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updates
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@petmakris
petmakris committed Feb 2, 2024
1 parent 33bd598 commit 48b8298
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Showing 6 changed files with 79 additions and 50 deletions.
1 change: 1 addition & 0 deletions .gitignore
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config/halshow.preferences
config/autosave.halscope
config/halscope
config/maho.var.bak
config/maho.ini.expanded

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5 changes: 3 additions & 2 deletions config/hal/01-modules.hal
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Expand Up @@ -24,8 +24,9 @@ loadrt and2 names=tool-change.and
loadrt or2 names=lube.or,buttons.or.resume,buttons.or.pause,buttons.or.run,buttons.or.stop,spindle.on.or,spindle.off.or
loadrt not names=estop.not.0,estop.not.1,tool-change.not
loadrt lowpass names=feed-pot.lowpass,jog-pot.lowpass
loadrt ilowpass names=jog.ilowpass.x,jog.ilowpass.y,jog.ilowpass.z
loadrt scale names=jog.scale.x,jog.scale.y,jog.scale.z,feed-pot.scale,spindle-pot.scale,jog-pot.scale
# loadrt ilowpass names=jog.ilowpass.x,jog.ilowpass.y,jog.ilowpass.z
loadrt scale names=feed-pot.scale,spindle-pot.scale,jog-pot.scale
# loadrt scale names=jog.scale.x,jog.scale.y,jog.scale.z,feed-pot.scale,spindle-pot.scale,jog-pot.scale

loadrt limit1 names=jog-pot.limit

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40 changes: 24 additions & 16 deletions config/hal/51-xhc-whb04b-6-axis-x.hal
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addf jog.ilowpass.x servo-thread
addf jog.scale.x servo-thread
# addf jog.ilowpass.x servo-thread
# addf jog.scale.x servo-thread

setp jog.ilowpass.x.scale 100
setp jog.ilowpass.x.gain 0.1
setp jog.scale.x.gain 0.01
setp jog.scale.x.offset 0
# setp jog.ilowpass.x.scale 100
# setp jog.ilowpass.x.gain 0.1
# setp jog.scale.x.gain 0.01
# setp jog.scale.x.offset 0

# net pendant.x.is-homed <= halui.joint.0.is-homed => whb.halui.joint.x.is-homed
# net pendant.x.select <= whb.halui.axis.x.select => halui.axis.x.select
# net pendant.x.pos-feedback <= halui.axis.x.pos-feedback => whb.halui.axis.x.pos-feedback
# net pendant.x.pos-relative <= halui.axis.x.pos-relative => whb.halui.axis.x.pos-relative
# net pendant.x.jog-vel-mode <= whb.axis.x.jog-vel-mode => axis.x.jog-vel-mode
# net pendant.x.jog-enable <= whb.axis.x.jog-enable => axis.x.jog-enable
# net pendant.x.jog-scale <= whb.axis.x.jog-scale => jog.scale.x.in
# net pendant.x.jog-scaled <= jog.scale.x.out => axis.x.jog-scale
# net pendant.x.jog-counts <= whb.axis.x.jog-counts => jog.ilowpass.x.in
# net pendant.x.jog-counts-filtered <= jog.ilowpass.x.out => axis.x.jog-counts

net pendant.x.is-homed <= halui.joint.0.is-homed => whb.halui.joint.x.is-homed
net pendant.x.select <= whb.halui.axis.x.select => halui.axis.x.select
net pendant.x.jog-scale <= whb.axis.x.jog-scale => axis.x.jog-scale
net pendant.x.jog-counts <= whb.axis.x.jog-counts => axis.x.jog-counts
net pendant.x.jog-enable <= whb.axis.x.jog-enable => axis.x.jog-enable
net pendant.x.jog-vel-mode <= whb.axis.x.jog-vel-mode => axis.x.jog-vel-mode

