Fräse

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

Zeigt die Ein und Ausbauhöhe der Gasdruckfeder

Die Gasdruckfeder entlastet den Z-Achsen Motor. 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

# 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

Maschiene.hal

# 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