ATS Wiki - Benutzerbeiträge [de]

Fräse

2023-05-07T10:27:48Z

E.frey: /* Home switch (in)active before start of latch move? */

== Fragen? ==
Bei Fragen Erik Fragen!! Der ist auf jedenfall über Signal erreichbar Ansonsten mal ne Nachricht an 015730619818 schreiben. Auch wenn auf der Seite noch was fehlt dann füge ich das hinzu. :)

== Workflow ==

===== Das Modell vorbereiten =====

# Ein Modell in CAD entwerfen bspw. Fusion 360
# Das CAD Modell im CAM Modus von bspw. Fusion 360 (Fertigen) planen.
# Dann mit dem Enhanced Machine Controller (emc) Postprozessor exportieren.
# Die exportierte .ngc Datei auf den CNC Tausch Ordner schieben

===== Die Steuerung starten =====

# Den LinuxCNC Rechner hochfahren
# An der Steuerung (Schwarze Box) den Notausschalter herausziehen und mit dem Silberschalter die Box anmachen
# LinuxCNC "Maschiene" Shortcut starten
# Datei -> Open öffnet die NGC Datei

===== Vor dem Fräsen Checkliste =====

# Optimalerweise einmal an den Endschaltern wackeln und bei bedarf kleine Schrauben Nachziehen, da fehlt noch Locktite
# In Linux CNC die Referenzfahrt starten
# Das Werkstück antasten (Nullpunkt setzen)
# Die Spindel starten
# LinuxCNC Play klicken
# Es geht los

'''Wichtig dashier ist nur eine Checkliste und kein Tutorial, wenn du das noch nie gemacht hast hol dir vorher eine Einweisung, wenn man nicht weiß was man tuht kann viel kaputt gehen. (Motoren, Werkzeugtisch, Schraubstock, Klein Timmys Arm, Fräser und so)'''

Einweisung bei Erik Frey

== System ==
[[Datei:Nullpunkt der Fräse.png|mini|220x220px|Der Nullpunkt der Fräse]]
Auf dem Gerät läuft LinuxCNC in der Version 2.8.4. Dies ist auf einer 500GB HDD installiert, Zusätzlich befindet sich eine 480GB SSD im Rechner, die nicht angeschlossen ist, sobald LinuxCNC 2.9 verfügbar soll dies auf der SSD installiert werden.

=== Nullpunkt ===
Wie in dem Bild zusehen ist der Nullpunkt unten links vorne dies ist nicht an der selben stelle an der die Endschalter stehen. Hierdurch arbeitet man allerdings immer mit Positiven werten sowie die Steuerung auf der Tastatur ist intuitiv. Wenn man sich wie im Bild vor der Fräse steht.

=== Konfiguration ===
Um LinuxCNC zu starten muss eine Konfiguration geladen werden, eine Verknüpfung dazu befindet sich auf dem Desktop "Maschiene". Die HAL und die INI File der Konfiguration sind im Anhang aufgeführt. [[Datei:Grune einausbau gasdruckfeder.jpg|mini|220x220px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
=== Gasdruckfeder ===
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

== FAQ ==

=== Warum fehlt an der Y Achse das Handrad? ===
Da die Y-Achse eine sehr große übersetzung zwischen dem Antrieb und der Bewegung der Achse hat muss der Motor sich sehr schnell drehen um venünftige Vorschübe zu erreichen. Da das Handrad einiges an Trägheitsmoment mit in das System bringt, die Rotationsenergie mit ω2 eingeht und das Drehmoment mit steigender Drehzahl abnimmt schafft der Schrittmotor es nicht die Achse in Ausreichend geringer Zeit zu be und entschleunigen.

=== Wo kann ich meine STL hinschieben? ===
Nein! Das ding ist kein 3D Drucker.

=== Welcher Slicer ist am besten? ===
Nein! Das ding ist immer noch kein 3D Drucker.

=== Home switch (in)active before start of latch move? ===
Einfach nochmal Homen, das ist schon in Ordnung.

== Anhang ==
Konfigurationen sind nicht aktuell 05.05.2023

=== Maschiene.ini ===
<syntaxhighlight lang="ini" line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = Maschiene
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
#PYVCP = enPanel.xml Not necessary just use F2 or machine Enable
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 4.000000
MAX_LINEAR_VELOCITY = 14.0000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = Maschiene.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0

[JOINT_0]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
# 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 = 17
STEPGEN_MAXACCEL = 100
P = 120
I = 3
D = 11
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
ENCODER_SCALE = -800
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1280
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 40
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0

[JOINT_1]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = -5.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 3.0
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 10
MAX_ACCELERATION = 70
# 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 = 12
STEPGEN_MAXACCEL = 80
P = 180
I = 0.3
D = 10
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -2000
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1600
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0
HOME_OFFSET = -5.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0

