linuxCNC（六）配置LinuxCNC完成伺服控制

news2025/1/8 15:02:33

在这里插入图片描述

这里写目录标题

1、 cia402安装
2、找伺服描述文件（xml）
3、配置ethercat-config.xml
- 3.1、打开hal-cia402/example/ethercat-conf.xml
- 3.2、修改 ethercat-conf.xml文件中vid="0x000116c7" pid="0x003e0402"
- 3.3、其他参数，根据伺服厂家提供的xml，修改对应参数
- 4、配置hal文件

1、 cia402安装

sudo apt -y install git build-essential libtool automake
git clone https://github.com/dbraun1981/hal-cia402.git
cd hal-cia402
sudo halcompile --install cia402.comp
//提示找不到halcompile ，执行如下命令
sudo apt install linuxcnc-uspace-dev

2、找伺服描述文件（xml）

博主使用禾川 SV-X3EB020A-A2，在伺服官网下载https://www.hcfa.cn/content/details57_544.html

3、配置ethercat-config.xml

3.1、打开hal-cia402/example/ethercat-conf.xml

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="0" type="generic" vid="0000026C" pid="0000003C" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>

3.2、修改 ethercat-conf.xml文件中vid=“0x000116c7” pid=“0x003e0402”

伺服通电，连上电脑
使用 ethercat cstruct

/* Master 0, Slave 0, "HCFA X3E Servo Driver"
 * `Vendor ID:       0x000116c7`
 * `Product code:    0x003e0402`
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16}, /* Control Word */
    {0x6060, 0x00, 8}, /* Modes of operation  */
    {0x607a, 0x00, 32}, /* Target position */
    {0x60b8, 0x00, 16}, /* Touch Probe Function */
    {0x603f, 0x00, 16}, /* Error Code */
    {0x6041, 0x00, 16}, /* Status Word */
    {0x6064, 0x00, 32}, /* Position actual value */
    {0x6061, 0x00, 8}, /* Modes of operation display  */
    {0x60b9, 0x00, 16}, /* Touch Probe Status */
    {0x60ba, 0x00, 32}, /* Touch Probe1 Pos1 Pos Value */
    {0x60f4, 0x00, 32}, /* Following error actual value */
    {0x60fd, 0x00, 32}, /* Digital inputs */
    {0x213f, 0x00, 16}, /* Servo Error Code */
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1600, 4, slave_0_pdo_entries + 0}, /* 1st RxPDO-Mapping */
    {0x1a00, 9, slave_0_pdo_entries + 4}, /* 1st TxPDO-Mapping */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

3.3、其他参数，根据伺服厂家提供的xml，修改对应参数

4、配置hal文件

linuxcnc/configs/创建test文件夹

mkdir -p test

复制一份gmoccapy.ini文件放入test文件夹，改名test.ini

[EMC]
 VERSION = 1.1
 MACHINE = Test
   DEBUG = 0

[DISPLAY]
              DISPLAY = gmoccapy
           CYCLE_TIME = 0.100
      POSITION_OFFSET = RELATIVE
    POSITION_FEEDBACK = ACTUAL
    MAX_FEED_OVERRIDE = 1.0
 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,.txt,.TXT 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 = test.var

[EMCMOT]
       EMCMOT = motmod
 COMM_TIMEOUT = 1.0
  BASE_PERIOD = 100000
 SERVO_PERIOD = 1000000

[TASK]
       TASK = milltask
 CYCLE_TIME = 0.001

[HAL]
          HALUI = halui
        HALFILE = test.hal

[HALUI]
  MDI_COMMAND=(debug,macro0)

[TRAJ]
                                        SPINDLES = 1
                                 COORDINATES = X Y Z
                                LINEAR_UNITS = mm
                           ANGULAR_UNITS = degree
         DEFAULT_LINEAR_VELOCITY = 100
                 MAX_LINEAR_VELOCITY = 200.0
 DEFAULT_LINEAR_ACCELERATION = 100.0
         MAX_LINEAR_ACCELERATION = 100.0
                         NO_FORCE_HOMING = 1

[KINS]
                KINEMATICS = trivkins coordinates=XYZ
            JOINTS = 3

[AXIS_X]
      MAX_VELOCITY = 200
  MAX_ACCELERATION = 100.0
         MIN_LIMIT = -50.0
         MAX_LIMIT = 50.0

[JOINT_0]
                                  TYPE = LINEAR
                          BACKLASH = 0.0000
                         MIN_LIMIT = -50.0
                         MAX_LIMIT = 50.0
                        MIN_FERROR = 0.254
                                FERROR = 1.27
           HOME_SEARCH_VEL = 0.0
                HOME_LATCH_VEL = 0.0
                HOME_FINAL_VEL = 1
        HOME_IGNORE_LIMITS = NO
                HOME_USE_INDEX = NO
                   HOME_OFFSET = 0
 HOME_ABSOLUTE_ENCODER = 1
                 HOME_SEQUENCE = 0

[AXIS_Y]
      MAX_VELOCITY = 200
  MAX_ACCELERATION = 100.0
         MIN_LIMIT = -200.0
         MAX_LIMIT = 200.0

[JOINT_1]
                                  TYPE = LINEAR
                          BACKLASH = 0.0000
                         MIN_LIMIT = -200.0
                         MAX_LIMIT = 200.0
                        MIN_FERROR = 0.254
                                FERROR = 1.27
           HOME_SEARCH_VEL = 0.0
                HOME_LATCH_VEL = 0.0
                HOME_FINAL_VEL = 1
        HOME_IGNORE_LIMITS = NO
                HOME_USE_INDEX = NO
                   HOME_OFFSET = 0
                                  HOME = 0
 HOME_ABSOLUTE_ENCODER = 1
                 HOME_SEQUENCE = 0
    
[AXIS_Z]
      MAX_VELOCITY = 200
  MAX_ACCELERATION = 100.0
         MIN_LIMIT = -200.0
         MAX_LIMIT = 200.0

[JOINT_2]
                                  TYPE = LINEAR
                          BACKLASH = 0.0000
                         MIN_LIMIT = -200.0
                         MAX_LIMIT = 200.0
                        MIN_FERROR = 0.254
                                FERROR = 1.27
           HOME_SEARCH_VEL = 0.0
                HOME_LATCH_VEL = 0.0
                HOME_FINAL_VEL = 1
        HOME_IGNORE_LIMITS = NO
                HOME_USE_INDEX = NO
                   HOME_OFFSET = 0
                                  HOME = 0
 HOME_ABSOLUTE_ENCODER = 1
                 HOME_SEQUENCE = 0

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

[SPINDLE_0]
    MAX_FORWARD_VELOCITY = 1000
    MIN_FORWARD_VELOCITY = 100
    MAX_REVERSE_VELOCITY = 1000
        MIN_REVERSE_VELOCITY = 100
                           INCREMENT = 100