lt relief gt lt bd gt 3 lt bd gt lt button gt font Helvetica 20 lt font gt lt width gt 3 lt width gt lt halpin gt x plus lt halpin gt lt text gt X lt text gt button button font Helvetica 20 font lt width gt 3 lt width gt halpin x minus halpin peque button lt hbox gt cO Yay Gc DUEtCONS gt lt hbox gt lt relief gt RAISED lt relief gt lt bd gt 3 lt bd gt lt button gt lt font gt Helvetica 20 lt font gt lt width gt 3 lt width gt lt halpin gt y plus lt halpin gt Au qup button button font Helvetica 20 font width 3 width lt halpin gt y minus lt halpin gt Iy N text button lt hbox gt lS the Jog buttons gt lt hbox gt lt relief gt RAISED lt relief gt lt bd gt 3 lt bd gt lt button gt font Helvetica 20 font width 3 width lt halpin gt z plus lt halpin gt ires VAU text gt lt button gt button font Helvetica 20 font width 3 width halpin z minus halpin A Integrator Manual V2 5 2013 03
56. LinuxCNC Servo Axis Calibration utility program in the AXIS interface menu Machine Calibration and in TkLinuxCNC it is under Set ting Calibration can be used to set these and more interactively and verify their results so that the proper values can be put in the INI file with a minimum of trouble 3 2 10 1 Homing These parameters are Homing related for a better explanation read the Homing Configuration Chapter HOME 0 0 The position that the joint will go to upon completion of the homing sequence HOME_OFFSET 0 0 The axis position of the home switch or index pulse in machine units When the home point is found during the homing process this is the position that is assigned to that point When sharing home and limit switches and using a home sequence that will leave the home limit switch in the toggled state the home offset can be used define the home switch position to be other than 0 if your HOME position is desired to be 0 HOME_SEARCH_VEL 0 0 Initial homing velocity in machine units per second Sign denotes direction of travel A value of zero means assume that the current location is the home position for the machine If your machine has no home switches you will want to leave this value at zero HOME_LATCH_VEL 0 0 Homing velocity in machine units per second to the home switch latch position Sign denotes direction of travel HOME_FINAL_VEL 0 0 Velocity in machine units per second from home latch position to home po
57. MDI commands used by HALUI TRAJ additional settings used by the real time motion controller AXIS n individual axis variables EMCIO settings used by the I O Controller 3 1 3 Variables A variable line is made up of a variable name an equals sign and a value Everything from the first non white space character after the up to the end of the line is passed as the value so you can embed spaces in string symbols if you want to or need to A variable name is often called a keyword The following sections detail each section of the configuration file using sample values for the configuration lines Variables that are used by LinuxCNC must always use the section names and variable names as shown In the following example the variable MACHINE is assigned the value My Machine Variable Example MACHINE My Machine 3 1 4 Custom Sections and Variables Most sample configurations use custom sections and variables to put all of the settings into one location for convenience To use a custom section variable in your HAL file add the section and variable to the INI file Custom Section Example OFFSETS OFFSET 1 0 1234 To add a custom variable to a LinuxCNC section simply include the variable in that section Custom Variable Example AXIS_0 TYP LINEAR SCALE 16000 Integrator Manual V2 5 2013 03 10 13 255 To use the custom variables in your HAL file put the section and variabl
58. O depends on the connected board s The driver doesn t distinguish between boards it simply numbers I O channels encoders etc starting from 0 on the first board The driver is named hal ppmc ko The analog servo interface is also called the PPMC for Parallel Port Motion Control There is also the Universal Stepper Controller abbreviated the USC And the Universal PWM Controller or UPC Installing loadrt hal ppmc port lt gt lt 2 gt lt 3 gt The port addr parameter tells the driver what parallel port s to check default lt 1 gt is 0x0378 lt addr2 gt and following are not used The driver searches the entire address space of the enhanced parallel port s at port addr looking for any board s in the PPMC family It then exports HAL pins for whatever it finds During loading or attempted loading the driver prints some useful debugging messages to the kernel log which can be viewed with dmesg Up to 3 parport busses may be used and each bus may have up to 8 or possibly 16 PPMC devices on it 21 1 Pins In the following pins parameters and functions port is the parallel port ID According to the naming conventions the first port should always have an ID of zero All the boards have some method of setting the address on the EPP bus USC and UPC have simple provisions for only two addresses but jumper foil cuts allow up to 4 boards to be addressed The PPM
59. Patterns tor the NC NML interface lt 2 ea ok orto Rotor ro whe ARE Y Sos Reading Linux NG state nouo eos UR RU pm Bee York ROS UN GR ee EUR Bnuxencstab SUCUS ak RGR eR Re Ra ra PAN CAM LEID A CC DIT Preparing to setd commands 2 uo Roe Rom toe x oe wx oe ge y dy DOR AL e Sending commands through Linuxcnus command s ses nesep a RR 2501 Ilinuxcohe eommasd AMTIDIIES zog GEORG M ORO Xe v GRE Xo SESS EX 13 5 2 1S8puxence commaud methode ous LO n Reading Ie eror chanel RR GE USE Reading ini ile yalu s s ecs EE SRS ERE Y oe BESS The liuuxene positrionleggqgeriW amp i322 neg ok Sark 2305 2 SEU BUR ewe SEES 1 153 154 154 154 155 155 156 157 157 157 158 158 159 159 159 159 161 162 Integrator Manual V2 5 2013 03 10 26 Kinematics zi lose poe UR ER KORR RC RT TORO KCN CUR e an 25 1 1 JOS WSs ARES l
60. Pd AXIS iua E chow Xr WU hoe ege e pb m BH oe o ended dee 54 DOS stand BION cook E eee Be NONO gnome RO SE 9 55 WORSE hs dede el ES Bedi a eos d 56 WG SYR haa eos ba eR Ee ee Pe ea AME Se ig 56 Wea enel ODER due SE BS EEE Ee 56 10 021 conus om e e EDT 0 57 20 577 Edine the XML ile 2 5 2 2 owe Re A 57 105 2 3 Ro RR o RO Uus Gok dn 57 2056 4 222 eA ROM cO 57 car IT 58 10543 LEDS sc nonne BES eae Oe EUR UB ee we oe aL 58 IGAT Rowe ie bh eG EDO ORE ook 58 Woe suse oS ee RO d Re eR Rae 59 SUDO heehee eh B ku drei n eee Y 59 30455 uus Ec Rer S YG Oe See 9 59 Mora Id D Gd etd 60 105 5 Radigbultem
61. Reject Extra Pulses This example shows you how to reject extra pulses from an input Suppose the input pulse 9610 has an annoying habit of giving an extra pulse that spoils our logic The TOF Timer Off Delay prevents the extra pulse from reaching our cleaned up output QO How this works is when the timer gets an input the output of the timer is on for the duration of the time setting Using a normally closed contact TMO Q the output of the timer blocks any further inputs from reaching our output until it times out Integrator Manual V2 5 2013 03 10 221 255 volg TMO Q 9020 SeTMO Q TOF Figure 31 2 Reject Extra Pulse 31 3 External E Stop The External E Stop example is in the config classicladder cl estop folder It uses a pyVCP panel to simulate the external components To interface an external E Stop to LinuxCNC and have the external E Stop work together with the internal E Stop requires a couple of connections through Classic Ladder First we have to open the E Stop loop in the main HAL file by commenting out by adding the pound sign as shown or removing the following lines net estop out lt iocontrol 0 user enable out net estop out gt iocontrol 0 emc enable in Next we add Classic Ladder to our custom hal file by adding these two lines loadrt classicladder rt addf classicladder 0 refresh servo thread Next we run our config and build the ladder as shown here Integrator Manual V2 5
62. True Integrator Manual V2 5 2013 03 10 99 255 Example 12 6 16 Animated function diagrams HAL widgets in a bitmap For some applications it might be desirable to have background image like a functional diagram and position widgets at appropriate places in that diagram A good combination is setting a bitmap background image like from a png file making the gladevcp window fixed size and use the glade Fixed widget to position widgets on this image The code for the below example can be found in configs gladevcp animated backdrop Integrator Manual V2 5 2013 03 10 100 255 12 7 Action Widgets reference GladeVcp includes a collection of canned actions called EMC Action Widgets for the Glade user interface editor Other than HAL widgets which interact with HAL pins EMC Actions interact with LinuxCNC and the G code interpreter EMC Action Widgets are derived from the Gtk Action widget The Action widget in a nutshell itis an object available in Glade it has no visual appearance by itself e it s purpose associate a visible sensitive UI component like menu toolbutton button with a command See these widget s General Related Action property the canned action will be executed when the associated UI component is triggered button press menu click it provides an easy way to execute commands without resorting to Python programming The appearance of EMC Actions in Glade is roughly as follo
63. a little disappointing especially if you use microstepping or have very fine pitch leadscrews If the numbers are 100 us or more 100 000 nanoseconds then the PC is not a good candidate for software stepping Numbers over 1 millisecond 1 000 000 nanoseconds mean the PC 15 not a good candidate for LinuxCNC regardless of whether you use software stepping or not Note that if you get high numbers there may be ways to improve them Another PC had very bad latency several milliseconds when using the onboard video But a 5 used video card solved the problem Note LinuxCNC does not require bleeding edge hardware For more information on stepper tuning see the Stepper Tuning Chapter Integrator Manual V2 5 2013 03 10 10 255 2 1 Port Address For those who build their own hardware one safeguard against shorting out an on board parallel port or even the whole motherboard is to use an add on parallel port card Even if you don t need the extra layer of safety a parport card is a good way to add extra I O lines with LinuxCNC One good PCI parport card is made with the Netmos 9815 chipset It has good 5 signals and can come in a single or dual ports To find the I O addresses for these cards open a terminal window and use the list pci command Look for the entry with Netmos in it Example of a 2 port card 0000 01 0a 0 Communication controller Netmos Technology PCI 9815 Multi I O Controller rev 0
64. a switch that closes whenever the coil QO is active This would be the case in a relay where the coil can activate the switch contacts or in a contactor where there are often several small auxilliary contacts in addition to the large 3 phase contacts that are the primary feature of the contactor Since this auxilliary switch is driven from coil QO in our earlier example we will give it the same number as the coil that drives it This is the standard practice followed in all ladder programming although it may seem strange at first to see a switch labeled the same as a coil So let s call this auxilliary contact QO and connect it across the BO pushbutton contact from our earlier example Let s take a look at it Integrator Manual V2 5 2013 03 10 188 255 10 Gd As before when the user presses pushbutton BO coil QO comes on And when coil QO comes on switch Q0 comes on Now the interesting part happens When the user releases pushbutton BO coil QO does not stop as it did before This is because switch QO of this circuit is effectively holding the user s pushbutton pressed So we see that switch QO is still holding coil QO on after the start pushbutton has been released This type of contact on a coil or relay used in this way is often called a holding contact because it holds on the coil that it is associated with It is also occasionally called a seal contact and when it is active it is said that the circuit is sealed Unf
65. ahead to the index pulse search If HOME SEARCH VEL is non zero and this parameter is zero it is an error and the homing operation will fail The default value is zero 43 3 HOME FINAL VEL It specifies the speed that LinuxCNC uses when it makes its move from HOME OFFSET to the HOME position If the HOME FINAL VEL is missing from the ini file then the maximum joint speed is used to make this move The value must be a positive number 4 3 4 HOME IGNORE LIMITS Can hold the values YES NO The default value for this parameter is NO This flag determines whether LinuxCNC will ignore the limit switch input for this axis while homing Setting this to YES will not ignore limit inputs for other axes If you do not have a separate home switch set this to YES and case connect the limit switch signal to the home switch input in HAL LinuxCNC will ignore the limit switch input for this axis while homing To use only one input for all homing and limits you will have to block the limit signals of the axes not homing in HAL and home one axis at a time Integrator Manual V2 5 2013 03 10 27 255 43 5 HOME USE INDEX Specifies whether or not there is an index pulse If the flag 15 true HOME USE INDEX YES LinuxCNC will latch on the rising edge of the index pulse If false LinuxCNC will latch on either the rising or falling edge of the home switch depending on the signs of HOME SEARCH VEL and HOME LATCH VEL The default value is NO 4 3 6 HOME
66. always meet the timing requirements of the Gecko For normal stepping no direction change the increased dirhold value has no effect It takes two periods totalling 32 us to make each step and we have the same 31 250 step per second rate that we got with the Xylotex The 11 us latency number used in this example is very good If you work through these examples with larger latency like 20 or 25 us the top step rate for both the Xylotex and the Gecko will be lower But the same formulas apply for calculating the optimum BASE PERIOD and for tweaking dirhold or other step generator parameters 27 1 5 No Guessing For a fast AND reliable software based stepper system you cannot just guess at periods and other configuration paremeters You need to make measurements on your computer and do the math to ensure that your drives get the signals they need To make the math easier I ve created an Open Office spreadsheet http wiki linuxcnc org uploads StepTimingCalculator ods You enter your latency test result and your stepper drive timing requirements and the spreadsheet calculates the optimum Integrator Manual V2 5 2013 03 10 181 255 BASE PERIOD Next you test the period to make sure it won t slow down or lock up your PC Finally you enter the actual period and the spreadsheet will tell you the stepgen parameter settings that are needed to meet your drive s timing requirements It also calculates the maximum step rate that you will be able
67. basic syntax is find starting directory parameters actions For example to find all the ini files in your emc2 directory you first need to use the pwd command to find out the directory Open a new terminal window and type pwd And pwd might return the following result home joe With this information put the command together like this find home joe linuxcnc name ini print The name is the name of the file your looking for and the print tells it to print out the result to the terminal window The V ini tells find to return all files that have the ini extension The backslash is needed to escape the shell meta characters See the find man page for more information on find 37 6 5 Searching for Text ceea zc xtc rO Sco cw io w This will find all the files that contain the text to search for in the current directory and all the subdirectories below it while ignoring the case The i is for ignore case and the r is for recursive include all subdirectories in the search The l option will return a list of the file names if you leave the 1 off you will also get the text where each occourance of the text to search for is found The is a wild card for search all files See the grep man page for more information Integrator Manual V2 5 2013 03 10 243 255 37 6 6 Bootup Messages To view the bootup messages use dmesg from the command window To save the bootup messages to a file use the redirection ope
68. be applied motion spindle forward bit out TRUE when the spindle should rotate forward motion spindle index enable bit I O For correct operation of spindle synchronized moves this pin must be hooked to the index enable pin of the spindle encoder Integrator Manual V2 5 2013 03 10 34 255 motion spindle on bit out TRUE when spindle should rotate motion spindle reverse bit out TRUE when the spindle should rotate backward motion spindle revs float in For correct operation of spindle synchronized moves this signal must be hooked to the position pin of the spindle encoder The spindle encoder position should be scaled such that spindle revs increases by 1 0 for each rotation of the spindle in the clockwise M3 direction motion spindle speed in float in Feedback of actual spindle speed in rotations per second This is used by feed per revolution motion G95 If your spindle encoder driver does not have a velocity output you can generate a suitable one by sending the spindle position through ddt component If you do not have a spindle encoder you can loop back motion spindle speed out rps motion spindle speed out float out Commanded spindle speed in rotations per minute Positive for spindle forward negative for spindle reverse M4 motion spindle speed out rps float out Commanded spindle speed in rotations per second Positive for spindle forward negative for spindle
69. counts If the machine is capable of high acceleration to smooth out the moves for each click of the MPG use the ilowpass component to limit the acceleration jog hal with ilowpass loadrt encoder num 1 loadrt mux4 count 1 addf encoder capture position servo thread addf encoder update counters base thread addf mux4 0 servo thread loadrt ilowpass addf ilowpass 0 servo thread setp ilowpass 0 scale 1000 setp ilowpass 0 gain 0 01 If your MPG outputs a quadrature signal per click set x4 to 1 If your MPG puts out 1 pulse per click set x4 to 0 setp encoder 0 x4 mode 0 For velocity mode set to 1 In velocity mode the axis stops when the dial is stopped even if that means the commanded motion is not completed For position mode the default set to 0 In position mode the axis will move exactly jog scale units for each count regardless of how long that might take setp axis 0 jog vel mode 0 setp axis 1 jog vel mode 0 setp axis 2 jog vel mode 0 the inputs to the mux4 component net scalel mux4 0 sel0 lt parport 1 pin 09 in net scale2 mux4 0 sell lt parport 1l pin 10 in this sets the scale that will be used based on the input to the mux4 the scale used here has to be multiplied by the ilowpass scale setp mux4 0 in0 0 0001 setp mux4 0 inl 0 00001 setp mux4 0 in2 0 000001 send encoder counts to ilowpass net mpg out ilowpass 0 in lt encoder 0 counts Integrator Manual V2 5 2
70. dicts reflecting current axis values See The axis dictionary axis_mask returns integer mask of axis available as defined by TRAJ COORDINATES in the ini file Returns the sum of the axes X 1 Y 2 Z 4 A 8 B 16 C 32 U 64 V 128 W 256 block_delete returns integer block delete currently on off command returns string currently executing command current_line returns integer currently executing line int Integrator Manual V2 5 2013 03 10 164 255 current vel returns float current velocity in Cartesian space cycle time returns string reflects TRAJ CYCLE TIME ini value FIXME is this right debug returns integer debug flag delay left returns float remaining time on dwell G4 command seconds din returns tuple of integers current value of the digital input pins distance to go returns float remaining distance of current move as reported by trajectory planner in Cartesian space dout returns tuple of integers current value of the digital output pins dtg returns tuple of 9 floats remaining distance of current move as reported by trajectory planner echo serial number returns integer The serial number of the last completed command sent by a UI to task All commands carry a serial number Once the command has been executed its serial number is reflected in echo serial number enabled returns integer trajectory planner enabled flag est
71. distance jog linuxenc JOG STOP axis jog linuxenc JOG CONTINUOUS axis velocity jog linuxenc JOG INCREMENT axis velocity distance Constants JOG STOP 0 JOG CONTINUOUS 1 JOG INCREMENT 2 load tool table reload the tool table maxvel float set maximum velocity mdi string send an MDI command Maximum 255 chars mist int turn on off mist Syntax mist command mist linuxcnc MIST ON 1 mist linuxcnc MIST OFF 0 frontangle 170 255 backangle orientation Integrator Manual V2 5 2013 03 10 171 255 Constants MIST ON 1 OFF 0 mode int set mode MODE MDI MODE MANUAL MODE AUTO override limits set the override axis limits flag program open string open an NGC file reset interpreter reset the RS274NGC interpreter set adaptive feed int set adaptive feed flag set analog output int float set analog output pin to value set block delete int set block delete flag set digital output int int set digital output pin to value set feed hold int set feed hold on off set feed override int set feed override on off set max limit int float set max position limit for a given axis set min limit set min position limit for a given axis set optional stop int set optional stop on off set spindle override int set spindle override flag spindle int set spindle direction Argument one of SPINDLE FORWARD SPINDLE REVERSE SPINDLE
72. e cg be ees ee RP oe eA wR eee See eee Sa 205 30 7 Classic Ladder Variables o ecb eon Rmo R Ro ee e Rer Rom ee ee 205 abs GRAFRCET PrGEOIBIBOES ERS hehe Bae a wth vei emp xe 206 30 9 ee eee Do ee ek ed ee a Goes GedoR Sm es 207 30 9 1 MODBUS Settings cuo hom Repo m Reb R De do o DL eee E e 210 30 9 MODBUS ME o a ds rev pee e re ete e xr Ep s 211 30 9 5 Lommumncabon RR SE 211 3094 MODBUS om hom REG Ro e a 211 ab setting up Casse Ladder v 2 ud dome E BH Uer Dee Bald eene gu ede 212 Add the Modules oso Roo Room bea Ro ex ho mom Ro 212 30 10 2 Adding Ladder noB e Re Se ee A eR de 212 Integrator Manual V2 5 2013 03 10 31 Classicladder Examples 31 1 Wrapping Counter 31 2 Reject Extra Pulses 31 3 External E Stop 31 4 Tamer Operte Example os uuo ox Re RU Rm g E DIR e C oe oe de VII Hardware Examples 32 PCI Parallel Port 33 Spindle Control 33 1 0 10v Spindle Speed 33 2 PWM Spindle Speed 33 3 Spindle Enable 33 4 Spindle Direction 33 5 Spindle Soft Start 33 6 Spindle Feedback 33 6 1 Spindle Synchronized Motion s
73. for your modbus slave device will tell you how the registers are set up there is no standard way The SERIAL PORT PORT SPEED PAUSE and DEBUG level are editable for changes when you close the config window values are applied though Radio buttons apply immediately To use the echo function select the echo function and add the slave number you wish to test You don t need to specify any variables The number 257 will be sent to the slave number you specified and the slave should send it back you will need to have Classic Ladder running in a terminal to see the message 30 9 1 MODBUS Settings Serial e Classic Ladder uses RTU protocol not ASCII 8 data bits No parity is used and 1 stop bit is also known as 8 N 1 Baud rate must be the same for slave and master Classic Ladder can only have one baud rate so all the slaves must be set to the same rate Pause inter frame is the time to pause after receiving an answer MODBUS TIME AFTER TRANSMIT is the length of pause after sending a request and before receiving an answer this apparently helps with USB converters which are slow Integrator Manual V2 5 2013 03 10 211 255 30 9 2 MODBUS Info Classic Ladder can use distributed inputs outputs on modules using the modbus protocol master polling slaves The slaves and theirs I O can be configured in the config window 2 exclusive modes are available ethernet using Modbus TCP and serial using Modbus RTU No p
74. gain This number is multiplied by the commanded position resulting in a contribution volts to the computed voltage for the motor amplifier The units on the FFO gain are volts per machine unit e g unit FF 0 The 1st order feed forward gain This number is multiplied by the change in commanded position per second resulting in a contribution to the computed voltage for the motor amplifier The units on the FF1 gain are volts per machine volts unit per second e g unit second Integrator Manual V2 5 2013 03 10 21 255 FF2 0 The 2nd order feed forward gain This number is multiplied by the change in commanded position per second second resulting in a contribution to the computed voltage for the motor amplifier The units on the FF2 gain are volts per volts 2 machine unit per second per second e g unit second OUTPUT SCALE 1 000 e OUTPUT OFFSET 0 000 These two values are the scale and offset factors for the axis output to the motor amplifiers The second value offset is subtracted from the computed output in volts and divided by the first value scale factor before being written to the D A converters The units on the scale value are in true volts per DAC output volts The units on the offset value are in volts These can be used to linearize a DAC Specifically when writing outputs the LinuxCNC first converts the desired output in quasi SI units to raw actuator values e g volts for a
75. gate versions Default Configurations Integrator Manual V2 5 2013 03 10 136 255 Firmware Encoder PWM StepGen GPIO SV8 8 8 0 0 SVST4_4 4 4 4 15 0 SVSTA 6 4 4 6 13 0 SVSTA 12 4 4 12 0 SVST2 4 7147 4 2 4 24 7143 2 port parallel 200k gate versions Default Configurations Firmware Encoder PWM StepGen GPIO SV8 8 8 0 0 SVST4_4 4 4 4 15 0 SVSTA 6 4 4 6 13 0 SVST2 4 7147 4 2 4 24 Even though several cards may have the same named BIT file you cannot use a BIT file that is not for that card Different cards have different clock frequencies so make sure you load the proper BIT file for your card Custom hm2 firmwares can be created for special applications and you may see some custom hm2 firmwares in the directories with the default ones When you load the board driver hm2 pci or hm2 7143 you can tell it to disable instances of the three primary modules pwmgen stepgen and encoder by setting the count lower Any I O pins belonging to disabled module instances become GPIOs 18 12 GPIO General Purpose I O pins on the board which are not used by a module instance are exported HAL as full GPIO pins Full GPIO pins can be configured at run time to be inputs outputs or open drains and have a HAL interface that exposes this flexibility I O pins that are owned by an active module instance are constrained by the requirements of the owning module and
76. gt lt text gt Battery lt text gt lt subtext gt Volts lt subtext gt lt size gt 250 lt size gt SO 55 lt max_ gt 15 5 lt max_ gt majorscale 1 majorscale lt minorscale gt 0 2 lt minorscale gt Keg vole 145 15 5 elio wil Ze CER OT lt region2 gt 12 14 5 green lt region2 gt lt region3 gt 0 12 red lt region3 gt lt meter gt The above code produced this example Integrator Manual V2 5 2013 03 10 63 255 meter 10 6 7 Number Inputs 10 6 7 1 Spinbox controls a FLOAT pin You increase or decrease value of the pin by either pressing on the arrows or pointing at the spinbox and rolling your mouse wheel lt spinbox gt lt halpin gt my spinbox lt halpin gt lt min_ gt 12 lt min_ gt lt max_ gt 33 lt max_ gt lt initval gt 0 lt initval gt lt resolution gt 0 1 lt resolution gt Shaw lt Formata Eom Cebu lt gt lt spinbox gt The above code produced this example 10 6 7 2 Scale Scale controls a float or a s32 pin You increase or decrease the value of the pin be either dragging the slider or pointing at the scale and rolling your mouse wheel The will have both f and i added to it to form the float and s32 pins Width is the width of the slider in vertical and the height of the slider in horizontal orientation Integrator Manual V2 5 2013 03 10 64 255 scale font Hel
77. have a restricted HAL interface GPIOs have names like hm2_ lt BoardType gt lt BoardNum gt gpio lt IONum gt IONum is a three digit number The mapping from IONum to connector and pin on that connector is written to the syslog when the driver loads and it s documented in Mesa s manual for the Anything I O boards The hm2 GPIO representation is modeled after the Digital Inputs and Digital Outputs described in the Canonical Device Interface part of the HAL General Reference document GPIO pins default to input 18 12 1 Pins in Bit Out Normal state of the hardware input pin Both full GPIO pins and I O pins used as inputs by active module instances have this pin in not Bit Out Inverted state of the hardware input pin Both full GPIO pins and I O pins used as inputs by active module instances have this pin out Bit In Value to be written possibly inverted to the hardware output pin Only full GPIO pins have this pin 18 12 2 Parameters invert output Bit RW This parameter only has an effect if the is output parameter is true If this parameter is true the output value of the GPIO will be the inverse of the value on the out pin Only full GPIO pins and I O pins used as outputs by active module instances have this parameter To invert an active module pin you have to invert the GPIO pin not the module pin Integrator Manual V2 5 2013 03 10 137 255 is opendrain Bit RW This parameter
78. index feature of the corresponding quadrature channel is unused INx Dedicated digital input x OUTx Dedicated digital output x GND Ground VCC 3 3V regulated DC Lap Jg Parallel Port Lonnector 1 lel L Uu Power N2 pecie eiie educitur N3 IN _ DUTB OUTS 5 ING ALEX FPGA OUTS GUT OUTS GUTS LEO OUT NO UPO UP1 GNO UP3 070 081 DA OB outa B3 DNO DN1 DN UP QAJ QAI O21 GND 022 OA3 043 Figure 22 1 Pluto Servo Pinout Integrator Manual V2 5 2013 03 10 153 255 Table 22 1 Pluto Servo Alternate Pin Functions Primary function Alternate Function Behavior if both functions used PWMO When pwm 0 pwmdir is TRUE this pin is the PWM output OUTIO XOR d with PVMO PWMI When pwm 1 pwmdir is TRUE this pin is the PWM output OUTI2 XOR d with or PWVMI UP2 PWM2 When pwm 2 pwmdir is TRUE this pin is the PWM output OUT14 XOR d with UP2 or PWM2 UP3 PWM3 When pwm 3 pwmdir is TRUE this pin is the PWM output OUTI6 XOR d with UP3 or PWM3 DNO DIRO When pwm 0 pwmdir is TRUE this pin is the DIR output OUTII XOR d with or DIRO DN1 DIRI When pwm 1 pwmdir is TRUE this pin is the DIR output OUT13 XOR d with DNI DIR1 DN2 DIR2 When pwm 2 pwmdir is TRUE this pin is the DIR outpu
79. ini reader sees either of these marks at the start a line the rest of the line is ignored by the software Comments can be used to describe what an INI element will do B mates une CONE seal ILS I set it up on January 12 2012 Comments can also be used to turn off a variable This makes it easier to pick between different variables DISPLAY axis DISPLAY touchy In this list the DISPLAY variable will be set to axis because the other one is commented out If someone carelessly edits a list like this and leaves two of the lines uncommented the first one encountered will be used Note that inside a variable the and characters do not denote comments INCORRECT value and a comment Correct Comment CORRECT value Integrator Manual V2 5 2013 03 10 12 255 3 1 2 Sections Related parts of an ini file are separated into sections A section name is enclosed in brackets like this THIS SECTION The order of sections is unimportant Sections begin at the section name and end at the next section name The following sections are used by LinuxCNC EMC general information DISPLAY settings related to the graphical user interface FILTER settings input filter programs RS274NGC settings used by the g code interpreter EMCMOT settings used by the real time motion controller TASK settings used by the task controller HAL specifies hal files HALUI
80. is energized then 1 N O contact would be on and HAL pin classicladder 0 out 01 would be true N O Contact Normally Open When the variable is false the switch is off N C Contact Normally Closed When the variable is false the switch is on Rising Edge Contact When the variable changes from false to true the switch is PULSED on Falling Edge Contact When the variable changes from true to false the switch is PULSED on 30 6 2 IEC TIMERS Represent new count down timers IEC Timers replace Timers and Monostables IEC Timers have 2 contacts e J input contact Q output contact There are three modes TON TOF TP TON When timer input is true countdown begins and continues as long as input remains true After countdown is done and as long as timer input is still true the output will be true TOF When timer input is true sets output true When the input is false the timer counts down then sets output false TP When timer input is pulsed true or held true timer sets output true till timer counts down one shot The time intervals can be set in multiples of 100ms seconds or minutes There are also Variables for IEC timers that can be read and or written to in compare or operate blocks TMxxx Q timer done Boolean read write TMxxx P timer preset read write TMxxx V timer value read write Integrator Manual V2 5 2013 03 10 201 255 30 6 3 TIMERS Repres
81. is fixed by convention Motor A is in 0 0 which means that its X coordinate is 0 and its Y coordinate is also 0 Motor B is placed in Bx 0 which means that its X coordinate is Bx Our tooltip will be in point D which gets defined by the distances AD and BD and by the Cartesian coordinates Dx Dy The job of the kinematics is to transform from joint lengths AD BD to Cartesian coordinates Dx Dy and vice versa 26 3 1 Forward transformation To transform from joint space into Cartesian space we will use some trigonometry rules the right triangles determined by the points 0 0 Dx 0 Dx Dy and the triangle Dx 0 Bx 0 and Dx Dy We can easily see that AD x y BD ty likewise BD y If we subtract one from the other we will get AD BD x 4 x 2 x Bx Bx and therefore AD BD 2 From there we calculate y VAD2 x2 Note that the calculation for y involves the square root of a difference which may not result in a real number If there is no single Cartesian coordinate for this joint position then the position is said to be a singularity In this case the forward kinematics return 1 Translated to actual code double AD2 joints 0 joints 0 double BD2 sx 15 double x AD2 BD2 Bx Bx 2 Bx doubles x x alae Oy lt 90 certcn ip d pos gt tran y 2 return 0
82. kernel lets you write applications with strict timing constraints RTAI gives you the ability to have things like software step generation which require precise timing 1 3 1 The Advanced Configuration and Power Interface ACPI has a lot of different functions most of which interfere with RT performance for example power management CPU power down CPU frequency scaling etc The LinuxCNC kernel and probably all RTAI patched kernels has ACPI disabled ACPI also takes care of powering down the system after a shutdown has been started and that s why you might need to push the power button to completely turn off your computer The RTAI group has been improving this in recent releases so your LinuxCNC system may shut off by itself after all Integrator Manual V2 5 2013 03 10 7 255 Part II Configuration Integrator Manual V2 5 2013 03 10 8 255 Chapter 2 Latency Test This test is the first test that should be performed on a PC to see if it is able to drive a CNC machine Latency is how long it takes the PC to stop what it is doing and respond to an external request For LinuxCNC the request is BASE THREAD that makes the periodic heartbeat that serves as a timing reference for the step pulses The lower the latency the faster you can run the heartbeat and the faster and smoother the step pulses will be Latency is far more important than CPU speed A lowly Pentium II that responds to interrupts within 10 microseco
83. msg test 1 of Z axis configuration G20 41000 2100 loop 100 times this loop has delays after moves tests acc and velocity settings o100 while 1000 GO 21 000 G4 P0 250 GO 20 500 Integrator Manual V2 5 2013 03 10 239 255 G4 P0 250 1000 1000 1 0100 endwhile msg test 2 of Z axis configuration S to continue 1 stop here 1000 100 loop 100 times the next loop has no delays after moves tests direction hold times on driver config and also max accel setting 0101 while 1000 GO 21 000 GO 20 500 1000 1000 1 0101 endwhile msg Done Z should be exactly 5 above table M2 m Integrator Manual V2 5 2013 03 10 240 255 Chapter 37 Linux FAQ These are some basic Linux commands and techniques for new to Linux users More complete information can be found on the web or by using the man pages 37 1 Automatic Login When you install LinuxCNC with the Ubuntu LiveCD the default is to have to log in each time you turn the computer on To enable automatic login go to System gt Administration gt Login Window If it is a fresh install the Login Window might take a second or three to pop up You will have to have your password that you used for the install to gain access to the Login Window Preferences window In the Security tab check off Enable Automatic Login and pick a user name from the list that would be you 37 2 Automatic Startup To ha
84. of and2 is loaded into real time space and added to the servo thread Next pin 11 of the parallel port is connected to the inO bit of the and gate Next pin 12 is connected to the inl bit of the and gate Last we connect the and2 out bit to the parallel port pin 14 So following the truth table for and2 if pin 11 and pin 12 are on then the output pin 14 will be on 9 6 Conversion Components 9 6 1 weighted sum The weighted sum converts a group of bits to an integer The conversion is the sum of the weights of the bits that are on plus any offset The weight of the m th bit is 2 m This is similar to a binary coded decimal but with more options The hold bit stops processing the input changes so the sum will not change The following syntax is used to load the weighted sum component loadrt weighted sum wsum sizes size size Creates weighted sum groups each with the given number of input bits size To update the weighted sum you need to attach process wsums to a thread addf process wsums servo thread This updates the weighted sum component In the following example clipped from the HAL Configuration window in Axis the bits 0 and 2 are true and there 15 no offset The weight of 0 is 1 and the weight of 2 is 4 so the sum is 5 weighted sum Component Pins Owner Type Dir Value Name TORRONE In IUCN 0 0 x alia 19 G32 LC 1 wsum 0 bit 0 weight VO In UNITS IO 632 I O 2 wsum 0 bit 1 weig
85. of configurations but requires a good understanding of linux path specifiers 0 is the same as f0 e g a file named 0 in the startup directory veu EL refers to a file f1 in the parent directory ied ta refers to a file f2 in the parent of the parent directory vt sl t3 Integrator Manual V2 5 2013 03 10 244 255 Chapter 38 Glossary A listing of terms and what they mean Some terms have a general meaning and several additional meanings for users installers and developers Acme Screw A type of lead screw that uses an Acme thread form Acme threads have somewhat lower friction and wear than simple triangular threads but ball screws are lower yet Most manual machine tools use acme lead screws Axis One of the computer controlled movable parts of the machine For a typical vertical mill the table is the X axis the saddle is the Y axis and the quill or knee is the Z axis Angular axes like rotary tables are referred to as A B and C Additional linear axes relative to the tool are called U V and W respectively Axis GUD One of the Graphical User Interfaces available to users of LinuxCNC It features the modern use of menus and mouse buttons while automating and hiding some of the more traditional LinuxCNC controls It is the only open source interface that displays the entire tool path as soon as a file is opened Backlash The amount of play or lost motion that occurs when direction is reversed
86. on halui spindle brake off bit in pin for deactivating spindle brake halui spindle brake on bit in pin for activating spindle brake halui spindle decrease bit in decreases spindle speed halui spindle forward bit in starts the spindle with CW motion halui spindle increase bit in increases spindle speed halui spindle is on bit out indicates spindle is on either direction halui spindle reverse bit in starts the spindle with a CCW motion halui spindle runs backward bit out indicates spindle is on and in reverse Integrator Manual V2 5 2013 03 10 118 255 halui spindle runs forward bit out indicates spindle is on and in forward halui spindle start bit in starts the spindle halui spindle stop bit in stops the spindle TOOL halui tool length offset float out indicates current applied tool length offset halui tool number u32 out indicates current selected tool Integrator Manual V2 5 2013 03 10 119 255 Chapter 14 Halui Examples For any Halui examples to work you need to add the following line to the VHAL section of the ini file HALUI halui 14 4 Remote Start To connect a remote program start button to LinuxCNC you use the halui program run pin and the halui mode auto pin You have to insure that it is OK to run first by using the halui mode is auto pin You do this with an and2 component The following figure shows how this is done
87. on led fwd led net gs2 fwd gt pyvcp fwd led rev led net running rev spindle vfd spindle rev gt pyvcp rev led Some of the lines might need some explanations The fwd led line uses the signal created in the custom hal file whereas the rev led needs to use the spindle rev bit You can t link the spindle fwd bit twice so you use the signal that it was linked to Integrator Manual V2 5 2013 03 10 82 255 Chapter 12 Glade Virtual Control Panel 12 4 Whatis GladeVCP GladeVCP is an LinuxCNC component which adds the ability to add a new user interface panel to LinuxCNC user interfaces like Axis or Touchy Unlike PyVCP GladeVCP is not limitied to displaying and setting HAL pins as arbitrary actions can be executed in Python code in fact a complete LinuxCNC user interface could be built with GladeVCP and Python GladeVCP users the Glade WYSIWYG user interface editor which makes it easy to create visually pleasing panels It relies on the PyGTK bindings to the rich GTK widget set and in fact all of these may be used in a GladeVCP application not just the specialized widgets for interacting with HAL and LinuxCNC which are documented here 12 1 1 PyVCP versus GladeVCP at a glance Both support the creation of panels with HAL widgets user interface elements like LED s buttons sliders etc whose values are linked to a HAL pin which in turn interfaces to the rest of LinuxCNC PyVCP widget set uses TkInter wid
88. only be there if HOME SEQUENCE is set in the ini file Jog n is a number between 0 and 8 and selected halui jog deadband float in deadband for analog jogging smaller jogging speed requests are not performed halui jog speed float in pin for setting jog speed for minus plus jogging halui jog lt n gt analog float in analog velocity input for jogging useful with joysticks or other analog devices halui jog lt n gt increment float in pin for setting the jog increment for axis n when using increment minus or increment plus to jog halui jog lt n gt increment minus bit in pin for moving the n axis one increment in the minus direction for each off to on transition halui jog lt n gt increment plus bit in pin for moving the n axis one increment in the plus direction for each off to on transition halui jog lt n gt minus bit in pin for jogging axis n in negative direction at the halui jog speed velocity halui jog lt n gt plus bit in pin for jogging axis n in positive direction at the halui jog speed velocity halui jog selected increment float in pin for setting the jog increment for the selected axis when using increment minus incremet plus to jog halui jog selected increment minus bit in pin for moving the selected axis one increment in the minus direction for each off to on transition halui jog selected increment plus bit in pin for moving the sele
89. only has an effect if the is output parameter is true If this parameter is false the GPIO behaves as a normal output pin the I O pin on the connector is driven to the value specified by the out HAL pin possibly inverted and the value of the in and in not HAL pins is undefined If this parameter is true the GPIO behaves as an open drain pin Writing 0 to the out pin drives the I O pin low writing 1 to the out pin puts the I O pin in a high impedance state In this high impedance state the I O pin floats weakly pulled high and other devices can drive the value the resulting value on the I O pin is available on the in and in not pins Only full GPIO pins and I O pins used as outputs by active module instances have this parameter is output Bit RW If set to 0 the GPIO is an input The pin is put in a high impedance state weakly pulled high to be driven by other devices The logic value on the I O pin is available in the in and in not HAL pins Writes to the out HAL pin have no effect If this parameter is set to 1 the GPIO is an output its behavior then depends on the is opendrain parameter Only full GPIO pins have this parameter 18 13 StepGen Stepgens have names like hm2_ lt BoardType gt lt BoardNum gt stepgen lt Instance gt Instance is a two digit number that corre sponds to the HostMot2 stepgen instance number There are stepgens instances starting with 00 Each stepgen allocates 2 6 I O
90. output For example loadrt hal parport cfg 0x278 0x378 in 0x20A0 out This example installs drivers for one port at 0x0278 with pins 2 9 as outputs by default since neither in nor out was specified one at 0x0378 with pins 2 9 as inputs and one at 0 20 0 with pins 2 9 explicitly specified as outputs Note that you must know the base address of the parallel port to properly configure the driver For ISA bus ports this is usually not a problem since the port is almost always at a well known address like 0278 or 0378 which is typically configured in the system BIOS The address for a PCI card is usually shown in lspci v in an ports line or in the kernel message log after executing sudo modprobe a parport There is no default address if lt config string gt does not contain at least one address it is an error parport O parport O configured as output configured as input NE N LN LN LN LEEELESIEE ESESEST ES AAA a a 1 S A A gt D 5 gt D D 2 Figure 15 1 Parport Block Diagram 15 1 2 Pins parport lt p gt pin lt n gt out bit Drives a physical output pin parport p pin n in bit Tracks a physical input pin parport lt p gt pin lt n gt in not bit Tracks a physical input pin but inverted Integrator Manual V2 5 2013 03 10 124 255 For each pin p is the port number and n is the
91. physical pin number in the 25 pin D shell connector For each physical output pin the driver creates a single HAL pin for example parport 0 pin 14 out Pins 2 through 9 are part of the data group and are output pins if the port is defined as an output port Output is the default Pins 1 14 16 and 17 are outputs in all modes These HAL pins control the state of the corresponding physical pins For each physical input pin the driver creates two HAL pins for example parport 0 pin 12 in and parport O pin 12 in not Pins 10 11 12 13 and 15 are always input pins Pins 2 through 9 are input pins only if the port is defined as an input port The in HAL pin is TRUE if the physical pin is high and FALSE if the physical pin is low The in not HAL pin is inverted it is FALSE if the physical pin is high By connecting a signal to one or the other the user can determine the state of the input In x mode pins 1 14 16 and 17 are also input pins 15 1 3 Parameters parport lt p gt pin lt n gt out invert bit Inverts an output pin e parport lt p gt pin lt n gt out reset bit only for out pins TRUE if this pin should be reset when the reset function is executed parport p reset time U32 The time in nanoseconds between a pin is set by write and reset by the reset function if it is enabled The invert parameter determines whether an output pin is active high or active low If invert is FALSE setting the HAL out
92. pin TRUE drives the physical pin high and FALSE drives it low If invert is TRUE then setting the HAL out pin TRUE will drive the physical pin low 15 1 4 Functions parport lt p gt read funct Reads physical input pins of port lt portnum gt and updates HAL in and in not pins parport read all funct Reads physical input pins of all ports and updates HAL in and in not pins parport lt p gt write funct Reads HAL out pins of port p and updates that port s physical output pins parport write all funct Reads HAL out pins of all ports and updates all physical output pins parport lt p gt reset funct Waits until reset time has elapsed since the associated write then resets pins to values indicated by out invert and out invert settings reset must be later in the same thread as write If reset is TRUE then the reset function will set the pin to the value of out invert This can be used in conjunction with stepgen s doublefreq to produce one step per period The stepgen stepspace for that pin must be set to 0 to enable doublefreq The individual functions are provided for situations where one port needs to be updated in a very fast thread but other ports can be updated in a slower thread to save CPU time It is probably not a good idea to use both an function and an individual function at the same time 15 1 5 Common problems If loading the module reports insmod error inserting home jepler em
93. plus connect the Z PyVCP buttons net my jogzminus halui jog 2 minus pyvcp z minus net my jogzplus halui jog 2 plus lt pyvcp z plus connect the PyVCP jog speed slider net my jogspeed halui jog speed pyvcp jog speed f After resetting the E Stop and putting it into jog mode and moving the jog speed slider in the PyVCP panel to a value greater than zero the PyVCP jog buttons should work You can not jog when running a g code file or while paused or while the MDI tab is selected 11 4 Port Tester This example shows you how to make a simple parallel port tester using PyVCP and HAL First create the ptest xml file with the following code to create the panel description S Lest panel tom the parallels ore out lt gt lt hbox gt lt relief gt RIDGE lt relief gt lt bd gt 2 lt bd gt lt button gt lt halpin gt btn01 lt halpin gt eT button led halpin led 01 halpin size 25 size on color green on color ouis Colores reacts colors led lt hbox gt lt hbox gt lt relief gt RIDGE lt relief gt lt bd gt 2 lt bd gt lt button gt lt halpin gt btn02 lt halpin gt lt text gt Pin 02 lt text gt button led halpin led 02 halpin size 25 size on color green on color sore COlor gt lt led gt lt hbox gt lt hbox gt Integrator