[JOINT_2]
TYPE = LINEAR
#HOMING
HOME = 0.0
HOME_SEARCH_VEL = 5.5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
USE_INDEX = FALSE
HOME_SEQUENCE = 0

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
# 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 = 10
STEPGEN_MAXACCEL = 30
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -1600
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -2560
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

</syntaxhighlight>

=== Maschiene.hal ===
<syntaxhighlight line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4 num_pwmgens=0 num_stepgens=3 sserial_port_0=0000xx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.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.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals
setp hm2_7i92.0.gpio.003.is_output TRUE
setp hm2_7i92.0.gpio.003.invert_output TRUE
net machine-is-enabled => hm2_7i92.0.gpio.003.out

# external input signals

#*******************
# 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 0.012700

net x-index-enable <=> pid.x.index-enable
net x-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 hm2_7i92.0.stepgen.02.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [JOINT_0]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [JOINT_0]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [JOINT_0]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i92.0.stepgen.02.velocity-cmd
#net x-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
#net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

#net x-home-sw => 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 0.012700

net y-index-enable <=> pid.y.index-enable
net y-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 hm2_7i92.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i92.0.stepgen.00.velocity-cmd
#net y-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
#net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.00.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

#net y-home-sw => 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 0.012700

net z-index-enable <=> pid.z.index-enable
net z-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 hm2_7i92.0.stepgen.01.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [JOINT_2]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [JOINT_2]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [JOINT_2]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i92.0.stepgen.01.velocity-cmd
#net z-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
#net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

#net z-home-sw => 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

#*******************
# HOMING (ENCODER 03)
#*******************

net x-home-sw hm2_7i92.0.encoder.03.input-index => joint.0.home-sw-in
net y-home-sw hm2_7i92.0.encoder.03.input-b => joint.1.home-sw-in
net z-home-sw hm2_7i92.0.encoder.03.input-a => joint.2.home-sw-in

setp hm2_7i92.0.encoder.03.index-invert 1

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.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 machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
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

</syntaxhighlight>

Fräse

2023-05-07T10:27:28Z

E.frey: /* Fragen? */

== Fragen? ==
Bei Fragen Erik Fragen!! Der ist auf jedenfall über Signal erreichbar Ansonsten mal ne Nachricht an 015730619818 schreiben. Auch wenn auf der Seite noch was fehlt dann füge ich das hinzu. :)

== Workflow ==

===== Das Modell vorbereiten =====

# Ein Modell in CAD entwerfen bspw. Fusion 360
# Das CAD Modell im CAM Modus von bspw. Fusion 360 (Fertigen) planen.
# Dann mit dem Enhanced Machine Controller (emc) Postprozessor exportieren.
# Die exportierte .ngc Datei auf den CNC Tausch Ordner schieben

===== Die Steuerung starten =====

# Den LinuxCNC Rechner hochfahren
# An der Steuerung (Schwarze Box) den Notausschalter herausziehen und mit dem Silberschalter die Box anmachen
# LinuxCNC "Maschiene" Shortcut starten
# Datei -> Open öffnet die NGC Datei

===== Vor dem Fräsen Checkliste =====

# Optimalerweise einmal an den Endschaltern wackeln und bei bedarf kleine Schrauben Nachziehen, da fehlt noch Locktite
# In Linux CNC die Referenzfahrt starten
# Das Werkstück antasten (Nullpunkt setzen)
# Die Spindel starten
# LinuxCNC Play klicken
# Es geht los

'''Wichtig dashier ist nur eine Checkliste und kein Tutorial, wenn du das noch nie gemacht hast hol dir vorher eine Einweisung, wenn man nicht weiß was man tuht kann viel kaputt gehen. (Motoren, Werkzeugtisch, Schraubstock, Klein Timmys Arm, Fräser und so)'''

Einweisung bei Erik Frey

== System ==
[[Datei:Nullpunkt der Fräse.png|mini|220x220px|Der Nullpunkt der Fräse]]
Auf dem Gerät läuft LinuxCNC in der Version 2.8.4. Dies ist auf einer 500GB HDD installiert, Zusätzlich befindet sich eine 480GB SSD im Rechner, die nicht angeschlossen ist, sobald LinuxCNC 2.9 verfügbar soll dies auf der SSD installiert werden.

=== Nullpunkt ===
Wie in dem Bild zusehen ist der Nullpunkt unten links vorne dies ist nicht an der selben stelle an der die Endschalter stehen. Hierdurch arbeitet man allerdings immer mit Positiven werten sowie die Steuerung auf der Tastatur ist intuitiv. Wenn man sich wie im Bild vor der Fräse steht.

