The Smell of Molten Projects in the Morning
Ed Nisley's Blog: Shop notes, electronics, firmware, machinery, 3D printing, laser cuttery, and curiosities. Contents: 100% human thinking, 0% AI slop.
Somebody posted a Reddit comment linking to my post about a sensibly implemented water heater anode rod, with predictable results:
Reddit’s New Hotness has a half-life well under a day, although a steady trickle of incoming traffic will continue forever: The Internet Never Forgets.
Protip: forcing Reddit URLs to old.reddit.com eliminates the user-hostile site layout. Manual tweaking suffices for my very few visits; you can find browser extensions for on-the-fly rewriting.
The blue LED inside the radome got fainter as the alkaline AA cells faded away, but remained visible in a dark room until the discrete LM3909 circuitry stopped oscillating with the battery at 1.0 V. One of the cells had flatlined, with the other supplying what little current was needed.
The circuitry restarted with a pair of weak alkalines applying 2.4 V across the bus bars:
The LED waveform shows it needs about 2 V:
It’s barely visible in normal room light and strikingly bright at night.
Most likely due to the fiddling around the larger rear brake noodle, the 3D printed bracket holding the fender to the frame failed:
Hey, it lasted for six years.
Making another one just like the other one, but with a little more clearance for the brake cable fittings, required a few tweaks to the solid model:
It’s slightly less chunky and holds the fender a bit closer to the tire:
The piece over on the left cupping the fender wasn’t broken, so I scuffed up the mating surfaces, applied a layer of JB Plastic Bonder (my new go-to adhesive for printed stuff), clamped it overnight, and it looked OK.
While that was curing, I shortened the screw holding the clamp to the bike frame:
The shop vac nozzle does a great job of collecting all the abrasive dust; highly recommended.
Because I had a dollop of adhesive left over, I applied a 1.8 mm drill (from a set of metric bits I’d been meaning to buy for far too long) to the screw:
And glued a snippet of pretty blue PETG filament in the hole:
As far as I can tell, this will have no effect on the screw’s goodness, but it makes me feel better about crunching it onto the frame.
Installation goes like you’d expect and there’s now enough clearance to keep the brake hardware off the bracket:
I replaced the boot while installing the larger noodle; perhaps I should have trimmed most of it away.
The riding season is upon us!
Mary’s most recent quilt arranges her color choices in Judy Niemeyer’s Stellar Snowflake pattern:
Her Juki TL-2010Q sewing machine has a built-in thread cutter activated by pressing down on the heel end (to the left) of the foot control:
The machine had previously performed “uncommanded” thread cuts on other projects, but the many short segments in this pattern triggered far too many cuts. I aimed a camera at her foot on the pedal and she was definitely not pressing down with her heel when the cutter fired.
In point of fact, the thread cutter fired when she was just starting a new segment, where she was gently pressing down on the toe end (to the right) of the pedal to start at the slowest possible speed.
For completeness, the underside of the pedal:
There are no screws holding it together. The top cover pivots on a pair of plastic pegs sticking out from the base near the middle of the cable spool. Disassembly requires jamming a pair of husky Prydrivers in there and applying enough brute force to pry both sides outward farther than you (well, I) think they should bend. This will scar the bottom of the case, but nobody will ever notice.
The foot control cable plugs into the machine through what looks like an ordinary two-conductor coax plug, just like the ones on wall warts delivering power to gadgets around the house. In this day and age, the communications protocol could be anything from a simple resistor to a full-frontal 1-Wire encrypted data exchange.
Based on the old Kenmore foot pedals, I expected a resistive control and, indeed, a simple test gave these results:
We can all see where this is going, but just to be sure I pried the top off the control to reveal the insides:
The two cylindrical features capture the ends of a pair of stiff compression springs pressing the top of the pedal upward.
The small, slightly stretched, extension spring in the middle pulls the slider to the left (heelward), with a ramp in the top cover forcing it to the right (toeward) as the speed increases.
The top cover includes a surprisingly large hunk of metal which may provide enough mass to make the pedal feel good:
The ramp is plastic and the slider has a pair of nylon (-ish) rollers, so there’s not much friction involved in the speed control part of motion. Yes, this is oriented the other way, with the heel end over on the right.
