Hi guys.
I updated the 'getting started manual' images for pncconf (hope thats OK)
I also wrote some pncconf docs for the manual.
I figured some of the doc guru's should approve them so here they are.
Chris M
= Point n Click Configuration Wizard (PNCconf) [[cha:PNCconf-Wizard]]
(((PNCconf Wizard)))
PNCconf is made to help build configurations that utilize specific Mesa
'Anything I/O' products.
It can configure closed loop servo systems or hardware stepper systems. +
It uses a similar 'wizard' approach as Stepconf ( used for software stepping,
parallel port driven systems ).
PNCconf is still in a early development stage (alpha) so there are some bugs
and lacking features. +
Please report bugs and suggestions to the EMC forum page or mail-list.
There are two trains of thought when using PNCconf:
One is to use PNCconf to always configure your system - if you decide to change
options, reload
PNCconf and allow it to configure the new options. This will work well if your
machine is fairly
standard and you can use custom files to add non standard features. PNCconf
tries to work with you
in this regard.
The other is to use PNCconf to build a config that is close to what you want
and then hand edit
everything to tailor it to your needs. This would be the choice if you need
extensive modifications
beyond PNCconf's scope or just want to tinker with / learn about EMC
You navigate the wizard pages with the forward, back, and cancel buttons there
is also a help
button that gives some help information about the pages, diagrams and an output
page.
TIP: PNCconf's help page should have the most up to date info and has
additional details.
[float]
Step by Step Instructions
=========================
.PnCConf Splash
image::images/pncconf-splash.png[]
== Create or Edit
This allows you to select a previously saved configuration or create a new one.
If you pick 'Modify a configuration' and then press next a file selection box
will show.
Pncconf preselects your last saved file. Choose the the config you wish to edit.
It also allows you to select desktop shortcut / launcher options.
A desktop shortcut will place a folder icon on the desktop that points to your
new configuration files.
otherwise you would have to look in your home folder under EMC2/configs
A Desktop launcher will add an icon to the desktop for starting your config
directly.
you can also launch it under Applications/cnc/emc2 and selecting your config
name.
== Basic Machine Information
.PnCConf Basic
image::images/pncconf-basic.png[]
Machine Basics::
If you use a name with spaces PNCconf will replace the spaces with underscore
(as a loose rule Linux
doesn't like spaces in names)
Pick an axis configuration - this selects what type of machine you are building
and what axes are available.
The Machine units selector allows data entry of metric or imperial units in the
following pages.
One thing to note is: defaults are not converted when using metric so make sure
they are sane values.
Computer Response Time::
The servo period sets the heart beat of the system. Latency refers to the
amount of time the computer can be
longer then that period. Just like a railroad, EMC requires everything on a
very tight and consistent time line
or bad things happen. EMC requires and uses a 'real time' operating system,
which just means it has a low latency
( lateness ) response time when EMC requires it's calculations and when doing
EMC's calculations it cannot be
interrupted by lower priority requests (such as user input to screen buttons or
drawing etc).
Testing the latency is very important and a key thing to check early. Luckily
by using the Mesa card to do the
work that requires the fastest response time (encoder counting and PWM
generation) we can endure a lot more
latency then if we used the parallel port for these things. The standard test
in EMC is checking the BASE period
latency (even though we are not using a base period). If you press the 'test
base period jitter' button, this
launches the latency test window ( you can also load this directly from the
applications/cnc panel ). The test
mentions to run it for a few minutes but the longer the better. consider 15
minutes a bare minimum and overnight
even better. At this time use the computer to load things, use the net, use USB
etc we want to know the worst case
latency and to find out if any particular activity hurts our latency. We need
to look at base period jitter.
anything under 20000 is excellent - you could even do fast software stepping
with the machine
20000 - 50000 is still good for software stepping and fine for us.
50000 - 100000 is really not that great but could still be used with hardware
cards doing the fast response stuff.