=== Konfiguration ===
Um LinuxCNC zu starten muss eine Konfiguration geladen werden, eine Verknüpfung dazu befindet sich auf dem Desktop "Maschiene". Die HAL und die INI File der Konfiguration sind im Anhang aufgeführt. [[Datei:Grune einausbau gasdruckfeder.jpg|mini|220x220px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
=== Gasdruckfeder ===
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

== FAQ ==

=== Warum fehlt an der Y Achse das Handrad? ===
Da die Y-Achse eine sehr große übersetzung zwischen dem Antrieb und der Bewegung der Achse hat muss der Motor sich sehr schnell drehen um venünftige Vorschübe zu erreichen. Da das Handrad einiges an Trägheitsmoment mit in das System bringt, die Rotationsenergie mit ω2 eingeht und das Drehmoment mit steigender Drehzahl abnimmt schafft der Schrittmotor es nicht die Achse in Ausreichend geringer Zeit zu be und entschleunigen.

=== Wo kann ich meine STL hinschieben? ===
Nein! Das ding ist kein 3D Drucker.

=== Welcher Slicer ist am besten? ===
Nein! Das ding ist immer noch kein 3D Drucker.

==== Home switch (in)active before start of latch move? ====
Einfach nochmal Homen, das ist schon in Ordnung.

== Anhang ==
Konfigurationen sind nicht aktuell 05.05.2023

=== Maschiene.ini ===
<syntaxhighlight lang="ini" line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = Maschiene
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
#PYVCP = enPanel.xml Not necessary just use F2 or machine Enable
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 4.000000
MAX_LINEAR_VELOCITY = 14.0000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = Maschiene.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0

[JOINT_0]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
# 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 = 17
STEPGEN_MAXACCEL = 100
P = 120
I = 3
D = 11
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
ENCODER_SCALE = -800
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1280
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 40
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0

[JOINT_1]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = -5.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 3.0
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 10
MAX_ACCELERATION = 70
# 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 = 12
STEPGEN_MAXACCEL = 80
P = 180
I = 0.3
D = 10
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -2000
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1600
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0
HOME_OFFSET = -5.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0

[JOINT_2]
TYPE = LINEAR
#HOMING
HOME = 0.0
HOME_SEARCH_VEL = 5.5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
USE_INDEX = FALSE
HOME_SEQUENCE = 0

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
# 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 = 10
STEPGEN_MAXACCEL = 30
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -1600
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -2560
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

</syntaxhighlight>

=== Maschiene.hal ===
<syntaxhighlight line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4 num_pwmgens=0 num_stepgens=3 sserial_port_0=0000xx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.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.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals
setp hm2_7i92.0.gpio.003.is_output TRUE
setp hm2_7i92.0.gpio.003.invert_output TRUE
net machine-is-enabled => hm2_7i92.0.gpio.003.out

# external input signals

#*******************
# 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 0.012700

net x-index-enable <=> pid.x.index-enable
net x-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 hm2_7i92.0.stepgen.02.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [JOINT_0]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [JOINT_0]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [JOINT_0]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i92.0.stepgen.02.velocity-cmd
#net x-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
#net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

#net x-home-sw => 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 0.012700

net y-index-enable <=> pid.y.index-enable
net y-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 hm2_7i92.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i92.0.stepgen.00.velocity-cmd
#net y-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
#net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.00.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

#net y-home-sw => 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 0.012700

net z-index-enable <=> pid.z.index-enable
net z-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 hm2_7i92.0.stepgen.01.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [JOINT_2]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [JOINT_2]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [JOINT_2]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i92.0.stepgen.01.velocity-cmd
#net z-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
#net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

#net z-home-sw => 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

#*******************
# HOMING (ENCODER 03)
#*******************

net x-home-sw hm2_7i92.0.encoder.03.input-index => joint.0.home-sw-in
net y-home-sw hm2_7i92.0.encoder.03.input-b => joint.1.home-sw-in
net z-home-sw hm2_7i92.0.encoder.03.input-a => joint.2.home-sw-in

setp hm2_7i92.0.encoder.03.index-invert 1

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.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 machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
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

</syntaxhighlight>

Fräse

2023-05-07T10:16:45Z

E.frey: Nullpunkt Bild hinzugefügt

== Fragen? ==
Bei Fragen Erik Fragen!! Der ist auf jedenfall über Signal erreichbar Ansonsten mal ne Nachricht an 015730619818 schreiben.