net pendant.x.is-homed <= halui.joint.0.is-homed => whb.halui.joint.x.is-homed
net pendant.x.select <= whb.halui.axis.x.select => halui.axis.x.select
net pendant.x.pos-feedback <= halui.axis.x.pos-feedback => whb.halui.axis.x.pos-feedback
net pendant.x.pos-relative <= halui.axis.x.pos-relative => whb.halui.axis.x.pos-relative
net pendant.x.jog-vel-mode <= whb.axis.x.jog-vel-mode => axis.x.jog-vel-mode
net pendant.x.jog-enable <= whb.axis.x.jog-enable => axis.x.jog-enable

net pendant.x.jog-scale <= whb.axis.x.jog-scale => jog.scale.x.in
net pendant.x.jog-scaled <= jog.scale.x.out => axis.x.jog-scale
net pendant.x.jog-counts <= whb.axis.x.jog-counts => jog.ilowpass.x.in
net pendant.x.jog-counts-filtered <= jog.ilowpass.x.out => axis.x.jog-counts
38 changes: 22 additions & 16 deletions config/hal/52-xhc-whb04b-6-axis-y.hal
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addf jog.ilowpass.y servo-thread
addf jog.scale.y servo-thread
# addf jog.ilowpass.y servo-thread
# addf jog.scale.y servo-thread

setp jog.ilowpass.y.scale 100
setp jog.ilowpass.y.gain 0.1
setp jog.scale.y.gain 0.01
setp jog.scale.y.offset 0
# setp jog.ilowpass.y.scale 100
# setp jog.ilowpass.y.gain 0.1
# setp jog.scale.y.gain 0.01
# setp jog.scale.y.offset 0

net pendant.y.is-homed <= halui.joint.1.is-homed => whb.halui.joint.y.is-homed
net pendant.y.select <= whb.halui.axis.y.select => halui.axis.y.select
net pendant.y.pos-feedback <= halui.axis.y.pos-feedback => whb.halui.axis.y.pos-feedback
net pendant.y.pos-relative <= halui.axis.y.pos-relative => whb.halui.axis.y.pos-relative
net pendant.y.jog-vel-mode <= whb.axis.y.jog-vel-mode => axis.y.jog-vel-mode
net pendant.y.jog-enable <= whb.axis.y.jog-enable => axis.y.jog-enable
# net pendant.y.is-homed <= halui.joint.1.is-homed => whb.halui.joint.y.is-homed
# net pendant.y.select <= whb.halui.axis.y.select => halui.axis.y.select
# net pendant.y.pos-feedback <= halui.axis.y.pos-feedback => whb.halui.axis.y.pos-feedback
# net pendant.y.pos-relative <= halui.axis.y.pos-relative => whb.halui.axis.y.pos-relative
# net pendant.y.jog-vel-mode <= whb.axis.y.jog-vel-mode => axis.y.jog-vel-mode
# net pendant.y.jog-enable <= whb.axis.y.jog-enable => axis.y.jog-enable
# net pendant.y.jog-scale <= whb.axis.y.jog-scale => jog.scale.y.in
# net pendant.y.jog-scaled <= jog.scale.y.out => axis.y.jog-scale
# net pendant.y.jog-counts <= whb.axis.y.jog-counts => jog.ilowpass.y.in
# net pendant.y.jog-counts-filtered <= jog.ilowpass.y.out => axis.y.jog-counts

net pendant.y.jog-scale <= whb.axis.y.jog-scale => jog.scale.y.in
net pendant.y.jog-scaled <= jog.scale.y.out => axis.y.jog-scale
net pendant.y.jog-counts <= whb.axis.y.jog-counts => jog.ilowpass.y.in
net pendant.y.jog-counts-filtered <= jog.ilowpass.y.out => axis.y.jog-counts
net pendant.y.is-homed <= halui.joint.2.is-homed => whb.halui.joint.y.is-homed
net pendant.y.select <= whb.halui.axis.y.select => halui.axis.y.select
net pendant.y.jog-scale <= whb.axis.y.jog-scale => axis.y.jog-scale
net pendant.y.jog-counts <= whb.axis.y.jog-counts => axis.y.jog-counts
net pendant.y.jog-enable <= whb.axis.y.jog-enable => axis.y.jog-enable
net pendant.y.jog-vel-mode <= whb.axis.y.jog-vel-mode => axis.y.jog-vel-mode
40 changes: 24 additions & 16 deletions config/hal/53-xhc-whb04b-6-axis-z.hal
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addf jog.ilowpass.z servo-thread
addf jog.scale.z servo-thread
# addf jog.ilowpass.z servo-thread
# addf jog.scale.z servo-thread