So anything under 100000 is useable to us. If the latency is disappointing or
you get a bad hicup periodically
you may still be able to improve it. There is a user compiled list of equipment
and the latency obtained on the
EMC wiki : http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Latency-Test
Please consider adding your info to the list. Also on that page are links to
info about fixing some latency
problems.
Now we are happy with the latency and must pick a servo period. In most cases a
servo period of 1000000 ns is
fine ( that gives a 1 kHz servo calculation rate - 1000 calculations a second)
if you are building a closed loop
servo system that controls torque (current) rather then velocity (voltage) a
faster rate would be better -
something like 200000 (5 kHz calculation rate). The problem with lowering the
servo rate is that it leaves less
time available for the computer to do other things besides EMC's calculations.
Typically the display (GUI)
becomes less responsive. You must decide on a balance. Keep in mind that if you
tune your closed loop servo
system then change the servo period you probably will need to tune them again.
I/O Control Ports/Boards::
PNCconf is capable of configuring machines that have up to two Mesa boards and
three parallel ports.
Parallel ports can only be used for simple low speed (servo rate) I/O.
Mesa:
You must choose at least one Mesa board as PNCconf will not configure the
parallel ports to count encoders or
output step or PWM signals.
The mesa cards available in the selection box are based on what PNCconf finds
for firmware on the systems.
There are options to add custom firmware and/or 'blacklist' (ignore) some
firmware or boards using a preference
file.
If no firmware is found PNCconf will show a warning and use internal sample
firmware - no testing will be possible.
One point to note is that if you choose two PCI Mesa cards there currently is
no way to predict which card is 0
and which is 1 - you must test - moving the cards could change their order. If
you configure with two cards both
cards must be installed for tests to function.
Parallel::
Up to 3 parallel ports (referred to as parports) can be used as simple I/O. You
must set the address of the parport.
You can either enter the Linux parallel port numbering system (0,1,or 2) or
enter the actual address. The
address for an on board parport is often 0x0278 or 0x0378 (written in
hexadecimal) but can be found in the BIOS
page. The BIOS page is found when you first start your computer you must press
a key to enter it (such as F2).
On the BIOS page you can find the parallel port address and set the mode such
as SPP, EPP, etc on some
computers this info is displayed for a few seconds during start up.
For PCI parallel port cards the address can be found by pressing the 'parport
address search' button.
this pops up the help output page with a list of all the PCI devices that can
be found. In there should
be a reference to a parallel port device with a list of addresses. One of those
addresses should work. Not all
PCI parallel ports work properly.
Either type can be selected as 'in' (maximum amount of input pins) or 'out'
(maximum amount of output pins)
GUI Frontend list::
This specifies the graphical display screens EMC will use.
Each one has different option.
AXIS
-fully supports lathes.
-is the most developed and used frontend
-is designed to be used with mouse and keyboard
-is tkinter based so integrates PYVCP (python based virtual control
panels) naturally.
-has a 3D graphical window.
-allows VCP integrated on the side or in center tab
TOUCHY
-Touchy was designed to be used with a touchscreen, some
minimal physical switches and a MPG wheel.
-requires cycle-start, abort, and single-step signals and buttons
-It also requires shared axis MPG jogging to be selected.
-is GTK based so integrates GLADE VCP (virtual control panels)
naturally.
-allows VCP panels integrated in the center Tab
-has no graphical window
-look can be changed with custom themes
MINI
-standard on OEM Sherline machines
-does not use Estop
-no VCP integration
TkEMC
- hi contrast bright blue screen
- separate graphics window
- no VCP integration
== External Configuration
This page allows you to select external controls such as for jogging or
overrides.
.GUI External
image::images/pncconf-external.png[]
If you select a Joystick for jogging, You will need it always connected for EMC
to load. To use the analog sticks for useful jogging you probably need to add
some custom HAL code. MPG jogging requires a pulse generator connected to a
MESA encoder counter. Override controls can either use a pulse generator (MPG)
or switches (such as a rotary dial). External buttons might be used with a
switch based OEM joystick.
