mirror of
https://github.com/synthetos/g2.git
synced 2026-09-23 04:03:47 +08:00
Othermill settings; comments
This commit is contained in:
alden.hart
+69
-46
@@ -86,24 +86,15 @@ static stat_t _homing_axis_move(int8_t axis, float target, float velocity);
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static stat_t _homing_error_exit(int8_t axis, stat_t status);
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static stat_t _homing_finalize_exit(int8_t axis);
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static int8_t _get_next_axis(int8_t axis);
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static void _homing_axis_move_callback(float* vect, bool* flag);
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/**** HELPERS ***************************************************************************
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* _set_homing_func() - a convenience for setting the next dispatch vector and exiting
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*/
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static stat_t _set_homing_func(stat_t (*func)(int8_t axis)) {
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hm.func = func;
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return (STAT_EAGAIN);
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}
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/***********************************************************************************
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**** G28.2 Homing Cycle ***********************************************************
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***********************************************************************************/
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/*****************************************************************************
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* cm_homing_cycle_start() - G28.2 homing cycle using limit switches
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* cm_homing_cycle_callback() - main loop callback for running the homing cycle
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* cm_homing_cycle_start() - G28.2 homing cycle using limit switches
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* cm_homing_cycle_start_no_set() - G28.4 Homing cycle - do not set values
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*
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* --- How does this work? ---
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*
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@@ -186,10 +177,14 @@ stat_t cm_homing_cycle_start(const float axes[], const bool flags[]) {
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stat_t cm_homing_cycle_start_no_set(const float axes[], const bool flags[]) {
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cm_homing_cycle_start(axes, flags);
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hm.set_coordinates = false; // set flag to not update position variables at the end of the cycle
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hm.set_coordinates = false; // set flag to not update position variables at the end of the cycle
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return (STAT_OK);
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}
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/***********************************************************************************
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* cm_homing_cycle_callback() - main loop callback for running the homing cycle
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*/
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stat_t cm_homing_cycle_callback(void) {
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if (cm->cycle_state != CYCLE_HOMING) { // exit if not in a homing cycle
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return (STAT_NOOP);
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@@ -200,18 +195,21 @@ stat_t cm_homing_cycle_callback(void) {
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return (hm.func(hm.axis)); // execute the current homing move
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}
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/*
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* Homing axis moves - these execute in sequence for each axis
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*
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* _homing_axis_start() - get next axis, initialize variables, call the clear
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* _homing_axis_clear_init() - initiate a clear to move off a switch that is thrown at the start
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* _homing_axis_search() - fast search for switch, closes switch
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* _homing_axis_clear() - clear off the switch
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* _homing_axis_latch() - slow drive until until switch closes again
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* _homing_axis_final() - backoff from latch location to zero position
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* _homing_axis_move() - helper that actually executes the above moves
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*/
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/***********************************************************************************
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* Homing axis moves and helpers - these execute in sequence for each axis
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***********************************************************************************/
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/*
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* _set_homing_func() - a convenience for setting the next dispatch vector and exiting
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*/
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static stat_t _set_homing_func(stat_t (*func)(int8_t axis)) {
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hm.func = func;
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return (STAT_EAGAIN);
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}
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/***********************************************************************************
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* _homing_axis_start() - get next axis, initialize variables, call the clear
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*/
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static stat_t _homing_axis_start(int8_t axis) {
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// get the first or next axis
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@@ -247,36 +245,40 @@ static stat_t _homing_axis_start(int8_t axis) {
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// However, here's a good place to stash the homing_switch:
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hm.homing_input = cm->a[axis].homing_input;
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gpio_set_homing_mode(hm.homing_input, true);
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hm.axis = axis; // persist the axis
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hm.search_velocity = fabs(cm->a[axis].search_velocity); // search velocity is always positive
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hm.latch_velocity = fabs(cm->a[axis].latch_velocity); // latch velocity is always positive
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hm.axis = axis; // persist the axis
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hm.search_velocity = fabs(cm->a[axis].search_velocity); // search velocity is always positive
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hm.latch_velocity = fabs(cm->a[axis].latch_velocity); // latch velocity is always positive
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bool homing_to_max = cm->a[axis].homing_dir;
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// setup parameters for positive or negative travel (homing to the max or min switch)
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if (homing_to_max) {
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hm.search_travel = travel_distance; // search travels in positive direction
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hm.latch_backoff = fabs(cm->a[axis].latch_backoff); // latch travels in positive direction
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hm.zero_backoff = -max(0.0f, cm->a[axis].zero_backoff); // zero backoff is negative direction (or zero)
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// will set the maximum position
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// (plus any negative backoff)
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hm.search_travel = travel_distance; // search travels in positive direction
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hm.latch_backoff = fabs(cm->a[axis].latch_backoff); // latch travels in positive direction
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hm.zero_backoff = -max(0.0f, cm->a[axis].zero_backoff);// zero backoff is negative direction (or zero)
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// will set the maximum position
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// (plus any negative backoff)
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hm.setpoint = cm->a[axis].travel_max + (max(0.0f, -cm->a[axis].zero_backoff));
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} else {
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hm.search_travel = -travel_distance; // search travels in negative direction
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hm.latch_backoff = -fabs(cm->a[axis].latch_backoff); // latch travels in negative direction