94. present and should be loaded before hal parport On machines without PNP ports it may be loaded but has no effect 15 2 1 Installing loadrt probe parport loadrt hal parport If the Linux kernel prints a message similar to parport PnPBIOS parport detected when the parport pc module is loaded sudo modprobe a parport pc sudo rmmod parport pc then use of this module is probably required Integrator Manual V2 5 2013 03 10 126 255 Chapter 16 AX5214H Driver The Axiom Measurement amp Control AX5214H is a 48 channel digital I O board It plugs into an ISA bus and resembles a pair of 8255 chips In fact it may be a pair of 8255 chips but I m not sure If when someone starts a driver for an 8255 they should look at the ax5214 code much of the work is already done 16 1 Installing loadrt hal ax5214h cfg lt config string gt The config string consists of a hex port address followed by an 8 character string of I and O which sets groups of pins as inputs and outputs The first two character set the direction of the first two 8 bit blocks of pins 0 7 and 8 15 The next two set blocks of 4 pins 16 19 and 20 23 The pattern then repeats two more blocks of 8 bits 24 31 and 32 39 and two blocks of 4 bits 40 43 and 44 47 If more than one board is installed the data for the second board follows the first As an example the string 0x220 IIIOIIOO 0x300 OIOOIOIO installs drivers for two boards The first board is a
95. reverse M4 motion teleop mode bit out TRUE when motion is in feleop mode as opposed to coordinated mode motion tooloffset x motion tooloffset w float out one per axis shows the tool offset in effect it could come from the tool table G43 active or it could come from the gcode G43 active 7 1 3 Parameters Many of these parameters serve as debugging aids and are subject to change or removal at any time motion command handler time s32 RO motion command handler tmax 532 RW motion controller time s32 RO motion controller tmax s32 RW motion debug bit 0 bit RO This is used for debugging purposes motion debug bit 1 bit RO This is used for debugging purposes motion debug float 0 float RO This is used for debugging purposes motion debug float 1 float RO This is used for debugging purposes motion debug float 2 float RO This is used for debugging purposes motion debug float 53 float RO This is used for debugging purposes motion debug s32 0 532 RO This is used for debugging purposes motion debug s32 1 532 RO This is used for debugging purposes motion servo last period u32 RO The number of CPU cycles between invocations of the servo thread Typically this number divided by the CPU speed gives the time in seconds and can be used to determine whether the realtime motion controller is meeting its timing constraints motion servo last period ns float R
96. set up different Here s how to figure out the number The configuration number represents a 32 bit long code to tell the card which I O points are output vrs input The lower 24 bits are the I O points of one port The 2 highest bits are for 2 of the on board LEDs A one in any bit position makes the I O point an output The two highest bits must be output for the LEDs to work The driver will automatically set the two highest bits for you we won t talk about them The easiest way to do this is to fire up the calculator under APPLICATIONS ACCESSORIES Set it to scientific click view Set it BINARY radio button Bin Press 1 for every output you want and or zero for every input Remember that HAL pin 00 corresponds to the rightmost bit 24 numbers represent the 24 I O points of one port So for the default setting 12 inputs then 12 outputs you would push 1 twelve times thats the outputs then 0 twelve times thats the inputs Notice the first point is the lowest rightmost bit that bit corresponds to HAL pin 00 looks backwards You should have 24 digits on the screen Now push the Hex radio button The displayed number fff000 is the configport number put a in front of it designating it as a HEX number Another example To set the port for 8 outputs and 16 inputs the same as a Mesa card Here is the 24 bits represented in a BINARY number Bit 1 is the rightmost number 00000000000000001 1111111 16 zeros for the 16 inputs and
97. status attributes position returns tuple of floats trajectory position probe_tripped returns integer flag true if probe has tripped latch probe_val returns integer reflects value of the notion probe input pin probed_position returns tuple of floats position where probe tripped probing returns integer flag 1 if a probe operation is in progress program_units returns integer one of CANON_UNITS_INCHES 1 CANON_UNITS_MM 2 CANON_UNITS_CM 3 queue returns integer current size of the trajectory planner queue queue_full returns integer the trajectory planner queue is full read_line returns integer line the RS274NGC interpreter is currently reading rotation_xy returns float current XY rotation angle around Z axis settings returns tuple of 3 floats current interpreter settings settings 0 sequence number settings 1 feed rate settings 2 speed spindle_brake returns integer value of the spindle brake flag spindle_direction returns integer rotational direction of the spindle forward 1 reverse 1 spindle_enabled returns integer value of the spindle enabled flag spindle_increasing returns integer unclear spindle_override_enabled returns integer value of the spindle override enabled flag spindle_speed returns float spindle speed value rpm gt 0 clockwise lt 0 counterclockwise Integrator Manual V2 5 2013 03 10 167 255 spindlera
98. sticky new label text G cell 2 3 label text H cell 2 4 tablerow label text J cell 3 1 label text K cell 3 2 u32 halpin test table The above code produced this example table B 1 2 C D cells 1 3 and 1 4 2 1 spans G cell2 3 H cell 2 4 J cel33 2rows 3 2 0 10 6 9 6 Tabs A tabbed interface can save quite a bit of space tabs names spindle green eggs names tabs tabs names Spindle Green Eggs Ham lt names gt lt vbox gt lt label gt lt text gt Spindle speed lt text gt lt label gt lt bar gt lt halpin gt spindle speed lt halpin gt lt max_ gt 5000 lt max_ gt lt bar gt lt vbox gt lt vbox gt lt label gt lt text gt this is the green eggs tab lt text gt lt label gt lt vbox gt lt vbox gt lt label gt lt text gt this tab has nothing on it lt text gt lt label gt lt vbox gt lt tabs gt The above code produced this example showing each tab selected Integrator Manual V2 5 2013 03 10 Spindle Green Eggs Ham spindle speed Spindle Green Eggs Ham this is the green eggs tab Spindle Green Eggs Ham this tab has nothing on it 71 255 Integrator Manual V2 5 2013 03 10 72 255 Chapter 11 5 11 1 AXIS To create a PyVCP panel to use with the AXIS interface
99. terminal Integrator Manual V2 5 2013 03 10 32 255 Chapter 7 Core Components See also the man pages motion 9 7 1 Motion These pins and parameters are created by the realtime motmod module This module provides a HAL interface for LinuxCNC s motion planner Basically motmod takes in a list of waypoints and generates a nice blended and constraint limited stream of joint positions to be fed to the motor drives Optionally the number of Digital I O is set with num dio The number of Analog I O is set with num aio The default is 4 each Pin names starting with axis are actually joint values but the pins and parameters are still called axis N They are read and updated by the motion controller function Motion is loaded with the motmod command A kins should be loaded before motion loadrt motmod base period nsec period servo period nsec period traj period nsec period num joints 0 9 num dio 1 64 num aio 1 16 base period nsec 50000 the Base task period in nanoseconds This is the fastest thread in the machine Note On servo based systems there is generally no reason for base period nsec to be smaller than servo period nsec On machines with software step generation the base period nsec determines the maximum number of steps per second In the absence of long step length and step space requirements the absolute maximum step rate is one step per base period nsec Thus the base period nsec shown above gi
100. the symbol when you enter an assignment To assign a value of 10 to the timer preset of IEC Timer 0 the syntax would be TMO P 10 To assign the value of 12 to s32out bit 3 the syntax would be SQW3 12 Note When you assign a value to a variable with the variable assignment block the value is retained until you assign a new value using the variable assignment block The last value assigned will be restored when LinuxCNC is started The following figure shows an Assignment and a Comparison Example QWO is S32out bit and 6IWO is S32in bit In this case the HAL pin classicladder 0 s320ut 00 will be set to a value of 5 and when the HAL pin classicladder 0 s32in 00 is 0 the HAL pin classicladder 0 out 00 will be set to True Section Display of custom clp COMPARISON editor Editor symbols r Config Config Preview Preview Print About Quit Quit Figure 30 8 Assign Compare Example Integrator Manual V2 5 2013 03 10 204 255 Aen 30 6 8 COILS Coils represent relay coils They are controlled by the variable letter and number assigned to them The variable letter can be B Q and the number can be up to a three digit number eg 9603 or 96 123 Q coils control HAL out pins e g if 70015 is energized then HAL pin classicladder 0 out 15 will be true B coils are internal coils used to control program flow a relay coil Whe
101. time with zero or more instances an object created at runtime of each of several Modules encoders quadrature counters PWM generators and step dir generators The firmware can be configured at run time to connect each of these instances to pins on the I O headers I O pins not driven by a Module instance revert to general purpose bi directional digital I O 18 2 Firmware Binaries 50 Pin Header FPGA cards Several pre compiled HostMot2 firmware binaries are available for the different Anything I O boards This list is incomplete check the hostmot2 firmware distribution for up to date firmware lists 3x20 144 I O pins using hm2 pci module 24 channel servo 16 channel servo plus 24 step dir generators e 5122 96 I O pins using hm2 pci module 16 channel servo 8 channel servo plus 24 step dir generators 5120 5123 4165 4168 72 I O pins using hm2 pci module 12 channel servo 8 channel servo plus 4 step dir generators 4 channel servo plus 8 step dir generators e 7143 48 I O pins using hm2_7143 module 8 channel servo 8 PWM generators amp 8 encoders 4 channel servo plus 4 step dir generators DB25 FPGA cards The 5125 Superport FPGA card is preprogrammed when purchased and does not need a firmware binary Integrator Manual V2 5 2013 03 10 131 255 18 3 Installing Firmware Depending on how you installed LinuxCNC you may have to open the Synaptic Package Manager from the
102. valid values will depend on the type of the pin or parameter It is an error if the data types do not match Integrator Manual V2 5 2013 03 10 46 255 Some components have parameters that need to be set before use Parameters can be set before use or while running as needed You cannot use setp on a pin that is connected to a signal The syntax and an example setp pin parameter name value 1 setp parport 0 pin 08 out TRU 9 1 6 unlinkp The command unlinkp unlinks a pin from the connected signal If no signal was connected to the pin prior running the command nothing happens The unlinkp command is useful for trouble shooting The syntax and an example unlinkp pin name E as extr 2 outs 9 1 7 Obsolete Commands The following commands are depreciated and may be removed from future versions Any new configuration should use the net command These commands are included so older configurations will still work 9 1 7 1 linksp The command linksp creates a connection between a signal and one pin The syntax and an example linksp lt signal name gt pin name linksp X step parport 0 pin 02 out The inksp command has been superseded by the net command 9 1 7 2 linkps The command inkps creates a connection between one pin and one signal It is the same as linksp but the arguments are reversed The syntax and an example linkps pin name signal name jerue
103. variable number e g W2 if the display symbols check box is not checked or type the symbol name if the display symbols checkbox is checked over an existing variable number name and press the Enter Key Integrator Manual V2 5 2013 03 10 30 5 4 Symbol Window Variable YolO voll 9 82 Yol3 Yol4 YolS volg ool 7 volg volg Symbol name HAL signal Comment Symbols names vala vall 9012 vola volg 9015 9016 9017 vala 9019 signal connected signal connected signal connected signal connected signal connected signal connected signal connected signal connected signal connected signal connected Figure 30 5 Symbol Names window 196 255 This is list of symbol names to use instead of variable names to be displayed in the section window when the display symbols check box is checked You add the variable name remember the 96 symbol and capital letters symbol name If the variable can have HAL signal connected to it 961 Q and W if you have loaded 532 pin with the real time module then the comment section will show the current HAL signal name or lack thereof Symbol names should be kept short to display better Keep in mind that you can display the longer HAL signal names of I Q and W variable by clicking on them in the section window Between the two one should be able to keep track of what the ladder program i
104. voltage measurements Table 3 1 Output Voltage Measurements Raw Measured 10 9 93 9 8 83 0 0 03 1 0 96 9 9 87 10 10 87 Integrator Manual V2 5 2013 03 10 22 1255 MAX OUTPUT 10 The maximum value for the output of PID compensation that is written to motor amplifier in volts The computed output value is clamped to this limit The limit is applied before scaling to raw output units The value is applied symmetrically to both the plus and the minus side INPUT SCALE 20000 in Sample configs ENCODER SCALE 20000 in PNCconf built configs Specifies the number of pulses that corresponds to a move of one machine unit as set in the TRAJ section For a linear axis one machine unit will be equal to the setting of LINEAR UNITS For an angular axis one unit is equal to the setting in ANGULAR UNITS A second number if specified is ignored For example on a 2000 counts per rev encoder and 10 revs inch gearing and desired units of inch we have counts counts input scale 2000 107 m inch Warning The following are custom INI entries that you may find in a sample INI file or wizard generated file These are not used by the LinuxCNC software They are only there to put all the settings in one place For more information on custom INI file entries see the Custom Sections and Variables subsection The following items might be use
105. you have a HAL SpinBox named speed and you want to pass it s current value as a parameter in an MDI command The HAL SpinBox will have a float type HAL pin named speed f see HalWidgets description To substitute this value in the MDI command insert the HAL pin name enclosed like so pin name for the above HAL SpinBox we could use MSG The speed is speed f just to show what s happening The example UI file is conf igs gladevcp mdi command example speed ui Here s what you get when running it Pass speed as The speed is 45 0 DX paramter in MDI command 12 7 6 An advanced example Feeding parameters to an O word subroutine It s perfectly OK to call an O word subroutine in an MDI command and pass HAL pin values as actual parameters An example UI file is in con igs gladevcp mdi command example owordsub ui Place configs gladevcp nc_files oword ngc so Axis can find it and run gladevcp owordsub ui from a terminal window This looks like so Integrator Manual V2 5 2013 03 10 103 255 16 oword spin 16 000000 A x 1 checkbutton oword check 0 000000 togglebutton oword toggle 1 000000 i m oword scale 80 500000 i ES run O word sub 80 5 12 7 7 Preparing for an MDI Action and cleaning up afterwards The LinuxCNC G Code interpreter has a single global set of variables like feed spindle speed relative absolute mode and others If you us
106. 013 03 10 the output net mpg scale lt ilowpass0 out net mpg scale gt axis 0 jog scale net mpg scale gt axis 1 jog scale net mpg scale gt axis 2 jog scale the encoder output counts to the axis net encoder counts lt encoder 0 counts net encoder counts gt axis 0 jog counts net encoder counts gt axis 1 jog counts net encoder counts gt axis 2 jog counts from the ilowpass is sent to each axis jog scale Only the selected axis will move 234 255 Integrator Manual V2 5 2013 03 10 235 255 Chapter 35 52 Spindle This example shows the connections needed to use Automation Direct GS2 to drive a spindle The spindle speed direction is controlled by LinuxCNC Using the GS2 component involves very little to set up We start with a Stepconf Wizard generated config Make sure the pins with Spindle CW and Spindle PWM are set to unused in the parallel port setup screen In the custom hal file we place the following to connect LinuxCNC to the GS2 and have LinuxCNC control the drive GS2 Example load the user space component for the Automation Direct GS2 VFD s Wii To em elite Onon S 2 m psioalmelle wvitel connect the spindle direction pin to the GS2 net gs2 fwd spindle vfd spindle fwd motion spindle forward connect the spindle on pin to the GS2 net gs2 run spindle vfd spindle on lt motion spindle on connect t
107. 1 Subsystem LSI Logic Symbios Logic 2POS 2 port parallel adapter Flags medium devsel 5 I O ports at b800 size 8 I O ports at bc00 size 8 I O ports at c000 size 8 I O ports at c400 size 8 I O ports at c800 size 8 I O ports at cc00 size 16 From experimentation I ve found the first port the on card port uses the third address listed 000 and the second port the one that attaches with a ribbon cable uses the first address listed b800 You can then open an editor and put the addresses into the appropriate place in your hal file loadrt hal parport cfg 0x378 Oxc000 You must also direct LinuxCNC to run the read and write functions for the second card For example addf parport l read base thread 1 addf parport l write base thread 1 Please note that your values will differ The Netmos cards are Plug N Play and might change their settings depending on which slot you put them into so if you like to get under the hood and re arrange things be sure to check these values before you start LinuxCNC Integrator Manual V2 5 2013 03 10 11 255 Chapter 3 INI Configuration 3 1 The INI File Components A typical INI file follows a rather simple layout that includes comments sections variables Each of these elements is separated on single lines Each end of line or newline character creates a new element 3 1 1 Comments A comment line is started with a or a mark When the
108. 10 751255 text Z text button lt hbox gt lt 1 the jog speed slider gt lt vbox gt lt relief gt RAISED lt relief gt lt bd gt 3 lt bd gt lt label gt lt text gt Jog Speed lt text gt font Helvetica 16 lt font gt lt label gt lt scale gt lt font gt Helvetica 14 lt font gt lt halpin gt jog speed lt halpin gt lt resolution gt 1 lt resolution gt lt orient gt HORIZONTAL lt orient gt lt min_ gt 0 lt min_ gt lt max_ gt 80 lt max_ gt lt scale gt lt vbox gt lt labelframe gt lt pyvcp gt After adding the above you now will have a PyVCP panel that looks like the following attached to the right side of AXIS It looks nice but it does not do anything until you connect the buttons to halui If you get an error when you try and run scroll down to the bottom of the pop up window and usually the error is a spelling or syntax error and it will be there Help Jog Buttons ESES Figure 11 2 Jog Buttons Integrator Manual V2 5 2013 03 10 76 255 11 3 2 Make Connections To make the connections needed open up your custom postgui hal file and add the following connect the X PyVCP buttons net my jogxminus halui jog 0 minus lt pyvcp x minus net my jogxplus halui jog 0 plus lt pyvcp x plus connect the Y PyVCP buttons net my jogyminus halui jog 1 minus lt pyvcp y minus net my jogyplus halui jog 1 plus lt pyvcp y
109. 101 12 7 5 Parameter passing with Action and ToggleAction MDI widgets 102 12 7 6 An advanced example Feeding parameters to an O word subroutine 102 12 7 7 Preparing for an MDI Action and cleaning up 103 12 7 8 Using the LinuxCNC Stat object to deal with status changes 103 12 8 Glade ye P sa ge eh a E RR ck ee Bee Go 104 12 3 1 User D ned ACtione 0 44 eae ewe eee m E SR 3 eA awe eb eA eee eS 104 12 8 2 An example adding custom user callbacks in 104 12583 HAL valve chanseevenis o e gt Rok ee UR URORE ult a eS OS ee E RU 105 12 84 Programming model 2 RR rU eos x XO E Re dex 105 Integrator Manual V2 5 2013 03 10 viii i234 Thesunplehaudlermodel s 22 kee ook oM RR RUBUS RR 105 1284 2 Theclass based handler model s e o so ko ooo Roy mom y 106 12 843 The get handlers protocol sooo ook RR E EUR RR EE RR 106 12 8 5 Dhoushza ossequenee iu cu RTI EE EUR Rok ee eee eee RR E em a 106 12 8 6 Multiple callbacks with the same name lt co s oo 22s Roh 9 o ERG RS 107 215 TheGladevEP U Suseroptacd48E o osha oe pee et hd PO 107 12 8 8 Persistent variablesin Glade VCP coo E Roo fom UR oos 107 12 8 8 1 Persistence pr
110. 2 8 14 Adding timers Since GladeVCP uses Gtk widgets which rely on the GObject base class the full glib functionally is available Here is an example for a timer callback def on timer tick self userdata None return True to restart the timer return False for on shot demonstrate a slow background timer granularity is one second for a faster timer granularity 1 ms use this glib timeout add 100 self on timer tick userdata 10Hz glib timeout add seconds 1 self on timer tick 12 8 15 Setting HAL widget properties programmatically With glade widget properties are typically set fixed while editing You can however set widget properties at runtime for instance from ini file values which would typically be done in the handler initialisation code Setting properties from HAL pin values is possible too In the following example assuming a HAL Meter widget called met er the meter s min value is set from an INI file parameter at startup and the max value is set via a HAL pin which causese the widget s scale to readjust dynamically import linuxcnc import os import hal import hal glib class HandlerClass def on max value change self hal pin data None self meter max float hal pin get self meter queue draw force a widget redraw def init self halcomp builder useropts self builder builder hal pin with change callback When the pin s value changes the callback is executed
111. 2013 03 10 14 255 Note The following DISPLAY items are for the AXIS interface only DEFAULT LINEAR VELOCITY 25 The default velocity for linear jogs in machine units per second MIN VELOCITY 01 The approximate lowest value the jog slider MAX LINEAR VELOCITY 1 0 The maximum velocity for linear jogs in machine units per second MIN LINEAR VELOCITY 01 The approximate lowest value the jog slider DEFAULT ANGULAR VELOCITY 25 The default velocity for angular jogs in machine units per second MIN ANGULAR VELOCITY 01 The approximate lowest value the jog slider MAX ANGULAR VELOCITY 1 0 The maximum velocity for angular jogs in machine units per second INCREMENTS 1 mm 5 in Defines the increments available for incremental jogs The INCREMENTS can be used to override the default The values can be decimal numbers e g 0 1000 or fractional numbers e g 1 16 optionally followed by a unit cm mm um inch in or mil If a unit is not specified the machine unit is assumed Metric and imperial distances may be mixed INCREMENTS 1 inch 1 mil 1 cm 1 mm 1 um is a valid entry OPEN FILE full path to file ngc The file to show in the preview plot when AXIS starts Use a blank string and no file will be loaded at start up EDITOR gedit The editor to use when selecting File gt Edit to edit the gcode from the AXIS menu This must be configured for this menu item to work Anot
112. 255 1 2 5 Loop tuning If the PID controller parameters the gains of the proportional integral and derivative terms are chosen incorrectly the controlled process input can be unstable i e its output diverges with or without oscillation and is limited only by saturation or mechanical breakage Tuning a control loop is the adjustment of its control parameters gain proportional band integral gain reset derivative gain rate to the optimum values for the desired control response 1 2 6 Manual tuning A simple tuning method is to first set the I and D values to zero Increase the P until the output of the loop oscillates then the P should be set to be approximately half of that value for a quarter amplitude decay type response Then increase I until any offset 15 correct in sufficient time for the process However too much I will cause instability Finally increase D if required until the loop is acceptably quick to reach its reference after a load disturbance However too much D will cause excessive response and overshoot A fast PID loop tuning usually overshoots slightly to reach the set point more quickly however some systems cannot accept overshoot in which case an over damped closed loop system is required which will require a P setting significantly less than half that of the P setting causing oscillation 1 3 RTAI The Real Time Application Interface RTAI is used to provide the best Real Time RT performance The RTAI patched
113. 26 3 2 Inverse transformation The inverse kinematics is lots easier in our example as we can write it directly ey ee J BD X Bx x y or translated to actual code double x2 pos gt tran x pos tran x double y2 pos gt tran y gt jio lOl sepe s2 r EE sere Ek POS gt ur WA return 0 Integrator Manual V2 5 2013 03 10 177 255 26 4 Implementation details A kinematics module is implemented as a HAL component and is permitted to export pins and parameters It consists of several functions as opposed to HAL functions int kinematicsForward const double joint EmcPose xworld const KINEMATICS FORWARD FLAGS xfflags KINEMATICS INVERSE FLAGS xiflags Implements the forward kinematics function int kinematicsInverse const EmcPose world double x joints const KINEMATICS INVERSE FLAGS iflags KINEMATICS FORWARD FLAGS xfflags Implements the inverse kinematics function KINEMATICS TYPE kinematicsType void Returns the kinematics type identifier typically KINEMATICS BOTH int kinematicsHome EmcPose xworld double KINEMATICS FORWARD FLAGS xfflags KINEMATICS INVERSE FLAGS xiflags The home kinematics function sets all its arguments to their proper values at the known home position When called these should be
114. 3 143 144 144 144 144 145 145 145 146 147 147 148 149 150 Integrator Manual V2 5 2013 03 10 23 24 25 22 2 3 HAL Functions Pins and Parameters lt ss sesine esteit ikk oeny es 222A Compatible daver hardware oc csc a a p KS RE ld ee a n a one ee eS Zoo 22 3 2 Input latching and opipat updating c eoe a A ER eee e 22 23 Sep MINES boc foes eh thee gt hae eee 0 22 34 HAL Functions Pins and Parameters 46 5554066004 be Rbk rk RR RT Servo To Go Driver 23 1 23 2 23 3 uo de we ope m RE RE GU ee ee BS ek rd 9 we SOS ah ee Dea eS eae Sx Ee EEE PEPER REA i Pod Re eee ee EB ShuttleXpress 24 1 24 2 24 3 hop A rr CRISI l LP Advanced Topics Python Interface 23 1 29 2 233 25 4 25 5 25 6 25 7 23 8 Thehngx ae Python oc kou RO EE Re AG Sa ARIA ee Oe Usage
115. 3 The Action MDI Toggle and Action MDI widgets These widgets provide a means to execute arbitrary MDI commands The Action MDI widget does not wait for command completion as the Action MDI Toggle does which remains disabled until command complete 12 7 4 A simple example Execute MDI command on button press configs gladevcp mdi command example whoareyou ui is a Glade UI file which conveys the basics Open it in Glade and study how it s done Start Axis and then start this from a terminal window with g1adevcp whoareyou ui Seethehal action mdil Actionandit s MDI command property this just executes MSG Hi I m an Action M so there should be a message popup in Axis like so Integrator Manual V2 5 2013 03 10 102 255 machir 9 5 pe ing B Contact ug Simulate Who are you probe contact 1 Hi I m an Action OF Hi I m an EMC Action MDI e You ll notice that the button associated with the Action MDI action is grayed out if the machine is off in E Stop or the interpreter is running It will automatically become active when the machine is turned on and out of E Stop and the program is idle 12 7 5 Parameter passing with Action MDI and ToggleAction MDI widgets Optionally MDI command strings may have parameters substituted before they are passed to the interpreter Parameters currently may be names of HAL pins in the GladeVCP component This is how it works assume
116. 3000 lt max_ gt lt majorscale gt 500 lt majorscale gt lt minorscale gt 100 lt minorscale gt regionl 0 10 yellow regionl lt meter gt lt hbox gt lt On hed gt lt hbox gt lt relief gt RAISED lt relief gt lt bd gt 3 lt bd gt lt vbox gt lt relief gt RAISED lt relief gt lt bd gt 2 lt bd gt lt label gt lt text gt On lt text gt lt font gt Helvetica 18 lt font gt lt label gt lt width gt 5 lt width gt lt hbox gt label width 2 gt lt used to center the led gt lt rectled gt lt halpin gt on led lt halpin gt lt height gt 30 lt height gt lt width gt 30 lt width gt lt on_color gt green lt on_color gt lt off_color gt red lt off_color gt Integrator Manual V2 5 2013 03 10 lt rectled gt lt hbox gt lt vbox gt lt the FWD Led gt lt vbox gt lt relief gt RAISED lt relief gt lt bd gt 2 lt bd gt lt label gt lt text gt FWD lt text gt font Helvetica 18 font lt width gt 5 lt width gt lt label gt lt label width 2 gt lt rectled gt lt halpin gt fwd led lt halpin gt lt height gt 30 lt height gt lt width gt 30 lt width gt lt on_color gt green lt on_color gt son ECO Vaal gt lt rectled gt lt vbox gt t the REV Led gt vbox relief RAISED relief bd 2 bd label lt text gt REV lt text g
117. 5 255 Part VI Ladder Logic Integrator Manual V2 5 2013 03 10 186 255 Chapter 29 Classicladder Introduction 29 1 History Classic Ladder is a free implementation of a ladder interpreter released under the LGPL It was written by Marc Le Douarain He describes the beginning of the project on his website I decided to program a ladder language only for test purposes at the start in February 2001 It was planned that I would have to participate to a new product after leaving the enterprise in which I was working at that time And I was thinking that to have a ladder language in those products could be a nice option to considerate And so I started to code the first lines for calculating a rung with minimal elements and displaying dynamically it under Gtk to see if my first idea to realize all this works And as quickly I ve found that it advanced quite well continued with more complex elements timer multiples rungs etc Voila here is this work and more I ve continued to add features since then Marc Le Douarain from Genesis at the Classic Ladder website Classic Ladder has been adapted to work with LinuxCNC s HAL and is currently being distributed along with LinuxCNC If there are issues problems bugs please report them to the Enhanced Machine Controller project 29 2 Introduction Ladder logic or the Ladder programming language is a method of drawing electrical logic schematics It is now a g
118. 5 does not have any smart logic on board it is just an adapter See the manufacturer s website for more info http www opto22 com site pr_details aspx item PCI ACS amp qs 100110021011 1 3 I would like to thank Opto22 for releasing info in their manual easing the writing of this driver 20 2 The Driver This driver is for the PCI 5 card and will not work with the ISA ACS The HAL driver is a realtime module It will support 4 cards as is more cards are possible with a change in the source code Load the basic driver like so loadrt opto ac5 This will load the driver which will search for max 4 boards It will set I O of each board s 2 ports to a default setting The default configuration is for 12 inputs then 12 outputs The pin name numbers correspond to the position on the relay rack For example the pin names for the default I O setting of port 0 would be e opto ac5 0 port0 in 00 They would be numbered from 00 to 11 opto ac5 0 port0 out 12 They would be numbered 12 to 23 port 1 would be the same 20 3 Pins opto ac5 BBOARDNUMBER port PORTNUMBER in PINNUMBER OUT bit opto ac5 BOARDNUMBER port PORTNUMBER in PINNUMBER not OUT bit Connect a HAL bit signal to this pin to read an point from the card The PINNUMBER represents the position in the relay rack Eg PINNUMBER 0 is position 0 in a Opto22 relay rack and would be pin 47 on the 50 pin header connector The not pin is inverted so t
119. 55 Integrator Manual V2 5 2013 03 10 To run the HAL file we use the following command from a terminal window S halrun 1 f ptest hal The following figure shows what a complete panel might look like To add the rest of the parallel port pins just modify the xml and hal files PoartTest Pin 11 Pin 12 Pin 130 Pin 15 Figure 11 4 Port Tester Complete To show the pins after running the HAL script use the following command at the halemd prompt halcmd Component Owner TSE STS SS SE bi bi bi show pin Dir Value t IN FALSE FALSE t IN FALSE FALSE t IN FALSE 5 FALSE E IN FALSE t IN FALSE E IN FALSE OU RUE t OUT FALSE OU RUE t OUT FALSE OU RUE t OUT FALSE OU RUE t OUT FALSE t IN FALSE OU RUE t OUT FALSE 5 IN FALSE Name pgrpocrt parporbt partporbt parport parport parport parport parport parport parport parport parport Paelpore Pal pore parport parport parport parport parporbts parpopbt parport D O ego em Se ee a eS ew o span OPE Teine 08 pin 04 ou pin 05 ou pin 06 ou o spun XE ejgatior
120. 693 NOt 25s PARES Reh ee eso CESSES eS eR qus dub e e 10694 Labeliramie soo o Rc Rem RB Ry ee ae e o HOSS Tull Re Reese ee Eolo ESE Se ESS 100900 TAB eke dido 3 ee eet S Ree SER eRe SLE SHH 11 PyVCP Examples ANE ASIS oe T TT pM lcu TLS Joc BUNG SEE Bae Re BRS LA 113 1 Create Widgets sos eri ono 9 Eo e Evo y Pea E32 Make Tonneins gemee qe i el Y ee ae S MA Port IORIG vs ace Soe ee neo E CS AS UK TLS GS2 RPM Meter REGE Ron emm y UE ee Oo wo ewe BAe Te Panel a Re eee ee 112 DINCOBBCODONS RAS SR ae 6 Soe SD C e am 12 Glade Virtual Control Panel 12 1 1 PyVCP versus GladeVCP ata gl te 2 2222 cns os tn RR beo o wo mo oho 12 2 A Quick Tour with the Example Panel m on modo RR RR GRE ER RUE 12 2 1 Exploring the example panel RR ke SE EHR AS ERG m X ea Bede dra 12 2 2 Exploring the User Interface description lt s lt ero cecs bbe ee boo o x eae 9 E Roos 12 3 Explorngthe Python callback uuum Ro UR S IER
121. 8 I O ports at b000 size 8 I O ports at b400 size 8 I O ports at b800 size 8 I O ports at bc00 size 16 In my case the address was the first one so I changed my hal file from loadrt hal parport cfg 0x378 to loadrt hal parport cfg 0x378 0xa800 in Note the double quotes surrounding the addresses and then added the following lines so the parport will be read and written addf parport l read base thread addf parport l write base thread After doing the above then run your config and verify that the parallel port got loaded in Machine Show HAL Configuration window Integrator Manual V2 5 2013 03 10 228 255 Chapter 33 Spindle Control 33 1 0 10 Spindle Speed If your spindle speed is controlled by an analog signal for example by a with a 0 to 10 volt signal and you re using a DAC card like the m5i20 to output the control signal First you need to figure the scale of spindle speed to control signal For this example the spindle top speed of 5000 RPM is equal to 10 volts 10Volts 0 002 Volts 5000RPM 1RPM We have to add a scale component to the HAL file to scale the motion spindle speed out to the 0 to 10 needed by the if your DAC card does not do scaling loadrt scale count 1 addf scale 0 servo thread setp scale 0 gain 0 002 net spindle speed scale motion spindle speed out scale 0 in net spindle speed DAC scale 0 out gt your DAC pin name gt 33 2 PWM Spindl
122. A configured as Input the next 8 Port B configured as Output the next 8 Port C configured as Input and the last 8 Port D configured as Output loadrt hal stg This example installs the driver and attempts to autodetect the board address and board model it installs 8 axes by default along with a standard I O setup Port A amp B configured as Input Port C amp D configured as Output 23 2 Pins stg lt channel gt counts 532 Tracks the counted encoder ticks stg lt channel gt position float Outputs a converted position stg lt channel gt dac value float Drives the voltage for the corresponding DAC Integrator Manual V2 5 2013 03 10 158 255 e stg lt channel gt adc value float Tracks the measured voltage from the corresponding ADC e stg in lt pinnum gt bit Tracks a physical input pin stg in lt pinnum gt not bit Tracks a physical input pin but inverted stg out lt pinnum gt bit Drives a physical output pin For each pin channel is the axis number and lt pinnum gt is the logic pin number of the STG if 1100 is defined there are 16 input pins in 00 in 15 and 16 output pins out 00 out 15 and they correspond to PORTs ABCD in 00 is PORTA O out 15 is PORTD 7 The in lt pinnum gt HAL pin is TRUE if the physical pin is high and FALSE if the physical pin is low The in lt pinnum gt not HAL pin is inverted it is FALSE if the physical pin is high By
123. ALSE parport pin 15 in not FALSE parport 0 pin 16 out lt spindle pwm Test HAL command Execute Commands may be tested here but they will NOT be saved Figure 9 1 HAL Configuration Window 9 1 1 loadrt The command oadrt loads a real time HAL component Real time component functions need to be added to a thread to be updated at the rate of the thread You cannot load a user space component into the real time space The syntax and an example loadrt component options loadrt mux4 count 1 9 1 2 addf The command addf adds a real time component function to a thread You have to add a function from a HAL real time component to a thread to get the function to update at the rate of the thread If you used the Stepper Config Wizard to generate your config you will have two threads base thread the high speed thread this thread handles items that need a fast response like making step pulses and reading and writing the parallel port Integrator Manual V2 5 2013 03 10 44 255 servo thread the slow speed thread this thread handles items that can tolerate a slower response like the motion controller ClassicLadder and the motion command handler The syntax and an example addf component thread addf mux4 servo thread 9 1 3 loadusr The command oadusr loads a user space HAL component User space programs are their own separate processes which optionally talk to other HAL componen
124. C boards have 16 possible addresses In all cases the driver enumerates the boards by type and exports the appropriate HAL pins For instance the encoders will be enumerated from zero up in the same order as the address switches on the board specify So the first board will have encoders 0 3 the second board would have encoders 4 7 The first column after the bullet tells which boards will have this HAL pin or parameter associated with it All means that this pin is available on all three board types Option means that this pin will only be exported when that option is enabled by an optional parameter in the loadrt HAL command These options require the board to have a sufficient revision level to support the feature All 32 output ppmc lt port gt encoder lt channel gt count Encoder position in counts All 32 output ppmc lt port gt encoder lt channel gt delta Change in counts since last read in raw encoder count units All float output ppmc lt port gt encoder lt channel gt velocity Velocity scaled in user units per second On PPMC and USC this is derived from raw encoder counts per servo period and hence is affected by encoder granularity On UPC boards with the 8 21 09 and later firmware velocity estimation by timestamping encoder counts can be used to improve the smoothness of this velocity output This can be fed to the PID HAL component to produce a more stable servo response This function has to be ena
125. FILE INTERP FILE NOT OPEN INTERP ERROR see src emc nml intf interp return hh joint actual position returns tuple of floats actual joint positions joint position returns tuple of floats Desired joint positions kinematics type returns integer identity 1 serial 2 parallel 3 custom 4 limit returns tuple of integers axis limit masks minHardLimit 1 maxHardLimit 2 minSoftLimit 4 maxSoftLimit 8 linear units returns string reflects TRAJ LINEAR UNITS ini value lube returns integer lube on flag lube_level returns integer reflects iocontrol 0 lube_level max_acceleration returns float maximum acceleration reflects TRAJ MAX_ACCELERATION max_velocity returns float maximum velocity reflects TRAJ MAX_VELOCITY mcodes returns tuple of 10 integers currently active M codes mist returns integer mist on flag motion line returns integer source line number motion is currently executing Relation to id unclear motion mode returns integer motion mode motion type returns integer trajectory planner mode One of TRAJ MODE COORD TRAJ MODE FREE TRAJ MODE TELEOP Integrator Manual V2 5 2013 03 10 166 255 optional stop returns integer option stop flag paused returns integer motion paused flag pocket_prepped returns integer A Tx command completed and this pocket is prepared 1 if no prepared pocket poll method to update current
126. Integrator Manual V2 5 2013 03 10 Integrator Manual V2 5 2013 03 10 Integrator Manual V2 5 2013 03 10 Contents I LinuxCNC Introduction 1 Integrator Concepts 11 Le 1 3 DESPISE noo CD LLI Base Pend o Pea bbe hen oS eee ed dee n RR UR eb bod LL Sepining co loko x0 xem m Be Be ee DAS I we eb CC wae SES OE Ba we ewe See ee Baw ee ee ox LI Basie Opened ek ee Oe ee SUELE pate wee dene e s 1 2 2 Proporional eG Ll ul eo Se eS eS DRS te eds ee eA ce ye Eh 1 43 Int gtalienmy sce ee eee eee 4 bee wa ov ae Lis BDenvadvedeHH o Rud ae ee A ee ee eee a AG eee Be o o so TP eo See Pee ew eee tata eee hes hears bk L26 Manus ime ol mo eU Rex EA eR Re Se Pe S 09 eRe RIAL 222m Bee Sw oe eee Ey dd De ba Gee Se ee ole Bele PRE Bees ex LXI tee eA eee See Aa ceo E o MUR eed E Ros Configuration 2 Latency Test So ogee co ee te Sah eh gt Oe 2 1 3 INI Configuration 3 1 3 2 The INI a be eee Ee Sea e Pe SL o Sec hk S xt Arden Ic Dee DR RUNE RR UR S CU ME ID CPC tan VARIES Ba eee a TT 3 14 Custom Sectionsand Variables
127. LinuxCNC in the MDI mode and then back to Manual mode JOINT SELECTION halui joint select u32 in select joint 0 8 internal halui halui joint selected u32 out joint 0 8 selected internal halui halui joint x select bit bit in pins for selecting a joint internal halui halui joint x is selected bit bit out indicates joint selected internal halui MODE halui mode auto bit in pin for requesting auto mode halui mode is auto bit out indicates auto mode is on halui mode is joint bit out indicates joint by joint jog mode is on halui mode is manual bit out indicates manual mode is on halui mode is mdi bit out indicates mdi mode is on halui mode is teleop bit out indicates coordinated jog mode is on halui mode joint bit in pin for requesting joint by joint jog mode halui mode manual bit in pin for requesting manual mode halui mode mdi bit in pin for requesting mdi mode halui mode teleop bit in pin for requesting coordinated jog mode Integrator Manual V2 5 2013 03 10 117 255 PROGRAM halui program block delete is on bit out status pin telling that block delete is on halui program block delete off bit in pin for requesting that block delete is off halui program block delete on bit in pin for requesting that block delete is on halui program is idle bit out status pin telling that no program is running halui program i
128. MC Driver 147 pinout 37 Pluto P Driver 150 pluto servo 151 pluto servo alternate pin functions 153 pluto servo pinout 152 pluto step 154 pluto step pinout 155 pluto step timings 156 program units 247 pwd 241 PWM Spindle Speed 228 Python Interface 162 Python Virtual Control Panel 52 R rapid 247 rapid rate 247 real time 247 RS274NGC 247 RS274NGC inifile section 15 RS274NGC STARTUP CODE 15 RTAI 247 RTAPI 247 RTLINUX 247 5 532 47 Searching for Text 242 servo motor 247 Servo To Go Driver 157 setp 45 ShuttleXpress 159 signal polarity 40 Signed Integer 247 spindle 247 Spindle At Speed 231 Spindle Control 228 Spindle Direction 229 Spindle Enable 229 Spindle Feedback 230 Spindle Soft Start 229 spindle speed control 40 Spindle Synchronized Motion 230 standard pinout 38 step rate 37 stepper 37 Stepper Configuration 37 Integrator Manual V2 5 2013 03 10 Stepper Diagnostics 237 stepper motor 248 Stepper Tuning 178 SUBROUTINE PATH 15 sudo gedit 241 T TASK 248 TASK inifile section 16 Terminal Commands 241 time 47 Tk 248 tkLinuxCNC 13 tmax 47 touchy 13 inifile section 17 Traverse Move 248 Trivial Kinematics 174 U u32 47 UNITS 18 units 248 Unsigned Integer 248 USER M PATH 15 V VOLATILE HOME 27 W Working Directory 241 world coordinates 248 X xemc 13 255 255
129. Manual V2 5 2013 03 10 lt relief gt RIDGE lt relief gt lt bd gt 2 lt bd gt lt label gt lt text gt Pin 10 lt text gt lt font gt Helvetica 14 lt font gt lt label gt lt led gt lt halpin gt led 10 lt halpin gt lt size gt 25 lt size gt lt on_color gt green lt on_color gt Kenzie color serere e oii colors lt led gt lt hbox gt lt hbox gt lt relief gt RIDGE lt relief gt lt bd gt 2 lt bd gt lt label gt gt lt font gt Helvetica 14 lt font gt lt label gt lt led gt lt halpin gt led 11 lt halpin gt lt size gt 25 lt size gt lt on_color gt green lt on_color gt lt o rico lor Uredi led lt hbox gt lt pyvcp gt This will create the following floating panel which contains a couple of in pins and a couple of out pins To run the HAL commands that we need to get everything up and running we put the following in our ptest hal file loadrt hal_parport cfg 0x378 out Figure 11 3 Port Tester Panel loadusr Wn ptest pyvcp c ptest ptest xml loadrt threads namel porttest 1 1000000 addf parport 0 read porttest addf parport 0 write porttest net 01 ptest btn01 parport 0 pin 0l out ptest led 01 net pin02 ptest btn02 parport 0 pin 02 out ptest led 02 net 10 parport 0 pin 10 in ptest deck 1100 net orali an Drest Stace olegia 7712
130. Manual V2 5 2013 03 10 151 255 The index input is triggered on the rising edge Initial testing has shown that the QZx inputs are particularly noise sensitive due to being polled every 25ns Digital filtering has been added to filter pulses shorter than 175ns seven polling times Additional external filtering on all input pins such as a Schmitt buffer or inverter RC filter or differential receiver if applicable is recommended The INI 17 pins have 22 ohm series resistors to their associated FPGA pins No other pins have any sort of protection for out of spec voltages or currents It is up to the integrator to add appropriate isolation and protection Traditional parallel port optoisolator boards do not work with pluto servo due to the bidirectional nature of the EPP protocol 22 1 4 LED When the device is unprogrammed the LED glows faintly When the device is programmed the LED glows according to the duty cycle of PWMO LED xor DOWNO or STEPGENO LED STEPO xor DIRO 22 1 5 Power A small amount of current may be drawn from VCC The available current depends on the unregulated DC input to the board Alternately regulated 3 3VDC may be supplied to the FPGA through these VCC pins The required current is not yet known but is probably around 50mA plus I O current The regulator on the Pluto P board is a low dropout type Supplying 5V at the power jack will allow the regulator to work properly 22 1 6 PC in
131. NGC USER PATH The first executable M1xx found in the search is used for each 1 USER DEFINED FUNCTION MAX DIRSz 5 The maximum number of directories defined at compile time Note WIZARD WIZARD ROOT is a valid search path but the Wizard has not been fully implemented and the results of using it are unpredictable 3 2 5 EMCMOT Section This section is a custom section and is not used by LinuxCNC directly Most configurations use values from this section to load the motion controller For more information on the motion controller see the Motion Section EMCMOT motmod the motion controller name is typically used here BASE PERIOD 50000 the Base task period in nanoseconds SERVO PERIOD 1000000 This is the Servo task period in nanoseconds TRAJ PERIOD 100000 This is the Trajectory Planner task period in nanoseconds 3 2 6 TASK Section TASK milltask Specifies the name of the task executable The task executable does various things such as communicate with the UIs over NML communicate with the realtime motion planner over non HAL shared memory and interpret gcode Currently there is only one task executable that makes sense for 99 996 of users milltask CYCLE TIME 0 010 The period in seconds at which TASK will run This parameter affects the polling interval when waiting for motion to complete when executing a pause instruction and when accepting a command from a user interface There is usua
132. O motion servo overruns u32 RW By noting large differences between successive values of motion servo last period the motion controller can determine that there has probably been a failure to meet its timing constraints Each time such a failure 15 detected this value is incremented Integrator Manual V2 5 2013 03 10 35 255 7 1 4 Functions Generally these functions are both added to the servo thread in the order shown motion command handler Processes motion commands coming from user space motion controller Runs the LinuxCNC motion controller 7 2 Axis Joints These pins and parameters are created by the realtime motmod module These are actually joint values but the pins and parame ters are still called axis N They are read and updated by the motion controller function 7 2 Pins axis N active bit out axis N amp enable out bit out TRUE if the amplifier for this joint should be enabled axis N amp fault in bit in Should be driven TRUE if an external fault is detected with the amplifier for this joint axis N backlash corr float out axis N backlash filt float out axis N backlash vel float out axis N coarse pos cmd float out axis N error bit out axis N f error float out axis N f error lim float out axis N f errored bit out axis N faulted bit out axis N free pos cmd float out axis N free tp enable bit out axis N fr
133. O v y ee ER 92 64 Thshalpurtchanged 26e REUS SG Cp eke Y RI ES E SE 92 123 55 BIDS CR EON BLUE de 8 ee RUE BUR S UE ag 93 1206 Seales CT 94 12 5 7 Re ES ES RRR ipe we AC Ge a 94 155 5 Babel fe ce me os X ORBIS EURO S Se es 94 12 6 9 Containers HAL HBox and HAL Table eee ee cc EDS eS 94 IS GIOLED ke RE Sea CR RS RES Rae ER GRE Re dri RAD ee 95 1206 11 ProstessBar oor oeu ee ee a ede 95 5 b Robot ue v LBS Bees ov mE he BS don 96 WB ISB cw a Re ee ee TT 96 TA Meer CC Ea T T 97 12 6 15 Gremlin tool path preview for ngc files lt o seco ec c o eR eee ee 98 12 6 16 Animated function diagrams HAL widgets in 99 IL ADBON 2 oor mL S GR RE See ee Ee 100 12 7 EMC Action Widsets n LR 3o Romo mob monk Rx Roy fox 9 ROM RR 101 12 7 2 EMC TossleActi n WEIBelS sso oe yes ee e yos Rok xoxo eee RU Re ce d 101 12 7 3 The Action MDI Toggle and Action MDI widgets 5 occus Ro c 101 12 7 4 A simple example Execute MDI command on button press
134. OFF SPINDLE INCREASE SPINDLE DECREASE or SPINDLE CONSTANT spindleoverride float set spindle override factor state int set the machine state Machine state should be STATE ESTOP STATE ESTOP RESET STATE ON or STATE OFF teleop enable int enable disable teleop mode teleop vector float float float float float float set teleop destination vector tool offset int float float float float float int set the tool offset See usage example above Integrator Manual V2 5 2013 03 10 172 255 traj mode int set trajectory mode Mode is one of MODE FREE MODE COORD or MODE TELEOP unhome int unhome given axis wait complete float wait for completion of the last command sent If timeout in seconds not specified default is 1 second 25 6 Reading the error channel To handle error messages connect to the error channel and periodically poll it Note that the NML channel for error messages has a queue other than the command and status channels which means that the first consumer of an error message deletes that message from the queue whether your another error message consumer e g Axis will see the message is dependent on timing It is recommended to have just one error channel reader task in a setup linuxcnc error channel error e poll if error kind text error if kind in linuxcnc NML ERROR linuxcnc OPERATOR ERROR typus err