Joystick jogging::
require a custom 'device rule' to be installed in the system. This is a file
that EMC uses to connect to LINUX's device list.
PNCconf will help to make this file.
'Search for device rule' will search the system for rules, you can use this to
find the name of devices you have already built with PNCconf.
'Add a device rule' will allow you to configure a new device by following the
prompts. You will need your device available.
'test device' allows you to load a device, see its pin names and check it's
functions with halmeter.
joystick jogging uses HALUI and hal_input components.
External buttons::
allows jogging the axis with simple buttons at a specified jog rate. Probably
best for rapid jogging.
MPG Jogging::
allows you to use a Manual Pulse Generator to jog the machine's axis.
MPG's are often found on commercial grade machines. They output quadrature
pulses that can be counted with a MESA encoder counter.
PNCconf allows for an MPG per axis or one MPG shared with all axis. It allows
for selection of jog speeds using switches or a single speed.
Overrides::
PNCconf allows overrides of feedrates and/or spindle speed using a pulse
generator (MPG) or switches (eg. rotary).
== GUI Configuration
Here you can set defaults for the display screens, add virtual control panels
(VCP), and set some EMC options..
.GUI Configuration
image::images/pncconf-gui.png[]
Frontend GUI Options::
The default options allows general defaults to be chosen for any display screen.
AXIS defaults are options specific to AXIS. If you choose size , position or
force maximize options
then PNCconf will ask if it's alright to overwrite a preference file (.axisrc).
Unless you have
manually added commands to this file it is fine to allow it. Position and force
max can be used
to move AXIS to a second monitor if the system is capable.
Touchy defaults are options specific to Touchy. Most of Touchy's options can be
changed while
Touchy is running using the preference page. Touchy uses GTK to draw it's
screen, and GTK
supports themes. Themes controls the basic look and feel of a program. You can
download themes from the net
or edit them yourself. There are a list of the current themes on the computer
that you can pick from.
To help some of the text to stand out PNCconf allows you to override the
Themes's defaults.
The position and force max options can be used to move Touchy to a second
monitor if the system is capable.
VCP options::
Virtual Control Panels allow one to add custom controls and displays to the
screen. AXIS and Touchy can
integrate these controls inside the screen in designated positions. There are
two kinds of VCPs - +
pyVCP which uses *Tkinter* to draw the screen and GLADE VCP that uses *GTK* to
draw the screen. +
PyVCP::
PyVCPs screen XML file can only be hand built. PyVCPs fit naturally in with
AXIS as they both use TKinter. +
HAL pins are created for the user to connect to inside their custom HAL file. +
There is a sample spindle display panel for the user to use as-is or build on. +
You may select a blank file that you can later add your controls ("widgets") to
or select a spindle display
sample that will display spindle speed and indicate if the spindle is at
requested speed. +
PNCconf will connect the proper spindle display HAL pins for you. +
If you are using AXIS then the panel will be integrated on the right side. +
If not using AXIS then the panel will be separate ("stand-alone") from the
frontend screen. +
You can use the geometry options to size and move the panel, for instance to
move it to a second screen if the
system is capable. If you press the "Display sample panel" button the size and
placement options will be honoured.
GLADE VCP::
GLADE VCPs fit naturally inside of TOUCHY screen as they both use GTK to draw
them, but by changing GLADE VCP's theme it can be
made to blend pretty well in AXIS. (try Redmond) +
It uses a graphical editor to build it's XML files. +
HAL pins are created for the user to connect to, inside of their custom HAL
file. +
GLADE VCP also allows much more sophisticated (and complicated) programming
interaction, which PNCconf currently doesn't leverage. (see GLADE VCP in the
manual)
PNCconf has sample panels for the user to use as-is or build on. +
With GLADE VCP PNCconf will allow you to select different options on your
sample display. +
Under 'sample options' select which ones you would like. +
The zero buttons use HALUI commands which you could edit later in the HALUI
section. +
Auto Z touch-off also requires the classicladder touch-off program and a probe
input selected. +
It requires a conductive touch-off plate and a grounded conductive tool. For an
idea on how it works see: +
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?ClassicLadderExamples#Single_button_probe_touchoff
Under 'Display Options', size, position, and force max can be used on a
"stand-alone" panel for such things as
placing the screen on a second monitor if the system is capable. +
You can select a GTK theme which sets the basic look and feel of the panel. +
You Usually want this to match the frontend screen. +
These options will be used if you press the "Display sample button". +
With GLADE VCP depending on the frontend screen, you can select where the panel
will display. +
You can force it to be stand-alone or with AXIS it can be in the center or on
the right side, with Touchy it can be in the center.
