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andypughandypugh
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Merge pull request #3446 from BsAtHome/backport_2.9_hm2_modbus
Backport: hm2_modbus driver
2 parents 76645f9 + 9be0f54 commit ba65e41

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‎configs/by_interface/mesa/hm2-modbus/.gitignore‎

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*.mbccb

‎configs/by_interface/mesa/hm2-modbus/7i96s-modbus-bldc.ini‎

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[EMC]
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# The version string for this INI file.
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VERSION = 1.1
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# Name of machine, for use with display, etc.
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MACHINE = HM2-Stepper+Modbus+BLDC
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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#DEBUG = 0x00000003
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#DEBUG = 0x00000007
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DEBUG = 0
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[DISPLAY]
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# Name of display program, e.g., tklinuxcnc
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#DISPLAY = tklinuxcnc
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DISPLAY = axis
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.0500
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# Path to help file
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HELP_FILE = tklinuxcnc.txt
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# Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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# Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.5
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# Prefix to be used
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PROGRAM_PREFIX = ../../nc_files/
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# Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python3
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = hm2-stepper.var
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# Servo task period, in nanoseconds
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SERVO_PERIOD = 1000000
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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# Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.010
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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# list of hal config files to run through halcmd
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# files are executed in the order in which they appear
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HALFILE = hm2-stepper-eth-modbus.hal
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HALFILE = brushless-dc-motor-driver.hal
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# list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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[HALUI]
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#No Content
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[TRAJ]
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COORDINATES = X Y Z
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#HOME = 0 0 0
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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MAX_LINEAR_VELOCITY = 100
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[EMCIO]
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# tool table file
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TOOL_TABLE = tool.tbl
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 20
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[JOINT_0]
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#
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# Step timing is 40 us steplen + 40 us stepspace
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# That gives 80 us step period = 12.5 KHz step freq
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#
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# Bah, even software stepping can handle that, hm2 doesn't buy you much with
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# such slow steppers.
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#
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# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
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#
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# This gives a maxvel of 12.5/1 = 12.5 ips
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#
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TYPE = LINEAR
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 20
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# Set Stepgen max 20% higher than the axis
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STEPGEN_MAX_VEL = 12
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STEPGEN_MAX_ACC = 24
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BACKLASH = 0.000
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# scale is 200 steps/rev * 5 revs/inch
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SCALE = 1000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.005
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#HOME = 0.000
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#HOME_OFFSET = 0.10
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#HOME_SEARCH_VEL = 0.10
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#HOME_LATCH_VEL = -0.01
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#HOME_USE_INDEX = YES
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#HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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# these are in nanoseconds
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DIRSETUP = 200
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DIRHOLD = 200
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STEPLEN = 40000
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STEPSPACE = 40000
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[AXIS_Y]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 20
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[JOINT_1]
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TYPE = LINEAR
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 20
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# Set Stepgen max 20% higher than the axis
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STEPGEN_MAX_VEL = 12
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STEPGEN_MAX_ACC = 24
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BACKLASH = 0.000
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SCALE = 1000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.005
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#HOME = 0.000
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#HOME_OFFSET = 0.10
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#HOME_SEARCH_VEL = 0.10
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#HOME_LATCH_VEL = -0.01
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#HOME_USE_INDEX = YES
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#HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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# these are in nanoseconds
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DIRSETUP = 200
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DIRHOLD = 200
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STEPLEN = 40000
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STEPSPACE = 40000
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[AXIS_Z]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 20
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[JOINT_2]
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TYPE = LINEAR
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 20
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# Set Stepgen max 20% higher than the axis
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STEPGEN_MAX_VEL = 12
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STEPGEN_MAX_ACC = 24
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BACKLASH = 0.000
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SCALE = 1000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.005
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#HOME = 0.000
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#HOME_OFFSET = 0.10
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#HOME_SEARCH_VEL = 0.10
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#HOME_LATCH_VEL = -0.01
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#HOME_USE_INDEX = YES
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#HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 0
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# these are in nanoseconds
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DIRSETUP = 200
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DIRHOLD = 200
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STEPLEN = 40000
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STEPSPACE = 40000
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[HOSTMOT2]
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DRIVER=hm2_eth
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BOARD_IP=10.10.10.10
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BOARD=7i96s
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CONFIG=""
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[MODBUS]
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PORTS="hm2_7i96s.0.pktuart.0"
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MBCCBS="brushless-dc-motor-driver.mbccb"

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