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micRO from Lumenlab
« on: September 27, 2010, 11:24:48 AM »


Hiya,

I have one of Lumenlab's micRO  M3 bots and I'm running EMC2. However, the EMC2 gives me grey hair and occasional mill-rage attacks.

Is there a setup in Mach3 for micRO? If so, I'll buy a license immediately and install Win XP in my bot computer.

 ( No, my programming days ended 1995. Nowadays - I'm only telling people what to do :) So "setup file" DIY is not an option.

//Dan, M0DFI

Offline Hood

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Re: micRO from Lumenlab
« Reply #1 on: September 27, 2010, 11:44:27 AM »
Mach is very easy to configure as long as you know the port address and which pins the motors and any limits are connected to.
For a simple setup it will take maybe 2 mins to configure things.
Hood
Re: micRO from Lumenlab
« Reply #2 on: September 27, 2010, 12:48:55 PM »
I have the EMC2 setup files but they are all gobbledigook for me.

//Dan

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Re: micRO from Lumenlab
« Reply #3 on: September 27, 2010, 02:56:14 PM »
Will be the same to me as well, I have never even seen EMC on a computer I am afraid.
Do you have a link to any documentation for your machine?
Hood

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Re: micRO from Lumenlab
« Reply #4 on: September 27, 2010, 03:11:57 PM »
Have a look here and see which drive you have, that will then give you the pinout. http://www.lumenlab.com/d/driver-pinouts
Hood
Re: micRO from Lumenlab
« Reply #5 on: September 27, 2010, 05:40:14 PM »
I have the TB6560 driver.

I have a .HAL file, describing the pins etc. And a .ini file that "glues" the pins to the axis drivers.

The micRO M3 use two steppers for the X drive, steppers on separate drivers.

( .hal filer first, then the .ini file )

//Dan

////////////////////////////////////////////  micRO M3.hal  //////////////////////////////////

 #this file was created and edited March 14th 2010
#this is a beta release .hal file for micRo V2
#please report any problems to support@lumenlab.com or www.lumenlab.com/forums
#opening these configuration files with Stepconf will erase certain modifications!
#modify at your own risk!
#www.lumenlab.com
# BATCH 2 has inputs at pins 10, 11, 12, 13 not assigned in this revision.
# BATCH 2 assumes rotary axis A on Breakout "E", pin 1 = Step, pin 14 = dir
# rotary axis not used yet. file needs re-write for rotary axis.

#copies kinesmatics for joint 0 to joint 6 (X1 & X2 are same, assigned EMC axes"X" and "U"
loadrt gantrykins
setp gantrykins.joint-0 0
setp gantrykins.joint-1 1
setp gantrykins.joint-2 2
setp gantrykins.joint-3 3
setp gantrykins.joint-4 4
setp gantrykins.joint-5 5
setp gantrykins.joint-6 0


loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
setp parport.0.reset-time 4700

#an error will occur if step type isn't assigned for all axes 0-6, even if axis is not used
loadrt stepgen step_type=0,0,0,0,0,0,0


addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
loadrt pwmgen output_type=0
addf pwmgen.make-pulses base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out


#breakout A, micro axis X "X1" joint 0
setp parport.0.pin-02-out-invert 1
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
#setp parport.0.pin-03-out-invert 1
net xdir => parport.0.pin-03-out

#breakout B, micro axis U "X2" joint 6
setp parport.0.pin-04-out-invert 1
net ustep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
#setp parport.0.pin-05-out-invert 1
net udir => parport.0.pin-05-out

#breakout C, micro axis Y joint 1
setp parport.0.pin-06-out-invert 1
net ystep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net ydir => parport.0.pin-07-out

#breakout D, micro axis Z joint 2
setp parport.0.pin-08-out-invert 1
net zstep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
#setp parport.0.pin-09-out-invert 1
net zdir => parport.0.pin-09-out

#breakout E, micro axis A joint ?
#axis A is not used yet
#setp parport.0.pin-01-out-invert 1
#setp parport.0.pin-01-out-reset 1
#net astep => parport.0.pin-01-out
#net adir => parport.0.pin-14-out

#breakout shares pin 17 as enable for all axes
net xenable => parport.0.pin-17-out

#breakout A, axis X "X1", joint 0
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 31400
setp stepgen.0.dirsetup 31400
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

#breakout B, axis U "X2" , joint 6
setp stepgen.6.position-scale [AXIS_0]SCALE
setp stepgen.6.steplen 1
setp stepgen.6.stepspace 0
setp stepgen.6.dirhold 31400
setp stepgen.6.dirsetup 31400
setp stepgen.6.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net upos-cmd axis.6.motor-pos-cmd => stepgen.6.position-cmd
net upos-fb stepgen.6.position-fb => axis.6.motor-pos-fb
net ustep <= stepgen.6.step
net udir <= stepgen.6.dir
net uenable axis.6.amp-enable-out => stepgen.6.enable

#breakout C, axis Y, joint 1
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 31400
setp stepgen.1.dirsetup 31400
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

#breakout D, axis Z, joint 2
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 31400
setp stepgen.2.dirsetup 31400
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared


/////////////////////////////////////////////////////////////

And a micRO M3.ini file


//////////////////////////////////////////////////////////



#this file was created and edited March 14th 2010
#this is a beta release .ini file for micRo V2 with syncRo batch 2
#please report any problems to support@lumenlab.com or www.lumenlab.com/forums
#opening these configuration files with Stepconf will erase certain modifications!
#modify at your own risk!
#www.lumenlab.com
#this file is for batch 2 syncRos. 


[EMC]
MACHINE = micRo M3
#NML_FILE = emc.nml
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/syncro/emc2/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 30637
SERVO_PERIOD = 1000000

[HAL]
HALFILE = M3.B1.R1.emc2.4.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 7
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 3

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 19200.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.25
MAX_LIMIT = 19.25
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 19200.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.25
MAX_LIMIT = 19.5
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 19200.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.25
MAX_LIMIT = 3.25
HOME_OFFSET = 0.0

[AXIS_6]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 19200.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.25
MAX_LIMIT = 19.25
HOME_OFFSET = 0.0


//////////////////////////////////////////////////////////

Offline Hood

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Re: micRO from Lumenlab
« Reply #6 on: September 27, 2010, 06:43:35 PM »
Well I am not sure if I am reading all that correctly, especially the Velocity and Acceleration as they seem to be arse for tit to me but heres a basic xml you can try if you want.
Place this file in the Mach3 folder then use the Mach3 loader and then choose danand from the list.
Be careful as it may not be right and may not do what you expect, so be warned ;).

Hood
Re: micRO from Lumenlab
« Reply #7 on: September 27, 2010, 07:28:50 PM »
Tnx,

Will try Mach3 lite tomorrow.

//Dan