Defaults and Options::
....
Require homing before MDI / Running:
-If you want to be able to move the machine before homing uncheck
this checkbox.
Popup Tool Prompt:
-Choose between an on screen prompt for tool changes or export
standard signal
names for a User supplied custom tool changer Hal file
Leave spindle on during tool change:
-Used for lathes
Force individual manual homing:
Move spindle up before tool change:
Restore joint position after shutdown:
-Used for non-trivial kinematics machines
Random position toolchangers:
-Used for toolchangers that do not return the tool to the same
pocket. You will need to add custom HAL code to support
toolchangers.
....
== Mesa Configuration
The Mesa configuration pages allow one to utilize different firmwares.
On the basic page you selected a Mesa card here you pick the available firmware
and select what and how many components are available.
.Mesa Configuration
image::images/pncconf-mesa-config.png[]
Parport address is used only with Mesa parport card, the 7i43. An onboard
parallel port
usually uses 0x278 or 0x378 though you should be able to find the address from
the BIOS page.
The 7i43 requires the parallel port to use the EPP mode, again set in the BIOS
page.
If using a PCI parallel port the address can be searched for by using the
search button on
the basic page. +
IMPORTANT: Note lots of PCI cards do not support the EPP protocol properly.
PDM PWM and 3PWM base frequency sets the balance between ripple and linearity.
If using Mesa
daughter boards the docs for the board should give recommendations. For
instance if using the
7i33 Mesa recommends PDM and using 6 mHz.
Watchdog time out is used to set how long the MESA board will wait before
killing outputs if
communication is interrupted from the computer. Please remember Mesa uses
'active low' outputs
meaning that when the output pin is on, it is low (approx 0 volts) and if its
off the output in
high (approx 5 volts) make sure your equipment is safe when in the off
(watchdog bitten) state.
You may choose the number of available components by deselecting unused ones.
Not all component
types are available with all firmware.
Choosing less then the maximum number of components allows one to gain more
GPIO pins. If
using daughter boards keep in mind you must not deselect pins that the card
uses. For instance some
firmware supports two 7i33 cards, If you only have one you may deselect enough
components to utilize
the connector that supported the second 7i33. Components are deselected
numerically by the highest number
first then down with out skipping a number. If by doing this the components are
not where you want them
then you must use a different firmware. The firmware dictates where, what and
the max amounts of the
components. Custom firmware is possible, ask nicely when contacting the EMC
developers and Mesa.
Using custom firmware in PNCconf requires special procedures and is not always
possible - Though I try
to make PNCconf as flexible as possible.
After choosing all these options press the 'Accept Component Changes' button
and PNCconf will update
the I/O setup pages. Only I/O tabs will be shown for available connectors,
depending on the Mesa board.
== Mesa I/O Setup
The tabs are used to configure the input and output pins of the Mesa boards.
PNCconf allows one to create custom signal names for use in custom HAL files.
.Mesa I/O C2
image::images/pncconf-mesa-io2.png[]
On this tab with this firmware the components are setup for a 7i33 daughter
board, usually used with
closed loop servos. Note the component numbers of the encoder counters and PWM
drivers are not in
numerical order. This follows the daughter board requirements.
.Mesa I/O C3
image::images/pncconf-mesa-io3.png[]
On this tab all the pins are GPIO. Note the 3 digit numbers - they will match
the HAL pin number.