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hm.zero_backoff = max(0.0f, cm->a[axis].zero_backoff); // zero backoff is positive direction (or zero)
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hm.latch_backoff = -fabs(cm->a[axis].latch_backoff); // latch travels in negative direction
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hm.zero_backoff = max(0.0f, cm->a[axis].zero_backoff); // zero backoff is positive direction (or zero)
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// will set the minimum position
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// (minus any negative backoff)
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hm.setpoint = cm->a[axis].travel_min + (max(0.0f, -cm->a[axis].zero_backoff));
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}
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// if homing is disabled for the axis then skip to the next axis
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hm.saved_jerk = cm_get_axis_jerk(axis); // save the max jerk value
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return (_set_homing_func(_homing_axis_clear_init)); // perform an initial clear
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hm.saved_jerk = cm_get_axis_jerk(axis); // save the max jerk value
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return (_set_homing_func(_homing_axis_clear_init)); // perform an initial clear
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}
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// Handle an initial switch closure by backing off the closed switch
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// NOTE: clear_init() relies on independent switches per axis (not shared)
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/***********************************************************************************
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* _homing_axis_clear_init() - initiate a clear to move off a switch that is thrown at the start
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*
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* Handle an initial switch closure by backing off the closed switch
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* NOTE: clear_init() relies on independent switches per axis (not shared)
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*/
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static stat_t _homing_axis_clear_init(int8_t axis) // first clear move
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{
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if (gpio_read_input(hm.homing_input) == INPUT_ACTIVE) { // the switch is closed at startup
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@@ -293,6 +295,9 @@ static stat_t _homing_axis_clear_init(int8_t axis) // first clear move
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return (_set_homing_func(_homing_axis_search)); // start the search
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}
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/***********************************************************************************
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* _homing_axis_search() - fast search for switch, closes switch
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*/
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static stat_t _homing_axis_search(int8_t axis) // drive to switch
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{
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cm_set_axis_jerk(axis, cm->a[axis].jerk_high); // use the high-speed jerk for search onward
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@@ -300,25 +305,37 @@ static stat_t _homing_axis_search(int8_t axis) // drive to switch
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return (_set_homing_func(_homing_axis_clear));
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}
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/***********************************************************************************
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* _homing_axis_clear() - clear off the switch
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*/
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static stat_t _homing_axis_clear(int8_t axis) // drive away from switch at search speed
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{
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_homing_axis_move(axis, -hm.latch_backoff, hm.search_velocity);
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return (_set_homing_func(_homing_axis_latch));
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}
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/***********************************************************************************
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* _homing_axis_latch() - slow drive until until switch closes again
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*/
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static stat_t _homing_axis_latch(int8_t axis) // drive to switch at low speed
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{
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_homing_axis_move(axis, hm.latch_backoff, hm.latch_velocity);
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return (_set_homing_func(_homing_axis_setpoint_backoff));
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}
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static stat_t _homing_axis_setpoint_backoff(int8_t axis) // backoff to zero or max setpoint position
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/***********************************************************************************
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* _homing_axis_setpoint_backoff() - backoff to zero or max setpoint position
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*/
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static stat_t _homing_axis_setpoint_backoff(int8_t axis) //
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{
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_homing_axis_move(axis, hm.zero_backoff, hm.search_velocity);
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return (_set_homing_func(_homing_axis_set_position));
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}
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static stat_t _homing_axis_set_position(int8_t axis) // set axis zero / max and finish up
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/***********************************************************************************
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* _homing_axis_set_position() - set axis zero / max and finish up
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*/
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static stat_t _homing_axis_set_position(int8_t axis)
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{
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if (hm.set_coordinates) {
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cm_set_position_by_axis(axis, hm.setpoint);
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@@ -335,6 +352,15 @@ static stat_t _homing_axis_set_position(int8_t axis) // set axis zero / max and
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return (_set_homing_func(_homing_axis_start));
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}
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/***********************************************************************************
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* _homing_axis_move() - helper that actually executes the above moves
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* _motion_end_callback() - callback completes when motion has stopped
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*/
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static void _motion_end_callback(float* vect, bool* flag)
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{
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hm.waiting_for_motion_end = false;
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}
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static stat_t _homing_axis_move(int8_t axis, float target, float velocity) {
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float vect[] = {0, 0, 0, 0, 0, 0};
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bool flags[] = {false, false, false, false, false, false};
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@@ -352,15 +378,12 @@ static stat_t _homing_axis_move(int8_t axis, float target, float velocity) {
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}
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// the last two arguments are ignored anyway
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mp_queue_command(_homing_axis_move_callback, nullptr, nullptr);
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mp_queue_command(_motion_end_callback, nullptr, nullptr);
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return (STAT_EAGAIN);
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}
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static void _homing_axis_move_callback(float* vect, bool* flag) { hm.waiting_for_motion_end = false; }
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/*
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/***********************************************************************************
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* _homing_error_exit()
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*
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* Generate an error message. Since the error exit returns via the homing callback
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@@ -382,7 +405,7 @@ static stat_t _homing_error_exit(int8_t axis, stat_t status) {
