Updating the Sherline’s LinuxCNC from 2.7.ancient to 2.8.1, which I did by the simple expedient of replacing the hard drive with an SSD from the heap and doing a clean installation, provided the opportunity of switching from the parallel port to a Mesa 5I25 FPGA card to put timing-critical step generation under hardware control.
I has flashed the card with Mesa’s Probotix PBX-RF BIT file, then invoked it with a configuration string turning off everything except the stepgen modules:
loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4"
Which produces a simple pinout on the back panel DB-25 connector:
hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
hm2_pci: discovered 5i25 at 0000:04:02.0
hm2/hm2_5i25.0: Low Level init 0.15
hm2/hm2_5i25.0: 34 I/O Pins used:
hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
hm2/hm2_5i25.0: IO Pin 002 (P3-02): StepGen #0, pin Step (Output)
hm2/hm2_5i25.0: IO Pin 003 (P3-15): IOPort
hm2/hm2_5i25.0: IO Pin 004 (P3-03): StepGen #0, pin Direction (Output)
hm2/hm2_5i25.0: IO Pin 005 (P3-16): IOPort
hm2/hm2_5i25.0: IO Pin 006 (P3-04): StepGen #1, pin Step (Output)
hm2/hm2_5i25.0: IO Pin 007 (P3-17): IOPort
hm2/hm2_5i25.0: IO Pin 008 (P3-05): StepGen #1, pin Direction (Output)
hm2/hm2_5i25.0: IO Pin 009 (P3-06): StepGen #2, pin Step (Output)
hm2/hm2_5i25.0: IO Pin 010 (P3-07): StepGen #2, pin Direction (Output)
hm2/hm2_5i25.0: IO Pin 011 (P3-08): StepGen #3, pin Step (Output)
hm2/hm2_5i25.0: IO Pin 012 (P3-09): StepGen #3, pin Direction (Output)
hm2/hm2_5i25.0: IO Pin 013 (P3-10): IOPort
hm2/hm2_5i25.0: IO Pin 014 (P3-11): IOPort
hm2/hm2_5i25.0: IO Pin 015 (P3-12): IOPort
hm2/hm2_5i25.0: IO Pin 016 (P3-13): IOPort
The Sherline CNC driver requires an adapter to swap the Step and Direction signals on the output connector.
The Sherline controller expects active-low Step signals:
# invert step output bits
setp [HMOT](FPGA0).gpio.002.invert_output 1
setp [HMOT](FPGA0).gpio.006.invert_output 1
setp [HMOT](FPGA0).gpio.009.invert_output 1
setp [HMOT](FPGA0).gpio.011.invert_output 1
The Y and Z drivers needed the same Direction swap as before:
# invert direction output bits
setp [HMOT](FPGA0).gpio.008.invert_output 1
setp [HMOT](FPGA0).gpio.010.invert_output 1
Because the 5I25 uses 3.3 V logic with interface drivers to match the “parallel port” 5 V levels, it has different electrical characteristics than the parallel port built into the Dell Optiplex 760. Putting a 100 nF cap across the Probe input reduced, but did not eliminate, what looked like a nice 60 Hz signal on that long wire, so I added a firmware debouncer:
loadrt debounce cfg=2
addf debounce.0 servo-thread
setp debounce.0.delay 3
net probe-raw debounce.0.1.in [HMOT](FPGA0).gpio.003.in_not
net probe-in debounce.0.1.out
The additional 3 ms delay doesn’t amount to much distance, even were I to probe at the machine’s top 10 mm/s speed.
Although the seemingly identical Home switch input seemed stable, it got the same treatment:
net home-raw debounce.0.0.in [HMOT](FPGA0).gpio.013.in_not
net all-home debounce.0.0.out
The PID loops have a very simple setup, with P = 1000 and FF1 = 1, which seems entirely adequate without any attempt at tuning. The following errors seems to stay under 20 ppm, in the machine’s native inches, while cutting the standard Axis “splash G-Code” file with all the speeds cranked up to 24 in/min = 610 mm/min:
Claiming a 20 µinch error for a Sherline is certainly aspirational.