GPIO pins can be selected as input or output and can be inverted.
.Mesa I/O C4
image::images/pncconf-mesa-io4.png[]
On this tab there are a mix of step generators and GPIO.
Step generators output and direction pins can be inverted. Note that inverting
a Step Gen-A
pin (the step output pin) changes the step timing. It should match what your
controller expects.
== Parport configuration
image::images/pncconf-parport.png[]
The parallel port can be used for simple I/O similar to Mesa's GPIO pins.
== Axis Configuration
.Axis Drive Configuration
image::images/pncconf-axis-drive.png[]
This page allows configuring and testing of the motor and/or encoder
combination.
If using a servo motor an open loop test is available, if using a stepper a
tuning test is available.
*Open Loop Test* +
An open loop test is important as it confirms the direction of the motor and
encoder. The motor should move the axis in the positive direction
when the positive button is pushed and also the encoder should count in the
postie direction. The axis movement
should follow the Machinery Handbook standards or AXIS graphical display will
not make much sense. Hopefully
the help page and diagrams can help figure this out. Note that axis directions
are based on TOOL movement not
table movement. There is no acceleration ramping with the open loop test so
start with lower DAC numbers.
By moving the axis a known distance one can confirm the encoder scaling. The
encoder should
count even without the amp enabled depending on how power is supplied to the
encoder.
WARNING: If the motor and encoder do not agree on counting direction then the
servo will run away when using PID control.
Since at the moment PID settings can not be tested in PNCconf the settings are
really for when you re-edit
a config - enter your tested PID settings.
DAC scaling, max output and offset are used to tailor the DAC output.
*From the manual:* +
These two values are the scale and offset factors for the axis output to the
motor amplifiers. The second value (offset) is subtracted from the computed
output (in volts), and divided by the first value (scale factor), before being
written to the D/A converters. The units on the scale value are in true volts
per DAC output volts. The units on the offset value are in volts. These can be
used to linearize a DAC. +
Specifically, when writing outputs, the EMC first converts the desired
output in quasi-SI units to raw actuator values, e.g., volts for an amplifier
DAC. This scaling looks like: The value for scale can be obtained analytically
by doing a unit analysis, i.e., units are [output SI units]/[actuator units].
For example, on a machine with a velocity mode amplifier such that 1 volt
results in 250 mm/sec velocity, Note that the units of the offset are in
machine units, e.g., mm/sec, and they are pre-subtracted from the sensor
readings. The value for this offset is obtained by finding the value of your
output which yields 0.0 for the actuator output. If the DAC is linearized, this
offset is normally 0.0. +
The scale and offset can be used to linearize the DAC as well, resulting in
values that reflect the combined effects of amplifier gain, DAC non-linearity,
DAC units, etc. To do this, follow this procedure:
....
1. Build a calibration table for the output, driving the DAC with a
desired
voltage and measuring the result:
....
Output Voltage Measurements
[width="50%"]
|========================================
|*Raw* | *Measured*
|-10 | *-9.93*
| -9 | *-8.83*
| 0 | *-0.96*
| 1 | *-0.03*
| 9 | *9.87*
| 10 | *10.07*
|========================================
....
2. Do a least-squares linear fit to get coefficients a, b such that
meas=a*raw+b
3. Note that we want raw output such that our measured result is
identical to
the commanded output. This means
1. cmd=a*raw+b
2. raw=(cmd-b)/a
4. As a result, the a and b coefficients from the linear fit can be used
as the
scale and offset for the controller directly.
....
MAX OUTPUT:
The maximum value for the output of the PID compensation that is written to the
motor amplifier, in volts. The computed output value is clamped to this limit.
The limit is applied before scaling to raw output units. The value is applied
symmetrically to both the plus and the minus side.