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return (STAT_HOMING_CYCLE_FAILED); // homing state remains HOMING_NOT_HOMED
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}
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/*
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/***********************************************************************************
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* _homing_finalize_exit() - helper to finalize homing
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*/
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@@ -398,7 +421,7 @@ static stat_t _homing_finalize_exit(int8_t axis) // third part of return to hom
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return (STAT_OK);
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}
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/*
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/***********************************************************************************
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* _get_next_axis() - return next axis in sequence based on axis in arg
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*
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* Accepts "axis" arg as the current axis; or -1 to retrieve the first axis
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@@ -73,7 +73,7 @@
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<InterfaceName>SWD</InterfaceName>
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</ToolOptions>
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<ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
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<ToolNumber>J41800036434</ToolNumber>
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<ToolNumber>J41800021206</ToolNumber>
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<ToolName>Atmel-ICE</ToolName>
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</com_atmel_avrdbg_tool_atmelice>
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<UseGdb>True</UseGdb>
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@@ -100,7 +100,7 @@
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<HWProgramCounterSampling>True</HWProgramCounterSampling>
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</PercepioTrace>
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<preserveEEPROM>true</preserveEEPROM>
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<avrtoolserialnumber>J41800036434</avrtoolserialnumber>
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<avrtoolserialnumber>J41800021206</avrtoolserialnumber>
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<avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
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<avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
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<custom>
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+13
-10
@@ -993,21 +993,24 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
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if (mp_runtime_is_idle()) { // wait for steppers to actually finish
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mp_zero_segment_velocity(); // finalize velocity for reporting purposes
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// if probing or homing exit the move and advance to the _motion_end finalization command
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if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
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// If in a p2 hold, exit the p2 hold set up a flush of the p2 planner queue
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if (cm == &cm2) {
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// copy_vector(mp->position, mr->position); // update planner position from runtime
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cm->hold_state = FEEDHOLD_P2_EXIT;
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}
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// At this point we know we are in a p1 hold
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// If probing or homing exit the move and advance to the _motion_end finalization command.
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// Stop the runtime, clear the bun buffer and do not transition to p2 planner
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else if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
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mr->block_state = BLOCK_INACTIVE; // disable the rest of the runtime movement
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copy_vector(mp->position, mr->position); // update planner position from runtime
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mp_free_run_buffer(); // free buffer and enable finalization move to get loaded
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cm->hold_state = FEEDHOLD_OFF;
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}
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// if exiting a p2 hold set up a flush of the p2 planner queue
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else if (cm == &cm2) {
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// copy_vector(mp->position, mr->position); // update planner position from runtime
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cm->hold_state = FEEDHOLD_P2_EXIT;
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}
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// if exiting a regular p1 hold perform Z-lift, spindle, coolant actions
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// If exiting a regular p1 hold set state to FEEDHOLD_ACTIONS_START.
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// This enables transition to p2 planner; then Z-lift, spindle, coolant actions
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else {
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cm->hold_state = FEEDHOLD_ACTIONS_START;
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}
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@@ -32,24 +32,27 @@
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//**** GLOBAL / GENERAL SETTINGS ******************************************************
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#define JUNCTION_INTEGRATION_TIME 0.75 // cornering - between 0.10 and 2.00 (higher is faster)
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#define CHORDAL_TOLERANCE 0.01 // chordal accuracy for arc drawing (in mm)
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#define JUNCTION_INTEGRATION_TIME 0.75 // cornering - between 0.10 and 2.00 (higher is faster)
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#define CHORDAL_TOLERANCE 0.01 // chordal accuracy for arc drawing (in mm)
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#define SOFT_LIMIT_ENABLE 0 // 0=off, 1=on
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#define HARD_LIMIT_ENABLE 1 // 0=off, 1=on
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#define SAFETY_INTERLOCK_ENABLE 1 // 0=off, 1=on
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#define SOFT_LIMIT_ENABLE 0 // 0=off, 1=on
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#define HARD_LIMIT_ENABLE 1 // 0=off, 1=on
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#define SAFETY_INTERLOCK_ENABLE 1 // 0=off, 1=on
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#define SPINDLE_ENABLE_POLARITY 1 // 0=active low, 1=active high
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#define SPINDLE_DIR_POLARITY 0 // 0=clockwise is low, 1=clockwise is high
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#define SPINDLE_PAUSE_ON_HOLD true
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#define SPINDLE_DWELL_TIME 1.5 // after unpausing and turning the spindle on, dwell for 1.5s
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#define SPINDLE_ENABLE_POLARITY 1 // 0=active low, 1=active high
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#define SPINDLE_DIR_POLARITY 0 // 0=clockwise is low, 1=clockwise is high
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#define SPINDLE_PAUSE_ON_HOLD true
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#define SPINDLE_DWELL_TIME 1.5 // after unpausing and turning the spindle on, dwell for 1.5s
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#define ESC_BOOT_TIME 5000 // how long the ESC takes to boot, in milliseconds
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#define ESC_LOCKOUT_TIME 900 // how long the interlock needs to be engaged before killing power... actually 1s, but be conservative
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#define ESC_BOOT_TIME 5000 // how long the ESC takes to boot, in milliseconds
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#define ESC_LOCKOUT_TIME 900 // how long the interlock needs to be engaged before killing power... actually 1s, but be conservative
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#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
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#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
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#define COOLANT_PAUSE_ON_HOLD true
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#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
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#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
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#define COOLANT_PAUSE_ON_HOLD true
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#define FEEDHOLD_Z_LIFT 3 // mm to lift Z on feedhold
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#define PROBE_REPORT_ENABLE true
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// WARNING: Older Othermill machines use a 15deg can stack for their Z axis.
