From 143820f5142dfa52920c5dac26fb972fb8619e8a Mon Sep 17 00:00:00 2001 From: Michael Haberler Date: Thu, 5 Jan 2012 08:37:18 +0100 Subject: [PATCH] sim: try sim_spindle component speed rampup works G33.1, G84 cycles still broken - speed reverses at end of cycle --- configs/sim/axis/axis_simspindle.ini | 212 ++++++++++++++++++++++++++++++++++ configs/sim/axis/simspindle.halshow | 1 + configs/sim/sim_spindle_encoder.hal | 35 ++++++ src/hal/components/sim_spindle.comp | 27 +++++ 4 files changed, 275 insertions(+), 0 deletions(-) create mode 100644 configs/sim/axis/axis_simspindle.ini create mode 100644 configs/sim/axis/simspindle.halshow create mode 100644 configs/sim/sim_spindle_encoder.hal create mode 100644 src/hal/components/sim_spindle.comp diff --git a/configs/sim/axis/axis_simspindle.ini b/configs/sim/axis/axis_simspindle.ini new file mode 100644 index 0000000..73f1a26 --- /dev/null +++ b/configs/sim/axis/axis_simspindle.ini @@ -0,0 +1,212 @@ +# EMC controller parameters for a simulated machine. + +# General note: Comments can either be preceded with a # or ; - either is +# acceptable, although # is in keeping with most linux config files. + +# General section ------------------------------------------------------------- +[EMC] + +# Version of this INI file +VERSION = $Revision$ + +# Name of machine, for use with display, etc. +MACHINE = EMC-HAL-SIM-AXIS + +# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others +DEBUG = 0x7FFFFFFF +#DEBUG = 0 + +# Sections for display options ------------------------------------------------ +[DISPLAY] + +# Name of display program, e.g., xemc +DISPLAY = axis + +# Cycle time, in seconds, that display will sleep between polls +CYCLE_TIME = 0.100 + +# Path to help file +HELP_FILE = doc/help.txt + +# Initial display setting for position, RELATIVE or MACHINE +POSITION_OFFSET = RELATIVE + +# Initial display setting for position, COMMANDED or ACTUAL +POSITION_FEEDBACK = ACTUAL + +# Highest value that will be allowed for feed override, 1.0 = 100% +MAX_FEED_OVERRIDE = 1.2 +MAX_SPINDLE_OVERRIDE = 1.0 + +MAX_LINEAR_VELOCITY = 1.2 +DEFAULT_LINEAR_VELOCITY = .25 +# Prefix to be used +PROGRAM_PREFIX = ../../../nc_files/ + +# Introductory graphic +INTRO_GRAPHIC = emc2.gif +INTRO_TIME = 5 + +EDITOR = gedit +TOOL_EDITOR = tooledit + +INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in + +[FILTER] +PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image +PROGRAM_EXTENSION = .py Python Script + +png = image-to-gcode +gif = image-to-gcode +jpg = image-to-gcode +py = python + +# Task controller section ----------------------------------------------------- +[TASK] + +# Name of task controller program, e.g., milltask +TASK = milltask + +# Cycle time, in seconds, that task controller will sleep between polls +CYCLE_TIME = 0.001 + +# Part program interpreter section -------------------------------------------- +[RS274NGC] + +# File containing interpreter variables +PARAMETER_FILE = ../sim.var + +# Motion control section ------------------------------------------------------ +[EMCMOT] + +EMCMOT = motmod + +# Timeout for comm to emcmot, in seconds +COMM_TIMEOUT = 1.0 + +# Interval between tries to emcmot, in seconds +COMM_WAIT = 0.010 + +# BASE_PERIOD is unused in this configuration but specified in core_sim.hal +BASE_PERIOD = 0 +# Servo task period, in nano-seconds +SERVO_PERIOD = 1000000 + +# Hardware Abstraction Layer section -------------------------------------------------- +[HAL] + +# The run script first uses halcmd to execute any HALFILE +# files, and then to execute any individual HALCMD commands. +# + +# list of hal config files to run through halcmd +# files are executed in the order in which they appear +HALFILE = ../core_sim.hal +HALFILE = ../sim_spindle_encoder.hal +HALFILE = ../axis_manualtoolchange.hal +HALFILE = ../simulated_home.hal +#HALFILE = ../gamepad.hal + +# list of halcmd commands to execute +# commands are executed in the order in which they appear +#HALCMD = save neta + +# Single file that is executed after the GUI has started. Only supported by +# AXIS at this time (only AXIS creates a HAL component of its own) +#POSTGUI_HALFILE = ../test_postgui.hal + +HALUI = halui + +# Trajectory planner section -------------------------------------------------- +[TRAJ] + +AXES = 3 +COORDINATES = X Y Z +HOME = 0 0 0 +LINEAR_UNITS = inch +ANGULAR_UNITS = degree +CYCLE_TIME = 0.010 +DEFAULT_VELOCITY = 1.2 +POSITION_FILE = position.txt +MAX_LINEAR_VELOCITY = 1.2 + +# Axes sections --------------------------------------------------------------- + +# First axis +[AXIS_0] + +TYPE = LINEAR +HOME = 0.000 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 100.0 +BACKLASH = 0.000 +INPUT_SCALE = 4000 +OUTPUT_SCALE = 1.000 +MIN_LIMIT = -40.0 +MAX_LIMIT = 40.0 +FERROR = 0.050 +MIN_FERROR = 0.010 +HOME_OFFSET = 0.0 +HOME_SEARCH_VEL = 20.0 +HOME_LATCH_VEL = 20.0 +HOME_USE_INDEX = NO +HOME_IGNORE_LIMITS = NO +HOME_SEQUENCE = 1 +HOME_IS_SHARED = 1 + +# Second axis +[AXIS_1] + +TYPE = LINEAR +HOME = 0.000 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 100.0 +BACKLASH = 0.000 +INPUT_SCALE = 4000 +OUTPUT_SCALE = 1.000 +MIN_LIMIT = -40.0 +MAX_LIMIT = 40.0 +FERROR = 0.050 +MIN_FERROR = 0.010 +HOME_OFFSET = 0.0 +HOME_SEARCH_VEL = 20.0 +HOME_LATCH_VEL = 20.0 +HOME_USE_INDEX = NO +HOME_IGNORE_LIMITS = NO +HOME_SEQUENCE = 1 + +# Third axis +[AXIS_2] + +TYPE = LINEAR +HOME = 0.0 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 100.0 +BACKLASH = 0.000 +INPUT_SCALE = 4000 +OUTPUT_SCALE = 1.000 +MIN_LIMIT = -8.0 +MAX_LIMIT = 8.0 +FERROR = 0.050 +MIN_FERROR = 0.010 +HOME_OFFSET = 1.0 +HOME_SEARCH_VEL = 20.0 +HOME_LATCH_VEL = 20.0 +HOME_USE_INDEX = NO +HOME_IGNORE_LIMITS = NO +HOME_SEQUENCE = 0 +HOME_IS_SHARED = 1 + +# section for main IO controller parameters ----------------------------------- +[EMCIO] + +# Name of IO controller program, e.g., io +EMCIO = io + +# cycle time, in seconds +CYCLE_TIME = 0.100 + +# tool table file +TOOL_TABLE = italy.tbl +TOOL_CHANGE_POSITION = 0 0 0 +TOOL_CHANGE_QUILL_UP = 1 diff --git a/configs/sim/axis/simspindle.halshow b/configs/sim/axis/simspindle.halshow new file mode 100644 index 0000000..dfa01cd --- /dev/null +++ b/configs/sim/axis/simspindle.halshow @@ -0,0 +1 @@ +pin+motion.spindle-speed-in pin+motion.spindle-speed-cmd-rps pin+motion.spindle-at-speed diff --git a/configs/sim/sim_spindle_encoder.hal b/configs/sim/sim_spindle_encoder.hal new file mode 100644 index 0000000..dd05d5a --- /dev/null +++ b/configs/sim/sim_spindle_encoder.hal @@ -0,0 +1,35 @@ +loadrt sim_spindle +loadrt limit2 count=1 +loadrt lowpass count=1 +loadrt near + +# simulate spindle mass +setp limit2.0.maxv 500.0 # rpm/second + +# encoder reset control +# hook up motion controller's sync output +net spindle-index-enable motion.spindle-index-enable <=> sim-spindle.0.index-enable + +# report our revolution count to the motion controller +net spindle-pos sim-spindle.0.position-fb => motion.spindle-revs + +# for spindle velocity estimate + +# spindle speed control +net spindle-speed-cmd motion.spindle-speed-out => limit2.0.in +net spindle-speed-limited limit2.0.out => sim-spindle.0.velocity-cmd lowpass.0.in + +net spindle-rpm-filtered lowpass.0.out motion.spindle-speed-in near.0.in2 +setp lowpass.0.gain .07 +addf lowpass.0 servo-thread + +# for at-speed detection +addf near.0 servo-thread +setp near.0.scale 1.1 +setp near.0.difference 10 +net spindle-speed-cmd => near.0.in1 +net spindle-at-speed near.0.out motion.spindle-at-speed +net spindle-fwd <= motion.spindle-forward + +addf limit2.0 servo-thread +addf sim-spindle.0 servo-thread diff --git a/src/hal/components/sim_spindle.comp b/src/hal/components/sim_spindle.comp new file mode 100644 index 0000000..f69130a --- /dev/null +++ b/src/hal/components/sim_spindle.comp @@ -0,0 +1,27 @@ +component sim_spindle "Simulated spindle with index pulse"; + +pin in float velocity-cmd "Commanded speed, in revolutions per second"; +pin out float position-fb "Feedback position, in revolutions"; +pin io bit index-enable "Reset position-fb to 0 at the next full rotation"; + +license "GPL"; + +function _; +;; +#include + + +FUNCTION(_) { + double old_position = position_fb; + double new_position = position_fb + velocity_cmd * fperiod; + + if(index_enable && (floor(old_position) != floor(new_position))) { + index_enable = false; + if(velocity_cmd < 0) + new_position = new_position - ceil(new_position); + else + new_position = new_position - floor(new_position); + } + + position_fb = new_position; +} \ No newline at end of file -- 1.7.8.2.302.g17b4