*Tuning Test* +
The tuning test unfortunately only works with stepper based systems. Again
confirm the directions on the
axis is correct. Then test the system by running the axis back and forth, If
the acceleration or max speed
is too high you will lose steps. While jogging, Keep in mind it can take a
while for an axis with low
acceleration to stop. Limit switches are not functional during this test. You
can set a pause time so each end
of the test movement. This would allow you to set up and read a dial indicator
to see if you are loosing steps.
*Stepper Timing* +
Stepper timing needs to be tailored to the step controller's requirements.
Pncconf supplies some default controller
timing or allows custom timing settings. See
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Stepper_Drive_Timing for
some more known timing numbers (feel free to add ones you have figured out). If
in doubt use large numbers such as
5000 this will only limit max speed.
*Brushless Motor Control* +
These options are used to allow low level control of brushless motors using
special firmware and daughter boards.
it also allows conversion of HALL sensors from one manufacturer to another. It
is only partially supported and will require one
to finish the HAL connections. Contact the mail-list or forum for more help.
.Axis Scale Calculation
image::images/pncconf-scale-calc.png[]
The scale settings can be directly entered or one can use the 'calculate scale'
button to assist.
Use the check boxes to select appropriate calculations. Note that 'pulley
teeth' requires the number
of teeth not the gear ratio. Worm turn ratio is just the opposite it requires
the gear ratio. If your happy with the scale press apply
otherwise push cancel and enter the scale directly.
.Axis Configuration
image::images/pncconf-axis-config.png[]
Also refer to the diagram tab for two examples of
home and limit switches. These are two examples of
many different ways to set homing and limits.
IMPORTANT: It is very important to start with the axis moving in the right
direction or else getting homing right is very difficult!
Remember positive and negative directions
refer to the TOOL not the table as per the
Machinists handbook.
....
on a typical knee or bed mill:
when the TABLE moves out that is the positive Y direction
when the TABLE moves left that is the positive X direction
when the TABLE moves down that is the positive Z direction
when the HEAD moves up that is the positive Z direction
on a typical lathe:
when the TOOL moves right, away from the chuck
that is the positive Z direction
when the TOOL moves toward the operator
that is the positive X direction. Some lathes have X
opposite (eg tool on back side), that will work fine but
AXIS graphical display can not be made to reflect this.
....
When using homing and / or limit switches
EMC2 expects the HAL signals to be true when
the switch is being pressed / tripped.
If the signal is wrong for a limit switch then
EMC2 will think the machine is on end of limit
all the time. If the home switch search logic is wrong
EMC2 will seem to home in the wrong direction.
What it actually is doing is trying to BACK off
the home switch.
....
-Decide on limit switch location.
Limit switches are the back up for software limits in case
something electrical goes wrong eg. servo runaway.
Limit switches should be placed so that the machine does not
hit the physical end of the axis movement. Remember the axis
will coast past the contact point if moving fast. Limit switches
should be 'active low' on the machine. eg. power runs through
the switches all the time - a loss of power (open switch) trips.
While one could wire them the other way, this is fail safe.
This may need to be inverted so that the HAL signal in EMC
in 'active high' - a TRUE means the switch was tripped. When
starting EMC if you get an on-limit warning, and axis is NOT
tripping the switch, inverting the signal is probably the
solution. (use HALMETER to check the corresponding HAL signal
eg. axis.0.pos-lim-sw-in X axis positive limit switch)
-Decide on the home switch location.
If you are using limit switches You may as well use one as a
home switch. A separate home switch is useful if you have a long
axis that in use is usually a long way from the limit switches or
moving the axis to the ends presents problems of interference
with material.
eg a long shaft in a lathe makes it hard to home to limits with out
the tool hitting the shaft, so a separate home switch closer to the
middle may be better.
If you have an encoder with index then the home switch acts as a
course home and the index will be the actual home location.
-Decide on the MACHINE ORIGIN position.
MACHINE ORIGIN is what EMC uses to reference all user coordinate
systems from.
I can think of little reason it would need to be in any particular
spot. There are only a few G codes that can access the
MACHINE COORDINATE system.( G53, G30 and G28 )
If using tool-change-at-G30 option having the Origin at the tool
change position may be convenient. By convention, it may be easiest
to have the ORIGIN at the home switch.