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// new machines use a stepper which has the same config as the other axis.
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@@ -66,20 +69,25 @@
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// Communications and reporting settings
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#define COMM_MODE JSON_MODE // one of: TEXT_MODE, JSON_MODE
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#define XIO_ENABLE_FLOW_CONTROL FLOW_CONTROL_RTS // FLOW_CONTROL_OFF, FLOW_CONTROL_RTS
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#define USB_SERIAL_PORTS_EXPOSED 1 // Valid options are 1 or 2, only!
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#define TEXT_VERBOSITY TV_VERBOSE // one of: TV_SILENT, TV_VERBOSE
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#define JSON_VERBOSITY JV_MESSAGES // one of: JV_SILENT, JV_FOOTER, JV_CONFIGS, JV_MESSAGES, JV_LINENUM, JV_VERBOSE
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#define QUEUE_REPORT_VERBOSITY QR_SINGLE // one of: QR_OFF, QR_SINGLE, QR_TRIPLE
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#define COMM_MODE JSON_MODE // one of: TEXT_MODE, JSON_MODE
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#define XIO_ENABLE_FLOW_CONTROL FLOW_CONTROL_RTS // FLOW_CONTROL_OFF, FLOW_CONTROL_RTS
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#define STATUS_REPORT_VERBOSITY SR_FILTERED // one of: SR_OFF, SR_FILTERED, SR_VERBOSE
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#define STATUS_REPORT_MIN_MS 100 // milliseconds - enforces a viable minimum
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#define STATUS_REPORT_INTERVAL_MS 250 // milliseconds - set $SV=0 to disable
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#define STATUS_REPORT_DEFAULTS \
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"mpox", "mpoy", "mpoz", "ofsx", "ofsy", "ofsz", "g55x", "g55y", "g55z", "unit", "stat", "coor", "momo", "dist", \
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"home", "mots", "plan", "line", "path", "frmo", "hold", "macs", "cycs"
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||||
// "path","frmo","prbe","safe","spe","spd","hold","macs","cycs","sps"
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#define TEXT_VERBOSITY TV_VERBOSE // one of: TV_SILENT, TV_VERBOSE
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#define JSON_VERBOSITY JV_MESSAGES // one of: JV_SILENT, JV_FOOTER, JV_CONFIGS, JV_MESSAGES, JV_LINENUM, JV_VERBOSE
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#define QUEUE_REPORT_VERBOSITY QR_SINGLE // one of: QR_OFF, QR_SINGLE, QR_TRIPLE
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#define STATUS_REPORT_VERBOSITY SR_FILTERED // one of: SR_OFF, SR_FILTERED, SR_VERBOSE
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#define STATUS_REPORT_MIN_MS 100 // milliseconds - enforces a viable minimum
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||||
#define STATUS_REPORT_INTERVAL_MS 250 // milliseconds - set $SV=0 to disable
|
||||
#define STATUS_REPORT_DEFAULTS "mpox", "mpoy", "mpoz", \
|
||||
"ofsx", "ofsy", "ofsz", \
|
||||
"g55x", "g55y", "g55z", \
|
||||
"unit", "stat", "coor", "momo", "dist", \
|
||||
"home", "mots", "plan", "line", "path", \
|
||||
"frmo", "hold", "macs", "cycs"
|
||||
// "prbe", "safe", "spe", "spd", "sps"