== Workflow ==

===== Das Modell vorbereiten =====

# Ein Modell in CAD entwerfen bspw. Fusion 360
# Das CAD Modell im CAM Modus von bspw. Fusion 360 (Fertigen) planen.
# Dann mit dem Enhanced Machine Controller (emc) Postprozessor exportieren.
# Die exportierte .ngc Datei auf den CNC Tausch Ordner schieben

===== Die Steuerung starten =====

# Den LinuxCNC Rechner hochfahren
# An der Steuerung (Schwarze Box) den Notausschalter herausziehen und mit dem Silberschalter die Box anmachen
# LinuxCNC "Maschiene" Shortcut starten
# Datei -> Open öffnet die NGC Datei

===== Vor dem Fräsen Checkliste =====

# Optimalerweise einmal an den Endschaltern wackeln und bei bedarf kleine Schrauben Nachziehen, da fehlt noch Locktite
# In Linux CNC die Referenzfahrt starten
# Das Werkstück antasten (Nullpunkt setzen)
# Die Spindel starten
# LinuxCNC Play klicken
# Es geht los

'''Wichtig dashier ist nur eine Checkliste und kein Tutorial, wenn du das noch nie gemacht hast hol dir vorher eine Einweisung, wenn man nicht weiß was man tuht kann viel kaputt gehen. (Motoren, Werkzeugtisch, Schraubstock, Klein Timmys Arm, Fräser und so)'''

Einweisung bei Erik Frey

== System ==
[[Datei:Nullpunkt der Fräse.png|mini|220x220px|Der Nullpunkt der Fräse]]
Auf dem Gerät läuft LinuxCNC in der Version 2.8.4. Dies ist auf einer 500GB HDD installiert, Zusätzlich befindet sich eine 480GB SSD im Rechner, die nicht angeschlossen ist, sobald LinuxCNC 2.9 verfügbar soll dies auf der SSD installiert werden.

=== Nullpunkt ===
Wie in dem Bild zusehen ist der Nullpunkt unten links vorne dies ist nicht an der selben stelle an der die Endschalter stehen. Hierdurch arbeitet man allerdings immer mit Positiven werten sowie die Steuerung auf der Tastatur ist intuitiv. Wenn man sich wie im Bild vor der Fräse steht.

=== Konfiguration ===
Um LinuxCNC zu starten muss eine Konfiguration geladen werden, eine Verknüpfung dazu befindet sich auf dem Desktop "Maschiene". Die HAL und die INI File der Konfiguration sind im Anhang aufgeführt. [[Datei:Grune einausbau gasdruckfeder.jpg|mini|220x220px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
=== Gasdruckfeder ===
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

== FAQ ==

=== Warum fehlt an der Y Achse das Handrad? ===
Da die Y-Achse eine sehr große übersetzung zwischen dem Antrieb und der Bewegung der Achse hat muss der Motor sich sehr schnell drehen um venünftige Vorschübe zu erreichen. Da das Handrad einiges an Trägheitsmoment mit in das System bringt, die Rotationsenergie mit ω2 eingeht und das Drehmoment mit steigender Drehzahl abnimmt schafft der Schrittmotor es nicht die Achse in Ausreichend geringer Zeit zu be und entschleunigen.

=== Wo kann ich meine STL hinschieben? ===
Nein! Das ding ist kein 3D Drucker.

=== Welcher Slicer ist am besten? ===
Nein! Das ding ist immer noch kein 3D Drucker.

==== Home switch (in)active before start of latch move? ====
Einfach nochmal Homen, das ist schon in Ordnung.

== Anhang ==
Konfigurationen sind nicht aktuell 05.05.2023

=== Maschiene.ini ===
<syntaxhighlight lang="ini" line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = Maschiene
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
#PYVCP = enPanel.xml Not necessary just use F2 or machine Enable
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 4.000000
MAX_LINEAR_VELOCITY = 14.0000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = Maschiene.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0

[JOINT_0]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
# 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 = 17
STEPGEN_MAXACCEL = 100
P = 120
I = 3
D = 11
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
ENCODER_SCALE = -800
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1280
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 40
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0

[JOINT_1]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = -5.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 3.0
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 10
MAX_ACCELERATION = 70
# 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 = 12
STEPGEN_MAXACCEL = 80
P = 180
I = 0.3
D = 10
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -2000
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1600
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0
HOME_OFFSET = -5.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0

[JOINT_2]
TYPE = LINEAR
#HOMING
HOME = 0.0
HOME_SEARCH_VEL = 5.5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
USE_INDEX = FALSE
HOME_SEQUENCE = 0

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
# 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 = 10
STEPGEN_MAXACCEL = 30
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -1600
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -2560
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

</syntaxhighlight>

=== Maschiene.hal ===
<syntaxhighlight line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4 num_pwmgens=0 num_stepgens=3 sserial_port_0=0000xx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.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.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals
setp hm2_7i92.0.gpio.003.is_output TRUE
setp hm2_7i92.0.gpio.003.invert_output TRUE
net machine-is-enabled => hm2_7i92.0.gpio.003.out