The INI and HAL files as a GitHub Gist:
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # DO NOT RUN PNCCONF EVER AGAIN | |
| loadrt [KINS]KINEMATICS | |
| loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS | |
| loadrt hostmot2 | |
| loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4" | |
| loadrt debounce cfg=2 | |
| addf debounce.0 servo-thread | |
| setp debounce.0.delay 3 | |
| setp [HMOT](FPGA0).watchdog.timeout_ns 5000000 | |
| loadrt pid names=pid.x,pid.y,pid.z,pid.a | |
| addf [HMOT](FPGA0).read servo-thread | |
| addf motion-command-handler servo-thread | |
| addf motion-controller servo-thread | |
| addf pid.x.do-pid-calcs servo-thread | |
| addf pid.y.do-pid-calcs servo-thread | |
| addf pid.z.do-pid-calcs servo-thread | |
| addf pid.a.do-pid-calcs servo-thread | |
| addf [HMOT](FPGA0).write servo-thread | |
| # external output signals | |
| #setp [HMOT](FPGA0).gpio.000.out 1 | |
| net estop-out [HMOT](FPGA0).gpio.000.out | |
| #net all-amps-enabled logic.0.and [HMOT](FPGA0).gpio.007.out | |
| # Home switch | |
| net home-raw debounce.0.0.in [HMOT](FPGA0).gpio.013.in_not | |
| net all-home debounce.0.0.out | |
| # Probe switch | |
| net probe-raw debounce.0.1.in [HMOT](FPGA0).gpio.003.in_not | |
| net probe-in debounce.0.1.out | |
| #******************* | |
| # AXIS X JOINT 0 | |
| #******************* | |
| setp pid.x.Pgain [JOINT_0]P | |
| setp pid.x.Igain [JOINT_0]I | |
| setp pid.x.Dgain [JOINT_0]D | |
| setp pid.x.bias [JOINT_0]BIAS | |
| setp pid.x.FF0 [JOINT_0]FF0 | |
| setp pid.x.FF1 [JOINT_0]FF1 | |
| setp pid.x.FF2 [JOINT_0]FF2 | |
| setp pid.x.deadband [JOINT_0]DEADBAND | |
| setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT | |
| setp pid.x.error-previous-target true | |
| # This setting is to limit bogus stepgen | |
| # velocity corrections caused by position | |
| # feedback sample time jitter. | |
| setp pid.x.maxerror 0.000500 | |
| net x-index-enable <=> pid.x.index-enable | |
| net x-amp-enable => pid.x.enable | |
| net x-pos-cmd => pid.x.command | |
| net x-pos-fb => pid.x.feedback | |
| net x-output <= pid.x.output | |
| # Step Gen signals/setup | |
| setp [HMOT](FPGA0).stepgen.00.dirsetup [JOINT_0]DIRSETUP | |
| setp [HMOT](FPGA0).stepgen.00.dirhold [JOINT_0]DIRHOLD | |
| setp [HMOT](FPGA0).stepgen.00.steplen [JOINT_0]STEPLEN | |
| setp [HMOT](FPGA0).stepgen.00.stepspace [JOINT_0]STEPSPACE | |
| setp [HMOT](FPGA0).stepgen.00.position-scale [JOINT_0]STEP_SCALE | |
| setp [HMOT](FPGA0).stepgen.00.step_type 0 | |
| setp [HMOT](FPGA0).stepgen.00.control-type 1 | |
| setp [HMOT](FPGA0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL | |
| setp [HMOT](FPGA0).stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL | |
| # invert step output bit | |
| setp [HMOT](FPGA0).gpio.002.invert_output 1 | |
| # ---closedloop stepper signals--- | |
| net x-pos-cmd <= joint.0.motor-pos-cmd | |
| net x-vel-cmd <= joint.0.vel-cmd | |
| net x-output <= [HMOT](FPGA0).stepgen.00.velocity-cmd | |
| net x-pos-fb <= [HMOT](FPGA0).stepgen.00.position-fb | |