|
||||
|
||||
// Gcode startup defaults
|
||||
#define GCODE_DEFAULT_UNITS MILLIMETERS // MILLIMETERS or INCHES
|
||||
@@ -92,49 +100,126 @@
|
||||
|
||||
// NOTE: Motor numbers are reversed from TinyGv8 in order to maintain compatibility with wiring harnesses
|
||||
|
||||
#define MOTOR_POWER_LEVEL_XY 0.375 // default motor power level 0.00 - 1.00
|
||||
#define MOTOR_POWER_LEVEL_XY_IDLE 0.15
|
||||
#define MOTOR_POWER_LEVEL_Z 0.375
|
||||
#define MOTOR_POWER_LEVEL_Z_IDLE 0.15
|
||||
#define MOTOR_POWER_LEVEL_DISABLED 0.05
|
||||
#define MOTOR_POWER_LEVEL_XY 0.375 // default motor power level 0.00 - 1.00
|
||||
#define MOTOR_POWER_LEVEL_XY_IDLE 0.15
|
||||
#define MOTOR_POWER_LEVEL_Z 0.375
|
||||
#define MOTOR_POWER_LEVEL_Z_IDLE 0.15
|
||||
#define MOTOR_POWER_LEVEL_DISABLED 0.05
|
||||
|
||||
#define MOTOR_POWER_MODE MOTOR_POWERED_IN_CYCLE
|
||||
#define MOTOR_POWER_TIMEOUT 2.00 // motor power timeout in seconds
|
||||
#define MOTOR_POWER_MODE MOTOR_POWERED_IN_CYCLE
|
||||
#define MOTOR_POWER_TIMEOUT 2.00 // motor power timeout in seconds
|
||||
|
||||
#define M1_MOTOR_MAP AXIS_X // 1ma
|
||||
#define M1_STEP_ANGLE 1.8 // 1sa
|
||||
#define M1_TRAVEL_PER_REV 4.8768 // 1tr
|
||||
#define M1_MICROSTEPS 8 // 1mi 1,2,4,8,16,32
|
||||
#define M1_POLARITY 1 // 1po 0=normal, 1=reversed
|
||||
#define M1_POWER_MODE MOTOR_POWER_MODE // 1pm See enum cmMotorPowerMode in stepper.h
|
||||
#define M1_POWER_LEVEL MOTOR_POWER_LEVEL_XY // 0.00=off, 1.00=max
|
||||
#define M1_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
|
||||
#define M1_MOTOR_MAP AXIS_X // 1ma
|
||||
#define M1_STEP_ANGLE 1.8 // 1sa
|
||||
#define M1_TRAVEL_PER_REV 4.8768 // 1tr
|
||||
#define M1_MICROSTEPS 8 // 1mi 1,2,4,8,16,32
|
||||
#define M1_POLARITY 1 // 1po 0=normal, 1=reversed
|
||||
#define M1_POWER_MODE MOTOR_POWER_MODE // 1pm See enum cmMotorPowerMode in stepper.h
|
||||
#define M1_POWER_LEVEL MOTOR_POWER_LEVEL_XY // 0.00=off, 1.00=max
|
||||
#define M1_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
|
||||
|
||||
#define M2_MOTOR_MAP AXIS_Y
|
||||
#define M2_STEP_ANGLE 1.8
|
||||
#define M2_TRAVEL_PER_REV 4.8768
|
||||
#define M2_MICROSTEPS 8
|
||||
#define M2_POLARITY 1
|
||||
#define M2_POWER_MODE MOTOR_POWER_MODE
|
||||
#define M2_POWER_LEVEL MOTOR_POWER_LEVEL_XY
|
||||
#define M2_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
|
||||
#define M2_MOTOR_MAP AXIS_Y
|
||||
#define M2_STEP_ANGLE 1.8
|
||||
#define M2_TRAVEL_PER_REV 4.8768
|
||||
#define M2_MICROSTEPS 8
|
||||
#define M2_POLARITY 1
|
||||
#define M2_POWER_MODE MOTOR_POWER_MODE
|
||||
#define M2_POWER_LEVEL MOTOR_POWER_LEVEL_XY
|
||||
#define M2_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
|
||||
|
||||
#define M3_MOTOR_MAP AXIS_Z
|
||||
#define M3_MOTOR_MAP AXIS_Z
|
||||
#if HAS_CANSTACK_Z_AXIS
|
||||
#define M3_STEP_ANGLE 15
|
||||
#define M3_TRAVEL_PER_REV 1.27254
|
||||
#define M3_STEP_ANGLE 15
|
||||
#define M3_TRAVEL_PER_REV 1.27254
|
||||
#else
|
||||
#define M3_STEP_ANGLE 1.8
|
||||
#define M3_TRAVEL_PER_REV 4.8768
|
||||
#define M3_STEP_ANGLE 1.8
|
||||
#define M3_TRAVEL_PER_REV 4.8768
|
||||
#endif
|
||||
#define M3_MICROSTEPS 8
|
||||
#define M3_POLARITY 0
|
||||
#define M3_POWER_MODE MOTOR_POWER_MODE
|
||||
#define M3_POWER_LEVEL MOTOR_POWER_LEVEL_Z
|
||||
#define M3_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_Z_IDLE
|
||||