135. OFFSET Contains the location of the home switch or index pulse in joint coordinates It can also be treated as the distance between the point where the switch or index pulse is latched and the zero point of the joint After detecting the index pulse LinuxCNC sets the joint coordinate of the current point to HOME OFFSET The default value is zero 4 3 7 HOME The position that the joint will go to upon completion of the homing sequence After detecting the index pulse and setting the coordinate of that point to HOME OFFSET LinuxCNC makes a move to HOME as the final step of the homing process The default value is zero Note that even if this parameter is the same as HOME OFFSET the joint will slightly overshoot the latched position as it stops Therefore there will always be a small move at this time unless HOME SEARCH VEL is zero and the entire search latch stage was skipped This final move will be made at the joint s maximum velocity Since the joint is now homed there should be no risk of crashing the machine and a rapid move is the quickest way to finish the homing sequence 4 3 8 HOME IS SHARED If there is not a separate home switch input for this axis but a number of momentary switches wired to the same pin set this value to 1 to prevent homing from starting if one of the shared switches is already closed Set this value to 0 to permit homing even if the switch is already closed 4 3 9 HOME SEQUENCE Used to define a multi axis
136. PIO will be the inverse of the value on the out HAL pin is opendrain Bit RW If this parameter is false the GPIO behaves as a normal output pin the I O pin on the connector is driven to the value specified by the out HAL pin possibly inverted If this parameter is true the GPIO behaves as an open drain pin Writing 0 to the out HAL pin drives the pin low writing 1 to the out HAL pin puts the I O pin in a high impedance state In this high impedance state the I O pin floats weakly pulled high and other devices can drive the value the resulting value on the I O pin is available on the in and in not pins Only full GPIO pins and I O pins used as outputs by active module instances have this parameter 18 14 PWMGen PWMgens have names like m2 BoardType BoardNum pwmgen Instance Instance is a two digit number that corre sponds to the HostMot2 pwmgen instance number There are num pwmgens instances starting with 00 In 2 each pwmgen uses three output I O pins Not Enable Out0 and Out To invert a PWMGen output pin you invert the corresponding GPIO pin that is being used by PWMGen To find the GPIO pin being used for the PWMGen output run dmesg as shown above The function of the OutO and Out I O pins varies with output type parameter see below The hm2 pwmgen representation is similar to the software pwmgen component Each pwmgen instance has the following pins and parameters 18 14 1 Pins enable Bi
137. Rok A 33 5 2 Spinde At Speed zoe gu t rm RE AL ee ee on 34 MPG Pendant 35 GS2 Spindle Diagnostics amp FAQ 36 Stepper Diagnostics 301 Common Problemi s L oo oe gem eo xU XC ow OU eee UR oe RR 35 LJ Stepper Moves One Siep scie mos So X RR ROS BOR ROGA Ref ESL SOEUR RR n 30 12 Ne tapp re Move xd x 640442856444 E bdo ESOS Sue S015 Distance NOLCONGGE ee ea sa wee ow wo vox s e RU UR o o Roy ORO 35 23 Error NIBISHERS usu De ee eee es Ga eee Ge 302 Following Emor mo carane e C LTTTT 36 2 2 RTAPI Error 36 3 2 36 3 1 Step Timing xiv 219 219 220 221 224 226 227 228 228 228 229 229 229 230 230 231 232 235 236 237 Integrator Manual V2 5 2013 03 10 37 Linux FAQ Al UE LOR ul uo SR A A ORC e UR erp oe ne Sla cuc Dcus MP TUTTI 353 WISN Ley Ree ee ee a BOR NUR TR Ux v Y Vo Diu OR Se EUR RU ue UR UR Sgt qe Joo ROTIE i023 db etur sus sete E bars e S SUP Ros abu Ee Sd 373 1 The Command Line Way gn REGE E n BOR eo RU RO ok SE RORIS e x Y ee 5 Iloa MeGUL o MEE
138. S274NGC section RS274NGC STARTUP CODE G18 The above can be overwritten in a g code program so always set important things in the preamble of the g code file 5 2 INI Settings The following ini settings are needed for lathe mode in Axis in addition to or replacing normal settings in the ini file DISPLAY DISPLAY axis 1 TRAJ AXES 3 COORDINATES X 2 AXIS_0 15_2 Integrator Manual V2 5 2013 03 10 29 255 Chapter 6 HAL TCL Files The halcmd language excels in specifiying components and connections but offers no computational capabilities As a result ini files are limited in the clarity and brevity that is possible with higher level languages The haltcl facility provides a means to use tcl scripting and its features for computation looping branching procedures etc in ini files To use this functionality you use the tcl language and the extension tcl for halfiles The tcl extension is understood by the main script linuxcnc that processes ini files Haltcl files are identified in the the HAL section of ini files just like hal files Example HAL HALFILE conventional file hal HALFILE tcl based file tcl With appropriate care hal and tcl files can be intermixed 6 1 Compatibility The halcmd language used in hal files has a simple syntax that is actually a subset of the more powerful general purpose tcl scripting language 6 2 Halt
139. System menu and install the package for your Mesa card The quickest way to find them is to do a search for hostmot2 in the Synaptic Package Manager Mark the firmware for installation then apply 18 4 Loading HostMot2 The LinuxCNC support for HostMot2 firmware is split into a generic driver called hostmot2 and two low level I O drivers for the Anything I O boards The low level drivers are m2 7143 and hm2 pci for all the PCI and PC 104 Plus based Anything I O boards The hostmot2 driver must be loaded first using a HAL command like this loadrt hostmot2 See the hostmot2 9 man page for details The hostmot2 driver by itself does nothing it needs access to actual boards running the HostMot2 firmware The low level I O drivers provide this access The low level I O drivers are loaded with commands like this loadrt hm2 pci config firmware hm2 5i20 SVST8_4 BIT num encoders 3 num pwmgens 3 num stepgens 1 The config parameters are described in the hostmot2 man page 18 5 Watchdog The HostMot2 firmware may include a watchdog Module if it does the hostmot2 driver will use it The watchdog must be petted by LinuxCNC periodically or it will bite When the watchdog bites all the board s I O pins are disconnected from their Module instances and become high impedance inputs pulled high and all communication with the board stops The state of the HostMot2 firmware modules is not disturbed except for the configuration of t
140. Txx R Timer xx running Boolean user read only Txx D Timer xx done Boolean user read only Txx V Timer xx current value integer user read only Txx P Timer xx preset integer TMxxx Q Timer xxx done Boolean read write TMxxx P Timer xxx preset integer read write TMxxx V Timer xxx value integer read write Mxx R Monostable xx running Boolean Mxx V Monostable xx current value integer user read only Integrator Manual V2 5 2013 03 10 206 255 Monostable xx preset integer Cxx D Counter xx done Boolean user read only Cxx E Counter xx empty overflow Boolean user read only Cxx F Counter xx full overflow Boolean user read only Cxx V Counter xx current value integer Cxx P Counter xx preset integer Ixxx Physical input xxx Boolean HAL input bit Qxxx Physical output xxx Boolean HAL output bit Xxxx Activity of step xxx sequential language Xxxx V Time of activity in seconds of step xxx sequential language Exx Errors Boolean read write will be overwritten Indexed or vectored variables These are variables indexed by another variable Some might call this vectored variables Example WO W4 gt if W4 equals 23 it corresponds to W23 30 8 GRAFCET Programming Warning This is probably the least used and most poorly understood feature of Classic Ladder Sequential programming is used to m
141. UI has created its HAL pins See section pyVCP with Axis Section for more information HALUI halui adds the user interface pins For more information see the HAL User Interface chapter Integrator Manual V2 5 2013 03 10 17 255 3 2 8 HALUI section MDI COMMAND G53 X0 YO Z0 MDI command can be executed by using halui mdi command 00 Increment the number for each command listed in the HALUI section 3 2 9 TRAJ Section The TRAJ section contains general parameters for the trajectory planning module in motion COORDINATES X Y Z The names of the axes being controlled Only X Y Z A B C U V W are valid Only axes named in COORDINATES are accepted in g code This has no effect on the mapping from G code axis names X Y Z to joint numbers for trivial kinematics X is always joint 0 A is always joint 3 and U is always joint 6 and so on It is permitted to write an axis name twice e g X Y Y Z fora gantry machine but this has no effect AXES 3 One more than the number of the highest joint number in the system For an XYZ machine the joints are numbered 0 1 and 2 in this case AXES should be 3 For an XYUV machine using trivial kinematics the V joint is numbered 7 and therefore AXES should be 8 For a machine with nontrivial kinematics e g scarakins this will generally be the number of controlled joints JOINTS 3 This config variable is used by the Axis GUI only not by the tra
142. VCC GND INTI IN13 GND OUTI3 Figure 22 2 Pluto Step Pinout 22 3 2 Input latching and output updating Step frequencies for each channel are updated at different times Digital outputs are all updated at the same time Digital inputs are all latched at the same time Feedback positions for each channel are latched at different times 22 3 3 Step Waveform Timings The firmware and driver enforce step length space and direction change times Timings are rounded up to the next multiple of 1 6us with a maximum of 49 6us The timings are the same as for the software stepgen component except that dirhold and dirsetup have been merged into a single parameter dirtime which should be the maximum of the two and that the same step timings are always applied to all channels Integrator Manual V2 5 2013 03 10 156 255 dir time dir ime stepspere steplen stepspace STEP DIRECTION Figure 22 3 Pluto Step Timings 22 3 4 HAL Functions Pins and Parameters A list of all loadrt arguments HAL function names pin names and parameter names is in the manual page pluto_step 9 Integrator Manual V2 5 2013 03 10 157 255 Chapter 23 Servo To Go Driver The Servo To Go 5 15 one of the first PC motion control cards supported by LinuxCNC It is an ISA card and it exists in different flavors all supported by this driver The board includes up to 8 channels of quadrature encoder input 8 channels
143. WITCH SEARCHVEL FINAL DETECTION OF SWITCH LATCHVEL GO TO HOME POSITION MAXVEL SEARCHVEL POSITIVE HOMEOFFSET 3 000 LATCHVEL NEGATIVE HOME 1 000 HOME SWITCH RELEASES USEINDEX TRUE HOME SWITCH TRIPS SEARCH FOR HOME SWITCH SEARCHVEL FINAL DETECTION OF SWITCH AND INDEX PULSE LATCHVEL GO TO HOME POSITION MAXVEL 3 w Ses PULSES SEARCHVEL POSITIVE HOMEOFFSET 3 000 LATCHVEL POSITIVE HOME 1 000 HOME SWITCH RELEASES USEINDEX TRUE y SWITCH TRIPS SEARCH FOR HOME SWITCH SEARCHVEL BACK OFF DF HOME SWITCH ISEARCHYEL FINAL DETECTION OF SWITCH AND INDEX PULSE LATCHVEL GO TO HOME POSITION MAXVEL iue Ss PULSES Figure 4 1 Homing Sequences Integrator Manual V2 5 2013 03 10 4 3 Configuration 26 255 The following determines exactly how the home sequence behaves They are defined in an AXIS section of the inifile Homing Type SEARCH VEL LATCH VEL USE INDEX Immediate 0 0 NO Index only 0 nonzero YES Switch only nonzero nonzero NO Switch and Index nonzero nonzero YES Note Any other combinations may result in an error 4 3 4 HOME SEARCH VEL The default value is zero A value of zero causes LinuxCNC to assume that there is no home switch the search stage of homing is skipped If HOME SEARCH VEL is non zero then LinuxCNC assumes that there is a home switch It begins by checking whether the home switch is alrea
144. WM signal with 5096 duty cycle The effective range of this parameter is from about 1525 Hz up to just under 100 MHz Note that the max frequency is determined by the ClockHigh frequency of the Anything I O board the 5120 and 7143 both have 100 MHz clock resulting in a 100 Mhz max frequency Other boards may have different clocks resulting in different max PDM frequencies If the user attempts to set the frequency too high it will be clipped to the max supported frequency of the board pwm frequency u32 RW This specifies the PWM frequency in Hz of all the pwmgen instances running in the PWM modes modes 1 and 2 This is the frequency of the variable duty cycle wave Its effective range is from 1 Hz up to 193 KHz Note that the max frequency is determined by the ClockHigh frequency of the Anything I O board the 5120 and 7143 both have a 100 MHz clock resulting in a 193 KHz max PWM frequency Other boards may have different clocks resulting in different max PWM frequencies If the user attempts to set the frequency too high it will be clipped to the max supported frequency of the board Frequencies below about 5 Hz are not terribly accurate but above 5 Hz they re pretty close 18 14 3 Output Parameters The output pins of each PWMGen have two additional parameters To find which I O pin belongs to which output run dmesg as described above invert output Bit RW This parameter only has an effect if the is output parameter is
145. When the Remote Run Button is pressed it is connected to both halui mode auto and and2 0 in0 If it is OK for auto mode the pin halui mode is auto will be on If both the inputs to the and2 0 component are on the and2 0 out will be on and this will start the program Famoate Run Btn haluimade is auta and Gout halui pregram run halui made auta and 0 in1 Figure 14 1 Remote Start Example The hal commands needed to accomplish the above are Integrator Manual V2 5 2013 03 10 120 255 net program start btn halui mode auto and2 0 in0 your input pin net program run ok and2 0 inl lt halui mode is auto net remote program run halui program run lt and2 0 out Notice on line one that there are two reader pins this can also be split up to two lines like this net program start btn halui mode auto lt your input net program start btn and2 0 in0 14 2 Pause amp Resume This example was developed to allow LinuxCNC2 to move a rotary axis on a signal from an external machine The coordination between the two systems will be provided by two Halui components halui program is paused halui program resume In your customized hal file add the following two lines that will be connected to your I O to turn on the program pause or to resume when the external system wants LinuxCNC to continue net ispaused halui program is paused gt your output pin net resume halui program resume lt
146. X AXIS Y e AXIS 2 7 AXIS 3 A e AXIS 4 B e AXIS 5 C e AXIS 6 0 e AXIS 7 V e AXIS 82W TYPE LINEAR The type of axes either LINEAR or ANGULAR WRAPPED ROTARY 1 When this is set to 1 for ANGULAR axis the axis will move 0 359 999 degrees Positive Numbers will move the axis in a positive direction and negative numbers will move the axis in the negative direction LOCKING INDEXER 1 When this is set to 1 GO move for this axis will initiate an unlock with axis N unlock pin then wait for the axis N is unlocked pin then move the axis at the rapid rate for that axis After the move the axis N unlock will be false and motion will wait for axis N is unlocked to go false Moving with other axes is not allowed when moving a locked rotary axis UNITS INCH If specified this setting overrides the related TRAJ UNITS setting e g TRAJ JLINEAR UNITS if the TYPE of this axis is LINEAR TRAJJANGULAR_UNITS if the TYPE of this axis is ANGULAR MAX_VELOCITY 1 2 Maximum velocity for this axis in machine units per second MAX_ACCELERATION 20 0 Maximum acceleration for this axis in machine units per second squared BACKLASH 0 0000 Backlash in machine units Backlash compensation value can be used to make up for small deficiencies in the hardware used to drive an axis If backlash is added to an axis and you are using steppers the STEPGEN MAXACCEL must be increased to 1 5 to 2 times the MAX ACCELERATION for the axi
147. ach type of ladder object while loading the Classic Ladder real time module If you do not configure the number of ladder objects Classic Ladder will use the default values Table 30 1 Default Variable Count Object Name Variable Name Default Value Number of rungs numRungs 100 Number of bits numBits 20 Number of word variables numWords 20 Number of timers numTimers 10 Number of timers IEC numTimerslec 10 Number of monostables numMonostables 10 Number of counters numCounters 10 Number of HAL inputs bit pins numPhysInputs 15 Number of HAL output bit pins numPhysOutputs 15 Number of arithmetic expressions numArithmExpr 50 Number of Sections numSections 10 Number of Symbols numSymbols Auto Number of S32 inputs numS32in 10 Number of 532 outputs numS32out 10 Number of Float inputs numFloatIn 10 Number of Float outputs numFloatOut 10 Objects of most interest are numPhysInputs numPhysOutputs numS32in and numS32out Changing these numbers will change the number of HAL bit pins available numPhysInputs and numPhysOutputs control how many HAL bit on off pins are available numS32in and numS32out control how many HAL signed integers integer range pins are available Integrator Manual V2 5 2013 03 10 191 255 For example you don t need all of these to change just a few loadrt classicladder rt numRungs 12 numBits 100 numWords 10 numTi
148. achine units When this limit is exceeded the controller aborts axis motion MIN FERROR 0 010 This is the value in machine units by which the axis is permitted to deviate from commanded position at very low speeds If MIN FERROR is smaller than FERROR the two produce a ramp of error trip points You could think of this as a graph where one dimension is speed and the other is permitted following error As speed increases the amount of following error also increases toward the FERROR value FERROR 1 0 FERROR is the maximum allowable following error in machine units If the difference between commanded and sensed position exceeds this amount the controller disables servo calculations sets all the outputs to 0 0 and disables the amplifiers If MIN FERROR is present in the ini file velocity proportional following errors are used Here the maximum al lowable following error is proportional to the speed with FERROR applying to the rapid rate set by TRAJJMAX_VELOCITY and proportionally smaller following errors for slower speeds The maximum allowable following error will always be greater than MIN FERROR This prevents small following errors for stationary axes from inadvertently aborting motion Small fol lowing errors will always be present due to vibration etc The following polarity values determine how inputs are interpreted and how outputs are applied They can usually be set via trial and error since there are only two possibilities The
149. adc channel value Analog input value read by ADC in user units see gain and offset bit motenc lt board gt in lt channel gt State of digital input pin see canonical digital input bit motenc lt board gt in lt channel gt not Inverted state of digital input pin see canonical digital input Integrator Manual V2 5 2013 03 10 143 255 bit motenc lt board gt out lt channel gt Value to be written to digital output seen canonical digital output bit motenc lt board gt estop in Dedicated estop input more details needed bit motenc lt board gt estop in not Inverted state of dedicated estop input bit motenc lt board gt watchdog reset Bidirectional Set TRUE to reset watchdog once is automatically cleared 19 2 Parameters float motenc lt board gt enc lt channel gt scale The number of counts user unit to convert from counts to units float motenc lt board gt dac lt channel gt offset Sets the DAC offset float motenc lt board gt dac lt channel gt gain Sets the DAC gain scaling float motenc lt board gt adc lt channel gt offset Sets the ADC offset float motenc lt board gt adc lt channel gt gain Sets the ADC gain scaling bit motenc lt board gt out lt channel gt invert Inverts a digital output see canonical digital output e u32 motenc board watchdog control Configures the watchdog The value may be a b
150. ade see the hits label widget a plain GTK widget e inthe button1 widget look at the Signals tab and find the signal pressed associated with the handler on button press in gladevcp hitcounter py see the method button press and see how it sets the label property in the hits object The is just touching upon the concept the callback mechanism will be handled in more detail in the GladeVCP Programming section 12 3 Creating and Integrating a Glade user interface 12 3 1 Prerequisite Glade installation To view or modify Glade UI files you need glade installed it is not needed just to run a GladeVCP panel If the glade command is missing install it with the command Integrator Manual V2 5 2013 03 10 87 255 sudo apt get install glade Verify the version number to be greater than 3 6 7 glade version glade3 3 6 7 12 3 2 Running Glade to create a new user interface This section just outlines the initial LinuxCNC specific steps For more information and a tutorial on glade see http glade gnome org Some glade tips amp tricks may also be found on youtube Either modify an existing UI component by running glade lt file gt ui or start a new one by just running the glade com mand from the shell If LinuxCNC was not installed from a package the LinuxCNC shell environment needs to be setup with lt linuxcncdir gt scr otherwise glade won t find the LinuxCNC specific widgets When asked for unsaved P
151. ake sure a series of ladder events always happen in a prescribed order Sequential programs do not work alone There is always a ladder program as well that controls the variables Here are the basic rules governing sequential programs Rule 1 Initial situation The initial situation is characterized by the initial steps which are by definition in the active state at the beginning of the operation There shall be at least one initial step Rule 2 R2 Clearing of a transition A transition is either enabled or disabled It is said to be enabled when all immediately preceding steps linked to its corresponding transition symbol are active otherwise it is disabled A transition cannot be cleared unless it is enabled and its associated transition condition is true Rule 3 R3 Evolution of active steps The clearing of a transition simultaneously leads to the active state of the immediately following step s and to the inactive state of the immediately preceding step s Rule 4 R4 Simultaneous clearing of transitions All simultaneous cleared transitions are simultaneously cleared Rule 5 R5 Simultaneous activation and deactivation of a step If during operation a step is simultaneously activated and deactivated priority is given to the activation This is the SEQUENTIAL editor window Starting from the top left image Selector arrow Eraser Ordinary step Initial Starting step Transition Step and Transition Transition Link Down
152. ally implemented on industrial PLCs it s called Ladder Programming It is based on the concept of relay contacts and coils and can be used to construct logic checks and functions in a manner that is familiar to many systems integrators Ladder consists of rungs that may have branches and resembles an electrical circuit It is important to know how ladder programs are evaluated when running It seems natural that each line would be evaluated left to right then the next line down etc but it doesn t work this way in ladder logic Ladder logic scans the ladder rungs 3 times to change the state of the outputs the inputs are read and updated the logic is figured out the outputs are set This can be confusing at first if the output of one line is read by the input of a another rung There will be one scan before the second input becomes true after the output is set Another gotcha with ladder programming is the Last One Wins rule If you have the same output in different locations of your ladder the state of the last one will be what the output is set to 30 2 Languages The most common language used when working with Classic Ladder is ladder Classic Ladder also supports Sequential Function Chart Grafcet 30 3 Components There are 2 components to Classic Ladder The real time module classicladder rt The user space module including a GUI classicladder Integrator Manual V2 5 2013 03 10 190 255 30 3 1 Files T
153. an also write regular event handlers in Python This could be used among others to execute MDI commands Here s how you do it Write a Python module like so and save as e g handlers py Integrator Manual V2 5 2013 03 10 105 255 motes 0 def on button press gtkobj data None global nhits nhits 1 gtkobj set label hits d 5 nhits In Glade define a button or HAL button select the Signals tab and in the GtkButton properties select the pressed line Enter on button press there and save the Glade file Then add the option u handlers py to the gladevcp command line If your event handlers are spread over several files just add multiple lt pyfilename gt options Now pressing the button should change its label since it s set in the callback function What the u flag does all Python functions in this file are collected and setup as potential callback handlers for your Gtk widgets they can be referenced from Glade Signals tabs The callback handlers are called with the particular object instance as parameter like the GtkButton instance above so you can apply any GtkButton method from there Or do some more useful stuff like calling an MDI command 12 8 3 HAL value change events HAL input widgets like a LED automatically associate their HAL pin state on off with the optical appearance of the widget LED lit dark Beyond this builtin functionality one may associate a change callback with any HAL pin inc
154. are xxx BIT is not part of the hm2 pci configuration string when using a 5i25 18 16 2 Configuration Example configurations of the 5125 7176 and 5125 7177 cards are included in the Configuration Selector If you like to roll your own configuration the following examples show how to load the drivers in the HAL file 5125 7176 Card load the generic driver loadrt hostmot2 load the PCI driver and configure loadrt hm2 pci config num encoders 1 num stepgens 5 sserial port 0 20XXX 5125 7177 Card load the generic driver loadrt hostmot2 load the PCI driver and configure loadrt hm2 pci config num encoders 6 num pwmgens 6 sserial port 0 20XXx Integrator Manual V2 5 2013 03 10 141 255 18 16 3 SSERIAL Configuration The sserial port 0ZOXXX configuration string sets some options for the smart serial daughter card These options are specific for each daughter card See the Mesa manual for more information on the exact usuage 18 16 4 7i77 Limits The minlimit and maxlimit are bounds on the pin value in this case the analog out value fullscalemax is the scale factor These are by default set to the analog in or analog range most likely in volts So for example on the 7177 10V analog outputs the default values are minlimit 10 maxlimit 10 maxfullscale 10 If you wanted to say scale the analog out of a channel to IPS for a velocity mode servo say 24 IPS max you could set the limits like this minlimit
155. ariables Automobile cruise control is an example of a process outside of industry which utilizes crude PID control Some control systems arrange PID controllers in cascades or networks That is a master control produces signals used by slave controllers One common situation is motor controls one often wants the motor to have a controlled speed with the slave controller often built into a variable frequency drive directly managing the speed based on a proportional input This slave input is fed by the master controller s output which is controlling based upon a related variable 28 1 2 Theory PID is named after its three correcting calculations which all add to and adjust the controlled quantity These additions are actually subtractions of error because the proportions are usually negative 28 1 2 1 Proportional To handle the present the error is multiplied by a negative constant P for proportional and added to subtracting error from the controlled quantity P is only valid in the band over which a controller s output is proportional to the error of the system Note that when the error is zero a proportional controller s output is zero 28 1 2 2 Integral To learn from the past the error is integrated added up over a period of time and then multiplied by a negative constant I making an average and added to subtracting error from the controlled quantity I averages the measured error to find the process output s averag
156. arity is used If no port name for serial is set TCP IP mode will be used The slave address is the slave address Modbus RTU or the IP address The IP address can be followed per the port number to use xx xx xx xx pppp else the port 9502 will be used per default 2 products have been used for tests a Modbus TCP one Adam 6051 http www advantech com and a serial Modbus RTU one http www ipac ws See examples adam 6051 and modbus rtu serial Web links http www modbus org and this interesting one http www iatips com modbus html MODBUS TCP SERVER INCLUDED Classic Ladder has a Modbus TCP server integrated Default port is 9502 the previous standard 502 requires that the application must be launched with root privileges List of Modbus functions code supported are 1 2 3 4 5 6 15 and 16 Modbus bits and words correspondence table is actually not parametric and correspond directly to the B and W variables More information on modbus protocol is available on the internet http www modbus org 30 9 3 Communication Errors If there is a communication error a warning window will pop up if the GUI is running and EO0 will be true Modbus will continue to try to communicate The EO could be used to make a decision based on the error A timer could be used to stop the machine if timed out etc 30 9 4 MODBUS Bugs In compare blocks the function 7W ABS W 1 W2 is accepted but does not compute properl
157. articular firmware is for by looking at the name Let s look at a couple of examples In the 7143 two ports SV8 Servo 8 would be for having 8 servos or fewer using the classic 7133 4 axis per port servo board So 8 servos would use up all 48 signals in the two ports But if you only needed 3 servos you could say num encoders 3 and num pwmgens 3 and recover 5 servos at 6 signals each thus gaining 30 bits of GPIO Or in the 5122 four ports SVST8 24 Servo 8 Stepper 24 would be for having 8 servos or fewer 7133 x2 again and 24 steppers or fewer 7147 x2 This would use up all four ports If you only needed 4 servos you could say num encoders 4 and num pwmgens 4 and recover port and save 7133 And if you only needed 12 steppers you could say num stepgens 12 and free up one port and save 7147 So in this way we can save two ports 48 bits for GPIO Here are tables of the firmwares available in the official packages There may be additional firmwares available at the Mesanet com website that have not yet made it into the LinuxCNC official firmware packages so check there too 3x20 6 port various Default Configurations The 3x20 comes in 1M 1 5M and 2M gate versions So far all firmware is available in all gate sizes Firmware Encoder PWMGen StepGen GPIO SV24 24 24 0 0 SVSTI6 24 16 16 24 0 Integrator Manual V2 5 2013 03 10 135 255 5122 4 port PCT Default Configurations T
158. before a step begins in nanoseconds maxaccel Float RW Maximum acceleration in position units per second per second If set to 0 the driver will not limit its acceleration maxvel Float RW Maximum speed in position units per second If set to 0 the driver will choose the maximum velocity based on the values of steplen and stepspace at the time that maxvel was set to position scale Float RW Converts from counts to position units position counts position scale At present the firmware supports multi phase stepper outputs but the driver doesn t Interested volunteers are solicited Integrator Manual V2 5 2013 03 10 138 255 step type u32 RW Output format like the step type modparam to the software stegen 9 component 0 Step Dir 1 Up Down 2 Quadrature In Quadrature mode step type 2 the stepgen outputs one complete Gray cycle 00 gt 01 gt 11 gt 10 gt 00 for each step it takes e steplen u32 RW Duration of the step signal in nanoseconds stepspace u32 RW Minimum interval between step signals in nanoseconds 18 13 3 Output Parameters The Step and Direction pins of each StepGen have two additional parameters To find which I O pin belongs to which step and direction output run dmesg as described above invert output Bit RW This parameter only has an effect if the is output parameter is true If this parameter is true the output value of the G
159. ble out E Stop in Classic Ladder 2 oran Onl This line turns on the green indicator when out of E Stop net estop all ok gt pyvcp py es status Next we add the following lines to the panel xml file Note you have to open it with the text editor not the default html viewer lt pyvcp gt lt vbox gt lt label gt lt text gt E Stop Demo lt text gt lt label gt lt led gt halpin py es status halpin lt size gt 50 lt size gt lt on_color gt green lt on_color gt sofr Colors Color led lt checkbutton gt lt halpin gt py estop lt halpin gt lt text gt E Stop lt text gt lt checkbutton gt lt vbox gt lt button gt lt halpin gt py reset lt halpin gt lt text gt Reset lt text gt button pyvcp Now start up your config and it should look like this Integrator Manual V2 5 2013 03 10 224 255 ES axis ngc AXIS pre 2 3 CV S HEAD cl estop File Machine View Help E Stop Demo looimes i Manual Control F3 MDI F5 Axis C EJE Override Limits E Stop Reset Feed Override 100 L4 Jog Speed 5 8 in min AXIS splash g code M Not intended for actual milling 1 1 SH 2 01 CUT 3 0003 SCALE 4 60 FEED 620 Character E GOO Z 1 ESTOP tool Position Relative Actual
160. bled in HAL command line that starts the PPMC driver with the timestamp 0x00 option Integrator Manual V2 5 2013 03 10 148 255 All float output ppmc lt port gt encoder lt channel gt position Encoder position in user units All bit bidir ppmc lt port gt encoder lt channel gt index enable Connect to axis index enable for home to index This is a bidirectional HAL signal Setting it to true causes the encoder hardware to reset the count to zero on the next encoder index pulse The driver will detect this and set the signal back to false PPMC float output ppmc lt port gt DAC lt channel gt value sends a signed value to the 16 bit Digital to Analog Converter on the PPMC DACI6 board commanding the analog output voltage of that DAC channel UPC bit input ppmc port pwm channel enable Enables a PWM generator UPC float input ppmc lt port gt pwm lt channel gt value Value which determines the duty cycle of the PWM waveforms The value is divided by pwm channel scale and if the result is 0 6 the duty cycle will be 60 and so on Negative values result in the duty cycle being based on the absolute value and the direction pin is set to indicate negative USC bit input ppmc lt port gt stepgen lt channel gt enable Enables a step pulse generator USC float input ppmc port stepgen channel velocity Value which determines the step frequency The value is multi plied by stepge
161. bles type will be derived gt from the type of the initialization value Currently supported types are int float bool string 8 dp ioes 8 0 es doy gU iex Ln de 3 Wel to save restore all widget s state which might remotely make sense add this IniFile widgets widget defaults builder get objects a sensible alternative might be to retain only all HAL output widgets state IniFile widgets widget defaults select widgets self builder get objects lt hal only True output only True Then associate an ini file with this descriptor self ini filename nam ar self ini IniFile self ini filename self defaults self builder self ini restore state self After restore state self will have attributes set if as running the following self nhits 0 self a 1 67 self d True self c a string Note that types are saved and preserved on restore This example assumes that the ini file didn t exist or had the default values from self defaults After this incantation you can use the following IniFil methods ini save state obj saves objs s attributes as per IniFil vars dictionary and the widget state as described in IniFile widgets in self defaults ini create default ini create a ini file with default values ini restore state obj restore HAL out pins and obj s attributes as saved initialized to default as above Integrator Manual V2 5 2013
162. blisher of these copies The front cover must present the full title with all words of the title equally prominent and visible You may add other material on the covers in addition Copying with changes limited to the covers as long as they preserve the title of the Document and satisfy these conditions can be treated as verbatim copying in other respects If the required texts for either cover are too voluminous to fit legibly you should put the first ones listed as many as fit reasonably on the actual cover and continue the rest onto adjacent pages If you publish or distribute Opaque copies of the Document numbering more than 100 you must either include a machine readable Transparent copy along with each Opaque copy or state in or with each Opaque copy a publicly accessible computer network location containing a complete Transparent copy of the Document free of added material which the general network using public has access to download anonymously at no charge using public standard network protocols If you use the latter option you must take reasonably prudent steps when you begin distribution of Opaque copies in quantity to ensure that this Transparent copy will remain thus accessible at the stated location until at least one year after the last time you distribute an Opaque copy directly or through your agents or retailers of that edition to the public It is requested but not required that you contact the authors of the Document
163. board and exports the appropriate HAL objects Installing loadrt hal motenc During loading or attempted loading the driver prints some useful debugging messages to the kernel log which can be viewed with dmesg Up to 4 boards may be used in one system 19 4 Pins In the following pins parameters and functions board is the board ID According to the naming conventions the first board should always have an ID of zero However this driver sets the ID based on a pair of jumpers on the board so it may be non zero even if there is only one board 432 motenc lt board gt enc lt channel gt count Encoder position in counts float motenc lt board gt enc lt channel gt position Encoder position in user units bit motenc lt board gt enc lt channel gt index Current status of index pulse input bit motenc lt board gt enc lt channel gt idx latch Driver sets this pin true when it latches an index pulse enabled by latch index Cleared by clearing latch index bit motenc lt board gt enc lt channel gt latch index If this pin is true the driver will reset the counter on the next index pulse e bit motenc board enc channel reset count If this pin is true the counter will immediately be reset to zero and the pin will be cleared float motenc lt board gt dac lt channel gt value Analog output value for DAC in user units see gain and offset float motenc board
164. bootstrap capacitors used on some MOSFET gate drivers Integrator Manual V2 5 2013 03 10 149 255 USC u32 ppmc lt port gt stepgen lt channel range gt setup time Sets minimum time between direction change and step pulse in units of 100ns Applies to a group of four consecutive step generators as indicated by lt channel range gt e USC u32 ppmc lt port gt stepgen lt channel range gt pulse width Sets width of step pulses in units of 100ns Applies to a group of four consecutive step generators as indicated by lt channel range gt e USC u32 ppmc port stepgen lt channel range gt pulse space min Sets minimum time between pulses in units of 100ns Applies to a group of four consecutive step generators as indicated by lt channel range gt The maximum step rate is 100ns pulsewidth pulsespacemin e USC float ppmc port stepgen channel scale Scaling for step pulse generator The step frequency in Hz is the absolute value of velocity scale USC float ppmc lt port gt stepgen lt channel gt max vel The maximum value for velocity Commands greater than max vel will be clamped Also applies to negative values The absolute value is clamped e USC float ppmc port stepgen channel frequency Actual step pulse frequency in Hz used mostly for troubleshooting e Option float ppmc port DACS channel scale Sets scale of extra DAC output such that an output value eq
165. box Widgets are packed horizontally 58 Buttoni 00 Bf 0 0 100 0 These are a vboxes within a hbox This demonstrates box nesting and vertical packing Button2 0 0 0 0 Button2 7 E Button3 Button4 Buttons 000 000 000 000 100 0 e o 100 0 e o 100 0 e 100 0 10 2 Panel Construction The layout of a PyVCP panel is specified with an XML file that contains widget tags between pyvcp and pyvcp For example lt pyvcp gt ED indicator gt label text This is a LI led pyvcp mypanel This is a LED indicator If you place this text in a file called tiny xml and run halrun I loadusr pyvcp c mypanel tiny xml Integrator Manual V2 5 2013 03 10 54 255 PyVCP will create the panel for you which includes two widgets a Label with the text This is a LED indicator and LED used for displaying the state of a HAL BIT signal It will also create HAL component named mypanel all widgets in this panel are connected to pins that start with mypanel Since no halpin tag was present inside the led tag PyVCP will automatically name the HAL pin for the LED widget mypanel led 0 For a list of widgets and their tags and options see the widget reference below Once you have created your panel connecting HAL signa
166. c2 rtlib hal parport ko 1 Device or resource busy then ensure that the standard kernel module parport pc is not loaded and that no other device in the system has claimed the I O ports If the module loads but does not appear to function then the port address is incorrect or the probe parport module is required In the LinuxCNC packages for Ubuntu the file etc modprobe d emc2 generally prevents parport_pc from being automatically loaded Integrator Manual V2 5 2013 03 10 125 255 15 1 6 Using DoubleStep To setup DoubleStep on the parallel port you must add the function parport n reset after parport n write and configure stepspace to and the reset time wanted So that step can be asserted on every period in HAL and then toggled off by parport after being asserted for time specificed by parport n reset time For example lioadee haleparpore cig 0x37 3s our setp parport 0 reset time 5000 loadrt stepgen step type 0 0 0 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 setp stepgen 0 steplen 1 setp stepgen 0 stepspace 0 More information on DoubleStep can be found on the wiki 15 2 probe parport In modern PCs the parallel port may require plug and play PNP configuration before it can be used The probe parport module performs configuration of any PNP ports
167. ch as a step and direction driven machine Integrator Manual V2 5 2013 03 10 20 255 Warning The following are custom INI file entries that you may find in a sample INI file or a wizard generated file These are not used by the LinuxCNC software They are only there to put all the settings in one place For more information on custom INI file entries see the Custom Sections and Variables subsection The following items might be used by a PID component and the assumption is that the output is volts DEADBAND 0 000015 How close is close enough to consider the motor in position in machine units This is often set to a distance equivalent to 1 1 5 2 or 3 encoder counts but there are no strict rules Looser larger settings allow less servo hunting at the expense of lower accuracy Tighter smaller settings attempt higher accuracy at the expense of more servo hunting Is it really more accurate if it s also more uncertain As a general rule it s good to avoid or at least limit servo hunting if you can Be careful about going below 1 encoder count since you may create a condition where there is no place that your servo is happy This can go beyond hunting slow to nervous rapid and even to squealing which is easy to confuse with oscillation caused by improper tuning Better to be a count or two loose here at first until you ve been through gross tuning at least Example of calculating machine units per encoder pulse to us
168. cl Commands Haltcl files use the tcl scripting language augmented with the specific commands of the LinuxCNC hardware abstraction layer HAL The hal specific commands are addf alias delf delsig getp gets ptype stype help linkpp linkps linksp list loadrt loadusr lock net newsig Save setp sets show source start status stop unalias unlinkp unload unloadrt unloadusr unlock waitusr Integrator Manual V2 5 2013 03 10 30 255 Two special cases occur for the gets and list commands due to conflicts with tcl builtin commands For haltcl these commands must be preceded with the keyword hal halcmd haltcl gets hal gets list hal list 6 3 Haltcl Inifile variables Inifile variables are accessible by both halcmd and haltcl but with differing syntax LinuxCNC ini files use SECTION and ITEM specifiers to identify configuration items SECTION_A 1 value 1 ITEM2 value_2 SECTION_B The ini file values are accessible by text substition in hal files using the form SECTION ITEM The same ini file values are accessible in tcl files using the form of a tcl global array variable SECTION ITEM For example an ini file item like AXIS_0 MAX_VELOCITY 4 is expressed as AXIS_OJMAX_VELOCITY in hal files for halemd and as AXIS_O MAX_VELOCITY in tcl files for haltcl 6 4 Converting hal files to tcl files Existing hal fil
169. cle is divided into ARCDIVISION parts Larger values give a more accurate preview but take longer to load and result in a more sluggish display Smaller values give a less accurate preview but take less time to load and may result in a faster display The default value of 64 means a circle of up to 3 inches will be displayed to within 1 mil 03 MDI HISTORY FILE The name of a local MDI history file If this is not specified Axis will save the MDI history in axis mdi history in the user s home directory This is useful if you have multiple configurations on one computer Note The following DISPLAY item is used by the TKLinuxCNC interface only HELP FILE tklinucnc txt Path to help file LinuxCNC 2 4 and earlier the default value was 128 Integrator Manual V2 5 2013 03 10 15 255 3 2 3 FILTER Section AXIS has the ability to send loaded files through a filter program This filter can do any desired task Something as simple as making sure the file ends with M2 or something as complicated as detecting whether the input is a depth image and generating g code to mill the shape it defines The FILTER section of the ini file controls how filters work First for each type of file write a PROGRAM EXTENSION line Then specify the program to execute for each type of file This program is given the name of the input file as its first argument and must write RS274NGC code to standard output This output is what wil
170. complicated if the machine is missing one of the axes 26 3 Non trivial kinematics There can be quite a few types of machine setups robots puma scara hexapods etc Each of them is set up using linear and rotary joints These joints don t usually match with the Cartesian coordinates therefore we need a kinematics function which does the conversion actually 2 functions forward and inverse kinematics function To illustrate the above we will analyze a simple kinematics called bipod a simplified version of the tripod which is a simplified version of the hexapod y A 0 0 Dx 0 AD BD D Dx Dy Figure 26 1 Bipod setup If a machine e g a lathe is set up with only the axes X Z amp A and the LinuxCNC inifile holds only these 3 joints defined then the above matching will be faulty That is because we actually have joint0 x joint1 Z joint2 A whereas the above assumes jointl Y To make it easily work in LinuxCNC one needs to define all axes XYZA then use a simple loopback in HAL for the unused Y axis 4One other way of making it work is by changing the matching code and recompiling the software Integrator Manual V2 5 2013 03 10 176 255 The Bipod we are talking about is a device that consists of 2 motors placed on a wall from which a device is hung using some wire The joints in this case are the distances from the motors to the device named AD and BD in the figure The position of the motors
171. connecting a signal to one or the other the user can determine the state of the input 23 3 Parameters stg channel position scale float The number of counts user unit to convert from counts to units stg channel dac offset float Sets the offset for the corresponding DAC stg channel dac gain float Sets the gain of the corresponding DAC stg channel adc offset float Sets the offset of the corresponding ADC stg channel adc gain float Sets the gain of the corresponding ADC stg out lt pinnum gt invert bit Inverts an output pin The invert parameter determines whether an output pin is active high or active low If invert is FALSE setting the HAL out pin TRUE drives the physical pin high and FALSE drives it low If invert is TRUE then setting the HAL out pin TRUE will drive the physical pin low 23 3 1 Functions stg capture position Reads the encoder counters from the axis channel stg write dacs Writes the voltages to the DACs stg read adcs Reads the voltages from the ADCs stg di read Reads physical in pins of all ports and updates all HAL in lt pinnum gt and in lt pinnum gt not pins stg do write Reads all HAL out pinnum pins and updates all physical output pins Integrator Manual V2 5 2013 03 10 159 255 Chapter 24 ShuttleXpress 24 1 Description shuttlexpress is a userspace HAL component that interfaces Contour Design
172. ct is open when the HAL pin is true or the coil is active Rising Edge Contact creates a contact that is closed when the HAL pin goes from False to true or the coil from not active to active Falling Edge Contact creates a contact that is closed when the HAL pin goes from true to false or the coil from active to not Horizontal Connection creates a horizontal connection to objects Vertical Connection creates a vertical connection to horizontal lines Horizontal Running Connection creates a horizontal connection between two objects and is a quick way to connect objects that are more than one block apart IEC Timer creates a timer and replaces the Timer Timer creates a Timer Module depreciated use IEC Timer instead Monostable creates a one shot monostable module Counter creates a counter module Compare creates a compare block to compare variable to values or other variables eg W1 lt 5 or W1 W2 Compare cannot be placed in the right most side of the section display Variable Assignment creates an assignment block so you to assign values to variables eg W2 7 or 7W1 W2 AS SIGNMENT functions can only be placed at the right most side of the section display 30 5 6 Config Window The config window shows the current project status and has the Modbus setup tabs Integrator Manual V2 5 2013 03 10 199 255 Config ie 23 Period object info Modbus communication setup Modbus regist