setp jog.ilowpass.z.scale 100
setp jog.ilowpass.z.gain 0.1
setp jog.scale.z.gain 0.01
setp jog.scale.z.offset 0
# setp jog.ilowpass.z.scale 100
# setp jog.ilowpass.z.gain 0.1
# setp jog.scale.z.gain 0.01
# setp jog.scale.z.offset 0

# net pendant.z.is-homed <= halui.joint.2.is-homed => whb.halui.joint.z.is-homed
# net pendant.z.select <= whb.halui.axis.z.select => halui.axis.z.select
# net pendant.z.pos-feedback <= halui.axis.z.pos-feedback => whb.halui.axis.z.pos-feedback
# net pendant.z.pos-relative <= halui.axis.z.pos-relative => whb.halui.axis.z.pos-relative
# net pendant.z.jog-vel-mode <= whb.axis.z.jog-vel-mode => axis.z.jog-vel-mode
# net pendant.z.jog-enable <= whb.axis.z.jog-enable => axis.z.jog-enable
# net pendant.z.jog-scale <= whb.axis.z.jog-scale => jog.scale.z.in
# net pendant.z.jog-scaled <= jog.scale.z.out => axis.z.jog-scale
# net pendant.z.jog-counts <= whb.axis.z.jog-counts => jog.ilowpass.z.in
# net pendant.z.jog-counts-filtered <= jog.ilowpass.z.out => axis.z.jog-counts

net pendant.z.is-homed <= halui.joint.1.is-homed => whb.halui.joint.z.is-homed
net pendant.z.select <= whb.halui.axis.z.select => halui.axis.z.select
net pendant.z.jog-scale <= whb.axis.z.jog-scale => axis.z.jog-scale
net pendant.z.jog-counts <= whb.axis.z.jog-counts => axis.z.jog-counts
net pendant.z.jog-enable <= whb.axis.z.jog-enable => axis.z.jog-enable
net pendant.z.jog-vel-mode <= whb.axis.z.jog-vel-mode => axis.z.jog-vel-mode

net pendant.z.is-homed <= halui.joint.2.is-homed => whb.halui.joint.z.is-homed
net pendant.z.select <= whb.halui.axis.z.select => halui.axis.z.select
net pendant.z.pos-feedback <= halui.axis.z.pos-feedback => whb.halui.axis.z.pos-feedback
net pendant.z.pos-relative <= halui.axis.z.pos-relative => whb.halui.axis.z.pos-relative
net pendant.z.jog-vel-mode <= whb.axis.z.jog-vel-mode => axis.z.jog-vel-mode
net pendant.z.jog-enable <= whb.axis.z.jog-enable => axis.z.jog-enable

net pendant.z.jog-scale <= whb.axis.z.jog-scale => jog.scale.z.in
net pendant.z.jog-scaled <= jog.scale.z.out => axis.z.jog-scale
net pendant.z.jog-counts <= whb.axis.z.jog-counts => jog.ilowpass.z.in
net pendant.z.jog-counts-filtered <= jog.ilowpass.z.out => axis.z.jog-counts
5 changes: 5 additions & 0 deletions config/tool.tbl
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T1 P1 Z0 D1 ;empty
T2 P2 Z203.727 D3 ;mechanical edge finder





T3 P3 Z0 D1 ;digital edge finder
T4 P4 Z125.467 D6 ;[#04] [6mm] spot drill
T5 P5 Z92.360 D6 ;[#05] [6mm] 2f
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