# external input signals

#*******************
# 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 0.012700

net x-index-enable <=> pid.x.index-enable
net x-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 hm2_7i92.0.stepgen.02.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [JOINT_0]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [JOINT_0]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [JOINT_0]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i92.0.stepgen.02.velocity-cmd
#net x-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
#net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

#net x-home-sw => 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 0.012700

net y-index-enable <=> pid.y.index-enable
net y-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 hm2_7i92.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i92.0.stepgen.00.velocity-cmd
#net y-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
#net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.00.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

#net y-home-sw => 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 0.012700

net z-index-enable <=> pid.z.index-enable
net z-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 hm2_7i92.0.stepgen.01.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [JOINT_2]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [JOINT_2]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [JOINT_2]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i92.0.stepgen.01.velocity-cmd
#net z-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
#net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

#net z-home-sw => 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

#*******************
# HOMING (ENCODER 03)
#*******************

net x-home-sw hm2_7i92.0.encoder.03.input-index => joint.0.home-sw-in
net y-home-sw hm2_7i92.0.encoder.03.input-b => joint.1.home-sw-in
net z-home-sw hm2_7i92.0.encoder.03.input-a => joint.2.home-sw-in

setp hm2_7i92.0.encoder.03.index-invert 1

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.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 machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
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

</syntaxhighlight>

Datei:Nullpunkt der Fräse.png

2023-05-07T10:14:02Z

E.frey:

Zeigt den Maschinennullpunkt auf dem Werktisch

Fräse

2023-05-06T20:05:19Z

E.frey: Checkliste und Nullpunkt angefangen

== Fragen? ==
Bei Fragen Erik Fragen!! Der ist auf jedenfall über Signal erreichbar Ansonsten mal ne Nachricht an 015730619818 schreiben.

== Workflow ==

===== Das Modell vorbereiten =====

# Ein Modell in CAD entwerfen bspw. Fusion 360
# Das CAD Modell im CAM Modus von bspw. Fusion 360 (Fertigen) planen.
# Dann mit dem Enhanced Machine Controller (emc) Postprozessor exportieren.
# Die exportierte .ngc Datei auf den CNC Tausch Ordner schieben

===== Die Steuerung starten =====

# Den LinuxCNC Rechner hochfahren
# An der Steuerung (Schwarze Box) den Notausschalter herausziehen und mit dem Silberschalter die Box anmachen
# LinuxCNC "Maschiene" Shortcut starten
# Datei -> Open öffnet die NGC Datei

===== Vor dem Fräsen Checkliste =====

# Optimalerweise einmal an den Endschaltern wackeln und bei bedarf kleine Schrauben Nachziehen, da fehlt noch Locktite
# In Linux CNC die Referenzfahrt starten
# Das Werkstück antasten (Nullpunkt setzen)
# Die Spindel starten
# LinuxCNC Play klicken
# Es geht los

'''Wichtig dashier ist nur eine Checkliste und kein Tutorial, wenn du das noch nie gemacht hast hol dir vorher eine Einweisung, wenn man nicht weiß was man tuht kann viel kaputt gehen. (Motoren, Werkzeugtisch, Schraubstock, Klein Timmys Arm, Fräser und so)'''

Einweisung bei Erik Frey

== System ==
Auf dem Gerät läuft LinuxCNC in der Version 2.8.4. Dies ist auf einer 500GB HDD installiert, Zusätzlich befindet sich eine 480GB SSD im Rechner, die nicht angeschlossen ist, sobald LinuxCNC 2.9 verfügbar soll dies auf der SSD installiert werden.

=== Nullpunkt ===
Wie in dem Bild zusehen ist der Nullpunkt unten links vorne dies ist nicht an der selben stelle an der die Endschalter stehen. Hierdurch arbeitet man allerdings immer mit Positiven werten sowie die Steuerung auf der Tastatur ist intuitiv.

=== Konfiguration ===
Um LinuxCNC zu starten muss eine Konfiguration geladen werden, eine Verknüpfung dazu befindet sich auf dem Desktop "Maschiene". Die HAL und die INI File der Konfiguration sind im Anhang aufgeführt.

=== Gasdruckfeder ===
[[Datei:Grune einausbau gasdruckfeder.jpg|mini|224x224px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

== FAQ ==

=== Warum fehlt an der Y Achse das Handrad? ===
Da die Y-Achse eine sehr große übersetzung zwischen dem Antrieb und der Bewegung der Achse hat muss der Motor sich sehr schnell drehen um venünftige Vorschübe zu erreichen. Da das Handrad einiges an Trägheitsmoment mit in das System bringt, die Rotationsenergie mit $\omega^2$ eingeht und das Drehmoment mit steigender Drehzahl abnimmt schafft der Schrittmotor es nicht die Achse zu be und entschleunigen.