173. cted axis one increment in the plus direction for each off to on transition Integrator Manual V2 5 2013 03 10 115 255 halui jog selected minus bit in pin for jogging the selected axis in negative direction at the halui jog speed velocity halui jog selected plus bit in pin for jogging the selected axis in positive direction at the halui jog speed velocity Joint n is a number between and 8 and selected halui joint lt n gt has fault bit out status pin telling the joint has a fault halui joint lt n gt home bit in pin for homing the specific joint halui joint lt n gt is homed bit out status pin telling that the joint is homed halui joint lt n gt is selected bit bit out status pin a joint is selected internal halui halui joint lt n gt on hard max limit bit out status pin telling joint n is on the positive hardware limit switch halui joint lt n gt on hard min limit bit out status pin telling joint n is on the negative hardware limit switch halui joint lt n gt on soft max limit bit out status pin telling joint n is at the positive software limit halui joint lt n gt on soft min limit bit out status pin telling joint n is at the negative software limit halui joint lt n gt select bit in select joint 0 8 internal halui halui joint lt n gt unhome bit in unhomes this joint halui joint selected u32 out selected joint 0 8 internal halui
174. d Set serial parity to even odd or none r or rate n default 38400 Set baud rate to n It is an error if the rate is not one of the following 110 300 600 1200 2400 4800 9600 19200 38400 57600 115200 s or stopbits 1 2 default 1 Set serial stop bits to 1 or 2 t or target n default 1 Set MODBUS target slave number This must match the device number you set on the GS2 v or verbose Turn on debug messages Note That if there are serial configuration errors turning on verbose may result in a flood of timeout errors 17 2 Pins Where lt n gt is gs2_vfd or the name given during loading with the n option lt n gt DC bus volts float out The DC bus voltage of the VFD Integrator Manual V2 5 2013 03 10 129 255 n at speed bit out when drive is at commanded speed n err reset bit in reset errors sent to VFD n firmware revision s32 out from the VFD n frequency command float out from the VFD n frequency out float out from the n is stopped bit out when the VFD reports O Hz output n load percentage float out from the VFD n motor RPM float out from the VFD n output current float out from the VFD n output voltage float out from the n power factor float out from the VFD n scale frequency float out from the VFD n speed command float in speed sent to VFD in RPM It
175. d by a stepgen component SCALE 4000 in Sample configs STEP SCALE 4000 in PNCconf built configs Specifies the number of pulses that corresponds to a move of one machine unit as set in the TRAJ section For stepper systems this is the number of step pulses issued per machine unit For a linear axis one machine unit will be equal to the setting of LINEAR UNITS For an angular axis one unit is equal to the setting in ANGULAR UNITS For servo systems this is the number of feedback pulses per machine unit A second number if specified is ignored For example on a 1 8 degree stepper motor with half stepping and 10 revs inch gearing and desired machine units of inch we have input scale 2steps 60 degree 10 2 Steps 1 8 degrees rev inch inch ENCODER SCALE 20000 Optionally used in PNCconf built configs Specifies the number of pulses that corresponds to a move of one machine unit as set in the TRAJ section For a linear axis one machine unit will be equal to the setting of LINEAR UNITS For an angular axis one unit is equal to the setting in ANGULAR UNITS A second number if specified is ignored For example on a 2000 counts per rev encoder and 10 revs inch gearing and desired units of inch we have input scale 2000 10 20000 inch inch STEPGEN MAXACCEL 21 0 Acceleration limit for the step generator This should be 196 to 10 larger than the axis MAX ACCELERATION
176. d the maximum step rate is 38 461 steps per second But you can t start celebrating yet Note that 13 us is a very short period If you try to run the step generator every 13 us there might not be enough time left to run anything else and your computer will lock up If you are aiming for periods of less than 25 us you should start at 25 us or more run EMC and see how things respond If all is well you can gradually decrease the period If the mouse pointer starts getting sluggish and everything else on the PC slows down your period is a little too short Go back to the previous value that let the computer run smoothly In this case sppose you started at 25 us trying to get to 13 us but you find that around 16 us is the limit any less and the computer doesn t respond very well So you use 16 us With a 16 us period and 11 us latency the shortest output time will be 16 11 5 us The drive only needs 2 us so you have some margin Margin is good you don t want to lose steps because you cut the timing too close What is the maximum step rate Remember two periods to make a step You settled on 16 us for the period so a step takes 32 us That works out to a not bad 31 250 steps per second 27 1 4 Use steplen stepspace dirsetup and or dirhold In the last section we got the Xylotex drive to a 16 us period and a 31 250 step per second maximum speed But the Gecko was stuck at 31 us and a not so nice 16 129 steps per second The Xylotex e
177. dd this function to a Python file and run as follows gladevcp u lt myhandler gt py mygui ui Note communication between handlers has to go through global variables which does not scale well and is positively un pythonic This is why we came up with the class based handler model Integrator Manual V2 5 2013 03 10 106 255 12 8 4 2 The class based handler model The idea here is handlers are linked to class methods The underlying class es are instantiated and inspected during GladeVCP startup and linked to the widget tree as signal handlers So the task now is to write one or more several class definition s with one or several methods in one module or split over several modules e a function get handlers in each module which will return a list of class instances to GladeVCP their method names will be linked to signal handlers Here is a minimum user defined handler example module class MyCallbacks def on this signal self obj data None print this signal happened def get handlers halcomp builder useropts return MyCallbacks Now on this signal will be available as signal handler to your widget tree 12 8 4 3 The get handlers protocol If during module inspection Glade VCP finds a function get handlers it calls it as follows get handlers halcomp builder useropts the arguments are halcomp refers to the HAL component under construction builder widget tree result of readi
178. dlers U USEROPT pass USEROPTS to Python modules 12 5 Understanding the gladeVCP startup process The integration steps outlined above look a bit tricky and they are It does therefore help to understand the startup process of LinuxCNC and how this relates to gladeVCP The normal LinuxCNC startup process does the following the realtime environment is started all HAL components are loaded the HAL components are linked together through the hal cmd scripts task iocontrol and eventually the user interface is started pre gladeVCP the assumption was by the time the UI starts all of HAL is loaded plumbed and ready to go The introduction of gladeVCP brought the following issue Integrator Manual V2 5 2013 03 10 91 255 gladeVCP panels need to be embedded in a master GUI window setup e g Axis or Touchy embedded window or as an embedded tab this requires the master GUI to run before the gladeVCP window can be hooked into the master GUI however gladeVCP is also a HAL component and creates HAL pins of its own as a consequence all HAL plumbing involving gladeVCP HAL pins as source or destination must be run after the GUI has been set up This is the purpose of the POSTGUI HALFILE This ini option is inspected by the GUIs If a GUI detects this option it runs the corresponding HAI file after any embedded glad VCP panel is set up However it does not check whether a gladeVCP panel is actually used in whic
179. dy tripped If tripped it backs off the switch at HOME SEARCH VEL The direction of the back off is opposite the sign of HOME SEARCH VEL Then it searches for the home switch by moving in the direction specified by the sign of HOME SEARCH VEL at a speed determined by its absolute value When the home switch is detected the joint will stop as fast as possible but there will always be some overshoot The amount of overshoot depends on the speed If it is too high the joint might overshoot enough to hit a limit switch or crash into the end of travel On the other hand if HOME SEARCH VEL is too low homing can take a long time 4 3 2 HOME LATCH VEL Specifies the speed and direction that LinuxCNC uses when it makes its final accurate determination of the home switch if present and index pulse location if present It will usually be slower than the search velocity to maximize accuracy If HOME SEARCH VEL and HOME LATCH VEL have the same sign then the latch phase is done while moving in the same direction as the search phase In that case LinuxCNC first backs off the switch before moving towards it again at the latch velocity If HOME SEARCH VEL and HOME LATCH VEL have opposite signs the latch phase is done while moving in the opposite direction from the search phase That means LinuxCNC will latch the first pulse after it moves off the switch If HOME SEARCH VEL is zero meaning there is no home switch and this parameter is nonzero LinuxCNC goes
180. e rev file rev gif lt vbox gt lt image_u32 halpin selectimage images stb fwd rev gt lt vbox gt The above code produced the following example by adding the stb gif image irm En mino min Notice that the default is the min even though it is set higher than max unless there is a negative min 10 6 9 Containers Containers are widgets that contain other widgets Containers are used to group other widgets 10 6 9 1 Borders Container borders are specified with two tags used together The relief tag specifies the type of border and the bd specifies the width of the border e lt relief gt type lt relief gt Where type is FLAT SUNKEN RAISED GROOVE or RIDGE lt bd gt n lt bd gt Where n is the width of the border hbox lt button gt lt relief gt FLAT lt relief gt lt text gt FLAT lt text gt lt bd gt 3 lt bd gt lt button gt lt button gt lt relief gt SUNKEN lt relief gt lt text gt SUNKEN lt text gt lt bd gt 3 lt bd gt lt button gt lt button gt lt relief gt RAISED lt relief gt lt text gt RAISED lt text gt lt bd gt 3 lt bd gt lt button gt lt button gt lt relief gt GROOVE lt relief gt lt text gt GROOVE lt text gt lt bd gt 3 lt bd gt lt button gt lt button gt lt relief gt RIDGE lt relief gt Integrator Manual V2 5 2013 03 10 68 255 lt text gt RIDGE lt
181. e Document then if the Document is less than one quarter of the entire aggregate the Document s Cover Texts may be placed on covers that surround only the Document within the aggregate Otherwise they must appear on covers around the whole aggregate 8 TRANSLATION Translation is considered a kind of modification so you may distribute translations of the Document under the terms of section 4 Replacing Invariant Sections with translations requires special permission from their copyright holders but you may include translations of some or all Invariant Sections in addition to the original versions of these Invariant Sections You may include a translation of this License provided that you also include the original English version of this License In case of a disagreement between the translation and the original English version of this License the original English version will prevail 9 TERMINATION You may not copy modify sublicense or distribute the Document except as expressly provided for under this License Any other attempt to copy modify sublicense or distribute the Document is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 10 FUTURE REVISIONS OF THIS LICENSE The Free Software Foundation may publish new revised versions of the GNU Free D
182. e G code commands or O word subs some of these variables might get changed by the command or subroutine for example a probing subroutine will very likely set the feed value quite low With no further precautions your previous feed setting will be overwritten by the probing subroutine s value To deal with this surprising and undesirable side effect of a given O word subroutine or G code statement executed with an Lin uxCNC ToggleAction MDI you might associate pre MDI and post MDI handlers with a given LinuxCNC ToggleAction MDI These handlers are optional and provide a way to save any state before executing the MDI Action and to restore it to previous values afterwards The signal names mdi command start and mdi command stop the handler names can be set in Glade like any other handler Here s an example how a feed value might be saved and restored by such handlers note that LinuxCNC command and status channels are available as se1 linuxcnc and self stat through the EMC ActionBase class def on mdi command start self action userdata None action stat poll self start feed action stat settings 1 def on mdi command stop self action userdata None action linuxcnc mdi F 1f self start feed while action linuxcnc wait complete 1 pass Only the Action MDI Toggle widget supports these signals Note In a later release of LinuxCNC the new M codes M70 M72 are available which make it saving state before a subrout
183. e OEE Aa ee bea ee eo ZI HOME SEARCH VEL 566 o mu RR ee m ober Eom Rede eke mos HOME ae Se amp rae eu SG obese eue Be es s S33 HOME FINAL VER ee r e ko RM dO eae Gee eee ee ee ee Ye 434 IGNORE LIMITS 2 22 04 60 e ba em es eed eee hie bev 2 5 HOME USE INDEX Oa eee Oe ee ee Sy YR ere eee Hoe SOME als ct Se ARS Ee v que be ex EE he Bee ee udis be GGT HOME pan ee eA pee eee woe Wee ad BE Udo em e HOME S SHARED Pe eee hee eee a SPA Bee ewe SU 439 HOME SEOUBNCE REO ee GS R9 9 od 43 10 VOLATILE HOME aR eS Bao Rt REOR ak 43 1 LOCKING INDEXER 2 2 4 coo out tda be aw dom Rok mo ERROR ee 5 Lathe Configuration Sl 5 2 Ee RS ugs RSLS eh NE ORE E sx e Mae dod ues SENDES P a Oe ee Tc 6 HAL TCL Files 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 OUI c penis dose e Ble ray desk se as eet dese gius qe tes tr k luces c PPP SO oe TTE idle os ocea RR we ee GON Gk homo lm TER Converting hal fles totel Beg o o cs uo coe e o eo hoo Ro ER ee
184. e Speed If your spindle can be controlled by a PWM signal use the pwmgen component to create the signal loadrt pwmgen output type 0 addf pwmgen update servo thread addf pwmgen make pulses base thread net spindle speed cmd motion spindle speed out gt pwmgen 0 value net spindle on motion spindle on gt pwmgen 0 enabl net spindle pwm pwmgen 0 pwm gt parport 0 pin 09 out Set the spindle s top speed in RPM setp pwmgen 0 scale 1800 This assumes that the spindle controller s response to PWM is simple 0 PWM gives 0 RPM 10 PWM gives 180 RPM etc If there is a minimum PWM required to get the spindle to turn follow the example in the nist lathe sample configuration to use a scale component Integrator Manual V2 5 2013 03 10 229 255 33 3 Spindle Enable If you need a spindle enable signal link your output pin to motion spindle on To link these pins to a parallel port pin put something like the following in your hal file making sure you pick the pin that is connected to your control device net spindle enable motion spindle on gt parport 0 pin 14 out 33 4 Spindle Direction If you have direction control of your spindle the HAL pins motion spindle forward and motion spindle reverse are controlled by and Spindle speed n must be set to a positive non zero value for M3 MA to turn on spindle motion To link these pins to a parallel port pin put something like the following in your hal file makin
185. e Toggle Skip Lires with to see that part 1 Gon Goto Excube Gward i If the preqras is fea big ar geal far your machine change the scale 1 machine curent system zero zero fonti 1 tent Freri fBoldIEslic ttf iert EC ees j n his taa Pestion Hathi Actual Run the same panel but as a tab inside Axis Integrator Manual V2 5 2013 03 10 84 255 cd configs sim gladevcp Semuscemnesgiladevepst 1 asiz nge AKIS 7 5 on CMC HAL SIM AS Ele Machine View eim ms bium m lz F xE S Mangal Contr 0 IFS AXIS splash g cede Hat intended for actual millisg i Tb run thit code anywap pos aighi Bae te Tough Off the arid depending an paur setup As if yeu had seme material in poer mili Hint jeg the 7 aris down bit them tomh eff 1 Also preis tha Toggle Skip Lines wil see that part If the program is foes big or teoll far peur machine change the scale r3 fant ukr shane fonts Sngetype Iren fant EreeterifBeld talic tte tect To run this panel as a standalone toplevel window besides Axis just start Axis in the background and start gladevcp as follows cd configs sim axis 5 linuxene axis ani amp 5 gladevcp c gladevcp u gladevcp hitcounter py H gladevcp manual example hal lt gladevcp manual example ui Integrator Manual V2 5 2013 03 10
186. e Z axis will be moved to machine zero prior to the tool change when the value is 1 This is the same as issuing a GO G53 70 TOOL CHANGE 30 1 The machine is moved to reference point defined by parameters 5181 5186 for G30 if the value is 1 For more information on G30 and Parameters see the G Code Manual RANDOM TOOLCHANGER 1 This is for machines that cannot place the tool back into the pocket it came from For example machines that exchange the tool in the active pocket with the tool in the spindle Integrator Manual V2 5 2013 03 10 24 255 Chapter 4 Homing Configuration 4 1 Overview Homing seems simple enough just move each joint to a known location and set LinuxCNC s internal variables accordingly However different machines have different requirements and homing is actually quite complicated 4 2 Homing Sequence There are four possible homing sequences along with the associated configuration parameters as shown in the following table For a more detailed description of what each configuration parameter does see the following section Integrator Manual V2 5 2013 03 10 25 255 USEINDEX FALSE gf Et SEARCH FOR HOME SWITCH SEARCHVEL FINAL DETECTION OF SWITCH LATCHVEL GO TO HOME POSITION MAXVEL SEARCHVEL POSITIVE HOMEOFFSET 3 000 LATCHVEL POSITIVE HOME 1 000 HOME SWITCH RELEASES USEINDEX FALSE SWITCH TRIPS SEARCH FOR HOME SWITCH SEARCHYEL BACK OFF OF HOME S
187. e erbe e eu Od Be up Nub Eee a aras pic OER TT 17 3 Parameters go eoe S EE B 18 Mesa HostMot2 Driver Xu inn CC 189 2 Firmware Binanes 2 se RE Re Ryo EGG X 4 RO RC RC owe x RR RO ROO 18 5 Installing o oe on o oec PRORA EO RO dO Re FOE RO SY e KO EUR S RR os 14 eoe Re ose So e Roe xu RA SPS qM See os 185 5 WatclidOB odo Rom ode se yo EUR E E dex RUE Ro vox ec e On wu ALD TS PUM ep cm TGF Stk ek PRO Sas ed Ek we I5 PEN PMG Co b eS Se Eom PARES wee eB SEG Ee Yog eee s cat SG Bb ae cod kee Wes ee dee Ste n qe CC GUUS AON CC ee ES OE Eee eS See ee Pew ee geri esx ety ay ed ee ee tae Se ey ov rogo xpo ek Rw Ae eee GER oe AER dee ee ed WS eR a Se Cn c eS SRR REG WR Ewa SER TIT IEXE I I PERSE ee T TT PRO Wes sw ew DEE BBS Eee ee A be Ky Sk Se Ge a
188. e error from the set point A simple proportional system either oscillates moving back and forth around the set point because there s nothing to remove the error when it overshoots or oscillates and or stabilizes at a too low or too high value By adding a negative proportion of i e subtracting part of the average error from the process input the average difference between the process output and the set point is always being reduced Therefore eventually a well tuned PID loop s process output will settle down at the set point 28 1 2 3 Derivative To handle the future the first derivative the slope of the error over time is calculated and multiplied by another negative constant D and also added to subtracting error from the controlled quantity The derivative term controls the response to a change in the system The larger the derivative term the more rapidly the controller responds to changes in the process s output More technically a PID loop can be characterized as a filter applied to a complex frequency domain system This is useful in order to calculate whether it will actually reach a stable value If the values are chosen incorrectly the controlled process input can oscillate and the process output may never stay at the set point 28 1 3 Loop Tuning Tuning a control loop is the adjustment of its control parameters gain proportional band integral gain reset derivative gain rate to the optimum values for the desired contro
189. e in deciding DEADBAND value 1 revolution lline 0 2units _ 0 200units 0 00005 units 1000lines 4pulse line 1revolution 4000pulses 1 pulse BIAS 0 000 This is used by hm2 servo and some others Bias is a constant amount that is added to the output In most cases it should be left at zero However it can sometimes be useful to compensate for offsets in servo amplifiers or to balance the weight of an object that moves vertically bias is turned off when the PID loop is disabled just like all other components of the output e 50 The proportional gain for the axis servo This value multiplies the error between commanded and actual position in machine units resulting in a contribution to the computed voltage for the motor amplifier The units on the P gain are volts per volts machine unit e g unit e 0 The integral gain for the axis servo The value multiplies the cumulative error between commanded and actual position in machine units resulting in a contribution to the computed voltage for the motor amplifier The units on the I gain are volts volts per machine unit second e g unit second e D 0 The derivative gain for the axis servo The value multiplies the difference between the current and previous errors resulting in a contribution to the computed voltage for the motor amplifier The units on the D gain are volts per machine unit volts per second e g unit second FF0 0 The Oth order feed forward
190. e name in place of the value HAL Example setp offset l offset OFFSETS OFFSET 1 setp stepgen 0 position scale AXIS 0 SCALE Note The value stored in the variable must match the type specificied by the component pin 3 2 INI File Sections 3 2 1 EMC Section VERSION Revision 1 3 The version number for the INI file The value shown here looks odd because it is automatically updated when using the Revision Control System It s a good idea to change this number each time you revise your file If you want to edit this manually just change the number and leave the other tags alone MACHINE My Controller This is the name of the controller which is printed out at the top of most graphical interfaces You can put whatever you want here as long as you make it a single line long DEBUG 0 Debug level 0 means no messages will be printed when LinuxCNC is run from a terminal Debug flags are usually only useful to developers See src emc nml intf emcglb h for other settings 3 2 2 DISPLAY Section Different user interface programs use different options and not every option is supported by every user interface The main two interfaces for LinuxCNC are AXIS and Touchy Axis is an interface for use with normal computer and monitor Touchy is for use with touch screens Descriptions of the interfaces are in the Interfaces section of the User Manual DISPLAY axis The name of the user interface to use Valid option
191. e purpose of an input pin in the first place it should be linked to and react to signals generated by other HAL components While there is currently no write protection on writing to input pins in HAL Python this doesn t make sense You might use setp pinname value in the associated halfile for testing though It is perfectly OK to set an output HAL pin s value with halcomp pinname value provided this HAL pin is not associ ated with a widget that is has been created by the hal_glib GPin halcomp newpin lt name gt lt type gt lt direction gt method see GladeVCP Programming for an example 12 6 4 The hal pin changed signal Event driven programming means that the UI tells your code when something happens through a callback like when a button was pressed The output HAL widgets those which display a HAL pin s value like LED Bar VBar Meter etc support the hal pin changed signal which may cause a callback into your Python code when well a HAL pin changes its value This means there s no more need for permanent polling of HAL pin changes in your code the widgets do that in the background and let you know Here is an example how to seta hal pin changed signal for a HAL LED in the Glade UI editor Integrator Manual V2 5 2013 03 10 93 255 lt hal tabel E hal_buttonl cm hal spinbutton1 hal togglebutton1 E bel o hl HAL LED Properties HAL_LED hal led1 General Packing Gamal Signals
192. e string is accepted by float the value is treated as floating point 4 Otherwise the string is accepted as a string When the tag based syntax is used the text within the tag is always evaluated as a Python expression The examples below show a mix of formats 10 6 2 1 Comments To add a comment use the xml syntax for a comment au My 10 6 2 2 Editing the XML file Edit the XML file with a text editor In most cases you can right click on the file and select open with text editor or similar 10 6 2 3 Colors Colors can be specified using the X11 rgb colors by name gray75 or hex 0000 complete list is located here http sedition com perl rgb html Common Colors colors with numbers indicate shades of that color white black blue and bluel 4 cyan and cyanl 4 green and 4 yellow and yellow1 4 red and red1 4 purple and purple 4 gray and 100 10 6 2 4 HAL Pins HAL pins provide a means to connect the widget to something Once you create a HAL pin for your widget you can connect it to another HAL pin with a net command in a hal file For more information on the net command see the HAL Commands section of the HAL manual Integrator Manual V2 5 2013 03 10 58 255 10 6 3 Label A label is a piece of text on your panel The label has an optional disable pin that is created when you add disable pin True disable pin label text Thi
193. e these commands loadusr Wn mypanel pyvcp g WxH X Y c mypanel path panel file xml You would use this if you wanted a floating panel or a panel with a GUI other than AXIS Wn panelname makes HAL wait for the component panelname to finish loading become ready in HAL speak before processing more HAL commands This is important because PyVCP panels export HAL pins and other HAL components will need them present to connect to them Note the capital W and lowercase n If you use the Wn option you must use the c option to name the panel pyvcp lt g gt lt c gt panel xml builds the panel with the optional geometry and or panelname from the xml panel file The panel xml can be any name that ends in xml The xml file is the file that describes how to build the panel You must add the path name if the panel is not in the directory that the HAL script is in g lt WxH gt lt X Y gt specifies the geometry to be used when constructing the panel The syntax is Width x Height X Anchor Y Anchor You can set the size or position or both The anchor point is the upper left corner of the panel An example is g 250x500 800 0 This sets the panel at 250 pixels wide 500 pixels tall and anchors it at X800 YO c panelname tells PyVCP what to call the component and also the title of the window The panelname can be any name without spaces Integrator Manual V2 5 2013 03 10 56 255 To load a stand alone PyVCP panel without Lin
194. ear with names so it is easier to follow loadrt limit2 names spindle ramp loadrt near names spindle at speed add the functions to a thread addf spindle ramp servo thread addf spindle at speed servo thread set the parameter for max rate of change max spindle accel decel in units per second setp spindle ramp maxv 60 hijack the spindle speed out and send it to spindle ramp in net spindle cmd lt motion spindle speed out gt spindle ramp in Integrator Manual V2 5 2013 03 10 230 255 the output of spindle ramp is sent to the scale in net spindle ramped lt spindle ramp out gt scale 0 in to know when to start the motion we send the near component named spindle at speed to the spindle commanded speed from the signal spindle cmd and the actual spindle speed provided your spindle can accelerate at the maxv setting net spindle cmd gt spindle at speed in1 net spindle ramped gt spindle at speed in2 the output from spindle at speed is sent to motion spindle at speed and when this is true motion will start net spindle ready lt spindle at speed out gt motion spindle at speed 33 6 Spindle Feedback 33 61 Spindle Synchronized Motion Spindle feedback is needed by LinuxCNC to perform any spindle coordinated motions like threading and constant surface speed The StepConf Wizard can perform the connections for you if you select Encoder Phase A and Encoder Index as inputs
195. ed spindle speed net spindle cmd gt near 0 inl connect one input to th ncoder measured spindle speed net spindle velocity near 0 in2 connect the output to the spindle at speed input net spindle at speed motion spindle at speed lt near 0 out set the spindle speed inputs to agree if within 1 setp near 0 scale 1 01 Integrator Manual V2 5 2013 03 10 232 255 Chapter 34 MPG Pendant This example is to explain how to hook up the common MPG pendants found on the market today This example uses an MPG3 pendant and a C22 pendant interface card from CNC4PC connected to a second parallel port plugged into the PCI slot This example gives you 3 axes with 3 step increments of 0 1 0 01 0 001 In your custom hal file or jog hal file add the following making sure you don t have mux4 or an encoder already in use If you do just increase the counts and change the reference numbers More information about mux4 and encoder can be found in the HAL manual or the man page See the HAL Ini Section of the manual for more information on adding a hal file jog hal Pendant loadrt encoder num 1 loadrt mux4 count 1 addf encoder capture position servo thread addf encoder update counters base thread addf mux4 0 servo thread If your MPG outputs a quadrature signal per click set x4 to 1 If your MPG puts out 1 pulse per click set x4 to 0 setp encoder 0 x4 mode 0 For velocity mode set to 1 In ve
196. ee vel lim float out axis N home sw in bit in Should be driven TRUE if the home switch for this joint is closed axis N homed bit out axis N homing bit out TRUE if the joint is currently homing axis N in position bit out axis N index enable bit I O axis N jog counts s32 in Connect to the counts pin of an external encoder to use a physical jog wheel axis N jog enable bit in When TRUE and in manual mode any change in jog counts will result in motion When false jog counts is ignored axis N jog scale float in Sets the distance moved for each count on jog counts in machine units In trivial kinematics machines there is a one to one correspondence between joints and axes Integrator Manual V2 5 2013 03 10 36 255 axis N jog vel mode bit in When FALSE the default the jogwheel operates in position mode The axis will move exactly jog scale units for each count regardless of how long that might take When TRUE the wheel operates in velocity mode motion stops when the wheel stops even if that means the commanded motion is not completed axis N joint pos cmd float out The joint as opposed to motor commanded position There may be an offset between the joint and motor positions for example the homing process sets this offset axis N joint pos fb float out The joint as opposed to motor feedback position axis N joint vel cmd float out axis N kb
197. eem confusing but the in and out labels for a parallel port pin indicates the physical way the pin works not how it is handled in HAL A pin can be connected to a signal if it obeys the following rules An IN pin can always be connected to a signal Integrator Manual V2 5 2013 03 10 45 255 IO pin be connected unless there s an OUT pin on the signal An OUT pin can be connected only if there are no other OUT or IO pins on the signal The same lt signal name gt can be used in multiple net commands to connect additional pins as long as the rules above are obeyed Signal Source Figure 9 2 Signal Direction This example shows the signal xStep with the source being stepgen 0 out and with two readers parport 0 pin 02 out and parport O pin 08 out Basically the value of stepgen O out is sent to the signal xStep and that value is then sent to parport O pin 02 out and parport 0 pin 08 out signal source destination destination net xStep stepgen 0 out gt parport 0 pin 02 out parport 0 pin 08 out Since the signal xStep contains the value of stepgen 0 out the source you can use the same signal again to send the value to another reader To do this just use the signal with the readers on another line net xStep gt parport 0 pin 02 out I O pins An I O pin like encoder N index enable can be read or set as allowed by the component 9 1 5 setp The command setp sets the value of a pin or parameter The
198. ency several milliseconds when using the onboard video But a 5 used Matrox video card solved the problem EMC does not require bleeding edge hardware Integrator Manual V2 5 2013 03 10 179 255 27 1 2 Figure out what your drives expect Different brands of stepper drives have different timing requirements on their step and direction inputs So you need to dig out or Google for the data sheet that has your drive s specs From the Gecko G202 manual Step Frequency 0 to 200 kHz Step Pulse 0 Time 0 5 us min Step on falling edge Step Pulse 1 Time 4 5 us min Direction Setup 1 us min 20 us min hold time after Step edge From the Gecko G203V manual Step Frequency 0 to 333 kHz Step Pulse 0 Time 2 0 us min Step on rising edge Step Pulse 1 Time 1 0 us min Direction Setup 200 ns 0 2 us before step pulse rising edge 200 ns 0 2 us hold after step pulse rising edge From the Xylotex datasheet Minimum DIR setup time before rising edge of STEP Pulse 200 ns Minimum DIR hold time after rising edge of STEP pulse 200 ns Minimum STEP pulse high time 2 0 us Minimum STEP pulse low time 1 0 us Step happens on rising edge Once you find the numbers write them down too you need them in the next step 27 1 3 Choose your BASE PERIOD BASE PERIOD is the heartbeat of your EMC computer Every period the software step generator decides if it is time for another step pu
199. ent count down timers This is deprecated and replaced by IEC Timers Timers have 4 contacts E enable input starts timer when true resets when goes false C control input must be on for the timer to run usually connect to E D done output true when timer times out and as long as E remains true R running output true when timer is running The timer base can be multiples of milliseconds seconds or minutes There are also Variables for timers that can be read and or written to in compare or operate blocks Txx R Timer xx running Boolean read only Txx D Timer xx done Boolean read only Txx V Timer xx current value integer read only Txx P Timer xx preset integer read or write 30 6 4 MONOSTABLES Represent the original one shot timers This is now deprecated and replaced by IEC Timers Monostables have 2 contacts I and R e I input input will start the mono timer running R running output will be true while timer is running The I contact is rising edge sensitive meaning it starts the timer only when changing from false to true or off to on While the timer is running the I contact can change with no effect to the running timer R will be true and stay true till the timer finishes counting to zero The timer base can be multiples of milliseconds seconds or minutes There are also Variables for monostables that can be read and or written to in compare or operate b
200. er 36 Stepper Diagnostics If what you get is not what you expect many times you just got some experience Learning from the experience increases your understanding of the whole Diagnosing problems is best done by divide and conquer By this I mean if you can remove 1 2 of the variables from the equation each time you will find the problem the fastest In the real world this is not always the case but it s usually a good place to start 36 1 Common Problems 36 1 1 Stepper Moves One Step The most common reason in a new installation for a stepper motor not to move is that the step and direction signals are exchanged If you press the jog forward and jog backward keys alternately and the stepper moves one step each time and in the same direction there is your clue 36 1 2 Steppers Move Many drives have an enable pin or need a charge pump to enable the output 36 1 3 Distance Not Correct If you command the axis to move a specific distance and it does not move that distance then your scale setting is wrong 36 2 Error Messages 36 2 1 Following Error The concept of a following error is strange when talking about stepper motors Since they are an open loop system there is no position feedback to let you know if you actually are out of range LinuxCNC calculates if it can keep up with the motion called for and if not then it gives a following error Following errors usually are the result of one of the following on stepper s
201. er Systems 1 1 1 Base Period BASE PERIOD is the heartbeat of your LinuxCNC computer Every period the software step generator decides if it is time for another step pulse A shorter period will allow you to generate more pulses per second within limits But if you go too short your computer will spend so much time generating step pulses that everything else will slow to a crawl or maybe even lock up Latency and stepper drive requirements affect the shortest period you can use Worst case latencies might only happen a few times a minute and the odds of bad latency happening just as the motor is changing direction are low So you can get very rare errors that ruin a part every once in a while and are impossible to troubleshoot The simplest way to avoid this problem is to choose a BASE PERIOD that is the sum of the longest timing requirement of your drive and the worst case latency of your computer This is not always the best choice For example if you are running a drive with a 20 us direction signal hold time requirement and your latency test said you have a maximum latency of 11 us then if you set the BASE PERIOD to 20 11 31 us you get a not so nice 32 258 steps per second in one mode and 16 129 steps per second in another mode The problem is with the 20 us hold time requirement That plus the 11 us latency is what forces us to use a slow 31 us period But the LinuxCNC software step generator has some parameters that let you increase t
202. er setup Pung Refresh Rate milliseconds Number of rungs 1 used Number of Bits e Number of Error Bits Number of Words RJ a m ce Number of Counters Number of Timers Number of Arithmetic Expresions Nurnber of Sections 10 used Number of Symbols e Number of Timers Number of Monostables Number of BIT Inputs HAL pins un Number of BIT Outputs HAL pins un Number of S32in HAL pins mn e m e mo Number of S320ut HAL pins Number of floatin HAL pins Number of floatout HAL pins Current path flename custom customclp Figure 30 7 Config Window Integrator Manual V2 5 2013 03 10 200 255 30 6 Ladder objects 30 6 1 CONTACTS Represent switches or relay contacts They are controlled by the variable letter and number assigned to them The variable letter can be B I or Q and the number can be up to a three digit number eg 9012 9603 or B123 Variable I is controlled by a HAL input pin with a corresponding number Variable B is for internal contacts controlled by a B coil with a corresponding number Variable Q is controlled by a Q coil with a corresponding number like a relay with multiple contacts E g if HAL pin classicladder 0 in 00 is true then 9610 N O contact would be on closed true whatever you like to call it If B7 coil is energized on true etc then B7 N O contact would be on If 6Q1 coil
203. es can be converted tcl files by hand editing to adapt to the differences mentioned above The process can be automated with scripts that convert using these substitutions MENEM gets hal gets list gt 6 5 Notes In haltcl the value argument for the sets and setp commands is implicitly treated as an expression in the tcl language Example set gain to convert deg sec to units min for AXIS 0 radius setp scale 0 gain 6 28 360 0 5 O radius 60 0 Whitespace in the bare expression is not allowed use quotes for that Integrator Manual V2 5 2013 03 10 31 255 Saro Scales M gain 26 Se Sesavxis s 60 04 In other contexts such as loadrt you must explicitly use the tcl expr command expr 111 for computational expressions Example loadrt motion base period expr 500000000 TRAJ MAX_PULSE_RATE 6 6 Haltcl Examples Consider the topic of stepgen headroom Software stepgen runs best with an acceleration constraint that is a bit higher than the one used by the motion planner So when using halcmd files we force inifiles to have a manually calculated value AXIS 0 MAXACCEL 10 0 STEPGEN MAXACCEL 10 5 With haltcl you can use tcl commands to do the computation and eliminate STEPGEN MAXACCEL inifile item altogether setp ste
204. f rec 2 fal 10 6 5 Buttons A button is used to control a BIT pin The pin will be set True when the button is pressed and held down and will be set False when the button is released Buttons can use the following formatting options e lt padx gt n lt padx gt where n is the amount of extra horizontal extra space pady n pady where n is the amount of extra vertical extra space e activebackground color activebackground the cursor over color e bg color bg the color of the button 10 6 5 1 Text Button A text button controls bit halpin The halpin is false until the button is pressed then it is true The button is a momentary button The text button has an optional disable pin that is created when you add disable pin True disable pin lt button gt lt halpin gt ok button lt halpin gt lt text gt OK lt text gt lt button gt lt button gt halpin abort button halpin lt text gt Abort lt text gt lt button The above code produced this example Integrator Manual V2 5 2013 03 10 60 255 10 6 5 2 Checkbutton A checkbutton controls a bit halpin The halpin will be set True when the button is checked and false when the button is unchecked The checkbutton is a toggle type button lt checkbutton gt halpin coolant chkbtn halpin lt text gt Coolant lt text gt lt checkbutton gt lt checkbutton gt halpin chip chkbtn
205. f all its child widgets combined It s the child widget s job to request a size width and or height However not all widgets do request a width greater than 0 for instance the Graph widget in its current form If there s such a widget in your Glade file and it s the one which defines the layout you might want to set its width explicitly Note that setting the windowl width and height properties in Glade does not make sense because this window will be orphaned during re parenting and hence its geometry will have no impact on layout see above The general rule is if you manually run a UI file with gladevcp lt uifile gt and its window has reasonable geometry it should come up in Axis properly as well 3 I want a blinking LED but it wont blink I ticked the checkbutton to let it blink with 100msec interval It wont blink and I get a startup warning Warning value of type gint is invalid or out of range for property led blink rate of type gint This seems to be a glade bug Just type over the blink rate field and save again this works for me 4 My gladevcp panel in Axis doesnt save state when I close Axis although I defined an on destroy handler linked to the window destroy signal Very likely this handler is linked to windowl which due to reparenting isnt usable for this purpose Please link the on destroy handler to the destroy signal of an interior window For instance I have a notebook inside windowl and linked
206. f you used the Stepper Config Wizard custom hal This file is loaded next and before the GUI loads This is where you put your custom HAL commands that you want loaded before the GUI is loaded custom_postgui hal This file is loaded after the GUI loads This is where you put your custom HAL commands that you want loaded after the GUI is loaded Any HAL commands that use pyVCP widgets need to be placed here 9 4 HAL Components Two parameters are automatically added to each HAL component when it is created These parameters allow you to scope the execution time of a component time tmax Time is the number of CPU cycles it took to execute the function Tmax is the maximum number of CPU cycles it took to execute the function Tmax is a read write parameter so the user can set it to 0 to get rid of the first time initialization on the function s execution time Integrator Manual V2 5 2013 03 10 48 255 9 5 Logic Components HAL contains several real time logic components Logic components follow a Truth Table that states what the output is for any given input Typically these are bit manipulators and follow electrical logic gate truth tables 9 5 1 and2 The and2 component is a two input and gate The truth table below shows the output based on each combination of input Syntax and2 count N names namel name2 Functions and2 n Pins and2 N inO bit in and2 N inl bit in and2 N out bit out
207. g life are not as important as low cost Machine units The linear and angular units used for machine configuration These units are specified and used in the ini file HAL pins and parameters are also generally in machine units MDI Manual Data Input This is a mode of operation where the controller executes single lines of G code as they are typed by the operator NIST National Institute of Standards and Technology An agency of the Department of Commerce in the United States Integrator Manual V2 5 2013 03 10 247 255 NML Neutral Message Language provides a mechanism for handling multiple types of messages in the same buffer as well as simplifying the interface for encoding and decoding buffers in neutral format and the configuration mechanism Offsets An arbitrary amount added to the value of something to make it equal to some desired value For example gcode programs are often written around some convenient point such as YO Fixture offsets can be used to shift the actual execution point of that gcode program to properly fit the true location of the vise and jaws Tool offsets can be used to shift the uncorrected length of a tool to equal that tool s actual length Part Program A description of a part in a language that the controller can understand For EMC that language is RS 274 NGC commonly known as G code Program Units The linear and angular units used in a part program The linear program units do not have
208. g sure you pick the pin that is connected to your control device net spindle fwd motion spindle forward parport 0 pin 16 out net spindle rev motion spindle reverse gt parport 0 pin 17 out 33 5 Spindle Soft Start If you need to ramp your spindle speed command and your control does not have that feature it can be done in HAL Basically you need to hijack the output of motion spindle speed out and run it through a limit2 component with the scale set so it will ramp the rpm from motion spindle speed out to your device that receives the rpm The second part is to let LinuxCNC know when the spindle is at speed so motion can begin In the 0 10 volt example the line net spindle speed scale motion spindle speed out gt scale 0 in is changed as shown in the following example Intro to HAL components limit2 and near In case you have not run across them before here s a quick introduction to the two HAL components used in the following example A limit2 is a HAL component floating point that accepts an input value and provides an output that has been limited to a max min range and also limited to not exceed a specified rate of change e A near isa HAL component floating point with a binary output that says whether two inputs are approximately equal More info is available in the documentation for HAL components or from the man pages just say man limit2 or man near in a terminal load real time a limit2 and a n
209. gets user interface creation edit XML file run result evaluate looks cycle no support for embedding user defined event handling no LinuxCNC interaction beyond HAL pin I O supported GladeVCP widget set relies on the GTK widget set user interface creation uses the Glade WYSIWYG user interface editor any HAL pin change may be directed to call back into a user defined Python event handler any GTK signal key button press window I O timer network events may be associated with user defined handlers in Python direct LinuxCNC interaction arbitrary command execution like initiating MDI commands to call a G code subroutine plus support for status change operations through Action Widgets several independent GladeVCP panels may be run in different tabs separation of user interface appearance and functionality change appearance without touching any code Integrator Manual V2 5 2013 03 10 83 255 12 2 A Quick Tour with the Example Panel GladeVCP panel windows may be run in three different setups e always visible integrated into Axis at the right side exactly like PyVCP panels asa tab in Axis and Touchy in Axis this would create a third tab besides the Preview and DRO tabs which must be raised explicitly as a standalone toplevel window which can be iconifyed deiconified independent of the main window Installed LinuxCNC If your using an installed version of LinuxCNC the examples shown below are in the co
210. gh stall currents For higher currents and voltages some users have reported success with International Rectifier s integrated high side low side drivers 22 3 Pluto Step Pluto step is suitable for control of a 3 or 4 axis CNC mill with stepper motors The large number of inputs allows for a full set of limit switches The board features 4 step direction channels with 312 5kHz maximum step rate programmable step length space and direction change times 14 dedicated digital outputs 16 dedicated digital inputs EPP communication with the PC 22 3 1 Pinout STEPx The step clock output of stepgen channel x DIRx The direction output of stepgen channel x e INx Dedicated digital input fx OUTx Dedicated digital output x GND Ground VCC 3 3V regulated DC While the extended main connector has a superset of signals usually found on a Step amp Direction DB25 connector 4 step generators 9 inputs and 6 general purpose outputs the layout on this header is different than the layout of a standard 26 pin ribbon cable to DB25 connector Integrator Manual V2 5 2013 03 10 155 255 Parallel Port Connector N2 Jack gt N3 ING OUT N5 ING ALEX QUT amp OUT DUT4 OUTS LED OUT OUTS STO ST GND DIR3 ST3 IN9 VCC INTO INTZ INIA INTIS OUT QUT DIRO DIRT DIR ST OND