#define M3_MICROSTEPS 8
|
||||
#define M3_POLARITY 0
|
||||
#define M3_POWER_MODE MOTOR_POWER_MODE
|
||||
#define M3_POWER_LEVEL MOTOR_POWER_LEVEL_Z
|
||||
#define M3_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_Z_IDLE
|
||||
|
||||
#define M4_MOTOR_MAP AXIS_A
|
||||
#define M4_STEP_ANGLE 1.8
|
||||
#define M4_TRAVEL_PER_REV 360 // degrees moved per motor rev
|
||||
#define M4_MICROSTEPS 8
|
||||
#define M4_POLARITY 1
|
||||
#define M4_POWER_MODE MOTOR_DISABLED
|
||||
#define M4_POWER_LEVEL MOTOR_POWER_LEVEL_DISABLED
|
||||
#define M4_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_DISABLED
|
||||
|
||||
#define M5_MOTOR_MAP AXIS_B
|
||||
#define M5_STEP_ANGLE 1.8
|
||||
#define M5_TRAVEL_PER_REV 360 // degrees moved per motor rev
|
||||
#define M5_MICROSTEPS 8
|
||||
#define M5_POLARITY 0
|
||||
#define M5_POWER_MODE MOTOR_DISABLED
|
||||
#define M5_POWER_LEVEL MOTOR_POWER_LEVEL_DISABLED
|
||||
#define M5_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_DISABLED
|
||||
|
||||
#define M6_MOTOR_MAP AXIS_C
|
||||
#define M6_STEP_ANGLE 1.8
|
||||
#define M6_TRAVEL_PER_REV 360 // degrees moved per motor rev
|
||||
#define M6_MICROSTEPS 8
|
||||
#define M6_POLARITY 0
|
||||
#define M6_POWER_MODE MOTOR_DISABLED
|
||||
#define M6_POWER_LEVEL MOTOR_POWER_LEVEL_DISABLED
|
||||
#define M6_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_DISABLED
|
||||
|
||||
// *** axis settings **********************************************************************************
|
||||
|
||||
#define JERK_MAX 500 // 500 million mm/(min^3)
|
||||
#define JERK_HIGH_SPEED 1000 // 1000 million mm/(min^3) // Jerk during homing needs to stop *fast*
|
||||
#define VELOCITY_MAX 1500
|
||||
#define SEARCH_VELOCITY (VELOCITY_MAX / 3)
|
||||
#define LATCH_VELOCITY 25 // reeeeally slow for accuracy
|
||||
|
||||
#define X_AXIS_MODE AXIS_STANDARD // xam see canonical_machine.h cmAxisMode for valid values
|
||||
#define X_VELOCITY_MAX VELOCITY_MAX // xvm G0 max velocity in mm/min
|
||||
#define X_FEEDRATE_MAX X_VELOCITY_MAX // xfr G1 max feed rate in mm/min
|
||||
#define X_TRAVEL_MIN 0 // xtn minimum travel for soft limits
|
||||
#define X_TRAVEL_MAX 145.6 // xtr travel between switches or crashes
|
||||
#define X_JERK_MAX JERK_MAX // xjm
|
||||
#define X_JERK_HIGH_SPEED JERK_HIGH_SPEED // xjh
|
||||
#define X_HOMING_INPUT 1 // xhi input used for homing or 0 to disable
|
||||
#define X_HOMING_DIRECTION 0 // xhd 0=search moves negative, 1= search moves positive
|
||||
#define X_SEARCH_VELOCITY SEARCH_VELOCITY // xsv
|
||||
#define X_LATCH_VELOCITY LATCH_VELOCITY // xlv mm/min
|
||||
#define X_LATCH_BACKOFF 2 // xlb mm
|
||||
#define X_ZERO_BACKOFF 0.4 // xzb mm
|
||||
|
||||
#define Y_AXIS_MODE AXIS_STANDARD
|
||||
#define Y_VELOCITY_MAX X_VELOCITY_MAX
|
||||
#define Y_FEEDRATE_MAX Y_VELOCITY_MAX
|
||||
#define Y_TRAVEL_MIN 0
|
||||
#define Y_TRAVEL_MAX 119.1
|
||||
#define Y_JERK_MAX JERK_MAX
|
||||
#define Y_JERK_HIGH_SPEED JERK_HIGH_SPEED
|
||||
#define Y_HOMING_INPUT 3
|
||||
#define Y_HOMING_DIRECTION 0
|
||||
#define Y_SEARCH_VELOCITY (Y_FEEDRATE_MAX / 3)
|
||||
#define Y_LATCH_VELOCITY LATCH_VELOCITY
|
||||
#define Y_LATCH_BACKOFF 2
|
||||
#define Y_ZERO_BACKOFF 0.4
|
||||
|
||||
#define Z_AXIS_MODE AXIS_STANDARD
|
||||
#define Z_VELOCITY_MAX X_VELOCITY_MAX
|
||||
#define Z_FEEDRATE_MAX Z_VELOCITY_MAX
|
||||
#define Z_TRAVEL_MIN -60.1