=== Wo kann ich meine STL hinschieben? ===
Nein! Das ding ist kein 3D Drucker.

=== Welcher Slicer ist am besten? ===
Nein! Das ding ist immer noch kein 3D Drucker.

==== Home switch (in)active before start of latch move? ====
Einfach nochmal Homen, das ist schon in Ordnung.

== Anhang ==
Konfigurationen sind nicht aktuell 05.05.2023

=== Maschiene.ini ===
<syntaxhighlight lang="ini" line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = Maschiene
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
#PYVCP = enPanel.xml Not necessary just use F2 or machine Enable
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 4.000000
MAX_LINEAR_VELOCITY = 14.0000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = Maschiene.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0

[JOINT_0]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
# 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 = 17
STEPGEN_MAXACCEL = 100
P = 120
I = 3
D = 11
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
ENCODER_SCALE = -800
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1280
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 40
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0

[JOINT_1]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = -5.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 3.0
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 10
MAX_ACCELERATION = 70
# 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 = 12
STEPGEN_MAXACCEL = 80
P = 180
I = 0.3
D = 10
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -2000
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1600
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0
HOME_OFFSET = -5.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0

[JOINT_2]
TYPE = LINEAR
#HOMING
HOME = 0.0
HOME_SEARCH_VEL = 5.5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
USE_INDEX = FALSE
HOME_SEQUENCE = 0

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
# 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 = 10
STEPGEN_MAXACCEL = 30
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -1600
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -2560
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

</syntaxhighlight>

=== Maschiene.hal ===
<syntaxhighlight line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4 num_pwmgens=0 num_stepgens=3 sserial_port_0=0000xx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.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.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals
setp hm2_7i92.0.gpio.003.is_output TRUE
setp hm2_7i92.0.gpio.003.invert_output TRUE
net machine-is-enabled => hm2_7i92.0.gpio.003.out

# external input signals

#*******************
# 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 0.012700

net x-index-enable <=> pid.x.index-enable
net x-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 hm2_7i92.0.stepgen.02.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [JOINT_0]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [JOINT_0]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [JOINT_0]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i92.0.stepgen.02.velocity-cmd
#net x-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
#net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

#net x-home-sw => 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 0.012700

net y-index-enable <=> pid.y.index-enable
net y-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 hm2_7i92.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i92.0.stepgen.00.velocity-cmd
#net y-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
#net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.00.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

#net y-home-sw => 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 0.012700

net z-index-enable <=> pid.z.index-enable
net z-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 hm2_7i92.0.stepgen.01.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [JOINT_2]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [JOINT_2]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [JOINT_2]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i92.0.stepgen.01.velocity-cmd
#net z-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
#net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

#net z-home-sw => 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

#*******************
# HOMING (ENCODER 03)
#*******************

net x-home-sw hm2_7i92.0.encoder.03.input-index => joint.0.home-sw-in
net y-home-sw hm2_7i92.0.encoder.03.input-b => joint.1.home-sw-in
net z-home-sw hm2_7i92.0.encoder.03.input-a => joint.2.home-sw-in

setp hm2_7i92.0.encoder.03.index-invert 1

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.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 machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
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

</syntaxhighlight>

Fräse

2023-05-05T19:25:13Z

E.frey: FAQ und Workflow/Checkliste hinzugefügt

== Fragen? ==
Bei Fragen Erik Fragen!! Der ist auf jedenfall über Signal erreichbar Ansonsten mal ne Nachricht an 015730619818 schreiben.

== Workflow ==

===== Das Modell vorbereiten =====

# Ein Modell in CAD entwerfen bspw. Fusion 360
# Das CAD Modell im CAM Modus von bspw. Fusion 360 (Fertigen) planen.
# Dann mit dem Enhanced Machine Controller (emc) Postprozessor exportieren.
# Die exportierte .ngc Datei auf den CNC Tausch Ordner schieben

===== Die Fräse starten =====

# Den LinuxCNC Rechner hochfahren
# An der Steuerung (Schwarze Box) den Notausschalter herausziehen und mit dem Silberschalter die Box anmachen
# LinuxCNC Maschiene Shortcut starten
# Datei -> Open öffnet die NGC Datei

== System ==
Auf dem Gerät läuft LinuxCNC in der Version 2.8.4. Dies ist auf einer 500GB HDD installiert, Zusätzlich befindet sich eine 480GB SSD im Rechner, die nicht angeschlossen ist, sobald LinuxCNC 2.9 verfügbar soll dies auf der SSD installiert werden.

