NVMPG HAL Component

The NVMPG LinuxCNC HAL component is used with the Remora Ethernet HAL component in conjunction with the NVEM CNC pendant Remora firmware. This component is used to interface with the NVMPG, by sending position data to the pendant, and commands back to LinuxCNC.

Sample Configuration Files

Sample LinuxCNC configuration files can be found in the remora-nv-mpg.hal , in your Remora Ethernet config file, where supported.

Understanding the LinuxCNC configuration

The following sections give some further details regarding the purpose and function of the different portions of the configuration files.

Loading realtime components

Along with the standard realtime components the NVMPG needs to be loaded as well as a LinuxCNC encoder module

Note: The NVMPG configuration utilzies the LinuxCNC encoder module for the MPG. This is NOT the same as Remora PRUencoder.

loadrt nvmpg
loadrt encoder num_chan=1

Parameters

The NVMPG has some parameters that need configuration. The update-freq parameter is used to set the how often the positions are updated,

The mpg-x1-inc is used to set the jogging incraments on the pendant.

# NVMPG setup

setp nvmpg.update-freq 4
setp nvmpg.mpg-x1-inc 0.001

comms-status

Connecting the Remora status to the NVMPG status

net remora-status       => nvmpg.comms-status

AXIS-pos

Hal pin used to connect the Axis position, to the NVMPG so it can display current position

net mpg-xpos            halui.axis.x.pos-relative       => nvmpg.x-pos
net mpg-ypos            halui.axis.y.pos-relative       => nvmpg.y-pos
net mpg-zpos            halui.axis.z.pos-relative       => nvmpg.z-pos

AXIS-select

Pin connected to the Axis Jog select on the pendant

Used for connecting to LinuxCNC to indicate the axis to jog.

        # The Axis select inputs
net mpg-x axis.x.jog-enable <= nvmpg.x-select
net mpg-y axis.y.jog-enable <= nvmpg.y-select
net mpg-z axis.z.jog-enable <= nvmpg.z-select

position

Position Outout from PRUencoder

For Spindle, this is conneted to spindle.n.revs

net spindle-position encoderS0.position => spindle.0.revs

velocity

Encoder Velocity, output in RPS/velocity from PRUencoder

net spindle-velocity-raw <= encoderS0.velocity =>  spindle.0.speed-in

Adding functions to threads

# add the remora and motion functions to threads

    addf nvmpg.update                               servo-thread
    addf encoder.update-counters    servo-thread
    addf encoder.capture-position   servo-thread