|
||||
#define Z_TRAVEL_MAX 0
|
||||
#define Z_JERK_MAX JERK_MAX
|
||||
#define Z_JERK_HIGH_SPEED JERK_HIGH_SPEED
|
||||
#define Z_HOMING_INPUT 6
|
||||
#define Z_HOMING_DIRECTION 1
|
||||
#define Z_SEARCH_VELOCITY (Z_FEEDRATE_MAX / 3)
|
||||
#define Z_LATCH_VELOCITY LATCH_VELOCITY
|
||||
#define Z_LATCH_BACKOFF 2
|
||||
#define Z_ZERO_BACKOFF 0.4
|
||||
|
||||
|
||||
/*
|
||||
#define JERK_MAX 500 // 500 million mm/(min^3)
|
||||
#define JERK_HIGH_SPEED 1000 // 1000 million mm/(min^3) // Jerk during homing needs to stop *fast*
|
||||
#define VELOCITY_MAX 1500
|
||||
@@ -186,6 +271,7 @@
|
||||
#define Z_LATCH_VELOCITY LATCH_VELOCITY
|
||||
#define Z_LATCH_BACKOFF 1
|
||||
#define Z_ZERO_BACKOFF 0.4
|
||||
*/
|
||||
|
||||
//*** Input / output settings ***
|
||||
/*
|
||||
@@ -212,65 +298,68 @@
|
||||
*/
|
||||
|
||||
// Xmin on v9 board // X homing - see X axis setup
|
||||
#define DI1_MODE NORMALLY_CLOSED
|
||||
#define DI1_ACTION INPUT_ACTION_NONE
|
||||
#define DI1_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI1_MODE NORMALLY_CLOSED
|
||||
#define DI1_ACTION INPUT_ACTION_NONE
|
||||
#define DI1_FUNCTION INPUT_FUNCTION_NONE
|
||||
|
||||
// Xmax // External ESTOP
|
||||
#define DI2_MODE IO_ACTIVE_HIGH
|
||||
#define DI2_ACTION INPUT_ACTION_HALT
|
||||
#define DI2_FUNCTION INPUT_FUNCTION_SHUTDOWN
|
||||
#define DI2_MODE IO_ACTIVE_HIGH
|
||||
#define DI2_ACTION INPUT_ACTION_HALT
|
||||
#define DI2_FUNCTION INPUT_FUNCTION_SHUTDOWN
|
||||
|
||||
// Ymin // Y homing - see Y axis setup
|
||||
#define DI3_MODE NORMALLY_CLOSED
|
||||
#define DI3_ACTION INPUT_ACTION_NONE
|
||||
#define DI3_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI3_MODE NORMALLY_CLOSED
|
||||
#define DI3_ACTION INPUT_ACTION_NONE
|
||||
#define DI3_FUNCTION INPUT_FUNCTION_NONE
|
||||
|
||||
// Ymax // Safety interlock
|
||||
#define DI4_MODE IO_ACTIVE_HIGH
|
||||
#define DI4_ACTION INPUT_ACTION_NONE // (hold is performed by Interlock function)
|
||||
#define DI4_FUNCTION INPUT_FUNCTION_INTERLOCK
|
||||
#define DI4_MODE IO_ACTIVE_HIGH
|
||||
#define DI4_ACTION INPUT_ACTION_NONE // (hold is performed by Interlock function)
|
||||
#define DI4_FUNCTION INPUT_FUNCTION_INTERLOCK
|
||||
|
||||
// Zmin // Z probe
|
||||
#define DI5_MODE IO_ACTIVE_LOW
|
||||
#define DI5_ACTION INPUT_ACTION_NONE
|
||||
#define DI5_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI5_MODE IO_ACTIVE_LOW
|
||||
#define DI5_ACTION INPUT_ACTION_NONE
|
||||
#define DI5_FUNCTION INPUT_FUNCTION_PROBE
|
||||
|
||||
// Zmax // Z homing - see Z axis for setup
|
||||
#define DI6_MODE NORMALLY_CLOSED
|
||||
#define DI6_ACTION INPUT_ACTION_NONE
|
||||
#define DI6_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI6_MODE NORMALLY_CLOSED
|
||||
#define DI6_ACTION INPUT_ACTION_NONE
|
||||
#define DI6_FUNCTION INPUT_FUNCTION_NONE
|
||||
|
||||
// Amin // Unused
|
||||
#define DI7_MODE IO_MODE_DISABLED
|
||||
#define DI7_ACTION INPUT_ACTION_NONE
|
||||
#define DI7_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI7_MODE IO_MODE_DISABLED
|
||||
#define DI7_ACTION INPUT_ACTION_NONE
|
||||
#define DI7_FUNCTION INPUT_FUNCTION_NONE
|
||||
|
||||
// Amax // Unused
|
||||
#define DI8_MODE IO_MODE_DISABLED
|
||||
#define DI8_ACTION INPUT_ACTION_NONE
|
||||
#define DI8_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI8_MODE IO_MODE_DISABLED
|
||||
#define DI8_ACTION INPUT_ACTION_NONE