211. h case the HAL cmd file is just run normally So if you do NOT start gladeVCP through GLADEVCP or EMBED TAB etc but later in a separate shell window or some other mechanism a HAL command file in POSTGUI HALFILE will be executed too early Assuming gladeVCP pins are referenced herein this will fail with an error message indicating that the gladeVCP HAL component is not available So in case you run gladeVCP from a separate shell window i e not started by the GUI in an embedded fashion e you cannot rely on the POSTGUI HALFILE ini option causing the HAL commands being run at the right point in time so comment that out in the ini file explicitly pass the HAL command file which refers to gladeVCP pins to gladeVCP with the halcmd file option see previous section 12 6 HAL Widget reference GladeVcp includes a collection of Gtk widgets with attached HAL pins called HAL Widgets intended to control display or otherwise interact with the LinuxCNC HAL layer They are intended to be used with the Glade user interface editor With proper installation the HAL Widgets should show up in Glade s HAL Python widget group Many HAL specific fields in the Glade General section have an associated mouse over tool tip HAL signals come in two variants bits and numbers Bits are off on signals Numbers can be float 532 or u32 For more information on HAL data types see the HAL manual The GladeVcp widgets can either d
212. h or active low If invert is FALSE setting the HAL out pin TRUE drives the physical pin low turning ON an attached OPTO 22 module and FALSE drives it high turning OFF the OPTO 22 module If invert is TRUE then setting the HAL out pin TRUE will drive the physical pin high and turn the module OFF 16 4 Functions funct ax5214 lt boardnum gt read Reads all digital inputs on one board funct ax5214 lt boardnum gt write Writes all digital outputs on one board Integrator Manual V2 5 2013 03 10 128 255 Chapter 17 GS2 VFD Driver This is a userspace HAL program for the GS2 series of VFD s at Automation Direct This component is loaded using the halcmd loadusr command loadusr Wn spindle vfd gs2 vfd n spindle vfd The above command says loadusr wait for named to load component gs2 vfd named spindle vfd 17 1 Command Line Options b or bits n default 8 Set number of data bits to n where n must be from 5 to 8 inclusive d or device path default dev ttySO Set the name of the serial device node to use g or debug Turn on debugging messages This will also set the verbose flag Debug mode will cause all modbus messages to be printed in hex on the terminal n or name string default gs2 vfd Set the name of the HAL module The HAL comp name will be set to string and all pin and parameter names will begin with string p or parity even odd none default od
213. halpin text Chips 5 lt checkbutton gt The above code produced this example The coolant checkbutton is checked Notice the extra spaces in the Chips text to keep the checkbuttons aligned 10 6 5 3 Radiobutton A radiobutton will set one of the halpins true The other pins are set false lt radiobutton gt lt chouces gt one atis c lt chomeces gt lt halpin gt my radio lt halpin gt lt radiobutton gt The above code produced this example Note that the HAL pins in the example above will me named my radio one my radio two and my radio three In the image above one is the selected value Integrator Manual V2 5 2013 03 10 61 255 10 6 6 Number Displays Number displays can use the following formatting options lt font gt Font Name n lt font gt where n is the font size lt width gt n lt width gt where n is the overall width of the space used lt justify gt pos lt justify gt where pos is LEFT CENTER or RIGHT doesn t work lt padx gt n lt padx gt where is the amount of extra horizontal extra space lt pady gt n lt pady gt where n is the amount of extra vertical extra space 10 6 6 1 Number The number widget displays the value of a float signal number lt halpin gt my number lt halpin gt lt font gt Helvetica 24 lt font gt lt format gt 4 4 lt format gt lt number gt The above code produced this example 12 3456
214. hat LOW gives TRUE and HIGH gives FALSE Integrator Manual V2 5 2013 03 10 145 255 opto ac5 BOARDNUMBER port PORTNUMBER out PINNUMBER IN bit Connect a HAL bit signal to this pin to write to an I O point of the card The PINNUMBER represents the position in the relay rack Eg PINNUMBER 23 is position 23 in Opto22 relay rack and would be pin 1 on the 50 pin header connector opto ac5 BOARDNUMBER led NUMBER OUT bit Turns one of the 4 onboard LEDs on off LEDs are numbered 0 to 3 BOARDNUMBER can be 0 3 PORTNUMBER can be 0 or 1 Port O is closest to the card bracket 20 4 Parameters opto ac5 BOARDNUMBER port PORTNUMBER out PINNUMBER invert W bit When TRUE invert the meaning of the corresponding out pin so that TRUE gives LOW and FALSE gives HIGH 20 5 FUNCTIONS e opto ac5 0 digital read Add this to a thread to read all the input points e opto ac5 0 digital write Add this to a thread to write all the output points and LEDs For example the pin names for the default I O setting of port O would be pore 010 They would be numbered from 00 to 11 yo 5 EX s Oe Ore 0 They would be numbered 12 to 23 port 1 would be the same 20 6 Configuring I O Ports To change the default setting load the driver something like so loadrt opto ac5 portconfig0 0xffff portconfigl 0xff0000 Of course changing the numbers to match the I O you would like Each port can be
215. he 5122 comes in 1M and 1 5M gate versions So far all firmware is available in all gate sizes Firmware Encoder PWM StepGen GPIO SV16 16 16 0 0 SVST2 4 7147 4 2 4 72 SVSTS8 8 8 8 8 0 SVSTS 24 8 8 24 0 5123 3 port PCI Default Configurations The 5123 has 400k gates Firmware Encoder PWM StepGen GPIO SV12 12 12 0 0 SVST2_8 2 2 8 15 12 SVST2 4 7147 4 2 4 48 SV12 2X7148 72 12 12 0 24 SVI2IM 2X7148 72 12 IM 12 0 12 SVSTA 8 4 4 8 15 0 SVST8_4 8 8 4 615 0 SVST8_4IM2 8 41M 8 4 8 SVSTS 8IM2 8 IM 8 8 0 SVTP6 7139 6 0 6 BLDC 0 0 5120 3 port PCI Default Configurations The 5120 has 200k gates Firmware Encoder PWM StepGen GPIO SV12 12 12 0 0 SVST2_8 2 2 8 15 12 SVST2 4 7147 4 2 4 48 SV12 2X7148 72 12 12 0 24 SVI2IM 2X7148 72 12 IM 12 0 12 SVST8_4 8 8 4 615 SVST8_4IM2 8 41M 8 4 8 4168 3 port PC 104 Default Configurations The 4168 has 400k gates Firmware Encoder PWM StepGen GPIO SV12 12 12 0 0 SVST2 4 7147 4 2 4 48 SVSTA 8 4 4 8 0 SVST8 4 8 8 4 0 SVST8_4IM2 8 41M 8 4 8 SVSTS 8IM2 8 IM 8 8 0 4165 3 port PC 104 Default Configurations The 4165 has 200k gates Firmware Encoder PWM StepGen GPIO SV12 12 12 0 0 SVST8_4 8 8 4 0 SVST8_4IM2 8 41M 8 4 8 7143 2 port parallel 400k
216. he GS2 at speed to the motion at speed net gs2 at speed motion spindle at speed spindle vfd at speed connect the spindle RPM to the GS2 net gs2 RPM spindle vfd speed command motion spindle speed out Note The transmission speed might be able to be faster depending on the exact envirnment Both the drive and the command line options must match To check for transmission errors add the v command line option and run from a terminal On the GS2 drive itself you need to set a couple of things before the modbus communications will work Other parameters might need to be set based on your physical requirements but these are beyond the scope of this manual Refer to the GS2 manual that came with the drive for more information on the drive parameters The communications switches must be set to RS 232C The motor parameters must be set to match the motor P3 00 Source of Operation Command must be set to Operation determined by RS 485 interface 03 or 04 P4 00 Source of Frequency Command must be set to Frequency determined by RS232C RS485 communication interface 05 P9 01 Transmission Speed must be set to 9600 baud 02 P9 02 Communication Protocol must be set to Modbus RTU mode 8 data bits no parity 2 stop bits 03 A PyVCP panel based on this example is here Integrator Manual V2 5 2013 03 10 236 255 Part VIII Diagnostics amp FAQ Integrator Manual V2 5 2013 03 10 237 255 Chapt
217. he I O Pins Encoder instances keep counting quadrature pulses and pwm and step generators keep generating signals which are not relayed to the motors because the I O Pins have become inputs Resetting the watchdog resumes communication and resets the I O pins to the configuration chosen at load time If the firmware includes a watchdog the following HAL objects will be exported 18 5 1 Pins has bit bit i o True if the watchdog has bit False if the watchdog has not bit If the watchdog has bit and the has bit bit is True the user can reset it to False to resume operation 18 5 2 Parameters timeout ns u32 read write Watchdog timeout in nanoseconds This is initialized to 1 000 000 000 1 second at module load time If more than this amount of time passes between calls to the pet watchdog function the watchdog will bite 18 5 3 Functions e pet watchdog Calling this function resets the watchdog timer and postpones the watchdog biting until timeout ns nanosec onds later This function should be added to the servo thread Integrator Manual V2 5 2013 03 10 132 255 18 6 HostMot2 Functions hm2_ lt BoardType gt lt BoardNum gt read Read all inputs update input HAL pins hm2_ lt BoardType gt lt BoardNum gt write Write all outputs hm2_ lt BoardType gt lt BoardNum gt pet watchdog Pet the watchdog to keep it from biting us for while hm2_ lt BoardType gt lt BoardNum gt read_gpi
218. he various times from one period to several For example if steplen is changed from 1 to 2 then there will be two periods between the beginning and end of the step pulse Likewise if dirhold is changed from 1 to 3 there will be at least three periods between the step pulse and a change of the direction pin If we can use dirhold to meet the 20 us hold time requirement then the next longest time is the 4 5 us high time Add the 11 us latency to the 4 5 us high time and you get a minimum period of 15 5 us When you try 15 5 us you find that the computer is sluggish so you settle on 16 us If we leave dirhold at 1 the default then the minimum time between step and direction is the 16 us period minus the 11 us latency 5 us which is not enough We need another 15 us Since the period is 16 us we need one more period So we change dirhold from 1 to 2 Now the minimum time from the end of the step pulse to the changing direction pin is 5 16 21 us and we don t have to worry about the drive stepping the wrong direction because of latency For more information on stepgen see the stepgen section of the HAL manual 1 1 2 Step Timing Step Timing and Step Space on some drives are different In this case the Step point becomes important If the drive steps on the falling edge then the output pin should be inverted V This section refers to using stepgen LinuxCNC s built in step generator Some hardware devices have their own step gene
219. hed as a printed book We recommend this License principally for works whose purpose is instruction or reference 1 APPLICABILITY AND DEFINITIONS This License applies to any manual or other work that contains a notice placed by the copyright holder saying it can be distributed under the terms of this License The Document below refers to any such manual or work Any member of the public is a licensee and is addressed as you A Modified Version of the Document means any work containing the Document or a portion of it either copied verbatim or with modifications and or translated into another language A Secondary Section is a named appendix or a front matter section of the Document that deals exclusively with the relationship of the publishers or authors of the Document to the Document s overall subject or to related matters and contains nothing that Integrator Manual V2 5 2013 03 10 250 255 could fall directly within that overall subject For example if the Document is in part a textbook of mathematics a Secondary Section may not explain any mathematics The relationship could be a matter of historical connection with the subject or with related matters or of legal commercial philosophical ethical or political position regarding them The Invariant Sections are certain Secondary Sections whose titles are designated as being those of Invariant Sections in the notice that says that the Document is released under th
220. her valid entry is gnome terminal e vim TOOL EDITOR tooledit The editor to use when editing the tool table for example by selecting File gt Edit tool table wow in Axis Other valid entries are gedit gnome terminal vim and PYVCP filename xml The PyVCP panel description file See the PyVCP section for more information LATHE 1 This displays in lathe mode with a top view and with Radius and Diameter on the DRO GEOMETRY XYZABCUVW Controls the preview and backplot of rotary motion This item consists of a sequence of axis letters optionally preceded by sign Only axes defined in TRAJJAXES should be used This sequence specifies the order in which the effect of each axis is applied with a inverting the sense of the rotation The proper GEOMETRY string depends on the machine configuration and the kinematics used to control it The example string GEOMETRY XYZBCUVW is for a 5 axis machine where kinematics causes UVW to move in the coordinate system of the tool and XYZ to move in the coordinate system of the material The order of the letters is important because it expresses the order in which the different transformations are applied For example rotating around C then B is different than rotating around B then C Geometry has no effect without a rotary axis ARCDIVISION 64 Set the quality of preview of arcs Arcs are previewed by dividing them into a number of straight lines a semicir
221. hile LinuxCNC e g Axis is running it with gladevcp myui ui GladeVCP creates HAL component named like the basename of the UI file myui in this case unless overriden by the component name option If running Axis just try Show HAL configuration and inspect its pins You might wonder why widgets contained Hbox or HAL Table appear greyed out inactive HAL containers have an associated HAL pin which is off by default which causes all contained widgets to render inactive A common use case would be to associate these container HAL pins with halui machine is on or one of the halui mode signals to assure some widgets appear active only in a certain state To just activate a container execute HAL command setp gladevcp container name 1 12 3 4 Preparing the HAL command file The suggested way of linking HAL pins in a Glade VCP panel is to collect them in a separate file with extension hal This file is passed via the POSTGUI HALFILE option in the HAL section of your ini file Caution Do add the GladeVCP command file to the Axis HAL HALF ILE ini section this will not have the desired effect see the following sections 12 3 5 Integrating into Axis like PyVCP Place the GladeVCP panel in the righthand side panel by specifying the following in the ini file DISPLAY add GladeVCP panel where PyVCP used to live GLADEVCP u gladevcp hitcounter py gladevcp manual e
222. homing sequence HOME ALL and enforce homing order e g Z may not be homed if X is not yet homed An axis may be homed after all axes with a lower HOME SEQUENCE have already been homed and are at the HOME OFFSET If two axes have the same HOME SEQUENCE they may be homed at the same time If HOME SEQUENCE is 1 or not specified then this joint will not be homed by the HOME ALL sequence HOME SEQUENCE numbers start with 0 and there may be no unused numbers 4 3 10 VOLATILE HOME If this setting is true this axis becomes unhomed whenever the machine transitions into the OFF state This is appropriate for any axis that does not maintain position when the axis drive is off Some stepper drives especially microstep drives may need this 4 3 11 LOCKING INDEXER If this axis 15 a locking rotary indexer it will unlock before homing and lock afterward l The distinction between offset and home is that home offset first establishes the scale location on the machine by applying the home offset value to the location where home was found and then home says where the joint should move to on that scale Integrator Manual V2 5 2013 03 10 28 255 Chapter 5 Lathe Configuration 5 1 Default Plane When LinuxCNC s interpreter was first written it was designed for mills That is why the default plane is XY G17 A normal lathe only uses the XZ plane G18 To change the default plane place the following line in the ini file in the R
223. hooked up to the appropriate HAL signal A hal file that will be run once AXIS and PyVCP have started can be specified in the HAL section of the ini file POSTGUI HALFILE spindle to pyvcp hal This change will run the HAL commands specified in spindle to pyvcp hal In our example the contents could look like this net spindle rpm filtered gt pyvcp spindle speed assuming that a signal called spindle rpm filtered already exists Note that when running together with AXIS all PyVCP widget HAL pins have names that start with pyvcp Integrator Manual V2 5 2013 03 10 55 255 File Machine View ielp Si I id n Spindle speed 9 E Manual Control F3 MDI F5 Preview DRO r eL s 0 0 5000 Axis X Continuous At Speed Home All Touch Off Spindle stop i Feed Override 100 Spindle Override 100 Jog Speed 61 in min Max Velocity 200 in min AKIS splash g code Not intended for actual milling 415 1 SH 42 01 CUT 4 3 00015 SCALE 14 60 FEED 620 Character E 1 ON No tool Position Relative Actual This is what the newly created PyVCP panel should look like in AXIS The sim lathe configuration is already configured this way 10 5 Stand Alone This section describes how PyVCP panels can be displayed on their own with or without LinuxCNC s machine controller To load a stand alone PyVCP panel with LinuxCNC us
224. ht LO DLE In IQ S52 1 0 4 wsum 0 bit 2 weight LO Jone In YS Ula Og gS 2 IQ 632 I O 8 wsum 0 bit 3 weight TO Tore 1501 FALSE wsum 0 hold 10 632 1O 0 wsum 0 offset 10 52 Out 5 wsum 0 sum Integrator Manual V2 5 2013 03 10 51 255 Part III GUI Integrator Manual V2 5 2013 03 10 52 255 Chapter 10 Python Virtual Control Panel 10 1 Introduction Python Virtual Control Panel The PyVCP Python Virtual Control Panel is designed to give the integrator the ability to customize the AXIS interface with buttons and indicators to do special tasks Hardware machine control panels can use up a lot of I O pins and can be expensive That is where Virtual Control Panels have the advantage as well as it cost nothing to build a PyVCP Virtual Control Panels can be used for testing or monitoring things to temporarily replace real I O devices while debugging ladder logic or to simulate a physical panel before you build it and wire it to an I O board The following graphic displays many of the PyVCP widgets Integrator Manual V2 5 2013 03 10 Meet the widgets 53 255 A LED indicates HAL A Button controls a HAL BIT Button 30 A Scale controls HAL FLOAT 5 and so does a checkbox which can be indicated with a Bar 0 0 100 0 or a Humber 0 0000 This is a h
225. ial we have signals pins and parameters inside the HAL Integrator Manual V2 5 2013 03 10 38 255 Note We are presenting one axis to keep it short all others are similar The ones relevant for our pinout are Signals Xstep Xdir amp Xen Depending what you have chosen in your ini you are using either standard pinout hal xylotex pinout hal These two files that instruct the HAL how to link the various signals amp pins Further on we ll investigate the standard pinout hal 8 3 1 standard pinout hal This file contains several HAL commands and usually looks like this standard pinout config file for 3 axis steppers using a joyelicjyoucic ror 1 0 first load the parport driver loadrt hal parport cfg 0x0378 next connect the parport functions to threads read inputs first addf parport 0 read base thread 1 write outputs last addf parport 0 write base thread 1 finally connect physical pins to the signals net Xstep gt parport 0 pin 03 out net Xdir gt parport 0 pin 02 out net Ystep gt parport 0 pin 05 out net Ydir gt parport 0 pin 04 out net Zstep gt parport 0 pin 07 out nocte duc S Npamponstte O pin 96 out create a signal for the estop loopback net estop loop iocontrol 0 user enable out iocontrol 0 emc enable in create signals for tool loading loopback net tool prep loop iocontrol 0 tool p
226. ich a cutting motion occurs In auto or mdi mode feed rate is commanded using an F word F10 would mean ten machine units per minute Feedback A method e g quadrature encoder signals by which LinuxCNC receives information about the position of motors Feedrate Override A manual operator controlled change in the rate at which the tool moves while cutting Often used to allow the operator to adjust for tools that are a little dull or anything else that requires the feed rate to be tweaked Floating Point Number A number that has a decimal point 12 300 In HAL it is known as float Integrator Manual V2 5 2013 03 10 246 255 G Code The generic term used to refer to the most common part programming language There are several dialects of G code EMC uses RS274 NGC GUI Graphical User Interface General A type of interface that allows communications between a computer and a human in most cases via the manipulation of icons and other elements widgets on a computer screen EMC An application that presents a graphical screen to the machine operator allowing manipulation of the machine and the corresponding controlling program HAL Hardware Abstraction Layer At the highest level it is simply a way to allow a number of building blocks to be loaded and interconnected to assemble a complex system Many of the building blocks are drivers for hardware devices However HAL can do more than just configure hardware drivers
227. if the machine has very loose Acme screws Some DROs use linear quadrature encoders to pick up position information from the machine and some use methods similar to a resolver which keeps rolling over EDM EDM is a method of removing metal in hard or difficult to machine or tough metals or where rotating tools would not be able to produce the desired shape in a cost effective manner excellent example is rectangular punch dies where sharp internal corners are desired Milling operations can not give sharp internal corners with finite diameter tools A wire EDM machine can make internal corners with a radius only slightly larger than the wire s radius A sinker EDM can make internal corners with a radius only slightly larger than the radius on the corner of the sinking electrode EMC The Enhanced Machine Controller Initially a NIST project EMC is able to run a wide range of motion devices EMCIO The module within EMC that handles general purpose I O unrelated to the actual motion of the axes EMCMOT The module within EMC that handles the actual motion of the cutting tool It runs as a real time program and directly controls the motors Encoder A device to measure position Usually a mechanical optical device which outputs a quadrature signal The signal can be counted by special hardware or directly by the parport with LinuxCNC Feed Relatively slow controlled motion of the tool used when making a cut Feed rate The speed at wh
228. if you used the Stepconf Wizard to add Classic Ladder you can skip this step To manually add a ladder you need to add add a line to your custom hal file that will load your ladder file Close your LinuxCNC session and add this line to your custom hal file loadusr w classicladder nogui MyLadder clp Now if you start up your LinuxCNC config your ladder program will be running as well If you select File Ladder Editor the program you created will show up in the Section Display window Integrator Manual V2 5 2013 03 10 219 255 Chapter 31 Classicladder Examples 31 1 Wrapping Counter To have a counter that wraps around you have to use the preset pin and the reset pin When you create the counter set the preset at the number you wish to reach before wrapping around to 0 The logic is if the counter value is over the preset then reset the counter and if the underflow is on then set the counter value to the preset value As you can see in the example when the counter value is greater than the counter preset the counter reset is triggered and the value is now 0 The underflow output Q2 will set the counter value at the preset when counting backwards Integrator Manual V2 5 2013 03 10 220 255 Section Display of custom clp custom clp New New Load toad Save SaveAs Save As Reset Stop ars Editor Symbols Config Preview print Print About Quit Figure 31 1 Wrapping Counter 31 2
229. iles can have bad results Be careful when editing root files Generally you can open and view most root files but they will open in read only mode 37 5 1 The Command Line Way Open up Applications gt Accessories gt Terminal In the terminal window type sudo gedit Open the file with File Open Edit 37 5 2 The GUI Way 1 Right click on the desktop and select Create Launcher 2 Type a name in like sudo edit 3 Type gksudo gnome open as the command and save the launcher to your desktop 4 Drag a file onto your launcher to open and edit 37 5 3 Root Access In Ubuntu you can become root by typing in sudo i in a terminal window then typing in your password Be careful because you can really foul things up as root if you don t know what you re doing 37 6 Terminal Commands 37 6 1 Working Directory To find out the path to the present working directory in the terminal window type pwd Integrator Manual V2 5 2013 03 10 242 255 37 6 2 Changing Directories To move up one level in the terminal window type 4 To move up two levels in the terminal window type role Rao oar To move down to the emc2 configs subdirectory in the terminal window type cd emc2 configs 37 6 3 Listing files in a directory To view a list of all the files and subdirectories in the terminal window type clima or ls 37 6 4 FindingaFile The find command can be a bit confusing to a new Linux user The
230. in a group remember to set MODBUS ELEMENT OFFSET properly NUMBER OF ELEMENTS The number of elements in this group LOGIC You can invert the logic here e Ist I Q IQ WQ MAPPED This is the starting number of B 961 Q W IW or QW variables that are mapped onto from the modbus element group starting at the first modbus element number In the example above Port number for my computer dev ttySO was my serial port The serial speed is set to 9600 baud Slave address is set to 12 on my VFD I can set this from 1 31 meaning I can talk to 31 VFDs maximum on one system The first line is set up for 8 input bits starting at the first register number register 1 So register numbers 1 8 are mapped onto Classic Ladder s B variables starting at B1 and ending at B8 The second line is set for 2 output bits starting at the ninth register number register 9 so register numbers 9 10 are mapped onto Classic Ladder s Q variables starting at Q9 ending at 20010 The third line is set to write 2 registers 16 bits each starting at the Oth register number register 0 so register numbers 0 1 are mapped onto Classic Ladder s W variables starting at WO ending at 0W 1 It s easy to make an off by one error as sometimes the modbus elements are referenced starting at one rather then 0 actually by the standard that is the way it s supposed to be You can use the modbus element offset radio button to help with this The documents
231. in a lead screw or other mechanical motion driving system It can result from nuts that are loose on leadscrews slippage in belts cable slack wind up in rotary couplings and other places where the mechanical system is not tight Backlash will result in inaccurate motion or in the case of motion caused by external forces think cutting tool pulling on the work piece the result can be broken cutting tools This can happen because of the sudden increase in chip load on the cutter as the work piece is pulled across the backlash distance by the cutting tool Backlash Compensation Any technique that attempts to reduce the effect of backlash without actually removing it from the mechanical system This is typically done in software in the controller This can correct the final resting place of the part in motion but fails to solve problems related to direction changes while in motion think circular interpolation and motion that is caused when external forces think cutting tool pulling on the work piece are the source of the motion Ball Screw A type of lead screw that uses small hardened steel balls between the nut and screw to reduce friction Ball screws have very low friction and backlash but are usually quite expensive Ball Nut A special nut designed for use with a ball screw It contains an internal passage to re circulate the balls from one end of the screw to the other CNC Computer Numerical Control The general term used to refer t
232. inal window If you get Python errors check whether there s stilla usr lib python2 6 dis file lying around besides the newer usr lib python2 6 dist packages hal so note underscore if yes re move the hal so file It has been superseded by hal py in the same directory and confuses the import mechanism if you re using run in place do a make clean to remove any accidentally left over hal so file then make if you re using table or HAL HBox widgets be aware they have an HAL pin associated with it which is off by default This pin controls whether these container s children are active or not 12 11 Implementation note Key handling in Axis We believe key handling works OK but since it is new code we re telling about it you so you can watch out for problems please let us know of errors or odd behavior This is the story Axis uses the TkInter widget set GladeVCP applications use Gtk widgets and run in a separate process context They are hooked into Axis with the Xembed protocol This allows a child application like GladeVCP to properly fit in a parent s window and in theory have integrated event handling However this assumes that both parent and child application properly support the Xembed protocol which Gtk does but TkInter doesn t A consequence of this is that certain keys would not be forwarded from a GladeVCP panel to Axis properly under all circumstances One of these situations was the case when an Entry or SpinB
233. ine call and restoring state on return much easier 12 7 8 Using the LinuxCNC Stat object to deal with status changes Many actions depend on LinuxCNC status is it in manual MDI or auto mode is a program running paused or idle You cannot start an MDI command while a G code program is running so this needs to be taken care of Many LinuxCNC actions take care of this themselves and related buttons and menu entries are deactivated when the operation is currently impossible When using Python event handlers which are at a lower level than Actions one needs to take care of dealing with status dependencies oneself For this purpose there s the LinuxCNC Stat widget to associate LinuxCNC status changes with event handlers Integrator Manual V2 5 2013 03 10 104 255 LinuxCNC Stat has no visible component you just add it to your UI with Glade Once added you can associate handlers with its following signals state related emitted when E Stop condition occurs is reset machine is turned on or is turned off state estop state estop reset state on state off mode related emitted when LinuxCNC enters that particular mode mode manual mode mdi mode auto interpreter related emitted when the G code interpreter changes into that mode interp run interp idle interp paused interp reading interp waiting file loaded line changed 12 8 GladeVCP Programming 12 8 1 User
234. ing of NC codes that the interpreter is initialized with This is not a substitute for specifying modal g codes at the top of each ngc file because the modal codes of machines differ and may be changed by g code interpreted earlier in the session SUBROUTINE_PATH ncsubroutines tmp testsubs lathesubs millsubs Specifies a colon separated list of up to 10 di rectories to be searched when single file subroutines are specified in gcode These directories are searched after searching DISPLAY PROGRAM_PREFIX if it is specified and before searching WIZARD WIZARD_ROOT if specified The paths are searched in the order that they are listed The first matching subroutine file found in the search is used Directories are specified relative to the current directory for the inifile or as absolute paths The list must contain no intervening whitespace USER M PATH myfuncs tmp mcodes experimentalmcodes Specifies a list of colon separated directories for user defined functions Directories are specified relative to the current directory for the inifile or as absolute paths The list must contain no intervening whitespace A search is made for each possible user defined function typically M100 M199 The search order is Integrator Manual V2 5 2013 03 10 16 255 1 DISPLAY PROGRAM PREFIX if specified 2 If DISPLAY PROGRAM_PREFIX is not specified search the default location files 3 Then search each directory in the list RS274
235. is License The Cover Texts are certain short passages of text that are listed as Front Cover Texts or Back Cover Texts in the notice that says that the Document is released under this License A Transparent copy of the Document means a machine readable copy represented in a format whose specification is available to the general public whose contents can be viewed and edited directly and straightforwardly with generic text editors or for images composed of pixels generic paint programs or for drawings some widely available drawing editor and that is suitable for input to text formatters or for automatic translation to a variety of formats suitable for input to text formatters A copy made in an otherwise Transparent file format whose markup has been designed to thwart or discourage subsequent modification by readers is not Transparent A copy that is not Transparent is called Opaque Examples of suitable formats for Transparent copies include plain ASCII without markup Texinfo input format LaTeX input format SGML or XML using a publicly available DTD and standard conforming simple HTML designed for human modi fication Opaque formats include PostScript PDF proprietary formats that can be read and edited only by proprietary word processors SGML or XML for which the DTD and or processing tools are not generally available and the machine generated HTML produced by some word processors for output purposes only The Title Page mean
236. is an error to send a speed faster than the Motor Max RPM as set in the n spindle fwd bit in 1 for FWD and 0 for REV sent to VFD n spindle rev bit in 1 for REV and 0 if off n spindle on bit in 1 for ON and 0 for OFF sent to n status 1 s32 out Drive Status of the VFD see the GS2 manual n status 2 s32 out Drive Status of the VFD see the GS2 manual Note The status value is a sum of all the bits that are on So a 163 which means the drive is in the run mode is the sum of 3 run 32 freq set by serial 128 operation set by serial 17 3 Parameters Where n is 652 vfd or the name given during loading with the n option n error count s32 RW n loop time float RW how often the modbus is polled default 0 1 n nameplate HZ float RW Nameplate Hz of motor default 60 n nameplate RPM float RW Nameplate RPM of motor default 1730 n retval 532 RW the return value of an error in n tolerance 532 RW speed tolerance default 0 01 For an example of using this component to drive a spindle see the GS2 Spindle example Integrator Manual V2 5 2013 03 10 130 255 Chapter 18 Mesa HostMot2 Driver 18 1 Introduction HostMot2 15 an FPGA configuration developed by Mesa Electronics for their line of Anything motion control cards The firmware is open source portable and flexible It can be configured at compile
237. is re sized For details of how fill anchor and expand behave refer to the Tk pack manual page pack 3tk By default fillZ x anchorz center expand yes 10 6 9 4 Labelframe A labelframe is a frame with a groove and a label at the upper left corner lt labelframe text Group Title gt lt font gt Helvetica 16 lt font gt lt hbox gt lt led gt lt led gt lt hbox gt lt labelframe gt The above code produced this example Group Title OO 10 6 9 5 Table A table is a container that allows layout in a grid of rows and columns Each row is started by a lt tablerow gt tag A contained widget may span rows or columns through the use of the lt tablespan rows cols gt tag The sides of the cells to which the contained widgets stick may be set through the use of the lt tablesticky sticky gt tag A table expands its flexible rows and columns Example table flexible rows 2 flexible columns 1 4 tablesticky sticky new tablerow label Ep boi ee 5 lt relief gt RIDGE lt relief gt lt bd gt 3 lt bd gt lt label gt lt label text B cell 1 2 gt Integrator Manual V2 5 2013 03 10 70 255 tablespan columns 2 latest D cells sanc tablerow label text E cell 2 1 tablesticky sticky nsew tablespan rows 2 label text spans n2 rows tablesticky
238. is tab setup The HAL command file is slightly modified since Touchy does not use the halui components so its signals are not available and some shortcuts have been taken e there is no POSTGUI_HALFILE ini option but passing HAL command file on the EMBED COMMAND line 15 ok the halcmd loaduser Wn incantation is not needed Integrator Manual V2 5 2013 03 10 90 255 12 4 GladeVCP command line options See also man gladevcp These are the gladevcp command line options Usage gladevcp options myfile ui Options h help show this help message and exit c NAME Set component name to NAME Default is base name of UI file d Enable debug output g GEOMETRY Set geometry WIDTHxHEIGHT XOFFSET YOFFSET Values in pixel units XOFFSET YOFFSET is referenced from top left of screen Use g WIDTHxHEIGHT for just setting size or g XOFFSET YOFFSET for just position H FILE execute hal statements from FILE with halcmd after the component is set up and ready m MAXIMUM force panel window to maximize Together with the g geometry option one can move the panel to a second monitor and force it to use all of the screen t THEME set gtk theme Default is system theme Different panels can have different themes An example theme can be found in the EMC Wiki x XID Re parent GladeVCP into an existing window XID instead of creating a new top level window u FILE Use File s as additional user defined modules with han
239. isplay the value of the signal with an indicator widget or modify the signal value with a control widget Thus there are four classes of GladeVcp widgets that you can connect to a HAL signal Another class of helper widgets allow you to organize and label your panel Widgets for indicating bit signals HAL LED e Widgets for controlling bit signals Button RadioButton HAL CheckButton e Widgets for indicating number signals Label HAL_ProgressBar HAL_HBar HAL_VBar Meter e Widgets for controlling number signals SpinButton HAL_HScale HAL_VScale e Helper widgets HBox and Table e Tool Path preview HAL Gremlin 12 6 1 Widget and HAL pin naming Most HAL widgets have a single associated HAL pin with the same HAL name as the widget glade General Name Exceptions to this rule currently are e HAL Spinbutton and HAL ComboBox which have two pins a widgetname f float and widgetname s 532 pin e HAL ProgressBar which has widgetname value input pin and a widgetname scale input pin Integrator Manual V2 5 2013 03 10 92 255 12 6 2 Python attributes and methods of HAL Widgets HAL widgets are instances of GtKWidgets and hence inherit the methods properties and signals of the applicable GtkWid get class For instance to figure out which GtkWidget related methods properties and signals a HAL Button has lookup the descriptio
240. itwise OR of the following values Bit Value Meaning 0 1 Timeout is 16ms if set 8ms if unset 1 2 2 4 Watchdog is enabled 3 8 4 16 Watchdog is automatically reset by DAC writes the HAL dac write function Typically the useful values are 0 watchdog disabled or 20 8ms watchdog enabled cleared by dac write u32 motenc board led view Maps some of the I O to onboard LEDs 19 3 Functions funct motenc lt board gt encoder read Reads all encoder counters funct motenc lt board gt adc read Reads the analog to digital converters funct motenc lt board gt digital in read Reads digital inputs funct motenc lt board gt dac write Writes the voltages to the DACs funct motenc lt board gt digital out write Writes digital outputs funct motenc lt board gt misc update Updates misc stuff Integrator Manual V2 5 2013 03 10 144 255 Chapter 20 Opto22 Driver PCI AC5 ADAPTER CARD HAL DRIVER 20 1 The Adapter Card This is a card made by Opto22 for adapting the PCI port to solid state relay racks such as their standard or G4 series It has 2 ports that can control up to 24 points each and has 4 on board LEDs The ports use 50 pin connectors the same as Mesa boards Any relay racks breakout boards thats work with Mesa Cards should work with this card with the understanding any encoder counters PWM etc would have to be done in software The AC
241. jectory planner in the motion controller Specifies the number of joints motors in the system For example an XYZ machine with a single motor for each axis has 3 joints A gantry machine with one motor on each of two of the axes and two motors on the third axis has 4 joints HOME 0 0 0 Coordinates of the homed position of each axis Again for a fourth axis you will need 0 0 0 0 This value is only used for machines with nontrivial kinematics On machines with trivial kinematics this value is ignored LINEAR UNITS units Specifies the machine units for linear axes Possible choices are in inch imperial metric mm This does not affect the linear units in NC code the G20 and G21 words do this ANGULAR UNITS units Specifies the machine units for rotational axes Possible choices are deg degree 360 per circle rad radian 2pi per circle grad or gon 400 per circle This does not affect the angular units of NC code In RS274NGC A B and C words are always expressed in degrees DEFAULT VELOCITY 0 0167 The initial rate for jogs of linear axes in machine units per second The value shown in Axis equals machine units per minute DEFAULT ACCELERATION 2 0 In machines with nontrivial kinematics the acceleration used for teleop Cartesian space jogs in machine units per second per second MAX VELOCITY 5 0 The maximum velocity for any axis or coordinated move in machine units per second The value show
242. jog active bit out axis N motor pos cmd float out The commanded position for this joint axis N motor pos fb float in The actual position for this joint axis N neg hard limit bit out axis N pos lim sw in bit in Should be driven TRUE if the positive limit switch for this joint is closed axis N pos hard limit bit out axis N neg lim sw in bit in Should be driven TRUE if the negative limit switch for this joint is closed axis N wheel jog active bit out 7 2 2 Parameters axis N home state Reflects the step of homing currently taking place 7T 3 iocontrol iocontrol accepts NML I O commands interacts with HAL in userspace The signals are turned on and off in userspace if you have strict timing requirements or simply need more i o consider using the realtime synchronized i o provided by motion instead 7 3 1 Pins iocontrol 0 coolant flood bit out TRUE when flood coolant is requested iocontrol 0 coolant mist bit out TRUE when mist coolant is requested iocontrol 0 emc enable in bit in Should be driven FALSE when an external E Stop condition exists iocontrol O lube bit out TRUE when lube is commanded iocontrol O lube level bit in Should be driven TRUE when lube level is high enough iocontrol 0 tool change bit out TRUE when a tool change is requested iocontrol 0 tool changed bit in Should be driven TRUE when a tool change is completed iocontrol 0 t
243. ke the shared home switches example you can wire together limit switches Beware if you hit one LinuxCNC will stop but can t tell you which switch axis has faulted Use caution when recovering from this Tu net Xlimits parport 0 pin 13 in gt axis 0 neg lim sw in axis 0 pos lim sw in The lines starting with are comments and their only purpose is to guide the reader through the file 8 3 2 Overview There are a couple of operations that get executed when the standard pinout hal gets executed interpreted The Parport driver gets loaded see the Parport section of the HAL Manual for details The read amp write functions of the parport driver get assigned to the base thread The step amp direction signals for axes X Y Z get linked to pins on the parport Further I O signals get connected estop loopback toolchanger loopback A spindle on signal gets defined and linked to a parport pin 8 3 3 Changing the standard pinout hal If you want to change the standard pinout hal file all you need is a text editor Open the file and locate the parts you want to change If you want for example to change the pin for the X axis Step amp Directions signals all you need to do is to change the number in the parport 0 pin XX out name the fastest thread in the LinuxCNC setup usually the code gets executed every few tens of microseconds Integrator Manual V2 5 2013 03 10 40 255 net Xstep parport 0 pin
244. l Large label above center of meter sublabel Small label below center of meter bg_color Background color of meter Integrator Manual V2 5 2013 03 10 98 255 70 color 71 color z2 color Colors of different value zones Defaults are green yellow and red For description of zones see z border properties z border z1 border Define up bounds of color zones By default only one zone is enabled If you want more then one zone set 20 border and 21 border to desired values so zone will fill from min to first border zone 1 will fill from first to second border and zone 2 from last border to max Borders are set as values in range min max Example HAL Meters 12 6 15 Gremlin tool path preview for ngc files Gremlin is a plot preview widget similar to the Axis preview window It assumes a running LinuxCNC environment like Axis or Touchy To connect to it inspects the INI FILE NAME environment variable Gremlin displays the current ngc file it does monitor for changes and reloads the ngc file if the file name in Axis Touchy changes If you run it in a GladeVCP application when LinuxCNC is not running you might get a traceback because the Gremlin widget can t find LinuxCNC status like the current file name Gremlin does not export any HAL pins It has the following properties view may be any of x y z p perspective Defaults to z view enable dro boolean whether to draw a DRO on the plot or not Defaults to
245. l be displayed in the text area previewed in the display area and executed by LinuxCNC when Run PROGRAM EXTENSION extension Description If your post processor outputs files in all caps you might want to add the following line PROGRAM EXTENSION NGC XYZ Post Processor The following lines add support for the image to gcode converter included with LinuxCNC PROGRAM EXTENSION png gif jpg Greyscale Depth Image png image to gcode gif image to gcode jpg image to gcode Itis also possible to specify an interpreter PROGRAM EXTENSION py Python Script py python In this way any Python script can be opened and its output is treated as g code One such example script is available at nc files holecircle py This script creates g code for drilling a series of holes along the circumference of a circle Many more g code generators are on the LinuxCNC Wiki site http wiki linuxcnc org cgi bin emcinfo pl If the environment variable AXIS PROGRESS BAR is set then lines written to stderr of the form FILTER PROGRESS 96d sets the AXIS progress bar to the given percentage This feature should be used by any filter that runs for a long time 3 2 4 RS274NGC Section PARAMETER FILE myfile var The file located in the same directory as the ini file which contains the parameters used by the interpreter saved between runs RS274NGC STARTUP CODE G17 G20 G40 G49 G64 P0 001 G80 G90 G92 G94 G97 G98 A str
246. l machines and so forth where what the outputs are doing now depends on what the inputs and the outputs were doing before If it doesn t help then nevermind Integrator Manual V2 5 2013 03 10 5 255 output Process setpoint error Figure 1 2 PID Loop By tuning the three constants in the PID controller algorithm the controller can provide control action designed for specific process requirements The response of the controller can be described in terms of the responsiveness of the controller to an error the degree to which the controller overshoots the set point and the degree of system oscillation 1 2 2 Proportional term The proportional term sometimes called gain makes a change to the output that is proportional to the current error value A high proportional gain results in a large change in the output for a given change in the error If the proportional gain is too high the system can become unstable In contrast a small gain results in a small output response to a large input error If the proportional gain is too low the control action may be too small when responding to system disturbances In the absence of disturbances pure proportional control will not settle at its target value but will retain a steady state error that is a function of the proportional gain and the process gain Despite the steady state offset both tuning theory and industrial practice indicate that it is the proportional term tha
247. l response The optimum behavior on a process change or set point change varies depending on the application Some processes must not allow an overshoot of the process variable from the set point Other processes must minimize the energy expended in reaching a new set point Generally stability of response is required and the process must not oscillate for any combination of process conditions and set points Tuning of loops is made more complicated by the response time of the process it may take minutes or hours for a set point change to produce a stable effect Some processes have a degree of non linearity and so parameters that work well at full load conditions don t work when the process is starting up from no load This section describes some traditional manual methods for loop tuning There are several methods for tuning a PID loop The choice of method will depend largely on whether or not the loop can be taken offline for tuning and the response speed of the system If the system can be taken offline the best tuning method often involves subjecting the system to a step change in input measuring the output as a function of time and using this response to determine the control parameters Integrator Manual V2 5 2013 03 10 184 255 28 1 3 1 Simple method If the system must remain on line one tuning method is to first set the I and D values to zero Increase the P until the output of the loop oscillates Then increase I until oscillati
248. le quel n yh ew Bae were gg Ree ee Me eRe BAe 28 1 3 2 aGegle Niehols method 2 scu uos ke Ree eR ee eee ZB 1 3 Final SIDS ee ERR be Be ee S ak ee VI Ladder Logic 29 Classicladder Introduction PONI ACT ALI TWOU one A ey Rex oe y RU Soap opo de 5 cdo neu ox RAPER EY eR X OR EY wR EG Av de omo S RUE RU UE 294 Basic batching ai CHO eee bebe Ee ee EX OS P psc bee xii 174 174 174 174 175 176 176 177 178 178 178 179 179 180 180 182 182 182 183 183 183 183 183 184 184 184 185 186 Integrator Manual V2 5 2013 03 10 xiii 30 Classicladder Programming 189 ALI Ladder COn s Eo Roe e UR eR oe 189 Bs Dani a ais dar aue ur que datu bur ere ed REP sos dar pus 189 303 BORED cud NUR a VOR ew 189 WT REDDE 0320011152111 190 Relume Module M Cr TII 190 20 3 35 WARGO BOR E AUC SU RC Re e xov Y Wa Mes ges 190 30 4 Loading the Classic Ladder user mod le UE E RUE RR Re HEURE 191 OO Classe adde uo nuo do RAE t sgh Sod Eoo e S X ROSE uy Sue ES 191 30 5 Sectons Manage ou soc
