Hi,
I'm sorry I cannot tell whether I should address you as Peter or Bocska,
as I don't know which country you are from.
Anyway Peter (please tell me if this is not your first name), I am using
A Heiz 720 machine with a 'roundino' (which model do you have?).
I have never used PCNC, so I cannot comment on the settings in it.
However, I have configured our machine here as a 4-axis mill and it
works very well.
You will need to change the 'ini' and 'hal' files from the standard.
As I have already done this, I am attaching my config files, which you
may use. Please note that I have set the maximum travel limits to
suit our model, yours may need adjusting.
I have set up homing to go to the limit switch position and then 'park'
10mm from the 0 point on X and Y. Also Z, where the 0 point is at the
top of travel and it parks at -10mm.
Again, you may not want this and can adjust it to your needs.
All other parameters (maximum velocity, scaling etc.) I have set
according to the Heiz data on the machine (again - if you are not using
this model, you may need to adjust accordingly, although I think they
always use the same stepper motors).
I am also assuming that you are using the Heiz controller, in which case
my hal should be OK for you.
The Heiz controller uses microstepping (this is a technique that applies
varying currents to the stepper motors to make it appear as if they have
more steps. This technique tends to produce varying noises from the
motors, but this is quite normal. Using my files will also make these
noises.
I will cc. this to the list for information, but expect that the
attachments will be stripped there.
Hope this helps you, good luck with your machine,
Robert.
Bocska Peter wrote:
> Hello Mr. von Knobloch,
>
> I have found your E-Mail address on the emc-user list, I wrote an E-Mail
> to that list, but it doesn't seam to be delivered somehow. So I thought
> I write you directly, I hope you don't mind it.
>
>
>
> ------------------------------------------------------------------------
>
> Subject:
> Heiz CNC - emc configuration
> From:
> Bocska Peter <peter.boc...@gmail.com>
> Date:
> Mon, 20 Apr 2009 20:51:30 +0200
> To:
> "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
>
> To:
> "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
>
>
> Hello Mr. von Knobloch,
>
> I have found one of your E-Mail on this list
> (http://sourceforge.net/mailarchive/forum.php?thread_name=4982F9EF.2060000%40engelking.de&forum_name=emc-users)
> and would like to ask some questions about your emc settings.
>
> I am new in cnc machining. I have just got my cnc machine from Heiz,
> everything seams to work except it makes everything in a smaller scale,
> I think I made some mistake in the settings, I have tried to use the
> parameters from (win) PCNC. Lots of the parameters are not appear in
> PCNC what emc has (or just in a different name?, or just I couldn't find
> it). And the rundino doesn't rotate with the right angles as well.
>
> 1. Could you please advise me where the emc settings differ from the
> PCNC settings?
>
> 2. The machine has got limit switches, the PCNC uses them to home the
> machine to the "reference (F8)", did you managed to use these switches
> in your settings as well? How shall I modify the pin settings to get the
> signals from them?
>
> 3. And I found a difference in the movement between PCNC and emc. The
> sound of the step-motors changes in PCNC sometimes. I tried a test move
> with constant velocity and only one axis was in operation. With emc this
> was smoother without sound changes. I think this would be the benefit of
> using emc?
>
> Thank you for your help in advance,
> Best regards,
>
> Peter Bocska
>
>
[EMC]
MACHINE = S720
NML_FILE = emc.nml
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/emc2/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
EDITOR = gnome-terminal -e vim
#Only with AXIS display
DEFAULT_LINEAR_VELOCITY = 40
DEFAULT_ANGULAR_VELOCITY = 20
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
SHMEM_KEY = 111
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 93750
SERVO_PERIOD = 1000000
[HAL]
HALFILE = S720.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 20.00
DEFAULT_ANGULAR_VELOCITY = 2.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 4.00
MAX_LINEAR_VELOCITY = 40.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_0]
TYPE = LINEAR
HOME = 10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 300.0
STEPGEN_MAXACCEL = 315.0
SCALE = 266.666666667
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = 0.0
MAX_LIMIT = 700.0
HOME_OFFSET = 5.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -1.875000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
[AXIS_1]
TYPE = LINEAR
HOME = 10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 300.0
STEPGEN_MAXACCEL = 315.0
SCALE = 266.666666667
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = 0.0
MAX_LIMIT = 440.0
HOME_OFFSET = 5.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -1.875000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
[AXIS_2]
TYPE = LINEAR
HOME = -10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 300.0
STEPGEN_MAXACCEL = 315.0
SCALE = 266.666666667
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -110.0
MAX_LIMIT = 0.0
HOME_OFFSET = -5.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 1.875000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 120.0
STEPGEN_MAXACCEL = 126.0
SCALE = 444.444444444
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
# Generated by stepconf at Wed Jan 14 05:25:59 2009
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD
servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD
key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg=0xdc00
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cw <= motion.spindle-forward
net coolant-mist <= iocontrol.0.coolant-mist
net spindle-cw => parport.0.pin-01-out
setp parport.0.pin-02-out-invert 1
net xdir => parport.0.pin-02-out
net xstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net ydir => parport.0.pin-04-out
net ystep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net zdir => parport.0.pin-06-out
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
net adir => parport.0.pin-08-out
net astep => parport.0.pin-09-out
setp parport.0.pin-09-out-reset 1
net coolant-mist => parport.0.pin-14-out
net max-home-z <= parport.0.pin-10-in-not
net min-home-y <= parport.0.pin-12-in-not
net min-home-x <= parport.0.pin-13-in-not
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net min-home-y => axis.1.home-sw-in
net min-home-y => axis.1.neg-lim-sw-in
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net max-home-z => axis.2.home-sw-in
net max-home-z => axis.2.pos-lim-sw-in
setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed 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
------------------------------------------------------------------------------
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