The metal insert pivots in the serrated plastic section near the middle, with the two husky extension springs visible on the left holding it against the plastic cover. The two rectangular features on the left rest under the plastic flanges on the right of the base to prevent the metal insert from moving upward, so pressing the heel end down pulls the cover away from the insert to let the slider rollers move toward the right end of the ramp, into roughly the position shown in the interior view.
A closeup look at the slider shows the rollers and the PCB holding all of the active ingredients:
I think the trimpot adjusts the starting resistance for the slider’s speed control travel. It is, comfortingly, roughly in the middle of its range.
A top view shows the fixed 140 kΩ resistor (brown yellow black orange, reading from the right) setting the idle resistance:
Measuring the resistance while gently teasing the slider showed that it’s possible to produce a resistance higher than 20 kΩ and lower than 140 kΩ, although it requires an exceedingly finicky touch and is completely unstable.
Before looking inside the pedal, we thought the cutter was triggered by an actual switch closure with the heel end most of the way downward against those stiff springs, which meant the failure came from a switch glitch. Now, we think the earlier and infrequent uncommanded thread cuts trained Mary to start very carefully to be very sure she wasn’t glitching the cutter’s hypothetical switch. Of course, her gradually increasing toe pressure moved the slider very slowly through its idle-to-running transition: she was optimizing her behavior to produce exactly the resistance required to trigger the cutter.
She now sets the machine’s speed control midway between Turtle and Hare to limit its top speed, presses the pedal with more confidence to minimize the time spent passing through the danger zone, and has had far few uncommanded thread cuts. We think it’s now a matter of retraining her foot to stomp with conviction; there’s no hardware or software fix.
I’m sure Juki had a good reason to select the resistances they did, but I would have gone for a non-zero minimum resistance at the fast end of travel and a zero-resistance switch to trigger the cutter.
Sometimes, sticky labels hold on forever:
It’s standing near what was once the Red Oaks Mill dam, which continues to disintegrate:
Sixteen years ago, the dam was in better shape:
Maybe the sign was shiny-new back then?
After getting the Sherline mostly working with LinuxCNC 2.8 and the Mesa 5I25 FPGA card, I updated the HAL code turning the Logitech gamepad into The Joggy Thing:
This required significantly more effort than I expected, mainly because I can no longer edit the Eagle schematics defining the HAL file. In the intervening years, Autodesk bought the Eagle EE CAD program, converted it into a subscription service, sutured it onto their Fusion 360 package, and priced the result far beyond my toy budget. While they do offer a free tier limited to “individuals for personal, non-commercial use”, schematics with only two sheets pretty much wipes out its value.
Because the EESchema part of Kicad can export its netlists as XML files, someone experienced in wrangling XSLT, perhaps using Python + lxml, could recreate the function of the Eagle ULP with Kicad schematics / netlists. I am not, however, that person, although it would certainly be a Learning Experience™ of the first water.
So I updated the automatically generated HAL file on hard mode with a text editor, which, given HAL’s limited debugging support, somewhat resembles juggling a greasy bowling ball, a full-throttle chainsaw, and a squalling baby in a poopy diaper.
The major conceptual problem was LinuxCNC’s recent separation of “axes” from “joints”, with resulting changes in both nomenclature and control. Eventually, I found some key hints in a very recent update to a LinuxCNC wiki entry describing a similar Logitech gamepad interface.
The basic Joggy Thing logic remains the same, with “analog” values from the joysticks now presented to both the halui.axis and halui.joint controls. The new trick of holding the pre-startup values (presumably zeros) with feedback around a multiplexer qualifies as a Moby Hack preventing a startup glitch from triggering an error having something to do with an E-stop.
The machine still runs away on X and Z at full throttle instantly after tapping the Machine-On button for the first time in the morning. Come to find out the gamepad starts up with all four joysticks jammed at -1 until the first activation of any axis or button, which I’m sure it always did, but something in HAL’s bowels now responds differently. More work will be required, although I think the simplest solution will involve holding everything inert until the logic sees a specific gamepad button.