| net x-pos-fb => joint.0.motor-pos-fb | |
| net x-amp-enable <= joint.0.amp-enable-out | |
| net x-amp-enable => [HMOT](FPGA0).stepgen.00.enable | |
| # ---setup home / limit switch signals--- | |
| net all-home => joint.0.home-sw-in | |
| net x-neg-limit => joint.0.neg-lim-sw-in | |
| net x-pos-limit => joint.0.pos-lim-sw-in | |
| #******************* | |
| # AXIS Y JOINT 1 | |
| #******************* | |
| setp pid.y.Pgain [JOINT_1]P | |
| setp pid.y.Igain [JOINT_1]I | |
| setp pid.y.Dgain [JOINT_1]D | |
| setp pid.y.bias [JOINT_1]BIAS | |
| setp pid.y.FF0 [JOINT_1]FF0 | |
| setp pid.y.FF1 [JOINT_1]FF1 | |
| setp pid.y.FF2 [JOINT_1]FF2 | |
| setp pid.y.deadband [JOINT_1]DEADBAND | |
| setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT | |
| setp pid.y.error-previous-target true | |
| # This setting is to limit bogus stepgen | |
| # velocity corrections caused by position | |
| # feedback sample time jitter. | |
| setp pid.y.maxerror 0.000500 | |
| net y-index-enable <=> pid.y.index-enable | |
| net y-amp-enable => pid.y.enable | |
| net y-pos-cmd => pid.y.command | |
| net y-pos-fb => pid.y.feedback | |
| net y-output <= pid.y.output | |
| # Step Gen signals/setup | |
| setp [HMOT](FPGA0).stepgen.01.dirsetup [JOINT_1]DIRSETUP | |
| setp [HMOT](FPGA0).stepgen.01.dirhold [JOINT_1]DIRHOLD | |
| setp [HMOT](FPGA0).stepgen.01.steplen [JOINT_1]STEPLEN | |
| setp [HMOT](FPGA0).stepgen.01.stepspace [JOINT_1]STEPSPACE | |
| setp [HMOT](FPGA0).stepgen.01.position-scale [JOINT_1]STEP_SCALE | |
| setp [HMOT](FPGA0).stepgen.01.step_type 0 | |
| setp [HMOT](FPGA0).stepgen.01.control-type 1 | |
| setp [HMOT](FPGA0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL | |
| setp [HMOT](FPGA0).stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL | |
| # invert step output bit | |
| setp [HMOT](FPGA0).gpio.006.invert_output 1 | |
| # invert direction output bit | |
| setp [HMOT](FPGA0).gpio.008.invert_output 1 | |
| # ---closedloop stepper signals--- | |
| net y-pos-cmd <= joint.1.motor-pos-cmd | |
| net y-vel-cmd <= joint.1.vel-cmd | |
| net y-output <= [HMOT](FPGA0).stepgen.01.velocity-cmd | |
| net y-pos-fb <= [HMOT](FPGA0).stepgen.01.position-fb | |
| net y-pos-fb => joint.1.motor-pos-fb | |
| net y-amp-enable <= joint.1.amp-enable-out | |
| net y-amp-enable => [HMOT](FPGA0).stepgen.01.enable | |
| # ---setup home / limit switch signals--- | |
| net all-home => joint.1.home-sw-in | |
| net y-neg-limit => joint.1.neg-lim-sw-in | |
| net y-pos-limit => joint.1.pos-lim-sw-in | |
| #******************* | |
| # AXIS Z JOINT 2 | |
| #******************* | |
| setp pid.z.Pgain [JOINT_2]P | |
| setp pid.z.Igain [JOINT_2]I | |
| setp pid.z.Dgain [JOINT_2]D | |
| setp pid.z.bias [JOINT_2]BIAS | |
| setp pid.z.FF0 [JOINT_2]FF0 | |
| setp pid.z.FF1 [JOINT_2]FF1 | |
| setp pid.z.FF2 [JOINT_2]FF2 | |
| setp pid.z.deadband [JOINT_2]DEADBAND | |
| setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT | |
| setp pid.z.error-previous-target true | |
| # This setting is to limit bogus stepgen | |