249. lly no need to change this number 3 2 7 HAL section TWOPASS ON Use two pass processing for loading HAL comps With TWOPASS processing all HAL HALFILES are first read and multiple appearances of loadrt directives for each moduleb are accumulated No hal commands are executed in this initial pass HALFILE example hal Execute the file example hal at start up If HALFILE is specified multiple times the files are executed in the order they appear in the ini file Almost all configurations will have at least one HALFILE and stepper systems typically have two such files one which specifies the generic stepper configuration core stepper hal and one which specifies the machine pin out xxx pinout hal HALCMD command Execute command as a single HAL command If HALCMD is specified multiple times the commands are executed in the order they appear in the ini file HALCMD lines are executed after all HALFILE lines SHUTDOWN shutdown hal Execute the file shutdown hal when LinuxCNC is exiting Depending on the hardware drivers used this may make it possible to set outputs to defined values when LinuxCNC is exited normally However because there is no guarantee this file will be executed for instance in the case of a computer crash it is not a replacement for a proper physical e stop chain or other protections against software failure POSTGUI HALFILE example2 hal Only with the TOUCHY and AXIS GUI Execute example2 hal after the G
250. locity mode the axis stops when the dial is stopped even if that means the commanded motion is not completed For position mode the default set to 0 In position mode the axis will move exactly jog scale units for each count regardless of how long that might take setp axis 0 jog vel mode 0 setp axis 1 jog vel mode 0 setp axis 2 jog vel mode 0 this sets the scale that will be used based on the input to the mux4 setp mux4 0 inO 0 1 setp mux4 0 inl 0 01 setp mux4 0 in2 0 001 the inputs to the mux4 component net scalel mux4 0 sel0 lt parport 1 pin 09 in net scale2 mux4 0 sell lt parport 1l pin 10 in the output from the mux4 is sent to each axis jog scale net mpg scale mux4 0 out net mpg scale gt axis 0 jog scale Integrator Manual V2 5 2013 03 10 233 255 net mpg scale gt axis 1 jog scale net mpg scale gt axis 2 jog scale the MPG inputs net mpg a encoder 0 phase A lt parport 1 pin 02 in net mpg b encoder 0 phase B lt parport 1l pin 03 in the Axis select inputs net mpg x axis 0 jog enable lt parport 1 pin 04 in net mpg y axis 1 jog enable lt parport 1 pin 05 in net mpg z axis 2 jog enable lt parport 1 pin 06 in the encoder output counts to the axis Only the selected axis will move net encoder counts lt encoder 0 counts net encoder counts axis 0 jog counts net encoder counts gt axis 1 jog counts net encoder counts gt axis 2 jog
251. locks Mxx R Monostable xx running Boolean read only Mxx V Monostable xx current value integer read only Mxx P Monostable xx preset integer read or write 30 6 5 COUNTERS Represent up down counters There are 7 contacts e R reset input will reset the count to 0 P preset input will set the count to the preset number assigned from the edit menu e U up count input will add one to the count D down count input will subtract one from the count Integrator Manual V2 5 2013 03 10 202 255 E under flow output will be true when the count rolls over from 0 to 9999 D done output will be true when the count equals the preset F overflow output will be true when the count rolls over from 9999 to 0 The up and down count contacts are edge sensitive meaning they only count when the contact changes from false to true or off to on if you prefer The range is 0 to 9999 There are also Variables for counters that can be read and or written to in compare or operate blocks 96 Cxx D Counter xx done Boolean read only Cxx E Counter xx empty overflow Boolean read only Cxx F Counter xx full overflow Boolean read only Cxx V Counter xx current value integer read or write Cxx P Counter xx preset integer read or write 30 6 6 COMPARE For arithmetic comparison Is variable XXX to this number or evaluated number The compare bl
252. ls to and from the PyVCP pins is done with the halcmd net signal name pin name opt direction opt pin name signal name If you are new to HAL the HAL basics chapter in the Integrator Manual is a good place to start 10 3 Security Parts of PyVCP files are evaluated as Python code and can take any action available to Python programs Only use PyVCP xml files from a source that you trust 10 4 AXIS Since AXIS uses the same GUI toolkit Tkinter as PyVCP it is possible to include a PyVCP panel on the right side of the normal AXIS user interface A typical example is explained below Place your PyVCP XML file describing the panel in the same directory where your ini file is Say we we want to display the current spindle speed using a Bar widget Place the following in a file called spindle xml pyvcp label text Spindle speed text label bar lt halpin gt spindle speed lt halpin gt lt max_ gt 5000 lt max_ gt lt bar gt lt pyvcp gt Here we ve made a panel with a Label and a Bar widget specified that the HAL pin connected to the Bar should be named spindle speed and set the maximum value of the bar to 5000 see widget reference below for all options To make AXIS aware of this file and call it at start up we need to specify the following in the DISPLAY section of the ini file PYVCP spindle xml To make our widget actually display the spindle speed it needs to be
253. lse A shorter period will allow you to generate more pulses per second within limits But if you go too short your computer will spend so much time generating step pulses that everything else will slow to a crawl or maybe even lock up Latency and stepper drive requirements affect the shortest period you can use as we will see in a minute Let s look at the Gecko example first The G202 can handle step pulses that go low for 0 5 us and high for 4 5 us it needs the direction pin to be stable 1 us before the falling edge and remain stable for 20 us after the falling edge The longest timing requirement is the 20 us hold time A simple approach would be to set the period at 20 us That means that all changes on the STEP and DIR lines are separated by 20 us All is good right Wrong If there was ZERO latency then all edges would be separated by 20 us and everything would be fine But all computers have some latency Latency means lateness If the computer has 11 us of latency that means sometimes the software runs as much as 11 us later than it was supposed to If one run of the software is 11 us late and the next one is on time the delay from the first to the second is only 9 us If the first one generated a step pulse and the second one changed the direction bit you just violated the 20 us G202 hold time requirement That means your drive might have taken a step in the wrong direction and your part will be the wrong size The really nasty par
254. luding those of predefined HAL widgets This fits nicely with the event driven structure of a typical widget application every activity be it mouse click key timer expired or the change of a HAL pin s value generates a callback and is handled by the same orthogonal mechanism For user defined HAL pins not associated with a particular HAL widget the signal name is value changed See the Adding HAL pins section below for details HAL widgets come with a pre defined signal called hal pin changed See the Hal Widgets section for details 12 8 4 Programming model The overall approach is as follows design your UI with Glade and set signal handlers where you want actions associated with a widget write a Python module which contains callable objects see handler models below pass your module s path name to gladevcp with the module option gladevcp imports the module inspects it for signal handlers and connects them to the widget tree the main event loop is run 12 8 4 1 The simple handler model For simple tasks it s sufficient to define functions named after the Glade signal handlers These will be called when the corre sponding event happens in the widget tree Here s a trivial example it assumes that the pressed signal of a Gtk Button or HAL Button is linked to a callback called on button press 0 def on button press gtkobj data None global nhits nhits 1 gtkobj set label hits Sd 5 nhits A
255. ly and is used by the JUMP COIL to identify where to go When placing a JUMP COIL add it in the rightmost position and change the label to the rung you want to JUMP to 30 6 8 2 CALL COIL A CALL COIL is used to go to a subroutine section then return like a gosub in BASIC programming language If you go to the sections manager window hit the add section button You can name this section select what language it will use ladder or sequential and select what type main or subroutine Select a subroutine number SRO for example An empty section will be displayed and you can build your subroutine When you ve done that go back to the section manager and click on the your main section default name prog1 Now you can add a CALL COIL to your program CALL COILs are to be placed at the rightmost position in the rung Remember to change the label to the subroutine number you chose before 30 7 Classic Ladder Variables These Variables are used in COMPARE or OPERATE to get information about or change specs of ladder objects such as changing a counter preset or seeing if a timer is done running List of variables Bxxx Bit memory xxx Boolean oWxxx Word memory xxx 32 bits signed integer TWxxx Word memory xxx S32 in pin QWxxx Word memory xxx 532 out pin IF xx Word memory xx Float in pin converted to S32 in Classic Ladder QFxx Word memory xx Float out pin converted to 532 in Classic Ladder
256. mately 19 5kHz 40MHz 2047 A PDM like mode is also available Integrator Manual V2 5 2013 03 10 152 255 18 digital outputs 10 dedicated 8 shared with PWM functions Example A lathe with unidirectional PWM spindle control may use 13 total digital outputs 20 digital inputs 8 dedicated 12 shared with Quadrature functions Example A lathe with index pulse only on the spindle may use 13 total digital inputs EPP communication with the PC The EPP communication typically takes around 100 us on machines tested so far enabling servo rates above 1kHz 22 2 1 Pinout UPx The up up down mode pwm pwm direction mode signal from PWM generator X May be used as digital output if the corresponding PWM channel is unused or the output on the channel is always negative The corresponding digital output invert may be set to TRUE to make UPx active low rather than active high DNx The down up down mode or direction pwm direction mode signal from PWM generator X May be used as digital output if the corresponding PWM channel is unused or the output on the channel is never negative The corresponding digital ouput invert may be set to TRUE to make DNx active low rather than active high QAx QBx The A and B signals for Quadrature counter X May be used as a digital input if the corresponding quadrature channel is unused QZx The Z index signal for quadrature counter X May be used as a digital input if the
257. mediately after the copyright notices a license notice giving the public permission to use the Modified Version under the terms of this License in the form shown in the Addendum below G Preserve in that license notice the full lists of Invariant Sections and required Cover Texts given in the Document s license notice Include an unaltered copy of this License I Preserve the section entitled History and its title and add to it an item stating at least the title year new authors and publisher of the Modified Version as given on the Title Page If there is no section entitled History in the Document create one stating the title year authors and publisher of the Document as given on its Title Page then add an item describing the Modified Version as stated in the previous sentence J Preserve the network location if any given in the Document for public access to a Transparent copy of the Document and likewise the network locations given in the Document for previous versions it was based on These may be placed in the History section You may omit a network location for a work that was published at least four years before the Document itself or if the original publisher of the version it refers to gives permission K In any section entitled Acknowledgements or Dedications preserve the section s title and preserve in the section all the substance and tone of each of the contributor acknowledgements and or dedications given therein
258. mers 10 numMonostables 10 numCounters 10 numPhysInputs 10 numPhysOutputs 10 numArithmExpr 100 numSections 4 numSymbols 200 numS32in 5 numS320out 5 To load the default number of objects loadrt classicladder rt 30 4 Loading the Classic Ladder user module Classic Ladder HAL commands must executed before the GUI loads or the menu item Ladder Editor will not function If you used the Stepper Config Wizard place any Classic Ladder HAL commands in the custom hal file To load the user module loadusr classicladder To load a ladder file loadusr classicladder myladder clp Classic Ladder Loading Options nogui loads without the ladder editor normally used after debugging is finished modbus port port loads the modbus port number modmaster initializes MODBUS master should load the ladder program at the same time or the TCP is default port modslave initializes MODBUS slave only TCP To use Classic Ladder with HAL without EMC loadusr w classicladder The w tells HAL not to close down the HAL environment until Classic Ladder is finished If you first load ladder program with the nogui option then load Classic Ladder again with no options the GUI will display the last loaded ladder program In AXIS you can load the GUI from File Ladder Editor 30 5 Classic Ladder GUI If you load Classic Ladder with the GUI it will display two windows section display and section manager Integrator Ma
259. n lt channel gt scale and the result is the frequency in steps per second Negative values result in the frequency being based on the absolute value and the direction pin is set to indicate negative All bit output ppmc lt port gt din lt channel gt in State of digital input pin see canonical digital input All bit output ppmc lt port gt din lt channel gt in not Inverted state of digital input pin see canonical digital input All bit input ppmc lt port gt dout lt channel gt out Value to be written to digital output see canonical digital output Option float input ppmc port DACS channel value Value to be written to analog output range from 0 to 255 This sends 8 output bits to J8 which should have a Spindle DAC board connected to it 0 corresponds to zero Volts 255 corresponds to 10 Volts The polarity of the output can be set for always minus always plus or can be controlled by the state of SSR1 plus when on and SSR2 minus when on You must specify extradac 2 0x00 on the HAL command line that loads the PPMC driver to enable this function on the first USC ur UPC board Option bit input ppmc lt port gt dout lt channel gt out Value to be written to one of the 8 extra digital output pins on J8 You must specify extradout 0x00 on HAL command line that loads the ppmc driver to enable this function on the first USC or UPC board extradac and extradout are mutually exclusive features as they use
260. n amplifier DAC This scaling looks like raw a 2utput offset scale The value for scale can be obtained analytically by doing a unit analysis i e units are output SI units actuator units For example on a machine with a velocity mode amplifier such that 1 volt results in 250 mm sec velocity mm mm mm amplifier volts output offset 250 plifier volts ouput offset 250 1 Note that the units of the offset are in machine units e g mm sec and they are pre subtracted from the sensor readings The value for this offset is obtained by finding the value of your output which yields 0 0 for the actuator output If the DAC is linearized this offset is normally 0 0 The scale and offset can be used to linearize the DAC as well resulting in values that reflect the combined effects of amplifier gain DAC non linearity DAC units etc To do this follow this procedure 1 Build a calibration table for the output driving the DAC with a desired voltage and measuring the result 2 Do a least squares linear fit to get coefficients a b such that 3 Note that we want raw output such that our measured result is identical to the commanded output This means command b p 4 As a result the a and b coefficients from the linear fit be used as the scale and offset for the controller directly See the following table for an example of
261. n code 1 also defines the error Python exception type to support error reporting Integrator Manual V2 5 2013 03 10 163 255 25 3 Reading LinuxCNC status Here is a Python fragment to explore the contents of Linuxcnc stat object which contains some 880 values run while linuxenc is running for typical values import sys import linuxcnc Tuy S linuxcnc stat create a connection to the status channel S poll get current values except linuxcnc error detail print error detail sys exit 1 Teig xx Glink Clase sy 9 if not x startswith y joce Ecc Linuxcnc uses the default compiled in path to the NML configuration file unless overridden see Reading ini file values for an example 25 3 1 linuxcnc stat attributes acceleration returns float default acceleration reflects the ini entry TRAJ DEFAULT ACCELERATION active_queue returns int number of motions blending actual_position returns tuple of floats current trajectory position x y za b c u v w in machine units adaptive_feed_enabled returns True False status of adaptive feedrate override 0 1 ain returns tuple of floats current value of the analog input pins angular_units returns string reflects TRAJ ANGULAR_UNITS ini value aout returns tuple of floats current value of the analog output pins axes returns string reflects TRAJ AXES ini value axis returns tuple of
262. n coil is energized it s N O contact will be closed on true etc N C COIL arelay coil that inverses its contacts When coil is energized it s N O contact will be open off false etc SET COIL a relay coil with latching contacts When coil is energized it s N O contact will be latched closed RESET COIL a relay coil with latching contacts When coil is energized It s 0 contact will be latched open JUMP COIL a goto coil when coil is energized ladder program jumps to a rung in the CURRENT section jump points are designated by a rung label Add rung labels in the section display top left label box CALL COIL a gosub coil when coil is energized program jumps to a subroutine section designated by a subroutine number subroutines are designated SRO to SR9 designate them in the section manager Warning D If you use a N C contact with a N C coil the logic will work when the coil is energized the contact will be closed but that is really hard to follow Integrator Manual V2 5 2013 03 10 205 255 30 6 8 1 JUMP COIL A JUMP COIL is used to JUMP to another section like a goto in BASIC programming language If you look at the top left of the sections display window you will see a small label box and a longer comment box beside it Now go to Editor Modify then go back to the little box type in a name Go ahead and add a comment in the comment section This label name is the name of this rung on
263. n equals 300 units per minute MAX ACCELERATION 20 0 The maximum acceleration for any axis or coordinated axis move in machine units per second per second POSITION FILE position txt If set to a non empty value the joint positions are stored between runs in this file This allows the machine to start with the same coordinates it had on shutdown This assumes there was no movement of the machine while powered off If unset joint positions are not stored and will begin at 0 each time LinuxCNC is started This can help on smaller machines without home switches NO FORCE HOMING 1 The default behavior is for LinuxCNC to force the user to home the machine before any MDI command or program is run Normally only jogging is allowed before homing Setting NO FORCE HOMING 1 allows the user to make MDI moves and run programs without homing the machine first Interfaces without homing ability will need to have this option set to 1 Warning Using this will allow the machine to go beyond the soft limits while in operation It is not generally desirable to allow this Integrator Manual V2 5 2013 03 10 18 255 3 2 10 AXIS nums Section The AXIS 0 AXIS 1 etc sections contains general parameters for the individual components in the axis control module The axis section names begin numbering at 0 and run through the number of axes specified in the TRAJ AXES entry minus 1 Typically but not always e AXIS 0
264. n halcmd in terminal window To see the HAL configuration and check the status of pins and parameters use the HAL Configuration window on the Machine menu in AXIS To watch a pin status open the Watch tab and click on each pin you wish to watch and it will be added to the watch window Integrator Manual V2 5 2013 03 10 43 255 a HAL Gonfiguration Ej 2 Tree View Components SHOW WATCH Pins axis Component Pins axisui Owner Dir Value Name hal_manualtoolchange bit IN FALSE parport 0 pin Ol out lt iocontrol TIN FALSE parport 0 pin 02 out lt motion 6 bit IN FALSE parport 0 pin 03 out lt xdir parport 6 bit IN FALSE parport 0 pin O4 out lt ystep 0 6 bit IN FALSE parport pin 5 out lt ydir pwmgen 6 bit IN FALSE parport 0 pin O6 out lt zstep stepgen 6 bit IN FALSE parport 0 pin O7 out lt zdir Parameters 6 bit IN FALSE parport 0 pin 08 out lt astep F 6 bit IN FALSE parport 0 pin 09 out lt adir Signals 6 bit QUT TRUE parport 0 pin 10 in Functions 6 bit FALSE parport pin 10 in not Threads 6 bit QUT TRUE parport pin 1lil in 6 bit QUT FALSE parport pin 11 in not 6 bit QUT TRUE parport 0 pin 12 in 6 bit QUT FALSE parport 0 pin 12 in not 6 bit QUT TRUE parport 0 pin 13 in 6 bit QUT FALSE parport 0 pin 13 in not 6 bit IN FALSE parport 0 pin 14 out lt spindle cw bit OUT TRUE parport 0 pin 15 in 6 bit QUT F
265. n of GtkButton in the PyGtk Reference Manual An easy way to find out the inheritance relationship of a given HAL widget is as follows run glade place the widget in a window and select it then choose the Signals tab in the Properties window For example selecting a HAL LED widget this will show that a HAL LED is derived from a GtkWidget which in turn is derived from a GtkObject and eventually a GObject HAL Widgets also have a few HAL specific Python attributes hal pin the underlying HAL pin Python object in case the widget has a single pin type hal pin s hal pin f the 532 and float pins of HAL Spinbutton and HAL ComboBox widgets note these widgets do not have a hal pin attribute hal pin scale the float input pin of HAL ProgressBar widget representing the maximum absolute value of input The are several HAL specific methods of HAL Widgets but the only relevant method is lt halpin gt get Retrieve the value of the current HAL pin where lt halpin gt is the applicable HAL pin name listed above 12 6 3 Setting pin and widget values As a general rule if you need to set a HAL output widget s value from Python code do so by calling the underlying Gtk setter e g set active set value do not try to set the associated pin s value by halcomp pinname value directly because the widget will not take notice of the change It might be tempting to set HAL widget input pins programmatically Note this defeats th
266. ncel Back Figure 30 11 Stepconf Classic Ladder 30 10 1 Add the Modules If you used the Stepconf Wizard to add Classic Ladder you can skip this step To manually add Classic Ladder you must first add the modules This is done by adding a couple of lines to the custom hal file This line loads the real time module 9 This line adds the Classic Ladder function to the servo thread addf classicladder 0 refresh servo thread 30 10 2 Adding Ladder Logic Now start up your config and select File Ladder Editor to open up the Classic Ladder GUI You should see a blank Section Display and Sections Manager window as shown above In the Section Display window open the Editor In the Editor window select Modify Now a Properties window pops up and the Section Display shows a grid The grid is one rung of ladder The rung can contain branches A simple rung has one input a connector line and one output A rung can have up to six horizontal branches While it is possible to have more than one circuit in a run the results are not predictable Integrator Manual V2 5 2013 03 10 213 255 Section PX EST 9 ES CAO IEEE VES HC Fn red 82 o Je Display symbols s us Current in edit Figure 30 12 Section Display with Grid Now click on the N O Input in the Editor Window Integrator Manual V2 5 2013 03 10 214 255 Editor ss Ok Cancel Of HH Je At
267. nds each and every time can give better results than the latest and fastest PA Hyperthreading beast The CPU isn t the only factor in determining latency Motherboards video cards USB ports and a number of other things can hurt the latency The best way to find out what you are dealing with is to run the RTAI latency test Generating step pulses in software has one very big advantage it s free Just about every PC has a parallel port that is capable of outputting step pulses that are generated by the software However software step pulses also have some disadvantages limited maximum step rate jitter in the generated pulses loads the CPU The best way to find out how well your PC will Irun LinuxCNC is to run the HAL latency test To run the test open a terminal window In Ubuntu from Applications Accessories Terminal and run the following command latency test You should see something like this Integrator Manual V2 5 2013 03 10 9 255 Let this test run for a few minutes then note the maximum Jitter You will use it while configuring emc2 While the test is running you should abuse the computer Move windows around on the screen Surf the web Copy some large files around on the disk Play some music Run an OpenGL program such as glxgears The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are Max Interval ns Max Jitter ns Last interval ns
268. need more time e g USB to serial converters PAUSE INTER FRAME Pause milliseconds after receiving answer from slave This sets the duty cycle of requests it s a pause for EACH request REQUEST TIMEOUT LENGTH Length milliseconds of time before we decide that the slave didn t answer MODBUS ELEMENT OFFSET used to offset the element numbers by 1 for manufacturers numbering differences DEBUG LEVEL Set this to 0 3 0 to stop printing debug info besides no response errors READ COILS INPUTS MAP TO Select what variables that read coils inputs will update B or Q WRITE COILS MAP TO Select what variables that write coils will updated from B Q or I READ REGISTERS HOLDING Select what variables that read registers will update W or QW WRITE REGISTERS MAP TO Select what variables that read registers will updated from W QW or IW SLAVE ADDRESS For serial the slaves ID number usually settable on the slave device usually 1 256 For IP the slave IP address plus optionally the port number Integrator Manual V2 5 2013 03 10 210 255 TYPE ACCESS This selects the MODBUS function code to send to the slave eg what type of request COILS INPUTS Inputs and Coils bits are read from written to I B or Q variables user selects REGISTERS WORDS Registers Words Numbers map to IW W or QW variables user selects Ist MODBUS ELEMENT The address or register number of the first element
269. negative force_width force_height Forced width or height of widget If not set then size will be deduced from packing or from fixed widget size and bar will fill whole area text_template Like in Label sets text format for min max current values Can be used to turn off value display bg_color Background inactive color of bar z0_color z1_color z2_color Colors of different value zones Defaults are green yellow and red For description of zones see z border properties z0_border z1_border Define up bounds of color zones By default only one zone is enabled If you want more then one zone set z0_border and 21 border to desired values so zone O will fill from to first border zone 1 will fill from first to second border and zone 2 from last border to 1 Borders are set as fractions values from 0 to 1 100 Horizontal bar Vertical bar 12 6 14 Meter HAL Meter is a widget similar to PyVCP meter it represents a float value and has one input FLOAT hal pin HAL Meter has the following properties min max Minimum and maximum value of desired range It is not an error condition if the current value is outside this range force_size Forced diameter of widget If not set then size will be deduced from packing or from fixed widget size and meter will fill all available space with respect to aspect ratio text_template Like in Label sets text format for current value Can be used to turn off value display labe
270. nfiguration picker in the Sample Configurations gt sim gt gladevcp branch Git Checkout The following instructions only apply if your using a git checkout Open a terminal and change to the directory created by git then issue the commmands as shown Note For the following commands to work on your git checkout you must first run make then run sudo make setuid then run scripts rip environment More information about git checkout is on the linuxcnc wiki page Run the sample GladeVCP panel integrated into Axis like PyVCP as follows cd configs sim gladevcp linuxcnc gladevcp panel ini Be Machine Vd eim lz lx ee amp Spindle Poe ase Irt Lil oi nes 4 Status t3 Prepared toad Current tool System 0 Spinbutton 0 00 Command 2 7 Settings checkbution 654 O rachobutton E LE L J SO GL GAD GIO Dg Gol LX CAID GSO Gd CUT 1 GH H3 HO LED 1 radeon Ftd Crepe rocky jeg Speed 16 isimin LED z Velocity T2 iain logge 0 Hot intended for actual willing 1 code anyway you aight have Touch the aris Commands i your setup i 11 you had some material im your mill I deen s thin fouch adf j Also press th
271. ng the UI definition either referring to a GtkBuilder or libglade type object e useropts a list of strings collected from the gladevcp command line U useropts option GladeVCP then inspects the list of class instances and retrieves their method names Qualifying method names are connected to the widget tree as signal handlers Only method names which do not begin with _ underscore are considered Note that regardless whether you re using the libglade or the new GtkBuilder format for your Glade UI widgets can always be re ferred to as builder get object widgetname Also the complete list of widgets is available as builder get object regardless of UI format 12 8 5 Initialization sequence It is important to know in which state of affairs your get handlers function is called so you know what is safe to do there and what not First modules are imported and initialized in command line order After successful import handlers is called in the following state the widget tree is created but not yet realized no toplevel window show has been executed yet the halcomp HAL component is set up and all HAL widget s pins have already been added to it e itis safe to add more HAL pins because halcomp ready has not yet been called at this point so you may add your own pins for instance in the class init X method Once all modules have been imported and method names extracted the following steps happen
272. nt float bool or string This mechanism uses the popular ini file format to save and reload persistent attributes Integrator Manual V2 5 2013 03 10 108 255 12 8 8 1 Persistence program versions and the signature check Imagine renaming adding or deleting widgets in Glade an ini file lying around from a previous program version or an entirely different user interface would be not be able to restore the state properly since variables and types might have changed GladeVCP detects this situation by a signature which depends on all object names and types which are saved and to be restored In the case of signature mismatch a new ini file with default settings is generated 12 8 9 Using persistent variables If you want any of Gtk widget state HAL widgets output pin s values and or class attributes of your handler class to be retained across invocations proceed as follows import the gladevcp persistence module decide which instance attributes and their default values you want to have retained if any decide which widgets should have their state retained e describe these decisions in your handler class init method through a nested dictionary as follows def init self halcomp builder useropts self halcomp halcomp self builder builder self useropts useropts self defaults the following names will be saved restored as method attributes the save restore mechanism is strongly typed the varia
273. nual V2 5 2013 03 10 192 255 30 5 1 Sections Manager When you first start up Classic Ladder you get an empty Sections Manager window Sections Marnatcer Section Name Language debug Ladder Main F 0 L 0 P Add section Delete section Figure 30 1 Sections Manager Default Window This window allows you to name create or delete sections and choose what language that section uses This is also how you name a subroutine for call coils 30 5 2 Section Display When you first start up Classic Ladder you get an empty Section Display window Displayed is one empty rung Integrator Manual V2 5 2013 03 10 193 255 Section Display of custom clp i Display symbols 3 u GUI reloaded with existing ladder program Editor symbols config Preview print about uit Figure 30 2 Section Display Default Window Most of the buttons are self explanatory The Vars button is for looking at variables toggle it to display one the other both then none of the windows The Config button is used for modbus and shows the max number of ladder elements that was loaded with the real time module The Symbols button will display an editable list of symbols for the variables hint you can name the inputs outputs coils etc The Quit button will shut down the user program meaning Modbus and the display The real time ladder program will still run in the background The check box at
274. nvariant Sections instead of saying which ones are invariant If you have no Front Cover Texts write no Front Cover Texts instead of Front Cover Texts being LIST likewise for Back Cover Texts If your document contains nontrivial examples of program code we recommend releasing these examples in parallel under your choice of free software license such as the GNU General Public License to permit their use in free software Integrator Manual V2 5 2013 03 10 Chapter 40 Index 0 10v Spindle Speed 228 A ACEXIK 150 acme screw 244 addf 43 ANGULAR UNITS 17 Automatic Login 240 Automatic Startup 240 AX5214H Driver 126 axis 13 244 axis HAL pins 35 AXIS inifile section 18 B Backlash 18 backlash 244 backlash compensation 244 ball nut 244 ball screw 244 Basic HAL Tutorial 42 Bit 47 Cartesian machines 174 cd 242 Changing Directories 242 Classicladder Examples 219 Classicladder Introduction 186 Classicladder Programming 189 CNC 244 Comments INIFile 11 comp 245 Compensation 18 coordinate measuring machine 245 Core Components 32 D dir 242 DISPLAY inifile section 13 display units 245 DRO 245 E Editing a Root File 241 EDM 245 EMC 245 EMC inifile section 13 EMCIO 245 EMCIO inifile section 23 EMCMOT 245 EMCMOT inifile section 16 enable signal 40 encoder 22 245 ESTOP 40 F feed 245 feed rate 245 feedback 245 feedrate
275. o Read the GPIO input pins only This function is not available on the 7143 due to limitations of the EPP bus hm2_ lt BoardType gt lt BoardNum gt write_gpio Write the GPIO control registers and output pins only This function is not available on the 7143 due to limitations of the EPP bus Note The above read gpio and write gpio functions should not normally be needed since the GPIO bits are read and written along with everything else in the standard read and write functions above which are normally run in the servo thread The read gpio and write gpio functions were provided in case some very fast frequently updated I O is needed These functions should be run in the base thread If you have need for this please send an email and tell us about it and what your application is 18 7 Pinouts The hostmot2 driver does not have a particular pinout The pinout comes from the firmware that the hostmot2 driver sends to the Anything I O board Each firmware has different pinout and the pinout depends on how many of the available encoders pwmgens and stepgens are used To get a pinout list for your configuration after loading LinuxCNC in the terminal window type dmesg hm2 txt The resulting text file will contain lots of information as well as the pinout for the HostMot2 and any error and warning messages To reduce the clutter by clearing the message buffer before loading LinuxCNC type the following in the terminal window
276. o computer control of machinery Instead of a human operator turning cranks to move a cutting tool CNC uses a computer and motors to move the tool based on a part program Integrator Manual V2 5 2013 03 10 245 255 A tool used to build compile and install LinuxCNC HAL components Configuration n A directory containing a set of configuration files Custom configurations are normally saved in the users home emc2 configs directory These files include EMC s traditional INI file and HAL files A configuration may also contain several general files that describe tools parameters and NML connections Configuration v The task of setting up LinuxCNC so that it matches the hardware on a machine tool Coordinate Measuring Machine A Coordinate Measuring Machine is used to make many accurate measurements on parts These machines can be used to create CAD data for parts where no drawings can be found when a hand made prototype needs to be digitized for moldmaking or to check the accuracy of machined or molded parts Display units The linear and angular units used for onscreen display DRO A Digital Read Out is a system of position measuring devices attached to the slides of a machine tool which are connected to a numeric display showing the current location of the tool with respect to some reference position DROs are very popular on hand operated machine tools because they measure the true tool position without backlash even
277. ock will be true when comparison is true you can use most math symbols e standard math symbols less than gt greater than lt less or equal gt greater or equal lt gt not equal e grouping exponent modulus amp or e ABS absolute MOY French for average AVG average For example ABS W2 1 MOY W1 W2 lt 3 No spaces are allowed in the comparison equation For example C0 V gt C0 P is a valid comparison expression while C0 V gt CO P is not a valid expression There is a list of Variables down the page that can be used for reading from and writing to ladder objects When a new compare block is opened be sure and delete the symbol when you enter a compare To find out if word variable 1 is less than 2 times the current value of counter 0 the syntax would be W1 2 CO V To find out if S32in bit 2 is equal to 10 the syntax would be SIW2 10 Note Compare uses the arithmetic equals not the double equals that programmers are used to Integrator Manual V2 5 2013 03 10 203 255 30 6 7 VARIABLE ASSIGNMENT For variable assignment e g assign this number or evaluated number to this variable xxx there are two math functions MINI and MAXI that check a variable for maximum 0x80000000 and minimum values OxO7FFFFFFF think signed values and keeps them from going beyond When a new variable assignment block is opened be sure to delete
278. ocumentation License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns See http www gnu org copyleft Each version of the License is given a distinguishing version number If the Document specifies that a particular numbered version of this License or any later version applies to it you have the option of following the terms and conditions either of that specified version or of any later version that has been published not as a draft by the Free Software Foundation If the Document does not specify a version number of this License you may choose any version ever published not as a draft by the Free Software Foundation ADDENDUM How to use this License for your documents To use this License in a document you have written include a copy of the License in the document and put the following copyright and license notices just after the title page Copyright c YEAR YOUR NAME Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with the Invariant Sections being LIST THEIR TITLES with the Front Cover Texts being LIST and with the Back Cover Texts being LIST A copy of the license is included in the section entitled GNU Free Documentation License If you have no Invariant Sections write with no I
279. ode The external hardware that drives the control pins should also use open collector gates e g 74LS05 On some machines BIOS settings may affect whether x mode can be used SPP mode is most likely to work No other combinations are supported and a port cannot be changed from input to output once the driver is installed The Parport Block Diagram shows two block diagrams one showing the driver when the data group is configured for output and one showing it configured for input For x mode refer to the pin listing of halcmd show pin for pin direction assignment The parport driver can control up to 8 ports defined by MAX PORTS in hal parport c The ports are numbered starting at zero 15 1 1 Installing oh clo aera p rr eee rg COME Using the Port Index I O addresses below 16 are treated as port indexes This is the simplest way to install the parport driver and cooperates with the Linux parport pc driver if it is loaded This will use the address Linux has detected for parport 0 loadrt Noaluparport crkg 0 Integrator Manual V2 5 2013 03 10 123 255 Using the Port Address The configure string consists of a hex port address followed by an optional direction repeated for each port The direction is in out or x and determines the direction of the physical pins 2 through 9 and whether to create input HAL pins for the physical control pins If the direction is not specified the data group defaults to
280. of analog input and output 32 bits digital I O an interval timer with interrupt and a watchdog For more information see the Servo To Go web page 23 1 Installing loadrt hal stg base address num chan nr dio lt dio string gt model lt model gt The base address field is optional if it s not provided the driver attempts to autodetect the board The num chan field is used to specify the number of channels available on the card if not used the 8 axis version is assumed The digital inputs outputs configuration is determined by a config string passed to insmod when loading the module The format consists of a four character string that sets the direction of each group of pins Each character of the direction string is either I or O The first character sets the direction of port A Port DIO 0 7 the next sets port B Port B DIO 8 15 the next sets port C Port C DIO 16 23 and the fourth sets port D Port D DIO 24 31 The model field can be used in case the driver doesn t autodetect the right card version hint after starting up the driver dmesg can be consulted for messages relevant to the driver e g autodetected version number and base address For example loadrt hal stg 0 300 num chan 4 dio IOIO This example installs the STG driver for a card found at the base address of 0x300 4 channels of encoder feedback DACs and ADCs along with 32 bits of configured like this the first 8 Port
281. ogram versions and the signature 108 123 59 Using persistent varmibles gt p eo pea Re BOR Re CR EURO C OR FE e 08 108 12 8 10 Saving the state on Gladvep shutdown os s sca rr RR RR trs 109 12 8 11 Saving state when Ctrl C is pressed ocos A ee RG ee E 109 12 8 12 Hand Fere amr DES suus a Re ee ee 109 12 513 ding HAL DIIS soe cag AA Oe RC Robe Jed ee 110 een NEN Ge whe do Ae ee oie Be SERE GR E Be ee dus Ce ede ies 110 12 8 15 Setting HAL widget properties programmatically ees 110 12 8 16 Examples and rolling your own GladeVCP 111 LUD BSEE uuu ee Ret ie quot ge ot Rae 111 Be es ee ee oe Y See ee 112 12 11 aplementatiow note Key handling in AXIS Y X OR EURO E E 112 12 1 2Addine Custom Widgets lt so so cw SD Gk Robo E OEC OR OR E n m hh e ep Re URGE E e e 112 13 HAL User Interface 113 II EintodgeBoN Oe X EN GE Y 113 132 Halmi pin r feren 2 22 na opu ES db m dE e BOE de ep dede hea a 113 14 Halui Examples 119 ILI Bem SE oe
282. on destroy to the notebooks destroy signal and that works fine It doesnt work for window1 5 I want to set the background color or text of a Label widget depending on its HAL pin value See the example in configs gladevcp colored label Setting the background color of a GtkLabel widget and Label is derived from GtkLabel is a bit tricky The GtkLabel widget has no window object of its own for performance reasons and only window objects can have a background color The solution is to enclose the Label in an EventBox container which has a window but is otherwise invisible see the coloredlabel ui file 6 I defined a 1 spinbutton widget in glade and set a default value property in the corresponding adjustment It comes up with zero Integrator Manual V2 5 2013 03 10 112 255 this is due to a bug in the old Gtk version distributed with Ubuntu 8 04 and 10 04 and is likely to be the case for all widgets using adjustment The workaround mentione for instance in http osdir com ml gtk app devel list 2010 04 msg00129 html does not reliably set the HAL pin value it is better to set it explicitly in an on realize signal handler during widget creation See the example in con igs gladevcp by widget spinbutton 12 10 Troubleshooting make sure your have the development version of LinuxCNC installed You don t need the axisrc file any more this was mentioned in the old GladeVcp wiki page run GladeVCP or Axis from a term
283. on stops Finally increase D until the loop is acceptably quick to reach its reference fast PID loop tuning usually overshoots slightly to reach the set point more quickly however some systems cannot accept overshoot Parameter Rise Time Overshoot Settling Time Steady State Error P Decrease Increase Small Change Decrease I Decrease Increase Increase Eliminate D Small Change Decrease Decrease Small Change Effects of increasing parameters 28 1 3 2 Ziegler Nichols method Another tuning method is formally known as the Ziegler Nichols method introduced by John G Ziegler and Nathaniel B Nichols It starts in the same way as the method described before first set the I and D gains to zero and then increase the P gain and expose the loop to external interference for example knocking the motor axis to cause it to move out of equilibrium in order to determine critical gain and period of oscillation until the output of the loop starts to oscillate Write down the critical gain and the oscillation period of the output Then adjust the P I and D controls as the table shows Control type P I D P 5 ASK P 1 2 PID 6K 2 8 28 1 3 3 Final Steps After tuning the axis check the following error with Halscope to make sure it is within your machine requirements More information on Halscope is in the HAL User manual Integrator Manual V2 5 2013 03 10 18
284. ool number 532 out The current tool number iocontrol 0 tool prep number 532 out The number of the next tool from the RS274NGC T word iocontrol O tool prepare bit out TRUE when tool prepare is requested iocontrol 0 tool prepared bit in Should be driven TRUE when a tool prepare is completed iocontrol 0 user enable out bit out FALSE when an internal E Stop condition exists iocontrol 0 user request enable bit out TRUE when the user has requested that E Stop be cleared Integrator Manual V2 5 2013 03 10 37 255 Chapter 8 Stepper Configuration 8 1 Introduction The preferred way to set up a standard stepper machine is with the Step Configuration Wizard See the Getting Started Guide This chapter describes some of the more common settings for manually setting up a stepper based system Because of the various possibilities of configuring LinuxCNC it is very hard to document them all and keep this document relatively short The most common LinuxCNC usage is for stepper based systems These systems are using stepper motors with drives that accept step amp direction signals It is one of the simpler setups because the motors run open loop no feedback comes back from the motors yet the system needs to be configured properly so the motors don t stall or lose steps Most of this chapter is based on the sample config released along with LinuxCNC The config is called stepper and usually it is found in
285. op returns integer estop flag exec state returns integer task execution state One of EXEC ERROR EXEC DONE EXEC WAITING FOR MOTION EXEC WAITING FOR MOTION QUEUE EXEC WAITING FOR PAUSE EXEC WAITING FOR MOTION AND IO EXEC WAITING FOR DELAY EXEC WAITING FOR SYSTEM CMD feed hold enabled returns integer enable flag for feed hold feed override enabled returns integer enable flag for feed override feedrate returns float current feedrate file returns string currently executing gcode file flood returns integer flood enabled g5x index returns string currently active coordinate system G54 0 G55 1 etc g5x offset returns tuple of floats offset of the currently active coordinate system 092 offset returns tuple of floats pose of the current g92 offset Integrator Manual V2 5 2013 03 10 165 255 gcodes returns tuple of 16 integers currently active G codes homed returns integer flag 1 if homed id returns integer currently executing motion id inpos returns integer machine in position flag input timeout returns integer flag for M66 timer in progress interp state returns integer current state of RS274NGC interpreter One of INTERP IDLE INTERP READING INTERP PAUSED INTERP WAITING interpreter errcode returns integer current RS274NGC interpreter return code One of INTERP OK INTERP EXIT INTERP EXECUTE FINIS INTERP END
286. op By executing the loop fast enough typically many times per second the effect of simultaneous and immediate execution is obtained Ladder logic follows these general steps for operation Integrator Manual V2 5 2013 03 10 187 255 Read Inputs Solve Logic Update Outputs 29 3 Example The most common components of ladder are contacts inputs these usually are either NC normally closed or NO normally open and coils outputs the NO contact the NC contact the coil output Of course there are many more components to a full ladder language but understanding these will help you grasp the overall concept The ladder consists of one or more rungs These rungs are horizontal traces representing wires with components on them inputs outputs and other which get evaluated left to right This example is the simplest rung 10 The input on the left BO a normally open contact is connected to the coil output on the right QO Now imagine a voltage gets applied to the leftmost end because the input BO turns true e g the input is activated or the user pushed the NO contact The voltage has a direct path to reach the coil output on the right QO As a consequence the QO coil output will turn from O off false to 1 on true If the user releases BO the QO output quickly returns to O off false 29 4 Basic Latching On Off Circuit Building on the above example suppose we add
287. or else print typus text 25 7 Reading ini file values Here s an example for reading values from an ini file through the Linuxcnc ini object run as python ini example py emc2 dev configs sim axis axis mm ini import sys import linuxcnc Sis inifile find returns None if the key wasnt found the following idiom is useful for setting a default value machine name inifile find EMC MACHINE or unknown print machine name machine name inifile findall returns a list of matches or an empty list if the key wasnt found extensions inifile findall FILTER PROGRAM EXTENSION print extensions extensions override default NML file by ini parameter if given e fmm c OM TU NME EE if nmlfile linuxcnc nmlfile os path join os path dirname sys argv 1 nmlfile Integrator Manual V2 5 2013 03 10 25 8 The linuxcnc positionlogger type Some usage hints can be gleaned from src emc usr intf gremlin gremlin py 25 8 1 members npts number of points 25 8 2 methods start float start the position logger and run every ARG seconds clear clear the position logger stop stop the position logger call Plot the backplot now last int Return the most recent point on the plot or None 173 255 Integrator Manual V2 5 2013 03 10 174 255 Chapter 26