The LinuxCNC HAL code as a GitHub Gist:
| # HAL for Logitech Joggy Thing | |
| #################################################### | |
| # Load realtime and userspace modules | |
| loadusr -W hal_input -KA Dual | |
| #loadrt logic count=1 personality=0x104 | |
| loadrt constant count=13 | |
| loadrt and2 count=17 | |
| loadrt conv_float_s32 count=1 | |
| loadrt flipflop count=4 | |
| loadrt mux2 count=1 | |
| loadrt mux4 count=5 | |
| loadrt not count=8 | |
| loadrt or2 count=13 | |
| loadrt scale count=7 | |
| loadrt timedelay count=1 | |
| loadrt toggle count=1 | |
| #################################################### | |
| # Hook functions into threads | |
| #addf logic.0 servo-thread | |
| addf constant.0 servo-thread | |
| addf constant.1 servo-thread | |
| addf constant.2 servo-thread | |
| addf constant.3 servo-thread | |
| addf constant.4 servo-thread | |
| addf constant.5 servo-thread | |
| addf constant.6 servo-thread | |
| addf constant.7 servo-thread | |
| addf constant.8 servo-thread | |
| addf constant.9 servo-thread | |
| addf constant.10 servo-thread | |
| addf constant.11 servo-thread | |
| addf constant.12 servo-thread | |
| addf and2.0 servo-thread | |
| addf and2.1 servo-thread | |
| addf and2.2 servo-thread | |
| addf and2.3 servo-thread | |
| addf and2.4 servo-thread | |
| addf and2.5 servo-thread | |
| addf and2.6 servo-thread | |
| addf and2.7 servo-thread | |
| addf and2.8 servo-thread | |
| addf and2.9 servo-thread | |
| addf and2.10 servo-thread | |
| addf and2.11 servo-thread | |
| addf and2.12 servo-thread | |
| addf and2.13 servo-thread | |
| addf and2.14 servo-thread | |
| addf and2.15 servo-thread | |
| addf and2.16 servo-thread | |
| addf conv-float-s32.0 servo-thread | |
| addf toggle.0 servo-thread | |
| addf flipflop.0 servo-thread | |
| addf flipflop.1 servo-thread | |
| addf flipflop.2 servo-thread | |
| addf flipflop.3 servo-thread | |
| addf timedelay.0 servo-thread | |
| addf or2.0 servo-thread | |
| addf or2.1 servo-thread | |
| addf or2.2 servo-thread | |
| addf or2.3 servo-thread | |
| addf or2.4 servo-thread | |
| addf or2.5 servo-thread | |
| addf or2.6 servo-thread | |
| addf or2.7 servo-thread | |
| addf or2.8 servo-thread | |
| addf or2.9 servo-thread | |
| addf or2.10 servo-thread | |
| addf or2.11 servo-thread | |
| addf or2.12 servo-thread | |
| addf not.0 servo-thread | |
| addf not.1 servo-thread | |
| addf not.2 servo-thread | |
| addf not.3 servo-thread | |
| addf not.4 servo-thread | |
| addf not.5 servo-thread | |
| addf not.6 servo-thread | |
| addf not.7 servo-thread | |
| addf scale.0 servo-thread | |
| addf scale.1 servo-thread | |
| addf scale.2 servo-thread | |
| addf scale.3 servo-thread | |
| addf scale.4 servo-thread | |
| addf scale.5 servo-thread | |
| addf scale.6 servo-thread | |
| addf mux2.0 servo-thread | |
| addf mux4.0 servo-thread | |
| addf mux4.1 servo-thread | |
| addf mux4.2 servo-thread | |
| addf mux4.3 servo-thread | |
| addf mux4.4 servo-thread | |
| #################################################### | |
| # Set constants | |
| setp constant.0.value 0.1 | |
| setp constant.1.value 20 | |
| setp constant.2.value [TRAJ]MAX_LINEAR_VELOCITY | |
| setp constant.3.value [TRAJ]MAX_ANGULAR_VELOCITY | |
| setp constant.4.value 60 | |