=== Konfiguration ===
Um LinuxCNC zu starten muss eine Konfiguration geladen werden, eine Verknüpfung dazu befindet sich auf dem Desktop "Maschiene". Die HAL und die INI File der Konfiguration sind im Anhang aufgeführt.

=== Gasdruckfeder ===
[[Datei:Grune einausbau gasdruckfeder.jpg|mini|224x224px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

== FAQ ==

=== Warum fehlt an der Y Achse das Handrad? ===
Da die Y-Achse eine sehr große übersetzung zwischen dem Antrieb und der Bewegung der Achse hat muss der Motor sich sehr schnell drehen um venünftige Vorschübe zu erreichen. Da das Handrad einiges an Trägheitsmoment mit in das System bringt, die Rotationsenergie mit $\omega^2$ eingeht und das Drehmoment mit steigender Drehzahl abnimmt schafft der Schrittmotor es nicht die Achse zu be und entschleunigen.

=== Wo kann ich meine STL hinschieben? ===
Nein! Das ding ist kein 3D Drucker.

=== Welcher Slicer ist am besten? ===
Nein! Das ding ist immer noch kein 3D Drucker.

== Anhang ==
Konfigurationen sind nicht aktuell 05.05.2023

=== Maschiene.ini ===
<syntaxhighlight lang="ini" line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = Maschiene
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
#PYVCP = enPanel.xml Not necessary just use F2 or machine Enable
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 4.000000
MAX_LINEAR_VELOCITY = 14.0000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = Maschiene.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0

[JOINT_0]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
# 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 = 17
STEPGEN_MAXACCEL = 100
P = 120
I = 3
D = 11
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
ENCODER_SCALE = -800
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1280
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 40
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0

[JOINT_1]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = -5.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 3.0
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 10
MAX_ACCELERATION = 70
# 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 = 12
STEPGEN_MAXACCEL = 80
P = 180
I = 0.3
D = 10
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -2000
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1600
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0
HOME_OFFSET = -5.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0

[JOINT_2]
TYPE = LINEAR
#HOMING
HOME = 0.0
HOME_SEARCH_VEL = 5.5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
USE_INDEX = FALSE
HOME_SEQUENCE = 0

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
# 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 = 10
STEPGEN_MAXACCEL = 30
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -1600
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -2560
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

</syntaxhighlight>

=== Maschiene.hal ===
<syntaxhighlight line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4 num_pwmgens=0 num_stepgens=3 sserial_port_0=0000xx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.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.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals
setp hm2_7i92.0.gpio.003.is_output TRUE
setp hm2_7i92.0.gpio.003.invert_output TRUE
net machine-is-enabled => hm2_7i92.0.gpio.003.out

# external input signals

#*******************
# 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 0.012700

net x-index-enable <=> pid.x.index-enable
net x-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 hm2_7i92.0.stepgen.02.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [JOINT_0]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [JOINT_0]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [JOINT_0]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i92.0.stepgen.02.velocity-cmd
#net x-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
#net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

#net x-home-sw => 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 0.012700

net y-index-enable <=> pid.y.index-enable
net y-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 hm2_7i92.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i92.0.stepgen.00.velocity-cmd
#net y-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
#net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.00.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

#net y-home-sw => 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 0.012700

net z-index-enable <=> pid.z.index-enable
net z-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 hm2_7i92.0.stepgen.01.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [JOINT_2]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [JOINT_2]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [JOINT_2]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i92.0.stepgen.01.velocity-cmd
#net z-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
#net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

#net z-home-sw => 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

#*******************
# HOMING (ENCODER 03)
#*******************

net x-home-sw hm2_7i92.0.encoder.03.input-index => joint.0.home-sw-in
net y-home-sw hm2_7i92.0.encoder.03.input-b => joint.1.home-sw-in
net z-home-sw hm2_7i92.0.encoder.03.input-a => joint.2.home-sw-in

setp hm2_7i92.0.encoder.03.index-invert 1

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.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 machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
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

</syntaxhighlight>

Fräse

2023-03-20T17:14:07Z

E.frey: Anhängen der zwei wichtigen Konfigurationsdateien

== System ==
Auf dem Gerät läuft LinuxCNC in der Version 2.8.4. Dies ist auf einer 500GB HDD installiert, Zusätzlich befindet sich eine 480GB SSD im Rechner, die nicht angeschlossen ist, sobald LinuxCNC 2.9 verfügbar soll dies auf der SSD installiert werden.

=== Konfiguration ===
Um LinuxCNC zu starten muss eine Konfiguration geladen werden, eine Verknüpfung dazu befindet sich auf dem Desktop "Maschiene". Die HAL und die INI File der Konfiguration sind im Anhang aufgeführt.