288. or u32 For more information on HAL data types see the HAL manual The PyVCP widget can either display the value of the signal with an indicator widget or modify the signal value with a control widget Thus there are four classes of PyVCP widgets that you can connect to a HAL signal A fifth class of helper widgets allow you to organize and label your panel 1 Widgets for indicating bit signals led rectled 2 Widgets for controlling bit signals button checkbutton radiobutton 3 Widgets for indicating number signals number 532 u32 bar meter 4 Widgets for controlling number signals spinbox scale jogwheel 5 Helper widgets hbox vbox table label labelframe 10 6 1 Syntax Each widget is described briefly followed by the markup used and a screen shot AII tags inside the main widget tag are optional 10 6 2 General Notes At the present time both a tag based and an attribute based syntax are supported For instance the following XML fragments are treated identically led halpin my led and lt led gt lt halpin gt my led lt halpin gt lt led gt When the attribute based syntax is used the following rules are used to turn the attributes value into a Python value Integrator Manual V2 5 2013 03 10 571255 1 If the first character of the attribute 15 one of the following it is evaluated as a Python expression 2 If the string is accepted by int the value is treated as an integer 3 If th
289. ore steps causing position errors TASK The module within EMC that coordinates the overall execution and interprets the part program Tcl Tk A scripting language and graphical widget toolkit with which several of LinuxCNCs GUIs and selection wizards were written Traverse Move A move in a straight line from the start point to the end point Units See Machine Units Display Units or Program Units Unsigned Integer A whole number that has no sign In HAL it is known as u32 An unsigned 32 bit integer has a usable range of zero to 4 294 967 296 World Coordinates This is the absolute frame of reference It gives coordinates in terms of a fixed reference frame that is attached to some point generally the base of the machine tool Integrator Manual V2 5 2013 03 10 249 255 Chapter 39 Legal Section 39 1 Copyright Terms Copyright c 2000 2012 LinuxCNC org Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with no Invariant Sections no Front Cover Texts and one Back Cover Text This LinuxCNC Handbook is the product of several authors writing for linuxCNC org As you find it to be of value in your work we invite you to contribute to its revision and growth A copy of the license is included in the section entitled GNU Free Documentation License If you do not find
290. ortunately our circuit so far has little practical use because although we have an on or start button in the form of pushbutton BO we have no way to shut this circuit off once it is started But that s easy to fix All we need is a way to interrupt the power to coil QO So let s add a normally closed NC pushbutton just ahead of coil QO Here s how that would look BO Bl arn e Now we have added off or stop pushbutton B1 If the user pushes it contact from the rung to the coil is broken When coil QO loses power it drops to O off false When coil QO goes off so does switch QO so the holding contact is broken or the circuit is unsealed When the user releases the stop pushbutton contact is restored from the rung to coil QO but the rung has gone dead so the coil doesn t come back on This circuit has been used for decades on virtually every machine that has a three phase motor controlled by a contactor so it was inevitable that it would be adopted by ladder PLC programmers It is also a very safe circuit in that if start and stop are both pressed at the same time the stop function always wins This is the basic building block of much of ladder programming so if you are new to it you would do well to make sure that you understand how this circuit operates Integrator Manual V2 5 2013 03 10 189 255 Chapter 30 Classicladder Programming 30 1 Ladder Concepts Classic Ladder is a type of programming language origin
291. ou Pond es Y Row Sue Eo LED RC Y S E LEGS E Ali ui MET 25 uou s oue ON hk Ae RA DURCH Dn el 20 3 1 Forward transformation 2 222 29 os ooo EU Emo eee 9 SE 20 5 2 Inverse cuoc e IS EOS NOE e x RU REOR X eae 26 4 Lmplesmentstog debule Ren a RG sn 27 Stepper Tuning 27 4 Getting ihe most out ot Sofbware Stepping uu sug oe ko ROUGE MAE deo ALI Rute Latency Test L0 6 ko be eee ba oret BOR E S RCR RO RU S Y S 24 1 2 Figure aut what your drives expeek s ss c RR RR IER EUR REUS 21 1 5 Choose your BASE PERIOD 2 222 eec GEES X X 9 9 Bede x 28 PID Tuning 28 1 PIDConboleE OR dede e REO de Rede de Re RAD 25 1 1 loop s e sea d cow o Ro cR ohne e e wok evo x X e ZU WHEY xou ee SN Ge E ARS EU IR RE a ee eS 284 251 Proportional sici bak kb x ERR wo m ER RUE de ues a p Asc P e ee eee Bare were UES Bae he Me wae 28 123 Deae cuu ne eee Pe ee hee RA ee ee E 28 1 3 Loop Te ew xm gee ee PAS xp Bae ea Noe oS ER eh da 28 Lo unmp
292. ou might have to leave the test running for an extended period of time to find out if some hardware causes intermittent problems LinuxCNC tracks the number of CPU cycles between invocations of the real time thread If some element of your hardware is causing delays or your realtime threads are set too fast you will get this error Note This error is only displayed once per session If you had your BASE PERIOD too low you could get hundreds of thousands of error messages per second if more than one was displayed 36 3 Testing 36 3 1 Step Timing If you are seeing an axis ending up in the wrong location over multiple moves it is likely that you do not have the correct direction hold times or step timing for your stepper drivers Each direction change may be losing a step or more If the motors are stalling it is also possible you have either the MAX ACCELERATION MAX VELOCITY set too high for that axis The following program will test the Z axis configuration for proper setup Copy the program to your emc2 nc files directory and name it TestZ ngc or similar Zero your machine with Z 0 000 at the table top Load and run the program It will make 200 moves back and forth from 0 5 to 1 If you have a configuration issue you will find that the final position will not end up 0 500 that the axis window is showing To test another axis just replace the Z with your axis in the GO lines test program to see if Z axis loses position
293. override 245 FERROR 19 find 242 Finding a File 242 Float 47 G G Code 246 gksudo 241 Glade Virtual Control Panel 82 grep 242 GS2 Spindle 235 GS2 VFD Driver 128 GUI 244 246 H HAL 246 HAL inifile section 16 HAL TCL Files 29 HAL User Interface 113 HALUI inifile section 17 HOME 27 home 246 HOME IGNORE LIMITS 26 HOME IS SHARED 27 HOME LATCH VEL 26 253 255 Integrator Manual V2 5 2013 03 10 HOME OFFSET 27 HOME SEARCH VEL 19 26 HOME SEQUENCE 27 HOME USE INDEX 27 Homing Configuration 24 I INI 246 ini FILTER Section 15 INI Configuration 11 INI File 11 Instance 246 Integrator Concepts 3 iocontrol HAL pins 36 J jog 246 joint coordinates 246 K keystick 13 Kinematics 174 kinematics 174 246 L Latency Test 8 Lathe Configuration 28 lead screw 246 LINEAR UNITS 17 Linux FAQ 240 Listing files in a directory 242 loadrt 43 loadusr 44 LOCKING INDEXER 27 loop 247 15 242 M machine on 41 machine units 246 Man Pages 240 MAX ACCELERATION 17 MAX LIMIT 19 MAX VELOCITY 17 MDI 116 246 Mesa HostMot2 Driver 130 MIN FERROR 19 MIN LIMIT 18 mini 13 Motenc Driver 142 motion HAL pins 33 N net 44 NIST 246 NML 247 254 255 offsets 247 Opto22 Driver 144 P Parallel Port Driver 122 PARAMETER FILE 15 parport functions 124 part Program 247 PCI Parallel Port 227 Pico PP
294. ovl max is the most important Write it down you will need it later It contains the worst latency measurement during the entire run of the test In the example above that is 10636 nano seconds or 10 6 micro seconds which is excellent However the example only ran for a few seconds it prints one line every second You should run the test for at least several minutes sometimes the worst case latency doesn t happen very often or only happens when you do some particular action I had one Intel motherboard that worked pretty well most of the time but every 64 seconds it had a very bad 300 us latency Fortunately that is fixable see FixingDapperSMIIssues in the wiki found at wiki linuxcnc org So what do the results mean If your ovl max number is less than about 15 20 microseconds 15000 20000 nanoseconds the computer should give very nice results with software stepping If the max latency is more like 30 50 microseconds you can still get good results but your maximum step rate might be a little disappointing especially if you use microstepping or have very fine pitch leadscrews If the numbers are 100 us or more 100 000 nanoseconds then the PC is not a good candidate for software stepping Numbers over 1 millisecond 1 000 000 nanoseconds mean the PC is not a good candidate for EMC regardless of whether you use software stepping or not Note that if you get high numbers there may be ways to improve them For example one PC had very bad lat
295. pgen 0 maxaccel AXIS O0 MAXACCEL x1 05 Another haltcl feature is looping and testing For example many simulator configurations use core sim hal or core simO hal hal files These differ because of the requirement to connect more or fewer axes The following haltcl code would work for any combination of axes in a trivkins machine Create position velocity and acceleration signals for each axis set ddt 0 foreach axis 1X ABC oc D list pin returns an empty list if the pin doesn t exist if hal list pin axis Saxno motor pos cmd 4 continue net axis pos axis axno motor pos cmd gt axis axno motor pos fb gt ddt ddt in net S axis vel lt ddt ddt out Lace ooie net S axis vel gt ddt S ddt in Net lt Ovt 1boXebz puts show sig vel puts show sig 6 7 Haltcl Interactive The halrun command recognizes haltcl files With the T option haltcl can be run interaactively as a tcl interpreter This capability is useful for testing and for standalone hal applications Example Si Lace ab Ike wel 6 8 Haltcl Distribution Examples sim The configs sim simtcl directory includes an ini file that uses a tcl file to demonstrate a haltcl configuration in conjunction with the usage of twopass processing The example shows the use of tcl procedures looping the use of comments and output to the
296. pin changed and provide the handler as follows def on led pin changed self hal led data None print on led pin changed HAL pin value hal led hal pin get This will be called at any edge of the signal and also during program start up to report the current value Example LEDs 12 6 11 ProgressBar Note This widget might go away Use the HAL_HBar and HAL VBar widgets instead The HAL ProgressBar is derived from gtk ProgressBar and has two float HAL input pins lt widgetname gt the current value to be displayed lt widgetname gt scale the maximum absolute value of input It has the following properties Integrator Manual V2 5 2013 03 10 96 255 scale value scale set maximum absolute value of input Same as setting the lt widgetname gt scale pin A float range from 224 to 27 4 green limit green zone limit lower limit yellow limit yellow zone limit lower limit red limit red zone limit lower limit text template Text template to display the current value of the lt widgetname gt pin Python formatting may be used for dict value valu Example HAL_ProgressBar 12 6 12 ComboBox HAL_ComboBox is derived from gtk ComboBox It enables choice of a value from a dropdown list It exports two HAL pins lt widgetname gt f the current value type FLOAT lt widgetname gt s the current value type 32 It has the following property which can be set in Glade
297. pins selected at firmware compile time but currently only uses two Step and Direction outputs The stepgen representation is modeled on the stepgen software component Stepgen default is active high step output high during step time low during step space To invert a StepGen output pin you invert the corresponding GPIO pin that is being used by StepGen To find the GPIO pin being used for the StepGen output run dmesg as shown above Each stepgen instance has the following pins and parameters 18 13 1 Pins control type Bit In Switches between position control mode 0 and velocity control mode 1 Defaults to position control 0 counts 532 Out Feedback position in counts number of steps enable Bit In Enables output steps When false no steps are generated position cmd Float In Target position of stepper motion in user defined position units position fb Float Out Feedback position in user defined position units counts position scale velocity cmd Float In Target velocity of stepper motion in user defined position units per second This pin is only used when the stepgen is in velocity control mode control type 1 velocity fb Float Out Feedback velocity in user defined position units per second 18 13 2 Parameters dirhold u32 RW Minimum duration of stable Direction signal after a step ends in nanoseconds e dirsetup u32 RW Minimum duration of stable Direction signal
298. position override limits returns integer non zero means limits are overridden units returns float units per mm deg for linear angular velocity returns float current velocity 25 4 Preparing to send commands Some commands can always be sent regardless of mode and state for instance the Linuxcnc command abort method can always be called Other commands may be sent only in appropriate state and those tests can be a bit tricky For instance an MDI command can be sent only if ESTOP has not been triggered and the machine is turned on and the axes are homed and the interpreter is not running and the mode is set to MDI mode Integrator Manual V2 5 2013 03 10 so an appropriate test before sending an MDI command through 1inuxcnc command mdi could be ESTEE COSTS EE ra UTE Ce e S linuxcnc stat linuxcnc command def ok for 0 return not s estop and s enabled s homed INTERP IDLE dolls ace 9 c mode linuxcnc MODE_MDT c wait_complete MG OP 2 0 s interp state linuxcnc wait until mode switch executed 25 5 Sending commands through linuxcnc command Before sending a command initialize a command channel like so import linuxcnc Cc linuxcnc command Usage examples for some of the commands listed below abort Q AUTO
299. poxox te The command has been superseded by the net command 9 1 7 3 newsig the command newsig creates new HAL signal by the name lt signame gt and the data type of type Type must be bit 532 u32 or float Error if lt signame gt all ready exists The syntax and an example newsig signame type newsig Xstep bit More information can be found in the HAL manual or the man pages for halrun Integrator Manual V2 5 2013 03 10 47 255 9 2 HAL Data 9 2 1 Bit A bit value is an on or off bit values true or 1 and false or 0 True TRUE true are all valid 9 2 2 Float A float is a floating point number In other words the decimal point can move as needed float values a 32 bit floating point value with approximately 24 bits of resolution and over 200 bits of dynamic range For more information on floating point numbers see http en wikipedia org wiki Floating point 9 2 3 532 An 532 number is whole number that can have a negative or positive value 532 values integer numbers 2147483648 to 2147483647 9 2 4 u32 A u32 number is a whole number that is positive only u32 values integer numbers 0 to 4294967295 9 3 HAL Files If you used the Stepper Config Wizard to generate your config you will have up to three HAL files in your config directory my mill hal if your config is named my mill This file is loaded first and should not be changed i
300. process is called a reset action The position of the needle on the gauge is surement process value or process variable The desired value on the gauge is called a set point also called set value The difference between the gauge s needle and the set point is the error A control loop consists of three parts 1 Measurement by a sensor connected to the process e g encoder 2 Decision in a controller element 3 Action through an output device such as an motor As the controller reads a sensor it subtracts this measurement from the set point to determine the error It then uses the error to calculate a correction to the process s input variable the action so that this correction will remove the error from the process s output measurement In a PID loop correction is calculated from the error in three ways cancel out the current error directly Proportional the amount of time the error has continued uncorrected Integral and anticipate the future error from the rate of change of the error over time Derivative This Subsection is taken from an much more extensive article found at http en wikipedia org wiki PID controller Integrator Manual V2 5 2013 03 10 183 255 A PID controller be used to control any measurable variable which can be affected by manipulating some other process variable For example it can be used to control temperature pressure flow rate chemical composition speed or other v
301. r drives the power amplifier the power amplifier drives the motor the motor drives the load and the feedback device and the feedback device and the input signal drive the motor This looks very much like a circle a closed loop where A controls B B controls C C controls D and D controls A If you have not worked with servo systems before this will no doubt seem a very strange idea at first especially as compared to more normal electronic circuits where the inputs proceed smoothly to the outputs and never go back If everything controls everything else how can that ever work who s in charge The answer is that LinuxCNC can control this system but it has to do it by choosing one of several control methods The control method that LinuxCNC uses one of the simplest and best is called PID PID stands for Proportional Integral and Derivative The Proportional value determines the reaction to the current error the Integral value determines the reaction based on the sum of recent errors and the Derivative value determines the reaction based on the rate at which the error has been changing They are three common mathematical techniques that are applied to the task of getting a working process to follow a set point In the case of LinuxCNC the process we want to control is actual axis position and the set point is the commanded axis position If it helps the closest equivalent to this in the digital world are state machines sequentia
302. ransitions eg control whether the logic will pass to the next step After a step has become active the transition variable that caused it to become active has no control of it anymore The last step has to JUMP LINK back only to the beginning step 30 9 Modbus Things to consider Modbus is a userspace program so it might have latency issues on a heavily laden computer Modbus is not really suited to Hard real time events such as position control of motors or to control E stop The Classic Ladder GUI must be running for Modbus to be running Modbus is not fully finished so it does not do all modbus functions To get MODBUS to initialize you must specify that when loading the Classic Ladder userspace program Loading Modbus loadusr w classicladder modmaster myprogram clp The w makes HAL wait until you close Classic Ladder before closing realtime session Classic Ladder also loads a TCP modbus slave if you add modserver on command line MODBUS FUNCTIONS read coils 2 read inputs 3 read holding registers 4 read input registers e 5 write single coils 6 write single register e 8 echo test e 15 write multiple coils Integrator Manual V2 5 2013 03 10 16 write multiple registers 208 255 If you do not specify a modmaster when loading the Classic Ladder user program this page will not be displayed E Config Slave Address TypeAccess lst Modbus Ele Nbr of Ele Logic
303. raphical language very popular for programming Programmable Logic Controllers PLCs It was originally invented to describe logic made from relays The name is based on the observation that programs in this language resemble ladders with two vertical rails and a series of horizontal rungs between them In Germany and elsewhere in Europe the style is to draw the rails horizontally along the top and bottom of the page while the rungs are drawn vertically from left to right A program in ladder logic also called a ladder diagram is similar to a schematic for a set of relay circuits Ladder logic is useful because a wide variety of engineers and technicians can understand and use it without much additional training because of the resemblance Ladder logic is widely used to program PLCs where sequential control of a process or manufacturing operation is required Ladder logic is useful for simple but critical control systems or for reworking old hardwired relay circuits As programmable logic controllers became more sophisticated it has also been used in very complex automation systems Ladder logic can be thought of as a rule based language rather than a procedural language A rung in the ladder represents a rule When implemented with relays and other electromechanical devices the various rules execute simultaneously and immediately When implemented in a programmable logic controller the rules are typically executed sequentially by software in a lo
304. rator like this dmesg bootmsg txt The contents of this file can be copied and pasted on line to share with people trying to help you diagnose your problem To clear the message buffer type this sudo dmesg c This can be helpful to do just before launching LinuxCNC so that there will only be a record of information related to the current launch of LinuxCNC To find the built in parallel port address use grep to filter the information out of dmesg After boot up open a terminal and type dmesg grep parport 37 7 Convenience Items 37 7 1 Terminal Launcher If you want to add a terminal launcher to the panel bar on top of the screen you typically can right click on the panel at the top of the screen and select Add to Panel Select Custom Application Launcher and Add Give it a name and put gnome terminal in the command box 37 8 Hardware Problems 37 8 1 Hardware Info To find out what hardware is connected to your motherboard in a terminal window type Legxeol w 37 8 2 Monitor Resolution During installation Ubuntu attempts to detect the monitor settings If this fails you are left with a generic monitor with a maximum resolution of 800x600 Instructions for fixing this are located here https help ubuntu com community Fix VideoResolutionHowto 37 9 Paths Relative Paths Relative paths are based on the startup directory which is the directory containing the ini file Using relative paths can facilitate relocation
305. rator and do not use LinuxCNC s built in one In that case refer to your hardware manual steplen refers to a parameter that adjusts the performance of LinuxCNC s built in step generator stepgen which is a HAL component This parameter adjusts the length of the step pulse itself Keep reading all will be explained eventually 3dirhold refers to a parameter that adjusts the length of the direction hold time Integrator Manual V2 5 2013 03 10 4 255 1 2 Servo Systems 1 2 1 Basic Operation Servo systems are capable of greater speed and accuracy than equivalent stepper systems but are more costly and complex Unlike stepper systems servo systems require some type of position feedback device and must be adjusted or tuned as they don t quite work right out of the box as a stepper system might These differences exist because servos are a closed loop system unlike stepper motors which are generally run open loop What does closed loop mean Let s look at a simplified diagram of how a servomotor system is connected Summing amp Power amp oo input signal command signal 1 Summer amp drives power amp input command signal and feedback signal drive summing amp Power amp drives feedback signal feedback device motor drives load and feedback device Figure 1 1 Servo Loop This diagram shows that the input signal and the feedback signal drive the summing amplifier the summing amplifie
306. rds and 50 MHz on the 7143 index invert Bit RW If set to True the rising edge of the Index input pin triggers the Index event if index enable is True If set to False the falling edge triggers index mask Bit RW If set to True the Index input pin only has an effect if the Index Mask input pin is True or False depending on the index mask invert pin below index mask invert Bit RW If set to True Index Mask must be False for Index to have an effect If set to False the Index Mask pin must be True scale Float RW Converts from count units to position units quadrature encoder will normally have 4 counts per pulse so a 100 PPR encoder would be 400 counts per revolution In counter mode a 100 PPR encoder would have 100 counts per revelution as it only uses the rising edge of A and direction is B vel timeout Float RW When the encoder is moving slower than one pulse for each time that the driver reads the count from the FPGA in the hm2 read function the velocity is harder to estimate The driver can wait several iterations for the next pulse to arrive all the while reporting the upper bound of the encoder velocity which can be accurately guessed This parameter specifies how long to wait for the next pulse before reporting the encoder stopped This parameter is in seconds 18 16 5125 Configuration 18 16 1 Firmware The 5125 firmware comes preloaded for the daughter card it is purchased with So the firmw
307. references just accept the defaults and hit Close From Toplevel left pane pick Window first icon as top level window which by default will be named window Do not change this name GladeVCP relies on it In the left tab scroll down and expand HAL Python and EMC Actions add a container like a Box or a HAL Table from HAL Python to the frame pick and place some elements like LED button etc within a container This will look like so file Edit View Projects Help HBA o GtkSourceVbew k actions v Python ws 7 window 8 tabiel e we hal label D mn haed TE Objects ix E E HAL HScale Properties HAL Hscale hal General Packing Common Signals Name hscabel TFE zE 4 Digits i value es BS d Value Top Cor amp inupus E 5oo ds EE Dd Integrator Manual V2 5 2013 03 10 88 255 Glade tends to write a lot of messages to the shell window which mostly can be ignored Select File Save as give it a name like myui ui and make sure it s saved as GtkBuilder file radio button left bottom corner in Save dialog GladeVCP will also process the older ibglade format correctly but there is no point in using it The convention for GtkBuilder file extension is ui 12 3 3 Testing a panel You re now ready to give it a try w
308. repare iocontrol 0 tool prepared net tool change loop iocontrol 0 tool change iocontrol 0 tool changed connect spindle on motion controller pin to a physical pin net spindle on motion spindle on gt parport 0 pin 09 out You might use something like this to enable chopper drives when machine ON the Xen signal is defined in core stepper hal net Xen gt parport 0 pin 01 out If you want active low for this pin invert it like this Td setp parport 0 pin O0l1 out invert 1 Integrator Manual V2 5 2013 03 10 39 255 A sample home switch on the X axis axis 0 make a signal link the incoming parport pin to the signal then link the signal to LinuxCNC s axis 0 home switch input pin net Xhome 0 10 gt axis 0 home sw in Shared home switches all on one parallel port pin that s ok hook the same signal to all the axes but be sure to set HOME IS SHARED and HOME SEQUENCE in the ini file See the user manual net homeswitches lt parport 0 pin 10 in net homeswitches gt axis 0 home sw in net homeswitches gt axis 1 home sw in net homeswitches gt axis 2 home sw in Sample separate limit switches on the X axis axis 0 net X neg limit parport 0 pin 11 in gt axis 0 neg lim sw in net X pos limit parport 0 pin 12 in gt axis 0 pos lim sw in Just li
309. s COMP FILE file extension A file holding compensation structure for the axis The file could be named xscrew comp for example for the X axis File names are case sensitive and can contain letters and or numbers The values are triplets per line separated by a space The first value is nominal where it should be The second and third values depend on the setting of COMP FILE TYPE Currently the limit inside LinuxCNC is for 256 triplets per axis If COMP FILE is specified BACKLASH is ignored Compensation file values are in machine units COMP FILE 0 or 1 f 0 The second and third values specify the forward position where the axis is while traveling forward and the reverse position where the axis is while traveling reverse positions which correspond to the nominal position If 1 The second and third values specify the forward trim how far from nominal while traveling forward and the reverse trim how far from nominal while traveling in reverse positions which correspond to the nominal position Example triplet with COMP FILE TYPE 0 1 00 1 01 0 99 Example triplet with COMP FILE TYPE 1 1 00 0 01 0 01 MIN LIMIT 1000 The minimum limit soft limit for axis motion in machine units When this limit is exceeded the controller aborts axis motion Integrator Manual V2 5 2013 03 10 19 255 MAX LIMIT 1000 The maximum limit soft limit for axis motion in m
310. s pressing them will execute an MDI command in the interpreter The third button Execute Oword subroutine is an advanced example it takes several HAL pin values from the Settings frame and passes them as parameters to the Oword subroutine The actual parameters received by the routine are displayed by DEBUG commands see configs gladevcp nc files oword ngc for the subroutine body To see how the panel is integrated into Axis see the DISPLAY GLADEVCP statements in gladevcp panel ui and the DIS PLAY EMBED and HAL POSTGUI HALFILE statements in gladevcp tab ini respectively 12 2 2 Exploring the User Interface description The user interface is created with the glade UI editor to explore it you need to have glade installed To edit the user interface run the command glade configs gladevcp manual example ui The center window shows the appearance of the UI user interface objects and support objects are found in the right top window where you can select a specific widget or by clicking on it in the center window The properties of the selected widget are displayed and can be changed in the right bottom window To see how MDI commands are passed from the MDI Action widgets explore the widgets listed under Actions in the top right window and in the right bottom window unter the General tab the MDI command property 12 2 3 Exploring the Python callback See how a Python callback is integrated into the example in gl
311. s for a printed book the title page itself plus such following pages as are needed to hold legibly the material this License requires to appear in the title page For works in formats which do not have any title page as such Title Page means the text near the most prominent appearance of the work s title preceding the beginning of the body of the text 2 VERBATIM COPYING You may copy and distribute the Document in any medium either commercially or noncommercially provided that this License the copyright notices and the license notice saying this License applies to the Document are reproduced in all copies and that you add no other conditions whatsoever to those of this License You may not use technical measures to obstruct or control the reading or further copying of the copies you make or distribute However you may accept compensation in exchange for copies If you distribute a large enough number of copies you must also follow the conditions in section 3 You may also lend copies under the same conditions stated above and you may publicly display copies 3 COPYING IN QUANTITY If you publish printed copies of the Document numbering more than 100 and the Document s license notice requires Cover Texts you must enclose the copies in covers that carry clearly and legibly all these Cover Texts Front Cover Texts on the front cover and Back Cover Texts on the back cover Both covers must also clearly and legibly identify you as the pu
312. s ShuttleXpress device with LinuxCNC s HAL The ShuttleXpress has five momentary buttons a 10 counts revolution jog wheel with detents and a 15 position spring loaded outer wheel that returns to center when released If it is started without command line arguments it will probe all dev hidraw device files for ShuttleXpress devices and use all devices found If it is started with command line arguments only will only probe the devices specified Warning The ShuttleXpress device has an internal 8 bit counter for the current jog wheel position The shuttlexpress driver can not know this value until the ShuttleXpress device sends its first event When the first event comes into the driver the driver uses the device s reported jog wheel position to initialize counts to 0 This means that if the first event is generated by a jog wheel move that first move will be lost Any user interaction with the ShuttleXpress device will generate an event informing the driver of the jog wheel position So if you for example push one of the buttons at startup the jog wheel will work fine and notice the first click 24 2 Setup The shuttlexpress module needs read permission on the dev hidraw device files This can be accomplished by adding a file etc udev rules d 99 shuttlexpress rules with the following contents SUBSYSTEM hidraw ATTRS idVendor 0b33 ATTRS idProduct 0020 MODE 0444 24 3 Pins shuttlexpress lt DeviceN
313. s connected to Integrator Manual V2 5 2013 03 10 30 5 5 The Editor window Editor Add Insert dE Jr e Me 6 Figure 30 6 Editor Window Add adds a rung after the selected rung Insert inserts a rung before the selected rung Delete deletes the selected rung Modify opens the selected rung for editing Starting from the top left image Object Selector Eraser N O Input N C Input Rising Edge Input Falling Edge Input Integrator Manual V2 5 2013 03 10 198 255 Horizontal Connection Vertical Connection Long Horizontal Connection Timer IEC Block Counter Block Compare Variable Old Timer Block Old Monostable Block These have been replaced by the IEC Timer COILS N O Output N C Output Set Output Reset Output Jump Coil Call Coil Variable Assignment A short description of each of the buttons Selector allows you to select existing objects and modify the information Eraser erases an object N O Contact creates a normally open contact It can be an external HAL pin 961 input contact an internal bit coil 6B contact or a external coil 76Q contact The HAL pin input contact is closed when the HAL pin is true The coil contacts are closed when the corresponding coil is active Q2 contact closes when Q2 coil is active N C Contact creates a normally closed contact It is the same as the N O contact except that the conta
314. s if their child widgets are sensitive or not If the pin is low then child widgets are inactive which is the default Tip If you find some part of your GladeVCP application is grayed out insensitive see whether a container s pin is unset Integrator Manual V2 5 2013 03 10 95 255 12 6 10 LED The hal led simulates a real indicator LED It has a single input BIT pin which controls it s state ON or OFF LEDs have several properties which control their look and feel on color a String defining ON color of LED May be any valid gtk gdk Color name Not working on Ubuntu 8 04 off color String defining OFF color of LED May be any valid gtk gdk Color name or special value dark dark means that OFF color will be set to 0 4 value of ON color Not working on Ubuntu 8 04 pick color on pick color off Colors for ON and OFF states may be represented as RRRRGGGGBBBB strings These are optional properties which have precedence over on color and off color led size LED radius for square half of LED s side led shape LED Shape Valid values are for round 1 for oval and 2 for square shapes led blink rate if set and LED is ON then it s blinking Blink period is equal to led blink rate specified in milliseconds As an input widget LED also supports the hal pin changed signal If you want to get a notification in your code when the LED s HAL pin was changed then connect this signal to a handler for example
315. s instances are returned by handlers 12 8 7 The GladeVCP U lt useropts gt flag Instead of extending GladeVCP for any conceivable option which could potentially be useful for a handler class you may use the U lt useroption gt flag repeatedly if you wish This flag collects a list of lt useroption gt strings This list is passed to the get handlers function useropts argument Your code is free to interpret these strings as you see fit An possible usage would be to pass them to the Python exec function in your handlers as follows debug 0 def get handlers halcomp builder useropts global debug assuming there s a global var for cmd in useropts exec cmd in globals This way you can pass arbitrary Python statements to your module through the gladevcp U option for example gladevcp U debug 42 U print debug d debug This should set debug to 2 and confirm that your module actually did it 12 8 8 Persistent variables in GladeVCP A annoying aspect of GladeVCP in its earlier form and pyvcp is the fact that you may change values and HAL pins through text entry sliders spin boxes toggle buttons etc but their settings are not saved and restored at the next run of LinuxCNC they start at the default value as set in the panel or widget definition GladeVCP has an easy to use mechanism to save and restore the state of HAL widgets and program variables in fact any instance attribute of type i
316. s is a Label text font Helvetica 20 font label The above code produced this example E label 12 This is a Label 10 6 4 LEDs A LED is used to indicate the status of a bit halpin The LED color will be on color when the halpin is true and off color otherwise lt halpin gt sets the name of the pin default is led n where n is an integer size sets the size of the led default is 20 on color sets the color of the LED when the pin is true default is green off color sets the color of the LED when the pin is false default is red disable pin when true adds a disable pin to the led disabled color sets the color of the LED when the pin is disabled 10 6 4 1 Round LED led lt halpin gt my led lt halpin gt lt size gt 50 lt size gt lt on_color gt green lt on_color gt sort colors vrer color lt led gt The above code produced this example Integrator Manual V2 5 2013 03 10 59 255 10 6 4 2 Rectangle LED This is a variant of the led widget lt vbox gt lt relief gt RIDGE lt relief gt lt bd gt 6 lt bd gt lt rectled gt lt halpin gt my led lt halpin gt lt height gt 50 lt height gt lt width gt 100 lt width gt lt on_color gt green lt on_color gt lt off_color gt red lt off_color gt lt rectled gt lt vbox gt The above code produced this example Also showing a vertical box with relie
317. s may include axis touchy keystick mini tklinuxcnc xemc POSITION OFFSET RELATIVE The coordinate system RELATIVE or MACHINE to show when the user interface starts The RELATIVE coordinate system reflects the G92 and G5x coordinate offsets currently in effect POSITION FEEDBACK ACTUAL The coordinate value COMMANDED or ACTUAL to show when the user interface starts The COMMANDED position is the ideal position requested by LinuxCNC The ACTUAL position is the feedback position of the motors MAX FEED OVERRIDE 1 2 The maximum feed override the user may select 1 2 means 12096 of the programmed feed rate MIN SPINDLE OVERRIDE 0 5 The minimum spindle override the user may select 0 5 means 5096 of the programmed spindle speed This is useful as it s dangerous to run a program with a too low spindle speed MAX SPINDLE OVERRIDE 1 0 The maximum spindle override the user may select 1 0 means 10096 of the programmed spindle speed PROGRAM PREFIX linuxcnc nc files The default location for g code files and the location for user defined M codes This location is searched for the file name before the subroutine path and user M path if specified in the RS274NGC section INTRO GRAPHIC emc2 gif The image shown on the splash screen INTRO TIME 5 The maximum time to show the splash screen in seconds CYCLE TIME 0 05 Cycle time in seconds that display will sleep between polls Integrator Manual V2 5
318. s paused bit out status pin telling that a program is paused halui program is running bit out status pin telling that a program is running halui program optional stop is on bit out status pin telling that the optional stop is on halui program optional stop off bit in pin requesting that the optional stop is off halui program optional stop on bit in pin requesting that the optional stop is on halui program pause bit in pin for pausing a program halui program resume bit in pin for resuming a paused program halui program run bit in pin for running a program halui program step bit in pin for stepping in a program halui program stop bit in pin for stopping a program SPINDLE OVERRIDE halui spindle override count enable bit in must be true for counts or direct value to work halui spindle override counts 832 in counts scale SO percentage halui spindle override decrease bit in pin for decreasing the SO scale halui spindle override direct value bit in false when using encoder to change counts true when setting counts directly The count enable pin must be true halui spindle override increase bit in pin for increasing the SO scale halui spindle override scale float in pin for setting the scale on changing the SO halui spindle override value float out current SO value SPINDLE halui spindle brake is on bit out indicates brake is
319. set when known to initial values e g from an INI file If the home kinematics can accept arbitrary starting points these initial values should be used int rtapi app main void void rtapi app exit void These are the standard setup and tear down functions of RTAPI modules When they are contained in a single source file kinematics modules may be compiled and installed by comp See the comp 1 manpage or the HAL manual for more information Integrator Manual V2 5 2013 03 10 178 255 Chapter 27 Stepper Tuning 27 1 Getting the most out of Software Stepping Generating step pulses in software has one very big advantage it s free Just about every PC has a parallel port that is capable of outputting step pulses that are generated by the software However software step pulses also have some disadvantages limited maximum step rate jitter in the generated pulses loads the CPU This chapter has some steps that can help you get the best results from software generated steps 27 1 1 Run Latency Test Run the latency test as described in the Latency Test chapter While the test is running you should abuse the computer Move windows around on the screen Surf the web Copy some large files around on the disk Play some music Run an OpenGL program such as glxgears The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are The last number in the column labeled
320. side Transition Link Upside Pass through Link Downside Pass through Link Upside Jump Link Comment Box show sequential program ORDINARY STEP has a unique number for each one STARTING STEP a sequential program must have one This is where the program will start TRANSITION This shows the variable that must be true for control to pass through to the next step STEP AND TRANSITION Combined for convenience Integrator Manual V2 5 2013 03 10 207 255 TRANSITION LINK DOWNSIDE splits the logic flow to one of two possible lines based on which of the next steps is true first Think OR logic TRANSITION LINK UPSIDE combines two OR logic lines back in to one PASS THROUGH LINK DOWNSIDE splits the logic flow to two lines that BOTH must be true to continue Think AND logic PASS THROUGH LINK UPSIDE combines two concurrent AND logic logic lines back together JUMP LINK connects steps that are not underneath each other such as connecting the last step to the first COMMENT BOX used to add comments To use links you must have steps already placed Select the type of link then select the two steps or transactions one at a time It takes practice With sequential programming The variable Xxxx eg 5 is used to see if a step is active The variable Xxxx V eg X5 V is used to see how long the step has been active The X and X v variables are use in LADDER logic The variables assigned to the t
321. sition bit out TRUE if the machine is in position motion motion enabled bit out TRUE when in machine on state motion on soft limit bit out TRUE when the machine is on a soft limit motion probe input bit in G38 x uses the value on this pin to determine when the probe has made contact TRUE for probe contact closed touching FALSE for probe contact open motion program line 532 out The current program line while executing Zero if not running or between lines while single stepping motion requested vel float out The current requested velocity in user units per second from the F n setting in the G Code file No feed overrides or any other adjustments are applied to this pin motion spindle at speed bit in Motion will pause until this pin is TRUE under the following conditions before the first feed move after each spindle start or speed change before the start of every chain of spindle synchronized moves and if in CSS mode at every rapid to feed transition This input can be used to ensure that the spindle is up to speed before starting a cut or that a lathe spindle in CSS mode has slowed down after a large to small facing pass before starting the next pass at the large diameter Many VFDs have an at speed output Otherwise it is easy to generate this signal with the HAL near component by comparing requested and actual spindle speeds motion spindle brake bit out TRUE when the spindle brake should
322. sition If left at 0 or not included in the axis rapid velocity is used Must be a positive number HOME_USE_INDEX NO If the encoder used for this axis has an index pulse and the motion card has provision for this signal you may set it to yes When it is yes it will affect the kind of home pattern used Currently you can t home to index with steppers unless you re using stepgen in velocity mode and PID HOME_IGNORE_LIMITS NO When you use the limit switch as a home switch and the limit switch this should be set to YES When set to YES the limit switch for this axis is ignored when homing You must configure your homing so that at the end of your home move the home limit switch is not in the toggled state you will get a limit switch error after the home move HOME IS SHARED n If the home input is shared by more than one axis set n to 1 to prevent homing from starting if the one of the shared switches is already closed Set lt n gt to 0 to permit homing if a switch is closed HOME_SEQUENCE lt n gt Used to define the Home sequence lt n gt starts at 0 and no numbers may be skipped If left out or set to 1 the joint will not be homed by the Home function More than one axis can be homed at the same time VOLATILE_HOME 0 When enabled set to 1 this joint will be unhomed if the Machine Power is off or if E Stop is on This is useful if your machine has home switches and does not have position feedback su
323. t lt font gt Helvetica 18 lt font gt lt width gt 5 lt width gt lt label gt lt label width 2 gt lt rectled gt lt halpin gt rev led lt halpin gt lt height gt 30 lt height gt lt width gt 30 lt width gt lt on_color gt red lt on_color gt lt off_color gt green lt off_color gt lt rectled gt lt vbox gt lt hbox gt lt pyvcp gt The above gives us a PyVCP panel that looks like the following 80 255 Integrator Manual V2 5 2013 03 10 81 255 BE axis Nge AXIS pre 2 3 CVS HEAD on 52 ue renee File Machine View Help ClO SF 12 N x Ye E db Manual Control F3 MDI F5 Preview DRO Axis xX e w Home Axis Touch Off Spindle stop 116 On FWD REV E Feed Overnde 100 Spindle Overnde 100 Jog Speed 5 6 in min Max Velocity 60 in min AKIS splash g code Not intended for actual willing 4 60 FEED G2t Character E G00 2 1 ON z N 0 tool Position Relative Actual Figure 11 5 GS2 Panel 11 5 2 The Connections To make it work we add the following code to the custom postgui hal file display the rpm based on freq rpm per hz loadrt mult2 addf mult2 0 servo thread seto malt 3 1 5 net cypher speed mult2 0 in0 lt spindle vfd frequency out net speed out pyvcp spindle rpm lt mult2 0 out f run led net gs2 run gt pyvcp
324. t In If true the pwmgen will set its Not Enable pin false and output its pulses If enable is false pwmgen will set its Not Enable pin true and not output any signals value Float In The current pwmgen command value in arbitrary units 18 14 2 Parameters output type 532 RW This emulates the output type load time argument to the software pwmgen component This parameter may be changed at runtime but most of the time you probably want to set it at startup and then leave it alone Accepted values 1 PWM and Direction Out1 2 Up on OutO and Down on 3 PDM mode on Out0 and Dir on Out1 and 4 Direction on and PWM on Outl for locked antiphase scale Float RW Scaling factor to convert value from arbitrary units to duty cycle dc value scale Duty cycle has effective range of 1 0 to 1 0 inclusive anything outside that range gets clipped Integrator Manual V2 5 2013 03 10 139 255 pdm frequency u32 RW This specifies the PDM frequency in Hz of all the pwmgen instances running in PDM mode mode 3 This is the pulse slot frequency the frequency at which the pdm generator in the Anything I O board chooses whether to emit a pulse or a space Each pulse and space in PDM pulse train has a duration of 1 pdm frequency seconds For example setting the frequency to 2e6 2 MHz and the duty cycle to 50 results in a 1 MHz square wave identical to 1 MHz P
325. t OUTI15 XOR d with DN2 or DIR2 DN3 DIR3 When pwm 3 pwmdir is TRUE this pin is the DIR output OUTI7 XOR d with DN3 or DIR3 QZ0 IN8 amp Read same value 071 IN9 Read same value QZ2 IN10 Read same value QZ3 Read same value IN12 Read same value QAI IN13 Read same value QA2 IN14 Read same value QA3 IN15 Read same value IN16 Read same value 1 INI7 Read same value QB2 IN18 Read same value QB3 IN19 Read same value 22 2 2 Input latching and output updating PWM duty cycles for each channel are updated at different times e Digital outputs OUTO through OUTO are all updated at the same time Digital outputs OUT10 through OUT17 are updated at the same time as the pwm function they are shared with Digital inputs INO through IN19 are all latched at the same time Quadrature positions for each channel are latched at different times 22 2 3 HAL Functions Pins and Parameters A list of all loadrt arguments HAL function names pin names and parameter names is in the manual page pluto_servo 9 Integrator Manual V2 5 2013 03 10 154 255 22 2 4 Compatible driver hardware A schematic for a 2A 2 axis PWM servo amplifier board is available from the the software developer The L298 H Bridge can be used for motors up to 4A one motor per L298 or up to 2A two motors per L298 with the supply voltage up to 46V However the L298 does not have built in current limiting a problem for motors with hi
