Make A axis a switchable between spindle 1 and an axis for milling

3040T.hal

@@ -1,21 +1,21 @@
 #Real Time Modules
 loadrt [KINS]KINEMATICS
-loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
 loadrt hal_parport cfg="0 out"
 setp parport.0.reset-time 5000
-loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,p
+loadrt stepgen step_type=0,0,0,0,0 ctrl_type=p,p,p,p,v
 loadrt ilowpass count=1
 loadrt timedelay count=2
 loadrt not count=1
 loadrt or2 count=3
 loadrt xor2 count=2
-loadrt mux2 count=1
+loadrt mux_generic config="bb2"
-loadrt and2 count=1
 
 addf parport.0.read base-thread
 addf stepgen.make-pulses base-thread
 addf parport.0.write base-thread
 addf parport.0.reset base-thread
+addf mux-gen.00 base-thread
 
 addf stepgen.capture-position servo-thread
 addf motion-command-handler servo-thread
@@ -92,17 +92,34 @@ net max-home-z => joint.2.home-sw-in
 net max-home-z => joint.2.pos-lim-sw-in
 
 #A-Axis
+
+#Absolute
 setp stepgen.3.position-scale [JOINT_3]SCALE
 setp stepgen.3.steplen 1
 setp stepgen.3.stepspace 0
 setp stepgen.3.dirhold 36000
 setp stepgen.3.dirsetup 36000
 setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
-net astep <= stepgen.3.step
+
-net adir <= stepgen.3.dir
+net astepAbs stepgen.3.step => mux-gen.00.in-bit-00
+net adir stepgen.3.dir
 net aenable joint.3.amp-enable-out => stepgen.3.enable
-#net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
+net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
-#net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
+net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
+
+net astep <= mux-gen.00.out-bit
+
+#Velocity
+setp stepgen.4.position-scale [JOINT_3]SCALE
+setp stepgen.4.steplen 1
+setp stepgen.4.stepspace 0
+setp stepgen.4.dirhold 36000
+setp stepgen.4.dirsetup 36000
+setp stepgen.4.maxaccel [JOINT_3]STEPGEN_MAXACCEL
+
+net spindle-1-enable <= spindle.1.on => mux-gen.00.sel-bit-00 stepgen.4.enable
+net spindle-1-cmd spindle.1.speed-out => stepgen.4.velocity-cmd
+net astepVel <= stepgen.4.step => mux-gen.00.in-bit-01
 
 net estop-out <= iocontrol.0.user-enable-out
 net estop-ext => iocontrol.0.emc-enable-in
@@ -120,20 +137,8 @@ loadusr -Wn cncextension ./cncextension
 #Amp enable
 net amp-enable halui.machine.is-on => cncextension.wr0
 
-#Spindle Control
+#Main Spindle Control
-
+net spindle-main-fwd spindle.0.forward
-addf mux2.0 servo-thread
-net spindle-select => mux2.0.sel
-sets spindle-select 1
-net spindle-cmd-rpm <= spindle.0.speed-out
-net spindle-cmd-rpm => mux2.0.in0
-setp mux2.0.in1 0
-net spindle-axis-rpm mux2.0.out => stepgen.3.velocity-cmd
-
-addf and2.0 servo-thread
-net spindle-fwd-and spindle.0.forward => and2.0.in0
-net spindle-select => and2.0.in1
-net spindle-main-fwd <= and2.0.out
 net spindle-main-fwd => cncextension.ch0
 net spindle-main-fwd => cncextension.opt
 
@@ -163,10 +168,8 @@ net spindle-main-inhibit => or2.1.in1
 net spindle-inhibit <= or2.1.out
 net spindle-inhibit => spindle.0.at-speed
 
-net spindle-position <= stepgen.3.position-fb
 net spindle-position => spindle.0.revs
 net spindle-axis-rpm => spindle.0.speed-in
-net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
 
 #MPG
 setp joint.0.jog-vel-mode 0

3040T.ini

@@ -29,7 +29,7 @@ INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
 PYVCP=pannel.xml
 OPEN_FILE =""
 PROGRAM_PREFIX=/home/philipp/linuxcnc/nc_files
-
+GEOMETRY=XYZA
 
 [FILTER]
 PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
@@ -50,7 +50,6 @@ REMAP=M600 modalgroup=6 ngc=tool-job-begin
 FEATURES=12
 
 [EMCMOT]
-
 EMCMOT = motmod
 COMM_TIMEOUT = 1.0
 BASE_PERIOD = 35000
@@ -77,7 +76,7 @@ MDI_COMMAND = M400
 MDI_COMMAND = o<rectangle_probe> call
 
 [TRAJ]
-
+SPINDLES = 2
 COORDINATES = XYZA
 LINEAR_UNITS = mm
 ANGULAR_UNITS = degree
@@ -170,17 +169,17 @@ HOME_SEQUENCE = 0
 [AXIS_A]
 MIN_LIMIT = -99999
 MAX_LIMIT = 99999
-MAX_VELOCITY = 3.33
+MAX_VELOCITY = 500
 MAX_ACCELERATION = 2000.0
 
 [JOINT_3]
 TYPE = ANGULAR
 HOME = 0.0
-MAX_VELOCITY = 3.33
+MAX_VELOCITY = 500
 MAX_ACCELERATION = 2000.0
 STEPGEN_MAXACCEL = 2500.0
-#SCALE = 4.6296 #old scale maybe accurate for absolute positon mode?
+SCALE = 4.6296
-SCALE = 27.7776
+#SCALE = 4.86
 FERROR = 1
 MIN_FERROR = .25
 MIN_LIMIT = -99999

custom_postgui.hal

@@ -3,9 +3,6 @@
 
 net mpg pyvcp.mpg-chkbtn => cncextension.enableMpg
 
-#spindle
-net spindle-select <= pyvcp.spindle-select.Milling
-
 # Vacuume and coolant
 addf xor2.0 servo-thread
 net sigVacuumeBtn pyvcp.vacuume-chkbtn => xor2.0.in0