=== Gasdruckfeder ===
[[Datei:Grune einausbau gasdruckfeder.jpg|mini|224x224px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

== Anhang ==

=== Maschiene.ini ===
<syntaxhighlight lang="ini" line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = Maschiene
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
#PYVCP = enPanel.xml Not necessary just use F2 or machine Enable
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 4.000000
MAX_LINEAR_VELOCITY = 14.0000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = Maschiene.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0

[JOINT_0]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 14
MAX_ACCELERATION = 80
# 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 = 17
STEPGEN_MAXACCEL = 100
P = 120
I = 3
D = 11
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
ENCODER_SCALE = -800
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1280
MIN_LIMIT = -300.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 40
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0

[JOINT_1]
TYPE = LINEAR
#Homing
HOME = 0.0
HOME_SEARCH_VEL = -5.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 3.0
USE_INDEX = FALSE
HOME_SEQUENCE = 1

FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 10
MAX_ACCELERATION = 70
# 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 = 12
STEPGEN_MAXACCEL = 80
P = 180
I = 0.3
D = 10
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -2000
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -1600
MIN_LIMIT = -5.0
MAX_LIMIT = 165.0
HOME_OFFSET = -5.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0

[JOINT_2]
TYPE = LINEAR
#HOMING
HOME = 0.0
HOME_SEARCH_VEL = 5.5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
USE_INDEX = FALSE
HOME_SEQUENCE = 0

FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 25
# 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 = 10
STEPGEN_MAXACCEL = 30
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
ENCODER_SCALE = -1600
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -2560
MIN_LIMIT = -335.0
MAX_LIMIT = 5.0
HOME_OFFSET = 5.0
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

</syntaxhighlight>

=== Maschiene.hal ===
<syntaxhighlight line="1">
# Erstellt von PNCconf am Tue Apr 19 15:17:12 2022
# Using LinuxCNC version: 2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=4 num_pwmgens=0 num_stepgens=3 sserial_port_0=0000xx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i92.0.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.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals
setp hm2_7i92.0.gpio.003.is_output TRUE
setp hm2_7i92.0.gpio.003.invert_output TRUE
net machine-is-enabled => hm2_7i92.0.gpio.003.out

# external input signals

#*******************
# 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 0.012700

net x-index-enable <=> pid.x.index-enable
net x-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 hm2_7i92.0.stepgen.02.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [JOINT_0]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [JOINT_0]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [JOINT_0]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i92.0.stepgen.02.velocity-cmd
#net x-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
#net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

#net x-home-sw => 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 0.012700

net y-index-enable <=> pid.y.index-enable
net y-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 hm2_7i92.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i92.0.stepgen.00.velocity-cmd
#net y-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
#net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.00.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE

net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

#net y-home-sw => 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 0.012700

net z-index-enable <=> pid.z.index-enable
net z-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 hm2_7i92.0.stepgen.01.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [JOINT_2]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [JOINT_2]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [JOINT_2]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i92.0.stepgen.01.velocity-cmd
#net z-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
#net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

#net z-home-sw => 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

#*******************
# HOMING (ENCODER 03)
#*******************

net x-home-sw hm2_7i92.0.encoder.03.input-index => joint.0.home-sw-in
net y-home-sw hm2_7i92.0.encoder.03.input-b => joint.1.home-sw-in
net z-home-sw hm2_7i92.0.encoder.03.input-a => joint.2.home-sw-in

setp hm2_7i92.0.encoder.03.index-invert 1

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.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 machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
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

</syntaxhighlight>

Fräse

2023-03-20T16:25:21Z

E.frey: Hinzufügen eines Gasdruckfeder abschnitts

=== Gasdruckfeder ===
[[Datei:Grune einausbau gasdruckfeder.jpg|mini|224x224px|Zeigt die Ein und Ausbauhöhe der Gasdruckfeder]]
Die Gasdruckfeder entlastet den Z-Achsen Motor. [https://gasdruckfeder-grosshandel.de/produkt/gasdruckfeder-gasdruckdaempfer-kugelkopf-765mm-330mm/ Bestelllink bei Gasdruckfeder Großhandel] vom Typen Gasdruckfeder Gasdruckdämpfer Kugelkopf 765mm / 330mm 900N.

Die Ein-/Ausbauhöhe ist auf dem Bild rechts zu erkennen, ungefähr 34,1 mm. Wichtig an der Skala der Fräse ablesen nicht in Maschinenkoordinaten.

Datei:Grune einausbau gasdruckfeder.jpg

2023-03-20T16:24:17Z

E.frey:

Zeigt Ein und Ausbauhöhe der Gasdruckfeder