| # velocity corrections caused by position | |
| # feedback sample time jitter. | |
| setp pid.z.maxerror 0.000500 | |
| net z-index-enable <=> pid.z.index-enable | |
| net z-amp-enable => pid.z.enable | |
| net z-pos-cmd => pid.z.command | |
| net z-pos-fb => pid.z.feedback | |
| net z-output <= pid.z.output | |
| # Step Gen signals/setup | |
| setp [HMOT](FPGA0).stepgen.02.dirsetup [JOINT_2]DIRSETUP | |
| setp [HMOT](FPGA0).stepgen.02.dirhold [JOINT_2]DIRHOLD | |
| setp [HMOT](FPGA0).stepgen.02.steplen [JOINT_2]STEPLEN | |
| setp [HMOT](FPGA0).stepgen.02.stepspace [JOINT_2]STEPSPACE | |
| setp [HMOT](FPGA0).stepgen.02.position-scale [JOINT_2]STEP_SCALE | |
| setp [HMOT](FPGA0).stepgen.02.step_type 0 | |
| setp [HMOT](FPGA0).stepgen.02.control-type 1 | |
| setp [HMOT](FPGA0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL | |
| setp [HMOT](FPGA0).stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL | |
| # invert step output bit | |
| setp [HMOT](FPGA0).gpio.009.invert_output 1 | |
| # invert direction output bit | |
| setp [HMOT](FPGA0).gpio.010.invert_output 1 | |
| # ---closedloop stepper signals--- | |
| net z-pos-cmd <= joint.2.motor-pos-cmd | |
| net z-vel-cmd <= joint.2.vel-cmd | |
| net z-output <= [HMOT](FPGA0).stepgen.02.velocity-cmd | |
| net z-pos-fb <= [HMOT](FPGA0).stepgen.02.position-fb | |
| net z-pos-fb => joint.2.motor-pos-fb | |
| net z-amp-enable <= joint.2.amp-enable-out | |
| net z-amp-enable => [HMOT](FPGA0).stepgen.02.enable | |
| # ---setup home / limit switch signals--- | |
| net all-home => joint.2.home-sw-in | |
| net z-neg-limit => joint.2.neg-lim-sw-in | |
| net z-pos-limit => joint.2.pos-lim-sw-in | |
| #******************* | |
| # AXIS A JOINT 3 | |
| #******************* | |
| setp pid.a.Pgain [JOINT_3]P | |
| setp pid.a.Igain [JOINT_3]I | |
| setp pid.a.Dgain [JOINT_3]D | |
| setp pid.a.bias [JOINT_3]BIAS | |
| setp pid.a.FF0 [JOINT_3]FF0 | |
| setp pid.a.FF1 [JOINT_3]FF1 | |
| setp pid.a.FF2 [JOINT_3]FF2 | |
| setp pid.a.deadband [JOINT_3]DEADBAND | |
| setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT | |
| setp pid.a.error-previous-target true | |
| # This setting is to limit bogus stepgen | |
| # velocity corrections caused by position | |
| # feedback sample time jitter. | |
| setp pid.a.maxerror 0.000500 | |
| net a-index-enable <=> pid.a.index-enable | |
| net a-amp-enable => pid.a.enable | |
| net a-pos-cmd => pid.a.command | |
| net a-pos-fb => pid.a.feedback | |
| net a-output <= pid.a.output | |
| # Step Gen signals/setup | |
| setp [HMOT](FPGA0).stepgen.03.dirsetup [JOINT_3]DIRSETUP | |
| setp [HMOT](FPGA0).stepgen.03.dirhold [JOINT_3]DIRHOLD | |
| setp [HMOT](FPGA0).stepgen.03.steplen [JOINT_3]STEPLEN | |
| setp [HMOT](FPGA0).stepgen.03.stepspace [JOINT_3]STEPSPACE | |
| setp [HMOT](FPGA0).stepgen.03.position-scale [JOINT_3]STEP_SCALE | |
| setp [HMOT](FPGA0).stepgen.03.step_type 0 | |
| setp [HMOT](FPGA0).stepgen.03.control-type 1 | |
| setp [HMOT](FPGA0).stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL | |
| setp [HMOT](FPGA0).stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL | |
| # invert step output bit | |
| setp [HMOT](FPGA0).gpio.011.invert_output 1 | |
| # ---closedloop stepper signals--- | |
| net a-pos-cmd <= joint.3.motor-pos-cmd | |
| net a-vel-cmd <= joint.3.vel-cmd | |
| net a-output <= [HMOT](FPGA0).stepgen.03.velocity-cmd | |
| net a-pos-fb <= [HMOT](FPGA0).stepgen.03.position-fb | |
| net a-pos-fb => joint.3.motor-pos-fb | |
| net a-amp-enable <= joint.3.amp-enable-out | |
| net a-amp-enable => [HMOT](FPGA0).stepgen.03.enable | |
| # ---setup home / limit switch signals--- | |
| net all-home => joint.3.home-sw-in | |
| net a-neg-limit => joint.3.neg-lim-sw-in | |
| net a-pos-limit => joint.3.pos-lim-sw-in | |
| #****************************** | |
| # connect miscellaneous signals | |
| #****************************** | |
| # ---HALUI signals--- | |
| net axis-select-x halui.axis.x.select | |
| net x-is-homed halui.joint.0.is-homed | |
| net axis-select-y halui.axis.y.select | |
| net y-is-homed halui.joint.1.is-homed | |
| net axis-select-z halui.axis.z.select | |
| net z-is-homed halui.joint.2.is-homed | |
| net axis-select-a halui.axis.a.select | |
| net a-is-homed halui.joint.3.is-homed | |
| net jog-selected-pos halui.axis.selected.plus | |
| net jog-selected-neg halui.axis.selected.minus | |
| net spindle-manual-cw halui.spindle.0.forward | |
| net spindle-manual-ccw halui.spindle.0.reverse | |
| net spindle-manual-stop halui.spindle.0.stop | |
| net MDI-mode halui.mode.is-mdi | |
| # ---coolant signals--- | |
| net coolant-mist <= iocontrol.0.coolant-mist | |
| net coolant-flood <= iocontrol.0.coolant-flood | |
| # ---probe signal--- | |
| net probe-in => motion.probe-input | |
| # ---motion control signals--- | |
| net in-position <= motion.in-position | |
| net machine-is-enabled <= motion.motion-enabled | |
| # ---digital in / out signals--- | |
| # ---estop signals--- | |
| net estop-out <= iocontrol.0.user-enable-out | |
| net estop-out => iocontrol.0.emc-enable-in | |
| # ---manual tool change signals--- | |
| loadusr -W hal_manualtoolchange | |
| net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change | |
| net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed | |
| net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number | |
| net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared | |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # DO NOT RUN PNCCONF EVER AGAIN | |
| [EMC] | |
| MACHINE = Razor-5i25 | |
| DEBUG = 0 | |
| VERSION = 1.1 | |
| [DISPLAY] | |
| DISPLAY = axis | |
| POSITION_OFFSET = RELATIVE | |
| POSITION_FEEDBACK = ACTUAL | |
| MAX_FEED_OVERRIDE = 2.000000 | |
| MAX_SPINDLE_OVERRIDE = 1.000000 | |
| MIN_SPINDLE_OVERRIDE = 0.500000 | |
| INTRO_GRAPHIC = /home/ed/linuxcnc/configs/razor-5i25/Sherline.gif | |
| INTRO_TIME = 3 | |
| PROGRAM_PREFIX = /mnt/bulkdata/ | |
| INCREMENTS = 50mm 10mm 1mm 0.1mm 90 45 10 5 1 | |
| GRIDS = 100mm 50mm 25mm 10mm 5mm | |
| POSITION_FEEDBACK = ACTUAL | |
| DEFAULT_LINEAR_VELOCITY = 0.200000 | |
