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The New Hotness

  • LinuxCNC: Mesa 5I25 For The Sherline Mill

    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 had 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:

    LinuxCNC - Sherline f-error
    LinuxCNC – Sherline f-error

    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
    view raw razor-5i25.hal hosted with ❤ by GitHub
    # 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
    #******************************************
    view raw razor-5i25.ini hosted with ❤ by GitHub

    Adapting the HAL code driving my Joggy Thing to its new home didn’t go quite as smoothly, about which, more later.