326. t of intent purpose and usage would help here 25 1 The linuxcnc Python module User interfaces control Linxuxcnc activity by sending NML messages to the Linuxcnc task controller and monitor results by observing the linuxcnc status structure as well as the error reporting channel Programmatic access to NML is through a C API however the most important parts of the NML interface to Linuxcnc are also available to Python programs through the 11 module Beyond the NML interface to the command status and error channels the 1inxuxcnc module also contains support for reading values from ini files support for position logging 25 2 Usage Patterns for the LinuxCNC NML interface The general pattern for 1inxuxcnc usage is roughly like this e import the 1inxuxcnc module establish connections to the command status and error NML channels as needed poll the status channel either periodically or as needed before sending a command determine from status whether it is in fact OK to do so for instance there is no point in sending a Run command if task is in the ESTOP state or the interpreter is not idle e send the command by using one of the 1inxuxcnc command channel methods To retrieve messages from the error channel poll the error channel periodically and process any messages retrieved poll the status channel either periodically or as needed print any error message FIXME explore the exceptio
327. t about this problem is that it can be very very rare Worst case latencies might only happen a few times a minute and the odds of bad latency happening just as the motor is changing direction are low So you get very rare errors that ruin a part every once in a while and are impossible to troubleshoot The simplest way to avoid this problem is to choose a BASE PERIOD that is the sum of the longest timing requirement of your drive and the worst case latency of your computer If you are running a Gecko with a 20 us hold time requirement and your Integrator Manual V2 5 2013 03 10 180 255 latency test said you have a maximum latency of 11 us then if you set the BASE PERIOD to 20411 31 us 31000 nano seconds in the ini file you are guaranteed to meet the drive s timing requirements But there is a tradeoff Making a step pulse requires at least two periods One to start the pulse and one to end it Since the period is 31 us it takes 2x31 62 us to create a step pulse That means the maximum step rate is only 16 129 steps per second Not so good But don t give up yet we still have some tweaking to do in the next section For the Xylotex the setup and hold times are very short 200 ns each 0 2 us The longest time is the 2 us high time If you have 11 us latency then you can set the BASE PERIOD as low as 1142 13 us Getting rid of the long 20 us hold time really helps With a period of 13 us a complete step takes 2x13 26 us an
328. t address 0x220 and has 36 inputs 0 19 and 24 39 and 12 outputs 20 23 and 40 47 The second board is at address 0x300 and has 20 inputs 8 15 24 31 and 40 43 and 28 outputs 0 7 16 23 32 39 and 44 47 Up to 8 boards may be used in one system 16 2 Pins bit ax5214 lt boardnum gt out lt pinnum gt Drives a physical output pin bit ax5214 boardnum in pinnum Tracks a physical input pin bit ax5214 lt boardnum gt in lt pinnum gt not Tracks a physical input pin inverted For each pin lt boardnum gt is the board number starts at zero and pinnum is the I O channel number 0 to 47 Note that the driver assumes active LOW signals This is so that modules such as OPTO 22 will work correctly TRUE means output ON or input energized If the signals are being used directly without buffering or isolation the inversion needs to be accounted for The in HAL pin is TRUE if the physical pin is low OPTO 22 module energized and FALSE if the physical pin is high OPTO 22 module off The in pinnum not HAL pin is inverted it is FALSE if the physical pin is low OPTO 22 module energized By connecting a signal to one or the other the user can determine the state of the input 16 3 Parameters bit ax5214 lt boardnum gt out lt pinnum gt invert Inverts an output pin Integrator Manual V2 5 2013 03 10 127 255 The invert parameter determines whether an output pin is active hig
329. t are not very common in other domains of machine control e g welding puma typed robots 26 2 Trivial Kinematics The simplest machines are those in which which each joint is placed along one of the Cartesian axes On these machines the mapping from Cartesian space the G code program to the joint space the actual actuators of the machine is trivial It is a simple 1 1 mapping pos gt tran x joints 0 pos gt tran y joints 1 DOS aer pos b 4 Dos Joints hS The word axes is also commonly and wrongly used when talking about CNC machines and referring to the moving directions of the machine Kinematics a two way function to transform from Cartesian space to joint space Integrator Manual V2 5 2013 03 10 175 255 In the above code snippet one can see how the mapping is done the X position is identical with the joint 0 the Y posittion with with joint 1 etc The above refers to the direct kinematics one direction of the transformation The next code snippet refers to the inverse kinematics or the inverse direction of the transformation joints 0 pos gt tran x joints 1 pos gt tran y JOIMeS l2 gt 2 joints 3 5 joints 4 pos gt b joints 5 pos gt c As one can see it s pretty straightforward to do the transformation for a trivial kins kinematics or Cartesian machine It gets a bit more
330. t should contribute the bulk of the output change 1 2 3 Integral term The contribution from the integral term sometimes called reset is proportional to both the magnitude of the error and the duration of the error Summing the instantaneous error over time integrating the error gives the accumulated offset that should have been corrected previously The accumulated error is then multiplied by the integral gain and added to the controller output The integral term when added to the proportional term accelerates the movement of the process towards set point and eliminates the residual steady state error that occurs with a proportional only controller However since the integral term is responding to accumulated errors from the past it can cause the present value to overshoot the set point value cross over the set point and then create a deviation in the other direction 1 2 4 Derivative term The rate of change of the process error is calculated by determining the slope of the error over time i e its first derivative with respect to time and multiplying this rate of change by the derivative gain The derivative term slows the rate of change of the controller output and this effect is most noticeable close to the controller set point Hence derivative control is used to reduce the magnitude of the overshoot produced by the integral component and improve the combined controller process stability Integrator Manual V2 5 2013 03 10 6
331. te returns float spindle speed override scale state returns integer current command execution status One of RCS DONE RCS EXEC RCS ERROR task mode returns integer current task mode one of MODE MDI MODE AUTO MODE MANUAL task paused returns integer task paused flag task state returns integer current task state one of STATE ESTOP STATE ESTOP RESET STATE ON STATE OFF tool in spindle returns integer current tool number tool offset returns tuple of floats offset values of the current tool tool table returns tuple of tool results list of tool entries Each entry is a sequence of the following fields id xoffset yoffset zoff set aoffset boffset coffset uoffset voffset woffset diameter frontangle backangle orientation The id and orientation are integers and the rest are floats velocity returns float default velocity reflects TRAJ DEFAULT VELOCITY 25 3 2 The axis dictionary The axis configuration and status values are available through a list of per axis dictionaries Here s an example how to access an attribute of a particular axis import linuxcnc S linuxcnc stat S poll print Axis I homed saxusiumsened For each axis the following dictionary keys are available axisType returns integer type of axis configuration parameter reflects AXIS_x TYPE LINEAR 1 ANGULAR 2 See Axis ini configuration for details backlash returns float
332. terface Only a single pluto_servo or pluto step board is supported 22 1 7 Rebuilding the FPGA firmware The src hal drivers pluto_servo_firmware and src hal drivers pluto_step_firmware subdirectories contain the Verilog source code plus additional files used by Quartus for the FPGA firmwares Altera s Quartus II software is required to rebuild the FPGA firmware To rebuild the firmware from the hdl and other source files open the gpf file and press CTRL L Then recompile LinuxCNC Like the HAL hardware driver the FPGA firmware is licensed under the terms of the GNU General Public License The gratis version of Quartus II runs only on Microsoft Windows although there is apparently a paid version that runs on Linux 22 1 8 For more information Some additional information about it is available from KNJC LLC and from the developer s blog 22 2 Pluto Servo The pluto servo system is suitable for control of a 4 axis CNC mill with servo motors a 3 axis mill with PWM spindle control a lathe with spindle encoder etc The large number of inputs allows a full set of limit switches This driver features 4 quadrature channels with 40MHz sample rate The counters operate in 4x mode The maximum useful quadrature rate is 8191 counts LinuxCNC servo cycle or about 8MHz for LinuxCNC s default 1ms servo rate e 4 PWM channels up down or pwm dir style 4095 duty cycles from 100 to 100 including 0 The PWM period is approxi
333. ters 18 15 1 Pins count 532 Out Number of encoder counts since the previous reset index enable Bit I O When this pin is set to True the count and therefore also position are reset to zero on the next Index Phase Z pulse At the same time index enable is reset to zero to indicate that the pulse has occurred position Float Out Encoder position in position units count scale rawcounts 532 Out Total number of encoder counts since the start not adjusted for index or reset reset Bit In When this pin is TRUE the count and position pins are set to 0 The value of the velocity pin is not affected by this The driver does not reset this pin to FALSE after resetting the count to 0 that is the user s job velocity Float Out Estimated encoder velocity in position units per second Integrator Manual V2 5 2013 03 10 140 255 18 15 2 Parameters counter mode Bit RW Set to False the default for Quadrature Set to True for Up Down or for single input on Phase A Can be used for a frequency to velocity converter with a single input on Phase A when set to true filter Bit RW If set to True the default the quadrature counter needs 15 clocks to register a change on any of the three input lines any pulse shorter than this is rejected as noise If set to False the quadrature counter needs only 3 clocks to register a change The encoder sample clock runs at 33 MHz on the PCI Anything I O ca
334. that is attached to the right of AXIS you need to do the following basic things Create an xml file that contains your panel description and put it in your config directory Add the PyVCP entry to the DISPLAY section of the ini file with your xml file name Add the POSTGUI HALFILE entry to the HAL section of the ini file with the name of your postgui HAL file name Add the links to HAL pins for your panel in the postgui hal file to connect your PyVCP panel to EMC 11 2 Floating To create floating PyVCP panels that can be used with any interface you need to do the following basic things Create an xml file that contains your panel description and put it in your config directory Add a loadusr line to your hal file to load each panel Add the links to HAL pins for your panel in the postgui hal file to connect your PyVCP panel to EMC The following is an example of a loadusr command to load two PyVCP panels and name each one so the connection names in HAL will be known loadusr Wn btnpanel pyvcp c btnpanel panell xml loadusr Wn sppanel pyvcp c sppanel panel2 xml The Wn makes HAL Wait for name to be loaded before proceeding The pyvcp c makes PyVCP name the panel The HAL pins from panell xml will be named btnpanel pin name gt The HAL pins from panel2 xml will be named sppanel pin name Make sure the loadusr line is before any nets that make use of the PyVCP pins Integrator Manual V2 5 2013 03 10 73
335. the license you may order a copy from Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 39 2 GNU Free Documentation License GNU Free Documentation License Version 1 1 March 2000 Copyright 2000 Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Everyone 15 permitted to copy and distribute verbatim copies of this license document but changing it is not allowed 0 PREAMBLE The purpose of this License is to make a manual textbook or other written document free in the sense of freedom to assure everyone the effective freedom to copy and redistribute it with or without modifying it either commercially or noncommercially Secondarily this License preserves for the author and publisher a way to get credit for their work while not being considered responsible for modifications made by others This License is a kind of copyleft which means that derivative works of the document must themselves be free in the same sense It complements the GNU General Public License which is a copyleft license designed for free software We have designed this License in order to use it for manuals for free software because free software needs free documentation a free program should come with manuals providing the same freedoms that the software does But this License is not limited to software manuals it can be used for any textual work regardless of subject matter or whether it is publis
336. the same signal lines for different purposes These output pins will be enumerated after the standard digital outputs of the board 21 2 Parameters All float ppmc lt port gt enc lt channel gt scale The number of counts user unit to convert from counts to units UPC float ppmc lt port gt pwm lt channel range gt freq The PWM carrier frequency in Hz Applies to a group of four con secutive PWM generators as indicated by lt channel range gt Minimum is 610Hz maximum is 500KHz PPMC float ppmc lt port gt DAC lt channel gt scale Sets scale of DAC16 output channel such that an output value equal to the 1 scale value will produce an output of or value Volts So if the scale parameter is 0 1 and you send a value of 0 5 the output will be 5 0 Volts UPC float ppmc lt port gt pwm lt channel gt scale Scaling for PWM generator If scale is X then the duty cycle will be 100 when the value pin is X or X UPC float ppmc lt port gt pwm lt channel gt max dc Maximum duty cycle from 0 0 to 1 0 UPC float ppmc lt port gt pwm lt channel gt min dc Minimum duty cycle from 0 0 to 1 0 UPC float ppmc lt port gt pwm lt channel gt duty cycle Actual duty cycle used mostly for troubleshooting UPC bit ppmc lt port gt pwm lt channel gt bootstrap If true the PWM generator will generate a short sequence of pulses of both polarities when E stop goes false to charge the
337. the top right allows you to select whether variable names or symbol names are displayed You might notice that there is a line under the ladder program display that reads Project failed to load That is the status bar that gives you info about elements of the ladder program that you click on in the display window This status line will now display HAL signal names for variables 961 Q and the first W in an equation You might see some funny labels such as 103 in the rungs This is displayed on purpose because of an old bug when erasing elements older versions sometimes didn t erase the object with the right code You might have noticed that the long horizontal connection button sometimes didn t work in the older versions This was because it looked for the free code but found something else The number in the brackets is the unrecognized code The ladder program will still work properly to fix it erase the codes with the editor and save the program 30 5 3 The Variable Windows This are two variable windows the Bit Status Window boolean and the Watch Window signed integer The Vars button is in the Section Display Window toggle the Vars button to display one the other both then none of the variable windows Integrator Manual V2 5 2013 03 10 194 255 Es m Bit Status Wil i i i 10 9511 12 13 14 15 16 17 18 19 110 111 112 113 9914 EH E EBENE EMENESI ON Ti
338. tive float out Commanded axis position in relative coordinates E STOP halui estop activate bit in pin for requesting E Stop halui estop is activated bit out indicates E stop reset halui estop reset bit in pin for requesting E Stop reset FEED OVERRIDE halui feed override count enable bit in must be true for counts or direct value to work Integrator Manual V2 5 2013 03 10 114 255 halui feed override counts 532 in counts scale FO percentage Can be used with an encoder or direct value halui feed override decrease bit in pin for decreasing the FO scale halui feed override increase bit in pin for increasing the FO scale halui feed override direct value bit in false when using encoder to change counts true when setting counts directly The count enable pin must be true halui feed override scale float in pin for setting the scale for increase and decrease of feed override halui feed override value float out current FO value MIST halui mist is on bit out indicates mist is on halui mist off bit in pin for requesting mist off halui mist on bit in pin for requesting mist on FLOOD halui flood is on bit out indicates flood is on halui flood off bit in pin for requesting flood off halui flood on bit in pin for requesting flood on HOMING halui home all bit in pin for requesting all axis to home This pin will
339. to be the same as the linear machine units See G20 and G21 for more information The angular program units are always measured in degrees Python General purpose very high level programming language Used in LinuxCNC for the Axis GUI the Stepconf configuration tool and several G code programming scripts Rapid Fast possibly less precise motion of the tool commonly used to move between cuts If the tool meets the workpiece or the fixturing during a rapid it is probably a bad thing Rapid rate The speed at which a rapid motion occurs In auto or mdi mode rapid rate is usually the maximum speed of the machine It is often desirable to limit the rapid rate when testing a g code program for the first time Real time Software that is intended to meet very strict timing deadlines Under Linux in order to meet these requirements it is necessary to install RTAI or RTLINUX and build the software to run in those special environments For this reason real time software runs in kernel space RTAI Real Time Application Interface see https www rtai org one of two real time extensions for Linux that EMC can use to achieve real time performance RTLINUX See http www rtlinux org one of two real time extensions for Linux that EMC can use to achieve real time performance RTAPI A portable interface to real time operating systems including RTAI and RTLINUX RS 274 NGC The formal name for the language used by EMC part programs Servo Motor
340. to generate I ve added a few things to the spreadsheet to calculate max speed and stepper electrical calculations Integrator Manual V2 5 2013 03 10 182 255 Chapter 28 PID Tuning 28 1 PID Controller A proportional integral derivative controller PID controller is a common feedback loop component in industrial control sys 1 tems The Controller compares a measured value from a process typically an industrial process with a reference set point value The difference or error signal is then used to calculate a new value for a manipulable input to the process that brings the process measured value back to its desired set point Unlike simpler control algorithms the PID controller can adjust process outputs based on the history and rate of change of the error signal which gives more accurate and stable control It can be shown mathematically that a PID loop will produce accurate stable control in cases where a simple proportional control would either have a steady state error or would cause the process to oscillate 28 1 1 Control loop basics Intuitively the PID loop tries to automate what an intelligent operator with a gauge and a control knob would do The operator would read a gauge showing the output measurement of a process and use the knob to adjust the input of the process the action until the process s output measurement stabilizes at the desired value on the gauge In older control literature this adjustment
341. true If this parameter is true the output value of the GPIO will be the inverse of the value on the out HAL pin is opendrain Bit RW If this parameter is false the GPIO behaves as a normal output pin the I O pin on the connector is driven to the value specified by the out HAL pin possibly inverted If this parameter is true the GPIO behaves as an open drain pin Writing 0 to the out HAL pin drives the I O pin low writing 1 to the out HAL pin puts the I O pin in a high impedance state In this high impedance state the I O pin floats weakly pulled high and other devices can drive the value the resulting value on the I O pin is available on the in and not pins Only full GPIO pins and I O pins used as outputs by active module instances have this parameter 18 15 Encoder Encoders have names like hm2_ lt BoardType gt lt BoardNum gt encoder lt Instance gt Instance is a two digit number that corre sponds to the HostMot2 encoder instance number There are num_encoders instances starting with 00 Each encoder uses three or four input I O pins depending on how the firmware was compiled Three pin encoders use A B and Index sometimes also known as Z Four pin encoders use A B Index and Index mask The hm2 encoder representation is similar to the one described by the Canonical Device Interface in the HAL General Reference document and to the software encoder component Each encoder instance has the following pins and parame
342. ts via pins and parameters You cannot load real time components into user space Flags may be one or more of the following to wait for the component to become ready The component is assumed to have the same name as the first argument of the command to wait for the component which will have the given name This only applies if the component Wn name has a name option W to wait for the program to exit i to ignore the program return value with w n name a component when it is a valid option for that component The syntax and examples loadusr lt component gt lt options gt loadusr halui loadusr Wn spindle gs2 vfd n spindle In English it means loadusr wait for name spindle component gs2 vfd name spindle 9 1 4 net The command net creates a connection between a signal and and one or more pins If the signal does not exist net creates the new signal This replaces the need to use the command newsig The optional direction indicators lt gt and lt gt are only to make it easier for humans to follow the logic and are not used by the net command Syntax and Example net signal name pin name optional direction lt pin name gt lt direction gt net home x axis 0 home sw in lt parport 0 pin 11 in In the above example home x is the signal name axis 0 home sw in is a Direction IN pin lt is the optional direction indicator and parport O pin 11 in is a Direction OUT pin This may s
343. tting a FLOAT pin which counts up or down as the wheel is turned either by dragging in a circular motion or by rolling the mouse wheel lt jogwheel gt lt halpin gt my wheel lt halpin gt lt cpr gt 45 lt cpr gt lt size gt 250 lt size gt jogwheel The above code produced this example Integrator Manual V2 5 2013 03 10 66 255 10 6 8 Images Image displays use only gif image format of the images must be the same size The images must be in the same directory as your ini file or in the current directory if running from the command line with halrun halcmd 10 6 8 1 Image Bit The image bit toggles between two images by setting the halpin to true or false image name fwd file fwd gif image name rev file rev gif lt vbox gt image bit halpin selectimage images fwd rev gt lt vbox gt This example was produced from the above code Using the two image files fwd gif and rev gif FWD is displayed when selectimage is false and REV is displayed when selectimage is true FWD 10 6 8 2 Image u32 The image_u32 is the same as image_bit except you have essentially an unlimited number of images and you select the image by setting the halpin to a integer value with 0 for the first image in the images list and 1 for the second image etc Integrator Manual V2 5 2013 03 10 67 255 image name stb file stb gif image name fwd file fwd gif image nam
344. u or by arrangement made by the same entity you are acting on behalf of you may not add another but you may replace the old one on explicit permission from the previous publisher that added the old one The author s and publisher s of the Document do not by this License give permission to use their names for publicity for or to assert or imply endorsement of any Modified Version 5 COMBINING DOCUMENTS You may combine the Document with other documents released under this License under the terms defined in section 4 above for modified versions provided that you include in the combination all of the Invariant Sections of all of the original documents unmodified and list them all as Invariant Sections of your combined work in its license notice The combined work need only contain one copy of this License and multiple identical Invariant Sections may be replaced with a single copy If there are multiple Invariant Sections with the same name but different contents make the title of each such section unique by adding at the end of it in parentheses the name of the original author or publisher of that section if known or else a unique number Make the same adjustment to the section titles in the list of Invariant Sections in the license notice of the combined work In the combination you must combine any sections entitled History in the various original documents forming one section entitled History likewise combine any sections entitled
345. ual to scale gives a magnitude of 10 0 V output The sign of the output is set by jumpers and or other digital outputs Option bit ppmc lt port gt dout lt channel gt invert Inverts a digital output see canonical digital output e Option bit ppmc lt port gt dout lt channel gt invert Inverts a digital output pin of J8 see canonical digital output 21 3 Functions All funct ppmc lt port gt read Reads all inputs digital inputs and encoder counters on one port These reads are organized into blocks of contiguous registers to be read in a block to minimize CPU overhead All funct ppmc lt port gt write Writes all outputs digital outputs stepgens PWMs on one port These writes are organized into blocks of contiguous registers to be written in a block to minimize CPU overhead Integrator Manual V2 5 2013 03 10 150 255 Chapter 22 Pluto P Driver 22 1 General Info The Pluto P is a FPGA board featuring the ACEXIK chip from Altera 22 1 1 Requirements 1 A Pluto P board 2 An EPP compatible parallel port configured for EPP mode in the system BIOS or a PCI EPP compatible parallel port card Note The Pluto P board requires EPP mode Netmos98xx chips do not work in EPP mode The Pluto P board will work on some computers and not on others There is no known pattern to which computers work and which don t work For more information on PCI EPP compatible parallel port cards see the LinuxCNC S
346. ule in that it behaves as both an input and an output see manual for details 3It is because we selected non quadrature simple counting above that we can get away with quadrature counting without having any B quadrature input Integrator Manual V2 5 2013 03 10 231 255 33 6 2 Spindle At Speed To enable LinuxCNC to wait for the spindle to be at speed before executing a series of moves you need to set motion spindle at speed to true when the spindle is at the commanded speed To do this you need spindle feedback from an encoder Since the feedback and the commanded speed are not usually exactly the same you need to use the near component to say that the two numbers are close enough The connections needed are from the spindle velocity command signal to near n inl and from the spindle velocity from the encoder to near n in2 Then the near n out is connected to motion spindle at speed The near n scale needs to be set to say how close the two numbers must be before turning on the output Depending on your setup you may need to adjust the scale to work with your hardware The following is typical of the additions needed to your HAL file to enable Spindle At Speed If you already have near in your HAL file then increase the count and adjust code to suit Check to make sure the signal names are the same in your HAL file load a near component and attach it to a thread loadrt near addf 0 servo thread connect one input to the command
347. umber gt button lt ButtonNumber gt bit out The ShuttleXpress has five buttons around the outside of the device numbered 0 through 4 0 is the counter clockwise most button 4 is the clockwise most button These pins are True 1 when the button is pressed shuttlexpress lt DeviceNumber gt button lt ButtonNumber gt not bit out These pins have the inverse of the button state so they re True 1 when the button is not pressed shuttlexpress lt DeviceNumber gt counts 532 out Accumulated counts from the jog wheel the inner wheel Integrator Manual V2 5 2013 03 10 160 255 shuttlexpress lt DeviceNumber gt spring wheel s32 532 out The current deflection of the spring wheel the outer wheel It s 0 at rest and ranges from 7 at the counter clockwise extreme to 7 at the clockwise extreme e shuttlexpress lt DeviceNumber gt spring wheel f float out The current deflection of the spring wheel the outer wheel It s 0 at rest 1 at the counter clockwise extreme and 1 at the clockwise extreme The ShuttleXpress device reports the spring wheel position quantized from 7 to 7 so this pin reports only 15 discrete values in it s range Integrator Manual V2 5 2013 03 10 161 255 Part V Advanced Topics Integrator Manual V2 5 2013 03 10 162 255 Chapter 25 Python Interface This is work in progress by Michael Haberler Comments fixes and addenda are welcome especially for PositionLogger A bi
348. upported Hardware page on the wiki 22 1 2 Connectors The Pluto P board is shipped with the left connector presoldered with the key in the indicated position The other connectors are unpopulated There does not seem to be a standard 12 pin IDC connector but some of the pins of a 16P connector can hang off the board next to QA3 QZ3 The bottom and right connectors are on the same 1 grid but the left connector is not If OUT2 OUTO are not required single IDC connector can span the bottom connector and the bottom two rows of the right connector 22 1 3 Physical Pins Read the ACEXIK datasheet for information about input and output voltage thresholds The pins are all configured in LVT TL LVCMOS mode and are generally compatible with 5V TTL logic Before configuration and after properly exiting LinuxCNC all Pluto P pins are tristated with weak pull ups 20k ohms min 50k ohms max If the watchdog timer is enabled the default these pins are also tristated after an interruption of communi cation between LinuxCNC and the board The watchdog timer takes approximately 6 5ms to activate However software bugs in the pluto servo firmware or LinuxCNC can leave the Pluto P pins in an undefined state In pwm dir mode by default dir is HIGH for negative values and LOW for positive values To select HIGH for positive values and LOW for negative values set the corresponding dout NN invert parameter TRUE to invert the signal Integrator
349. ut saving state To make sure that this case is covered add a handler call unix signal which will be automatically be called on Ctrl C actuall on the SIGINT and SIGTERM signals Example def on unix signal self signum stack frame print on unix signal signal d received saving state signum self ini save state self 12 8 12 Hand editing ini files You can do that but note that the values in self defaults override your edits if there is a syntax or type error in your edit The error is detected a console message will hint about that happened and the bad inifile will be renamed to have the BAD suffix Subsequent bad ini files overwrite earlier BAD files Integrator Manual V2 5 2013 03 10 110 255 12 8 13 Adding HAL pins If you need HAL pins which are not associated with a specific HAL widget add them as follows import hal glib Tem your handler class Imit self example trigger hal glib GPin halcomp newpin example trigger hal HAL hal lt HAL IN To get a callback when this pin s value changes associate a value change callback with this pin add self example trigger connect value changed self on example trigger change and define a callback method or function in this case leave out the se1f parameter note this method will not be visible to the widget tree def example trigger change self pin userdata None print pin value changed to pin get 1
350. utput FLOAT pin with name equal to widget name Scales have no additional properties To make a scale useful in Glade add an Adjustment General Adjustment New or existing adjustment and edit the adjustment object It defines the default min max increment values Also set adjustment Page size and Page increment to zero to avoid warnings 35 5 sa Example HAL HScale ANA 12 6 7 SpinButton HAL SpinButton is derived from GtkSpinButton and holds two pins lt widgetname gt f out FLOAT pin lt widgetname gt s out 32 pin To be useful Spinbuttons need an adjustment value like scales see above Example SpinButton 12 6 8 Label HAL Label is a simple widget based on GtkLabel which represents a HAL pin value in a user defined format label pin type The pin s HAL type 0 532 1 float 2 U32 see also the tooltip on General HAL pin type note this is different from PyVCP which has three label widgets one for each type text template Determines the text displayed a Python format string to convert the pin value to text Defaults to s values are converted by the str function but may contain any legit as an argument to Pythons format method Example Distance 03f will display the text and the pin value with 3 fractional digits padded with zeros for a FLOAT pin 12 6 9 Containers HBox and HAL Table Compared to their Gtk counterparts they have one input BIT pin which control
351. utton widget had focus in this case for instance an Escape key would not have been forwarded to Axis and cause an abort as it should with potentially disastrous consequences Therefore key events in GladeVCP are explicitly handled and selectively forwarded to Axis to assure that such situations cannot arise For details see the keyboard forward function in Lib python gladevcp xembed py 12 12 Adding Custom Widgets The LinuxCNC Wiki has information on adding custom widgets to GladeVCP Glade VCP Custom Widgets Integrator Manual V2 5 2013 03 10 113 255 Chapter 13 HAL User Interface 13 1 Introduction Halui is a HAL based user interface for LinuxCNC it connects HAL pins to NML commands Most of the functionality buttons indicators etc that is provided by a traditional GUI mini Axis etc is provided by HAL pins in Halui The easiest way to add halui is to add the following to the HAL section of the ini file HALUI halui An alternate way to invoke it is to include the following in your hal file Make sure you use the actual path to your ini file loadusr halui ini path to inifile ini 13 2 Halui pin reference ABORT halui abort bit in pin to send an abort message clears out most errors AXIS halui axis n pos commanded float out Commanded axis position in machine coordinates halui axis n pos feedback float out Feedback axis position in machine coordinates halui axis n pos rela
352. uxCNC use this command loadusr Wn mypanel pyvcp g 250x500 800 0 c mypanel mypanel xml The minimum command to load a pyvcp panel is loadusr pyvcp mypanel xml You would use this if you want a panel without LinuxCNC s machine controller such as for testing or a standalone DRO The loadusr command is used when you also load a component that will stop HAL from closing until it s done If you loaded a panel and then loaded Classic Ladder using loadusr w classicladder CL would hold HAL open and the panel until you closed CL The Wn above means wait for the component Wn name to become ready name can be any name Note the capital W and lowercase n The c tells PyVCP to build a panel with the name panelname using the info in panel file name xml The name panel file name xml can be any name but must end in xml it is the file that describes how to build the panel You must add the path name if the panel is not in the directory that the HAL script is in An optional command to use if you want the panel to stop HAL from continuing commands shutting down After loading any other components you want the last HAL command to be waituser panelname This tells HAL to wait for component panelname to close before continuing HAL commands This is usually set as the last command so that HAL shuts down when the panel is closed 10 6 Widgets HAL signals come in two variants bits and numbers Bits are off on signals Numbers can be float 532
353. ve LinuxCNC start automatically with your config after turning on the computer go to System gt Preferences gt Sessions gt Startup Applications click Add Browse to your config and select the ini file When the file picker dialog closes add emc and a space in front of the path to your ini file Example emc home mill emc2 config mill mill ini 37 3 Man Pages Man pages are automatically generated manual pages in most cases Man pages are usually available for most programs and commands in Linux To view man page open up a terminal window by going to Applications gt Accessories gt Terminal For example if you wanted to find out something about the find command in the terminal window type man find Use the Page Up and Page Down keys to view the man page and the Q key to quit viewing Integrator Manual V2 5 2013 03 10 241 255 37 4 List Modules Sometimes when troubleshooting you need to get a list of modules that are loaded In a terminal window type lsmod If you want to send the output from Ismod to a text file in a terminal window type lsmod mymod txt The resulting text file will be located in the home directory if you did not change directories when you opened up the terminal window and it will be named mymod txt or what ever you named it 37 5 Editing a Root File When you open the file browser and you see the Owner of the file is root you must do extra steps to edit that file Editing some root f
354. ves an absolute maximum step rate of 20 000 steps per second 50 000 ns 50 us is a fairly conservative value The smallest usable value is related to the Latency Test result the necessary step length and the processor speed Choosing a base period nsec that is too low can lead to the Unexpected real time delay message lockups or spontaneous reboots servo period nsec 1000000 This is the Servo task period in nanoseconds This value will be rounded to an integer multiple of base period nsec This period is used even on systems based on stepper motors This is the rate at which new motor positions are computed following error is checked PID output values are updated and so on Most systems will not need to change this value It is the update rate of the low level motion planner e traj period nsec 100000 This is the Trajectory Planner task period in nanoseconds This value will be rounded to an integer multiple of servo period nsec Except for machines with unusual kinematics e g hexapods there is no reason to make this value larger than servo period nsec Integrator Manual V2 5 2013 03 10 33 255 7 1 4 Options If the number of digital I O needed is more than the default of 4 you can add up to 64 digital I O by using the num dio option when loading motmod If the number of analog I O needed is more than the default of 4 you can add up to 16 analog I O by using the num aio option when loading motmod 7 1 2 Pins
355. vetica 16 font lt width gt 25 lt width gt halpin my hscale halpin lt resolution gt 0 1 lt resolution gt lt orient gt HORIZONTAL lt orient gt lt initval gt 15 lt initval gt lt min_ gt 33 lt min_ gt lt max_ gt 26 lt max_ gt lt scale gt lt scale gt lt font gt Helvetica 16 lt font gt lt width gt 50 lt width gt halpin my vscale halpin lt resolution gt 1 lt resolution gt lt orient gt VERTICAL lt orient gt lt min_ gt 100 lt min_ gt max 0 max gt scale The above code produced this example 10 6 7 3 Dial The Dial outputs a HAL float and reacts to both mouse wheel and dragging Double left click to increase the resolution and double right click to reduce the resolution by one digit The output is capped by the min and max values The cpr is how many tick marks are on the outside of the ring beware of high numbers dial lt size gt 200 lt size gt lt cpr gt 100 lt cpr gt lt min_ gt 15 lt min_ gt lt max_ gt 15 lt max_ gt lt Eext U Dial text lt resolution gt 0 001 lt resolution gt lt halpin gt anaout lt halpin gt lt dialcolor gt yellow lt dialcolor gt lt edgecolor gt green lt edgecolor gt lt dotcolor gt black lt dotcolor gt lt dial gt Integrator Manual V2 5 2013 03 10 65 255 The above code produced this example 10 6 7 4 Jogwheel Jogwheel mimics a real jogwheel by outpu
356. well before redistributing any large number of copies to give them a chance to provide you with an updated version of the Document 4 MODIFICATIONS You may copy and distribute a Modified Version of the Document under the conditions of sections 2 and 3 above provided that you release the Modified Version under precisely this License with the Modified Version filling the role of the Document thus licensing distribution and modification of the Modified Version to whoever possesses a copy of it In addition you must do these things in the Modified Version Integrator Manual V2 5 2013 03 10 251 255 A Use in the Title Page and on the covers if any a title distinct from that of the Document and from those of previous versions which should if there were any be listed in the History section of the Document You may use the same title as a previous version if the original publisher of that version gives permission B List on the Title Page as authors one or more persons or entities responsible for authorship of the modifications in the Modified Version together with at least five of the principal authors of the Document all of its principal authors if it has less than five C State on the Title page the name of the publisher of the Modified Version as the publisher D Preserve all the copyright notices of the Document E Add an appropriate copyright notice for your modifications adjacent to the other copyright notices F Include im
357. ws Integrator Manual V2 5 2013 03 10 101 255 v EMC Actions Q gt x uia gt 7 m m amp LI rr i i Tooltip hovers provide a description 12 7 1 EMC Action widgets EMC Action widgets are one shot type widgets They implement a single action and are for use in simple buttons menu entries or radio check groups 12 7 2 EMC ToggleAction widgets These are bi modal widgets They implement two actions or use a second usually pressed state to indicate that currently an action is running Toggle actions are aimed for use in ToggleButtons ToggleToolButtons or toggling menu items A simplex example is the ESTOP toggle button Currently the following widgets are available The ESTOP toggle sends ESTOP or ESTOP RESET commands to LinuxCNC depending on it s state The ON OFF toggle sends STATE ON and STATE OFF commands Pause Resume sends AUTO PAUSE or AUTO RESUME commands The following toggle actions have only one associated command and use the pressed state to indicate that the requested operation is running The Run toggle sends an AUTO RUN command and waits in the pressed state until the interpreter is idle again The Stop toggle is inactive until the interpreter enters the active state is running G code and then allows user to send AUTO ABORT command The MDI toggle sends given MDI command and waits for its completion in pressed inactive state 12 7
358. xample is as good as we can make it But the Gecko can be improved The problem with the G202 is the 20 us hold time requirement That plus the 11 us latency is what forces us to use a slow 31 us period But the LinuxCNC software step generator has some parameters that let you increase the various time from one period to several For example if steplen is changed from 1 to 2 then it there will be two periods between the beginning and end of the step pulse Likewise if dirhold is changed from 1 to 3 there will be at least three periods between the step pulse and a change of the direction pin If we can use dirhold to meet the 20 us hold time requirement then the next longest time is the 4 5 us high time Add the 11 us latency to the 4 5 us high time and you get a minimum period of 15 5 us When you try 15 5 us you find that the computer is sluggish so you settle on 16 us If we leave dirhold at 1 the default then the minimum time between step and direction is the 16 us period minus the 11 us latency 5 us which is not enough We need another 15 us Since the period is 16 us we need one more period So we change dirhold from 1 to 2 Now the minimum time from the end of the step pulse to the changing direction pin is 5 16 21 us and we don t have to worry about the Gecko stepping the wrong direction because of latency If the computer has a latency of 11 us then a combination of a 16 us base period and a dirhold value of 2 ensures that we will
359. xample ui HAL HAL commands for GladeVCP components in a tab must be executed via POSTGUI HALFILE POSTGUI HALFILE gladevcp manual example hal RS274NGC gladevcp Demo specific Oword subs live here SUBROUTINE PATH gladevcp nc_files The HAL component name of a GladeVCP application started with the the GLADEVCP option is fixed gladevcp The command line actually run by Axis in the above configuration is as follows halcmd loadusr Wn gladevcp gladevcp c gladevcp x XID arguments to GLADEVCP gt This means you may add arbitrary gladevcp options here as long as they dont collide with the above command line options Note The RS274NGC SUBROUTINE PATH option is only set so the example panel will find the Oword subroutine for the MDI Command widget It might not be needed in your setup Integrator Manual V2 5 2013 03 10 89 255 12 3 6 Integrating into Axis as a tab next to DRO and Preview To do so edit your ini file and add to the DISPLAY and HAL sections of ini file as follows DISPLAY add GladeVCP panel as a tab next to Preview DRO EMBED TAB NAME GladeVCP demo EMBED TAB COMMAND halcmd loadusr Wn gladevcp gladevcp c gladevcp x XID u gladevcp hitcounter py gladevcp manual example ui HAL HAL commands for GladeVCP components in a tab must be executed via POSTGUI HALFILE POSTGUI HALFILE gladevcp manual example hal
360. y only 7 WO ABS W1 is currently legal When loading a ladder program it will load Modbus info but will not tell Classic Ladder to initialize Modbus You must initialize Modbus when you first load the GUI by adding modmaster If the section manager is placed on top of the section display across the scroll bar and exit is clicked the user program crashes When using modmaster you must load the ladder program at the same time or else only TCP will work reading writing multiple registers in Modbus has checksum errors Integrator Manual V2 5 2013 03 10 212 255 30 10 Setting up Classic Ladder In this section we will cover the steps needed to add Classic Ladder to a Stepconf Wizard generated config On the advanced Configuration Options page of Stepconf Wizard check off Include Classic Ladder PLC 2 Stepper Mill Configuration mix Advanced Configuration Options D include Halui user interface component 3 Include custom PyVCP GUI panel Pyvcp Example Options I Include Classicladder PLC PLC Options Number of digital in pins hs Number of digital out pins hs 5 Number of analog 532 in pins Number of analog 532 out pins 10 2 Number of analog float in pins Number of analog float out pins 5 Include modbus master support w Blank ladder program D Estop ladder program Edit ladder Serial modbus program program amp Include connections to HAL ca
361. ypically classic ladder components are placed in the custom hal file if your working from a Stepconf generated configuration These must not be placed in the custom postgui hal file or the Ladder Editor menu will be grayed out Ladder files clp must not contain any blank spaces in the name 30 3 2 Realtime Module Loading the Classic Ladder real time module classicladder rt is possible from a HAL file or directly using a halcmd instruction The first line loads real time the Classic Ladder module The second line adds the function classicladder 0 refresh to the servo thread This line makes Classic Ladder update at the servo thread rate loadrt classicladder rt addf classicladder 0 refresh servo thread The speed of the thread that Classic Ladder is running in directly affects the responsiveness to inputs and outputs If you can turn switch on and off faster than Classic Ladder can notice it then you may need to speed up the thread The fastest that Classic Ladder can update the rungs is one millisecond You can put it in a faster thread but it will not update any faster If you put it in a slower than one millisecond thread then Classic Ladder will update the rungs slower The current scan time will be displayed on the section display it is rounded to microseconds If the scan time is longer than one millisecond you may want to shorten the ladder or put it in a slower thread 30 3 3 Variables Itis possible to configure the number of e
362. ystems FERROR too small MIN FERROR too small MAX VELOCITY too fast MAX ACCELERATION too fast Integrator Manual V2 5 2013 03 10 238 255 BASE PERIOD set too long Backlash added to an axis Any of the above can cause the real time pulsing to not be able to keep up the requested step rate This can happen if you didn t run the latency test long enough to get a good number to plug into the Stepconf Wizard or if you set the Maximum Velocity or Maximum Acceleration too high If you added backlash you need to increase the MAXACCEL up to double the MAX ACCELERATION in the AXIS section of the INI file for each axis you added backlash to LinuxCNC uses extra acceleration at a reversal to take up the backlash Without backlash correction step generator acceleration can be just a few percent above the motion planner acceleration 36 2 2 RTAPI Error When you get this error RTAPI ERROR Unexpected realtime delay on task n This error is generated by rtapi based on an indication from RTAI that a deadline was missed It is usually an indication that the BASE PERIOD in the EMCMOT section of the ini file is set too low You should run the Latency Test for an extended period of time to see if you have any delays that would cause this problem If you used the Stepconf Wizard run it again and test the Base Period Jitter again and adjust the Base Period Maximum Jitter on the Basic Machine Information page Y

Integrator Manual V2.5, 2013-03-10

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