linux系统学习笔记10——LinuxCNC配置单轴运动hal、xml、ini文件

关于LinuxCNC的hal、xml、ini文件的配置

LinuxCNC镜像系统安装步骤 linux系统学习笔记8——LiuxCNC镜像系统安装步骤

分享一下配置一个轴的配置文件

之前的文章提过，除了系统安装好，驱动装好，linuxcnc要想控制伺服，还需要对linuxcnc进行配置，分别配置xml hal ini 三个文件

机器人控制LinuxCNC与EtherCAT介绍&&PDO&SDO，搭建环境步骤

下面的三个文件配置是笔者使用的是合信的伺服 H1A....

xml

<masters>
	<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
	<slave idx="0" type="generic" vid="00000099" pid="00001000" configPdos="true">

	<sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/>sdoConfig>

	<syncManager idx="0" dir="out">syncManager>
	<syncManager idx="1" dir="in">syncManager>
	<syncManager idx="2" dir="out">
		<pdo idx="1601">
			<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
			<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="1000"/>
		pdo>
	syncManager>
	<syncManager idx="3" dir="in">
		<pdo idx="1A01">
			<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
			<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="1000"/>
		pdo>
	syncManager>
	<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
	slave>



       

	master>
masters>

文件中的pid 和 vid 根据自身的伺服修改.

hal文件内容如下

HAL

loadusr -W lcec_conf deltaPos.xml
loadrt lcec
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

setp lcec.0.0.drivecontrol-1 1
setp lcec.0.0.drivecontrol-2 1

net Xpos => lcec.0.0.poscommand
net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-0
net Xachse_AF  => lcec.0.0.drivecontrol-3
net Xachse_AF  => lcec.0.0.drivecontrol-5

INI

[EMC]
VERSION = 1.1
MACHINE = LinuxCNC-HAL-SIM
DEBUG = 0

[DISPLAY]
DISPLAY = axis

CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[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

[RS274NGC]
PARAMETER_FILE = sim.var

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[HAL]

HALUI = halui
HALFILE = core_sim.hal
HALFILE = sim_spindle_encoder.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = check_xyz_constraints.hal
HALFILE = deltaPos.hal

[TRAJ]

COORDINATES = X
HOME =                  0 
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY =      10
DEFAULT_LINEAR_ACCELERATION = 100
MAX_LINEAR_VELOCITY =   200
MAX_LINEAR_ACCELERATION = 800
POSITION_FILE = position.txt


[EMCIO]

EMCIO = 		io
CYCLE_TIME =    0.100
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 
TOOL_CHANGE_QUILL_UP = 1


[KINS]
KINEMATICS = trivkins coordinates=X
JOINTS = 1

[AXIS_X]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 200
MAX_ACCELERATION = 800.0

[JOINT_0]

TYPE = LINEAR
FERROR = 1.0
MIN_FERROR = 0.9
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 800.0
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0

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

后续分享6轴机械臂配置，以及配置文件详细解释

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