Browse Source

axis working now

xhcb04
ton, LinuxCNCMESA 4 years ago
parent
commit
3e862079fd
  1. 2
      io.hal
  2. 114
      mesa_2019.clp
  3. 6
      mesa_2019.hal
  4. 25
      mesa_2019.ini
  5. 2
      mesa_2019.var
  6. 2
      mesa_2019.var.bak

2
io.hal

@ -1,4 +1,4 @@
# This file was created with the 7i96 Wizard on Apr 16 2019 15:24:52
# This file was created with the 7i96 Wizard on Apr 18 2019 14:31:32
# If you make changes to this file your screwed
net home-joint-0 joint.0.home-sw-in <= hm2_7i96.0.gpio.000.in

114
mesa_2019.clp

@ -0,0 +1,114 @@
_FILES_CLASSICLADDER
_FILE-symbols.csv
#VER=1.0
_/FILE-symbols.csv
_FILE-modbusioconf.csv
#VER=1.0
_/FILE-modbusioconf.csv
_FILE-com_params.txt
MODBUS_MASTER_SERIAL_PORT=
MODBUS_MASTER_SERIAL_SPEED=9600
MODBUS_ELEMENT_OFFSET=0
MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
MODBUS_MASTER_TIME_INTER_FRAME=100
MODBUS_MASTER_TIME_OUT_RECEIPT=500
MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
MODBUS_DEBUG_LEVEL=0
MODBUS_MAP_COIL_READ=0
MODBUS_MAP_COIL_WRITE=0
MODBUS_MAP_INPUT=0
MODBUS_MAP_HOLDING=0
MODBUS_MAP_REGISTER_READ=0
MODBUS_MAP_REGISTER_WRITE=0
_/FILE-com_params.txt
_FILE-timers_iec.csv
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
1,0,0
_/FILE-timers_iec.csv
_FILE-timers.csv
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-timers.csv
_FILE-counters.csv
0
0
0
0
0
0
0
0
0
0
_/FILE-counters.csv
_FILE-sections.csv
#VER=1.0
#NAME000=Prog1
000,0,-1,0,0,0
_/FILE-sections.csv
_FILE-arithmetic_expressions.csv
#VER=2.0
_/FILE-arithmetic_expressions.csv
_FILE-rung_0.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=0
#NEXTRUNG=0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_0.csv
_FILE-ioconf.csv
#VER=1.0
_/FILE-ioconf.csv
_FILE-monostables.csv
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-monostables.csv
_FILE-sequential.csv
#VER=1.0
_/FILE-sequential.csv
_FILE-general.txt
PERIODIC_REFRESH=50
SIZE_NBR_RUNGS=100
SIZE_NBR_BITS=500
SIZE_NBR_WORDS=100
SIZE_NBR_TIMERS=10
SIZE_NBR_MONOSTABLES=10
SIZE_NBR_COUNTERS=10
SIZE_NBR_TIMERS_IEC=10
SIZE_NBR_PHYS_INPUTS=15
SIZE_NBR_PHYS_OUTPUTS=15
SIZE_NBR_ARITHM_EXPR=100
SIZE_NBR_SECTIONS=10
SIZE_NBR_SYMBOLS=100
_/FILE-general.txt
_/FILES_CLASSICLADDER

6
mesa_2019.hal

@ -1,4 +1,4 @@
# This file was created with the 7i96 Wizard on Apr 16 2019 15:24:52
# This file was created with the 7i96 Wizard on Apr 18 2019 14:31:32
# If you make changes to this file DO NOT run the configuration tool again!
# This file will be replaced with a new file if you do!
@ -177,3 +177,7 @@ 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-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
# # Load Classicladder without GUI
loadrt classicladder_rt
addf classicladder.0.refresh servo-thread 1

25
mesa_2019.ini

@ -1,4 +1,4 @@
# This file was created with the 7i96 Wizard on Apr 16 2019 15:24:52
# This file was created with the 7i96 Wizard on Apr 18 2019 14:31:32
# Changes to most things are ok and will be read by the wizard
[EMC]
@ -18,11 +18,12 @@ SSERIAL_PORT = 1
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = COMMANDED
MAX_FEED_OVERRIDE = 1.2
MAX_FEED_OVERRIDE = 1.6000000000000003
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""
PYVCP = mesa_2019.xml
[KINS]
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
@ -61,7 +62,7 @@ HALUI = halui
[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 540
MAX_LIMIT = 541
MAX_VELOCITY = 30
MAX_ACCELERATION = 45
@ -80,7 +81,7 @@ MAX_ACCELERATION = 30
[JOINT_0]
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 540
MAX_LIMIT = 541
MAX_VELOCITY = 30
MAX_ACCELERATION = 45
TYPE = LINEAR
@ -89,8 +90,8 @@ STEPGEN_MAX_VEL = 36.0
STEPGEN_MAX_ACC = 54.0
FERROR = 0.0051
MIN_FERROR = 0.0025
DIRSETUP = 50000
DIRHOLD = 50000
DIRSETUP = 100000
DIRHOLD = 100000
STEPLEN = 22000
STEPSPACE = 22000
DEADBAND = 0
@ -103,10 +104,10 @@ FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 100
HOME_OFFSET = 100
HOME = 541
HOME_OFFSET = 540
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = 2.5
HOME_LATCH_VEL = -2.5
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False
@ -265,6 +266,6 @@ OUTPUT_4 = None
[OPTIONS]
MANUAL_TOOL_CHANGE = True
HALUI = True
PYVCP = False
GLADEVCP = False
LADDER = False
PYVCP = True
GLADEVCP = True
LADDER = True

2
mesa_2019.var

@ -27,7 +27,7 @@
5218 0.000000
5219 0.000000
5220 1.000000
5221 540.000000
5221 0.000000
5222 0.000000
5223 0.000000
5224 0.000000

2
mesa_2019.var.bak

@ -27,7 +27,7 @@
5218 0.000000
5219 0.000000
5220 1.000000
5221 540.000000
5221 0.000000
5222 0.000000
5223 0.000000
5224 0.000000

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