-Decide on the (final) HOME POSITION.
this just places the carriage at a consistent and convenient position
after EMC figures out where the ORIGIN is.
-Measure / calculate the positive / negative axis travel distances.
Move the axis to the origin. Mark a reference on the movable
slide and the non-moveable support (so they are in line) move
the machine to the end of limits. Measure between the marks that is one
of the travel distances. Move the table to the other end of travel.
Measure the marks again. That is the other travel distance. If the ORIGIN
is at one of the limits then that travel distance will be zero.
....
(machine) ORIGIN::
The Origin is the MACHINE zero point. (not
the zero point you set your cutter / material at).
EMC2 uses this point to reference everything else
from. It should be inside the software limits.
EMC uses the home switch location to calculate
the origin position (when using home switches
or must be manually set if not using home switches.
Travel distance::
This is the maximum distance the axis can
travel in each direction. This may
or may not be able to be measured directly
from origin to limit switch. The positive and
negative travel distances should add up to the
total travel distance.
POSITIVE TRAVEL DISTANCE::
This is the distance the Axis travels from
the Origin to the positive travel distance or
the total travel minus the negative travel
distance. You would set this to zero if the
origin is positioned at the positive limit.
The will always be zero or a positive number.
NEGATIVE TRAVEL DISTANCE::
This is the distance the Axis travels from
the Origin to the negative travel distance.
or the total travel minus the positive travel
distance. You would set this to zero if the
origin is positioned at the negative limit.
This will always be zero or a negative number.
If you forget to make this negative PNCconf
will do it internally.
(Final) HOME POSITION::
This is the position the home sequence will
finish at. It is referenced from the Origin
so can be negative or positive depending on
what side of the Origin it is located.
When at the (final) home position if
you must move in the Positive direction to
get to the Origin, then the number will be
negative.
HOME SWITCH LOCATION::
This is the distance from the home switch to
the Origin. It could be negative or positive
depending on what side of the Origin it is
located. When at the home switch location if
you must move in the Positive direction to
get to the Origin, then the number will be
negative. If you set this to zero then the
Origin will be at the location of the limit
switch (plus distance to find index if used)
Home Search Velocity::
Course home search velocity in units per minute.
Home Search Direction::
Sets the home switch search direction
either negative (ie. towards negative limit switch)
or positive (ie. towards positive limit switch)
Home Latch Velocity::
Fine Home search velocity in units per minute
Home Final Velocity::
Velocity used from latch position to (final) home position
in units per minute. Set to 0 for max rapid speed
Home latch Direction::
Allows setting of the latch direction to the same
or opposite of the search direction.
Use Encoder Index For Home::
EMC2 will search for an encoder index pulse while in
the latch stage of homing.
Use Compensation File::
Allows specifying a Comp filename and type.
Allows sophisticated compensation. See Manual.
Use Backlash Compensation::
Allows setting of simple backlash compensation. Can
not be used with Compensation File. See Manual.
.AXIS Help Diagram
image::images/pncconf-diagram-lathe.png[]
The diagrams should help to demonstrate an example of limit switches and
standard axis movement directions. +
In this example the Z axis was two limit switches, the negative switch is
shared as a home switch. +
The MACHINE ORIGIN (zero point) is located at the negative limit. +
The left edge of the carriage is the negative trip pin and the right the
positive trip pin. +
We wish the FINAL HOME POSITION to be 4 inches away from the ORIGIN on the
positive side. +
If the carriage was moved to the positive limit we would measure 10 inches
between the negative limit and the negative trip pin. +
== Spindle Configuration
If you select spindle signals then this page is available to configure spindle
control.+
TIP: Many of the option on this page will not show unless the proper option was
selected on previous pages!