| setp constant.5.value 0.50 | |
| setp constant.6.value 1.00 | |
| setp constant.7.value 0.10 | |
| setp constant.8.value 0.10 | |
| setp constant.9.value 0.0 | |
| setp constant.10.value -1.0 | |
| setp constant.11.value 0.020 | |
| setp constant.12.value 0.000 | |
| #################################################### | |
| # Connect Modules with nets | |
| # both rear top buttons for e-stop, bottom right to reset | |
| net estop-a input.0.btn-top2 and2.0.in0 | |
| net estop-b input.0.btn-base and2.0.in1 | |
| net n_13 and2.0.out halui.estop.activate | |
| net reset-estop input.0.btn-base2 halui.estop.reset | |
| # button to start manual mode (probably not needed with 2.8) | |
| net manual-mode halui.mode.manual input.0.btn-base3 | |
| net program-resume halui.program.resume input.0.btn-base4 | |
| net n_14 or2.3.in0 input.0.btn-base5 | |
| net n_15 or2.3.in1 input.0.btn-base6 | |
| net n_16 toggle.0.in or2.3.out | |
| net n_17 conv-float-s32.0.out input.0.abs-x-flat input.0.abs-y-flat input.0.abs-z-flat input.0.abs-rz-flat | |
| net n_18 constant.1.out conv-float-s32.0.in | |
| net n_19 constant.4.out scale.0.gain | |
| net n_20 constant.5.out scale.1.gain | |
| net n_21 constant.6.out scale.2.gain | |
| net n_22 constant.7.out scale.3.gain | |
| net n_23 scale.4.gain constant.8.out | |
| net n_24 constant.0.out halui.axis.jog-deadband | |
| net n_42 or2.7.in0 input.0.abs-x-is-pos | |
| net n_43 or2.7.in1 input.0.abs-x-is-neg | |
| net n_44 or2.8.in0 input.0.abs-y-is-pos | |
| net n_45 or2.8.in1 input.0.abs-y-is-neg | |
| net n_46 or2.9.in0 input.0.abs-z-is-pos | |
| net n_47 or2.9.in1 input.0.abs-z-is-neg | |
| net n_48 or2.10.in0 input.0.abs-rz-is-pos | |
| net n_49 or2.10.in1 input.0.abs-rz-is-neg | |
| net n_51 constant.10.out scale.5.gain scale.6.gain | |
| net n_57 and2.1.out halui.axis.x.minus halui.joint.0.minus | |
| net n_58 and2.2.out halui.axis.x.plus halui.joint.0.plus | |
| net n_59 and2.3.out halui.axis.y.minus halui.joint.1.minus | |
| net n_60 and2.4.out halui.axis.y.plus halui.joint.1.plus | |
| net n_61 and2.5.out halui.axis.z.minus halui.joint.2.minus | |
| net n_62 and2.6.out halui.axis.z.plus halui.joint.2.plus | |
| net n_63 and2.7.out halui.axis.a.minus halui.joint.3.minus | |
| net n_64 and2.8.out halui.axis.a.plus halui.joint.3.plus | |
| # sort out jog speeds | |
| net az-buttons-active or2.1.out or2.12.in1 | |
| net xy-buttons-active or2.5.out or2.12.in0 | |
| net any-buttons-active or2.12.out mux4.0.sel0 timedelay.0.in | |
| net n_54 constant.11.out timedelay.0.on-delay | |
| net n_55 constant.12.out timedelay.0.off-delay | |
| net n_56 timedelay.0.out and2.1.in1 and2.2.in1 and2.3.in1 and2.4.in1 and2.5.in1 and2.6.in1 and2.7.in1 and2.8.in1 | |
| net jog-crawl toggle.0.out mux4.0.sel1 | |
| net knob-fast scale.1.out mux4.0.in0 scale.3.in | |
| net button-fast scale.2.out mux4.0.in1 scale.4.in | |
| net knob-crawl scale.3.out mux4.0.in2 | |
| net button-crawl scale.4.out mux4.0.in3 | |
| net jog-speed mux4.0.out halui.axis.jog-speed halui.joint.jog-speed | |
| net angular_motion or2.11.out mux2.0.sel | |
| net n_25 constant.2.out mux2.0.in0 | |
| net n_26 constant.3.out mux2.0.in1 | |
| net vel-per-second mux2.0.out scale.0.in | |
| net vel-per-minute scale.0.out scale.1.in scale.2.in | |