| MAX_LINEAR_VELOCITY = 0.400000 | |
| MIN_LINEAR_VELOCITY = 0.016670 | |
| DEFAULT_ANGULAR_VELOCITY = 12.000000 | |
| MAX_ANGULAR_VELOCITY = 180.000000 | |
| MIN_ANGULAR_VELOCITY = 1.666667 | |
| EDITOR = gedit | |
| GEOMETRY = axyz | |
| [FILTER] | |
| PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image | |
| PROGRAM_EXTENSION = .py Python Script | |
| png = image-to-gcode | |
| gif = image-to-gcode | |
| jpg = image-to-gcode | |
| py = python | |
| [TASK] | |
| TASK = milltask | |
| CYCLE_TIME = 0.010 | |
| [RS274NGC] | |
| PARAMETER_FILE = linuxcnc.var | |
| RS274NGC_STARTUP_CODE = G21 G40 G49 G54 G80 G90 G92.1 G94 G97 G98 | |
| [EMCMOT] | |
| EMCMOT = motmod | |
| COMM_TIMEOUT = 1.0 | |
| SERVO_PERIOD = 1000000 | |
| [HMOT] | |
| FPGA0 = hm2_5i25.0 | |
| [HAL] | |
| TWOPASS = on | |
| HALUI = halui | |
| HALFILE = razor-5i25.hal | |
| #HALFILE = joggy.hal | |
| HALFILE = custom.hal | |
| POSTGUI_HALFILE = postgui_call_list.hal | |
| SHUTDOWN = shutdown.hal | |
| #HALFILE = LIB:halcheck.tcl | |
| [HALUI] | |
| [KINS] | |
| JOINTS = 4 | |
| KINEMATICS = trivkins coordinates=XYZA | |
| [TRAJ] | |
| COORDINATES = XYZA | |
| LINEAR_UNITS = inch | |
| ANGULAR_UNITS = degree | |
| DEFAULT_LINEAR_VELOCITY = 0.10 | |
| MAX_LINEAR_VELOCITY = 0.4 | |
| MAX_ANGULAR_VELOCITY = 45 | |
| DEFAULT_ANGULAR_VELOCITY = 25.00 | |
| NO_FORCE_HOMING = 1 | |
| POSITION_FILE = lastposition.txt | |
| [EMCIO] | |
| EMCIO = io | |
| CYCLE_TIME = 0.100 | |
| TOOL_TABLE = tool.tbl | |
| #****************************************** | |
| [AXIS_X] | |
| MIN_LIMIT = -1.0 | |
| MAX_LIMIT = 9.5 | |
| MAX_VELOCITY = 0.4 | |
| MAX_ACCELERATION = 5.0 | |
| [JOINT_0] | |
| TYPE = LINEAR | |
| FERROR = 0.01 | |
| MIN_FERROR = 0.001 | |
| MAX_VELOCITY = 0.4 | |
| MAX_ACCELERATION = 5.0 | |
| BACKLASH = 0.003 | |
| # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION | |
| # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. | |
| STEPGEN_MAXVEL = 0.6 | |
| STEPGEN_MAXACCEL = 20 | |
| P = 1000.0 | |
| I = 0.0 | |
| D = 0.0 | |
| FF0 = 0.0 | |
| FF1 = 1.0 | |
| FF2 = 0.0 | |
| BIAS = 0.0 | |
| DEADBAND = 0.0 | |
| MAX_OUTPUT = 0.0 | |
| # these are in nanoseconds | |
| DIRSETUP = 25000 | |
| DIRHOLD = 25000 | |
| STEPLEN = 25000 | |
| STEPSPACE = 25000 | |
| STEP_SCALE = 16000 | |
| MIN_LIMIT = -1.0 | |
| MAX_LIMIT = 9.5 | |
| HOME = 5.25 | |
| HOME_OFFSET = 9.1 | |
| HOME_SEARCH_VEL = 0.3 | |
| HOME_LATCH_VEL = 0.03 | |
| HOME_FINAL_VEL = 0.4 | |
| HOME_USE_INDEX = NO | |
| HOME_IS_SHARED = 1 | |
| HOME_SEQUENCE = 1 | |
| #****************************************** | |
| #****************************************** | |
| [AXIS_Y] | |
| MIN_LIMIT = 0.00 | |
| MAX_LIMIT = 5.10 | |
| MAX_VELOCITY = 0.4 | |
| MAX_ACCELERATION = 5.0 | |
| [JOINT_1] | |
| TYPE = LINEAR | |
| FERROR = 0.01 | |
| MIN_FERROR = 0.001 | |
| MAX_VELOCITY = 0.4 | |
| MAX_ACCELERATION = 5.0 | |
| BACKLASH = 0.003 | |
| # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION | |
| # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. | |
