adding files

2026-03-21 23:48:08 +01:00
parent eba2b73dec
commit 18f86cfd1e
105 changed files with 13770 additions and 0 deletions
--- a/my-emco-compact-5/custom.hal
+++ b/my-emco-compact-5/custom.hal
@@ -0,0 +1,127 @@
+# Include your custom HAL commands here
+# This file will not be overwritten when you run stepconf again
+loadrt near names=spindle-at-speed
+loadrt siggen num_chan=1 #spincle speed control
+loadrt and2 count=4      # 0 used in e-stop chain,
+                         # 1,2,3 used för connecting spindle speed gain selection
+loadrt classicladder_rt
+loadrt timedelay count=1
+
+addf spindle-at-speed servo-thread
+addf scale.1          servo-thread
+addf scale.2          servo-thread
+addf scale.3          servo-thread
+addf scale.4          servo-thread
+addf siggen.0.update  servo-thread
+addf and2.0           servo-thread
+addf and2.1           servo-thread
+addf and2.2           servo-thread
+addf and2.3           servo-thread
+addf classicladder.0.refresh servo-thread
+addf timedelay.0 servo-thread
+
+loadusr -Wn my-mpg python3 serialEventHandler.py --port=/dev/ttyUSB0 -c my-mpg mpg.xml
+loadusr classicladder test_ladder.clp --nogui
+#loadusr classicladder test_ladder.clp
+
+### spindle at speed monitoring ###
+setp spindle-at-speed.scale 0.98
+setp spindle-at-speed.difference 10
+net spindle-cmd-rpm => spindle-at-speed.in1
+#net spindle-rpm-filtered-low-res => spindle-at-speed.in2 # moved to postgui
+
+### temp... until encoder works...
+#net spindle-ready <= spindle-at-speed.out => spindle.0.at-speed
+net spindle-ready => spindle.0.at-speed
+sets spindle-ready 1
+###
+
+### spindle cw start/stop ###
+net spindle-cw <= spindle.0.forward
+net spindle-cw => parport.0.pin-14-out # turn on spindle
+### spindle ccw start/stop ###
+net spindle-ccw <= spindle.0.reverse
+net spindle-ccw => parport.0.pin-17-out # turn on spindle ccw
+
+### spindle speed ctrl ###
+# gain and offset is set via M199/O<myspindlegain> when homed 
+#setp scale.1.gain 0.473
+#setp scale.1.offset 26.5
+setp siggen.0.amplitude 1
+setp siggen.0.offset 0
+
+net spindle-cmd-rpm-abs => scale.1.in
+net scaled-spindle-cmd scale.1.out => siggen.0.frequency 
+net spindle-freq siggen.0.clock => parport.0.pin-16-out
+
+
+### e-stop chain ###
+net estop-internal <= iocontrol.0.user-enable-out
+#estop-external connected to parport.0.pin-11-in-not 
+
+net estop-internal => and2.0.in0
+net estop-external => and2.0.in1
+net estop-chain and2.0.out => iocontrol.0.emc-enable-in
+
+
+### pendant ##########################################
+
+# mpg spindle speed control
+net spindle-rpm-cmd-up    classicladder.0.out-08 halui.mdi-command-00 
+net spindle-rpm-cmd-down  classicladder.0.out-09 halui.mdi-command-01 
+
+# axis selector connects to x, z axis enable
+net jog-axis-sel    my-mpg.axis-selector
+net jog-axis-sel    classicladder.0.s32in-00
+
+net jog-x-enable    classicladder.0.out-00
+net jog-z-enable    classicladder.0.out-01
+net jog-x-enable    halui.axis.x.select
+net jog-z-enable    halui.axis.z.select
+
+# jog scale selector/velocity mode
+setp scale.2.gain 0.01
+setp scale.2.offset 0
+net jog-scale-sel      my-mpg.scale-selector
+net jog-scale-sel      classicladder.0.s32in-01
+net jog-increment-100  classicladder.0.floatout-00     scale.2.in
+net jog-increment      halui.axis.selected.increment   scale.2.out
+
+# jogging plus and minus
+setp halui.axis.jog-speed 800
+net mpg-jog-plus-in     my-mpg.jog-pos-btn    => classicladder.0.in-00
+net mpg-jog-minus-in    my-mpg.jog-neg-btn    => classicladder.0.in-01
+
+net mpg-jog-plus-inc   classicladder.0.out-04 => halui.axis.selected.increment-plus
+net mpg-jog-minus-inc  classicladder.0.out-06 => halui.axis.selected.increment-minus  
+net mpg-jog-plus       classicladder.0.out-05 => halui.axis.selected.plus
+net mpg-jog-minus      classicladder.0.out-07 => halui.axis.selected.minus
+
+# connect Func-button
+net func-button    my-mpg.func-btn halui.mdi-command-02
+
+# connect E-Stop button
+net estop-button       halui.estop.activate   <= my-mpg.estop-btn
+
+# joystic
+setp scale.3.gain 0.01
+setp scale.3.offset 0
+setp scale.4.gain 0.01
+setp scale.4.offset 0
+net joystick-x my-mpg.joystick-x scale.3.in
+net joystick-x-scaled scale.3.out halui.axis.x.analog
+
+net joystick-z my-mpg.joystick-z scale.4.in
+net joystick-z-scaled scale.4.out halui.axis.z.analog 
+
+### Misc #################################################
+
+# all-homed used to enable some of the panels and trigger some other stuff
+net all-homed motion.is-all-homed
+
+# set the saved spindle speed selection gain
+#setp timedelay.0.on-delay 1
+net all-homed timedelay.0.in
+net all-homed-delayed timedelay.0.out
+net all-homed-delayed halui.mdi-command-06
+