| net az-reset and2.14.out flipflop.2.reset flipflop.3.reset | |
| net xy-reset and2.10.out flipflop.0.reset flipflop.1.reset | |
| # hold jog speed unchanged until machine turns on | |
| # mux S&H from https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Remote_Pendant | |
| net jog-mux-enable halui.machine.is-on mux4.1.sel1 mux4.2.sel1 mux4.3.sel1 mux4.4.sel1 | |
| net axis-disabled-value constant.9.out mux4.1.in2 mux4.2.in2 mux4.3.in2 mux4.4.in2 | |
| net x-analog mux4.1.out mux4.1.in0 mux4.1.in1 halui.axis.x.analog halui.joint.0.analog | |
| net y-analog mux4.2.out mux4.2.in0 mux4.2.in1 halui.axis.y.analog halui.joint.1.analog | |
| net z-analog mux4.3.out mux4.3.in0 mux4.3.in1 halui.axis.z.analog halui.joint.2.analog | |
| net a-analog mux4.4.out mux4.4.in0 mux4.4.in1 halui.axis.a.analog halui.joint.3.analog | |
| #net x-amp-enable logic.0.in-00 | |
| #net y-amp-enable logic.0.in-01 | |
| #net z-amp-enable logic.0.in-02 | |
| #net a-amp-enable logic.0.in-03 | |
| net x-buttons-active or2.4.out or2.5.in0 | |
| net x-disable not.4.out and2.12.in1 | |
| net x-enable flipflop.0.out not.4.in mux4.1.sel0 | |
| net x-hat-minus or2.4.in1 input.0.abs-hat0x-is-neg and2.1.in0 | |
| net x-hat-plus or2.4.in0 input.0.abs-hat0x-is-pos and2.2.in0 | |
| net x-jog input.0.abs-x-position mux4.1.in3 | |
| net x-knob-active or2.7.out not.0.in and2.9.in0 | |
| net x-knob-inactive not.0.out and2.10.in0 and2.11.in0 | |
| net x-set and2.9.out flipflop.0.set | |
| net y-buttons-active or2.6.out or2.5.in1 | |
| net y-disable not.5.out and2.9.in1 | |
| net y-enable flipflop.1.out not.5.in mux4.2.sel0 | |
| net y-hat-minus or2.6.in1 input.0.abs-hat0y-is-neg and2.4.in0 | |
| net y-hat-plus or2.6.in0 input.0.abs-hat0y-is-pos and2.3.in0 | |
| net y-jog input.0.abs-y-position scale.5.in | |
| net y-jog-reversed scale.5.out mux4.2.in3 | |
| net y-knob-active not.1.in or2.8.out and2.11.in1 | |
| net y-knob-inactive not.1.out and2.10.in1 | |
| net y-select and2.12.in0 and2.11.out | |
| net y-set flipflop.1.set and2.12.out | |
| net z-button-minus or2.2.in0 input.0.btn-thumb and2.5.in0 | |
| net z-button-plus or2.2.in1 input.0.btn-top and2.6.in0 | |
| net z-buttons-active or2.2.out or2.1.in1 | |
| net z-disable not.6.out and2.16.in1 | |
| net z-enable not.6.in flipflop.2.out mux4.3.sel0 | |
| net z-jog input.0.abs-rz-position scale.6.in | |
| net z-jog-reversed scale.6.out mux4.3.in3 | |
| net z-knob-active not.3.in or2.10.out and2.13.in0 | |
| net z-knob-inactive not.3.out and2.15.in0 and2.14.in0 | |
| net z-set and2.13.out flipflop.2.set | |
| net a-button-minus or2.0.in0 input.0.btn-joystick and2.7.in0 | |
| net a-button-plus or2.0.in1 input.0.btn-thumb2 and2.8.in0 | |
| net a-buttons-active or2.0.out or2.1.in0 or2.11.in1 | |
| net a-disable not.7.out and2.13.in1 | |
| net a-enable or2.11.in0 flipflop.3.out not.7.in mux4.4.sel0 | |
| net a-jog input.0.abs-z-position mux4.4.in3 | |
| net a-knob-active or2.9.out not.2.in and2.15.in1 | |
| net a-knob-inactive not.2.out and2.14.in1 | |
| net a-select and2.16.in0 and2.15.out | |
| net a-set flipflop.3.set and2.16.out |
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:
| # 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 | |
| # 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 