.Spindle Configuration
image::images/pncconf-spindle-config.png[]
This page is similar to the axis motor configuration page. +
There are some differences: +
Unless one has chosen a stepper driven spindle there is no acceleration or
velocity limiting. +
There is no support for gear changes or ranges. +
If you picked a VCP spindle display option then spindle-at-speed scale and
filter settings may be shown. +
Spindle-at-speed allows EMC to wait till the spindle is at the requested speed
before moving the axis. This is particularly handy on lathes with constant
surface feed and large speed diameter changes. It requires either encoder
feedback or a digital spindle-at-speed signal typically connected to a VFD
drive. +
If using encoder feedback then you must select a scale setting that specifies
how close the actual speed must be to the requested speed to be considered
at-speed.
If using encoder feedback, the VCP speed display can be erratic - the filter
setting can be used to smooth out the display.
If using encoder feedback the encoder scale must be set.
== Advanced Options
This allows setting of HALUI commands and loading of classicladder and sample
ladder programs. +
If you selected GLADE VCP options such as for zeroing axis, there will be
commands showing. +
See the manual about info on HALUI for using custom halcmds. +
There are several ladder program options. +
The Estop program allows an external ESTOP switch or the GUI frontend to throw
an Estop. It also has a timed lube pump signal. +
The Z auto touch-off is with a touch-off plate, the GLADE VCP touch-off button
and special HALUI commands to set the current +
user origin to zero and rapid clear. +
The serial modbus program is basically a blank template program that sets up
classicladder for serial modbus. See the classicladder section in the manual.
.Advanced Options
image::images/pncconf-advanced.png[]
== HAL Components
On this page you can add additional HAL components you might need for custom
HAL files. +
In this way one should not have to hand edit the main HAL file, while still
allowing user needed components.
.HAL Components
image::images/pncconf-hal.png[]
The first selection is components that pncconf uses internally. +
You may configure pncconf to load extra instances of the components for your
custom HAL file. +
Select the number of instances your custom file will need, pncconf will add
what it needs after them. +
Meaning if you need 2 and pncconf needs 1 pncconf will load 3 instances and use
the last one.
Custom Component Commands:
This selection will allow you to load HAL components that pncconf does not use.
+
Add the loadrt or loadusr command, under the heading 'loading command' +
Add the addf command under the heading 'Thread command'. +
The components will be added to the thread between reading of inputs and
writing of outputs, in the order you write them in the 'thread command'.
== Advanced Usage Of PNCconf
PNCconf does it's best to allow flexible customization by the user. +
PNCconf has support for custom signal names, custom loading of components,
custom HAL files and custom firmware. +
There are also signal names that PNCconf always provides regardless of options
selected, for user's custom HAL files +
With some thought most customizations should work regardless if you later
select different options in PNCconf. +
Eventually if the customizations are beyond the scope of PNCconf's frame work
you can use PNCconf to build a base config
or use one of EMC's sample configurations and just hand edit it to what ever
you want.
Custom Signal Names::
If you wish to connect a component to something in a custom HAL file write a
unique signal name in the combo entry box.
Certain components will add endings to your custom signal name:
Encoders will add < customname > +:
-position
-count
-velocity
-index-enable
-reset
Steppers add:
-enable
-counts
-position-cmd
-position-fb
-velocity-fb
PWM add:
-enable
-value
GPIO pins will just have the entered signal name connected to it
In this way one can connect to these signals in the custom HAL files and still
have the option to move them around later.
Custom Signal Names::
The Hal Components page can be used to load components needed by a user for
customization.
Loading Custom Firmware::
PNCconf searches for firmware on the system and then looks for the XML file
that it can convert to what it understands. These XML files are only supplied
for officially released firmware from the EMC team. To utilize custom firmware
one must convert it to an array that PNCconf understands and add it to
PNCconf's preference file. This hidden file is in the user's home file, is
named .pncconf-preferences and require one to select 'show hidden files' to see
and edit it. The contents of this file can be seen when you first load PNCconf
- press the help button and look at the output page.
Ask on the EMC mail-list or forum for info about converting custom firmware.
Not all firmware can be utilized with PNCconf.
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