| STEPGEN_MAXVEL = 0.6 | |
| STEPGEN_MAXACCEL = 10.0 | |
| P = 1000.0 | |
| I = 0.0 | |
| D = 0.0 | |
| FF0 = 0.0 | |
| FF1 = 1.0 | |
| FF2 = 0.0 | |
| BIAS = 0.0 | |
| DEADBAND = 0.0 | |
| MAX_OUTPUT = 0.0 | |
| # these are in nanoseconds | |
| DIRSETUP = 25000 | |
| DIRHOLD = 25000 | |
| STEPLEN = 25000 | |
| STEPSPACE = 25000 | |
| STEP_SCALE = 16000 | |
| MIN_LIMIT = 0.0 | |
| MAX_LIMIT = 5.1 | |
| HOME = 4.5 | |
| HOME_OFFSET = 5.1 | |
| HOME_SEARCH_VEL = 0.3 | |
| HOME_LATCH_VEL = 0.03 | |
| HOME_FINAL_VEL = 0.4 | |
| HOME_USE_INDEX = NO | |
| HOME_IS_SHARED = 1 | |
| HOME_SEQUENCE = 2 | |
| #****************************************** | |
| #****************************************** | |
| [AXIS_Z] | |
| MIN_LIMIT = 0.0 | |
| MAX_LIMIT = 6.680 | |
| MAX_VELOCITY = 0.333 | |
| MAX_ACCELERATION = 3.0 | |
| [JOINT_2] | |
| TYPE = LINEAR | |
| FERROR = 0.01 | |
| MIN_FERROR = 0.001 | |
| MAX_VELOCITY = 0.333 | |
| MAX_ACCELERATION = 3.0 | |
| BACKLASH = 0.005 | |
| # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION | |
| # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. | |
| STEPGEN_MAXVEL = 0.6 | |
| STEPGEN_MAXACCEL = 6 | |
| P = 1000.0 | |
| I = 0.0 | |
| D = 0.0 | |
| FF0 = 0.0 | |
| FF1 = 1.0 | |
| FF2 = 0.0 | |
| BIAS = 0.0 | |
| DEADBAND = 0.0 | |
| MAX_OUTPUT = 0.0 | |
| # these are in nanoseconds | |
| DIRSETUP = 25000 | |
| DIRHOLD = 25000 | |
| STEPLEN = 25000 | |
| STEPSPACE = 25000 | |
| STEP_SCALE = 16000 | |
| MIN_LIMIT = 0.0 | |
| MAX_LIMIT = 6.68 | |
| HOME = 6.5 | |
| HOME_OFFSET = 6.68 | |
| HOME_SEARCH_VEL = 0.15 | |
| HOME_LATCH_VEL = 0.015 | |
| HOME_FINAL_VEL = 0.33 | |
| HOME_USE_INDEX = NO | |
| HOME_IS_SHARED = 1 | |
| HOME_SEQUENCE = 0 | |
| #****************************************** | |
| #****************************************** | |
| [AXIS_A] | |
| MIN_LIMIT = -9999999 | |
| MAX_LIMIT = 9999999 | |
| MAX_VELOCITY = 45.0 | |
| MAX_ACCELERATION = 250.0 | |
| [JOINT_3] | |
| TYPE = ANGULAR | |
| FERROR = 0.1 | |
| MIN_FERROR = 0.01 | |
| MAX_VELOCITY = 45.0 | |
| MAX_ACCELERATION = 250.0 | |
| # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION | |
| # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. | |
| STEPGEN_MAXVEL = 50 | |
| STEPGEN_MAXACCEL = 300 | |
| P = 1000.0 | |
| I = 0.0 | |
| D = 0.0 | |
| FF0 = 0.0 | |
| FF1 = 1.0 | |
| FF2 = 0.0 | |
| BIAS = 0.0 | |
| DEADBAND = 0.0 | |
| MAX_OUTPUT = 0.0 | |
| # these are in nanoseconds | |
| DIRSETUP = 25000 | |
| DIRHOLD = 25000 | |
| STEPLEN = 25000 | |
| STEPSPACE = 25000 | |
| STEP_SCALE = 160 | |
| MIN_LIMIT = -9999999 | |
| MAX_LIMIT = 9999999 | |
| HOME = 0.0 | |
| HOME_OFFSET = 0 | |
| HOME_SEARCH_VEL = 0 | |
| HOME_LATCH_VEL = 0 | |
| HOME_FINAL_VEL = 0 | |
| HOME_USE_INDEX = NO | |
| HOME_SEQUENCE = 3 | |
| #****************************************** |
Adapting the HAL code driving my Joggy Thing to its new home didn’t go quite as smoothly, about which, more later.
The Smell of Molten Projects in the Morning 
One thought on “LinuxCNC: Mesa 5I25 For The Sherline Mill”
Comments are closed.