|
||||
#define DI8_FUNCTION INPUT_FUNCTION_NONE
|
||||
|
||||
// Safety line w/HW timer // Unused
|
||||
#define DI9_MODE IO_MODE_DISABLED
|
||||
#define DI9_ACTION INPUT_ACTION_NONE
|
||||
#define DI9_FUNCTION INPUT_FUNCTION_NONE
|
||||
#define DI9_MODE IO_MODE_DISABLED
|
||||
#define DI9_ACTION INPUT_ACTION_NONE
|
||||
#define DI9_FUNCTION INPUT_FUNCTION_NONE
|
||||
|
||||
|
||||
// *** PWM SPINDLE CONTROL ***
|
||||
|
||||
#define P1_PWM_FREQUENCY 100 // in Hz
|
||||
#define P1_CW_SPEED_LO 10500 // in RPM (arbitrary units)
|
||||
#define P1_CW_SPEED_HI 16400
|
||||
#define P1_CW_PHASE_LO 0.13 // phase [0..1]
|
||||
#define P1_CW_PHASE_HI 0.17
|
||||
#define P1_CCW_SPEED_LO 0
|
||||
#define P1_CCW_SPEED_HI 0
|
||||
#define P1_CCW_PHASE_LO 0.1
|
||||
#define P1_CCW_PHASE_HI 0.1
|
||||
#define P1_PWM_PHASE_OFF 0.1
|
||||
#define P1_PWM_FREQUENCY 100 // in Hz
|
||||
#define P1_CW_SPEED_LO 10500 // in RPM (arbitrary units)
|
||||
#define P1_CW_SPEED_HI 16400
|
||||
#define P1_CW_PHASE_LO 0.13 // phase [0..1]
|
||||
#define P1_CW_PHASE_HI 0.17
|
||||
#define P1_CCW_SPEED_LO 0
|
||||
#define P1_CCW_SPEED_HI 0
|
||||
#define P1_CCW_PHASE_LO 0.1
|
||||
#define P1_CCW_PHASE_HI 0.1
|
||||
#define P1_PWM_PHASE_OFF 0.1
|
||||
|
||||
/*
|
||||
#define P1_USE_MAPPING_CUBIC
|
||||
#define P1_MAPPING_CUBIC_X3 2.1225328766717546e-013
|
||||
#define P1_MAPPING_CUBIC_X2 -7.2900167282605129e-009
|
||||
#define P1_MAPPING_CUBIC_X1 8.5854646785876479e-005
|
||||
#define P1_MAPPING_CUBIC_X0 -2.1301489219406905e-001
|
||||
*/
|
||||
@@ -47,9 +47,12 @@
|
||||
#define ESC_BOOT_TIME 5000 // how long the ESC takes to boot, in milliseconds
|
||||
#define ESC_LOCKOUT_TIME 900 // how long the interlock needs to be engaged before killing power... actually 1s, but be conservative
|
||||
|
||||
#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
|
||||
#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
|
||||
#define COOLANT_PAUSE_ON_HOLD true
|
||||
#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
|
||||
#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
|
||||
#define COOLANT_PAUSE_ON_HOLD true
|
||||
|
||||
#define FEEDHOLD_Z_LIFT 3 // mm to lift Z on feedhold
|
||||
#define PROBE_REPORT_ENABLE true
|
||||
|
||||
// Communications and reporting settings
|
||||
|
||||
@@ -196,8 +199,8 @@
|
||||
#define Z_ZERO_BACKOFF 0.4
|
||||
|
||||
// Rotary values are chosen to make the motor react the same as X for testing
|
||||
#define A_AXIS_MODE AXIS_DISABLED // DISABLED
|
||||
#define A_VELOCITY_MAX ((X_VELOCITY_MAX / M1_TRAVEL_PER_REV) * 360) // set to the same speed as X axis
|
||||
#define A_AXIS_MODE AXIS_DISABLED // DISABLED
|
||||
#define A_VELOCITY_MAX ((X_VELOCITY_MAX / M1_TRAVEL_PER_REV) * 360) // set to the same speed as X axis
|
||||
#define A_FEEDRATE_MAX A_VELOCITY_MAX
|
||||
#define A_TRAVEL_MIN -1 // min/max the same means infinite, no limit
|
||||
#define A_TRAVEL_MAX -1
|
||||
@@ -323,8 +326,10 @@
|
||||
#define P1_CCW_PHASE_HI 0.1
|
||||
#define P1_PWM_PHASE_OFF 0.1
|
||||
|
||||
/*
|
||||
#define P1_USE_MAPPING_CUBIC
|
||||
#define P1_MAPPING_CUBIC_X3 2.1225328766717546e-013
|
||||
#define P1_MAPPING_CUBIC_X2 -7.2900167282605129e-009
|
||||
#define P1_MAPPING_CUBIC_X1 8.5854646785876479e-005
|
||||
#define P1_MAPPING_CUBIC_X0 -2.1301489219406905e-001
|
||||
*/
|
||||
Reference in New Issue
Block a user