This is a snapshot of key configuration files for my personal LinuxCNC installation, which may serve as an example for others looking to integrate a similar machine and/or features.
Presently I'm running a v2.9.0 RIP build.
What's included:
- Machine config files
- M6 remap
- Automatic tool changes with actuated linear tool rack
- Tool length measurement with tool setter
- Modifications to the qtdragon UI
- HAL components for VFD and air compressor control
The following are key details about my CNC machine, to give context to this overall configuration.
- Gantry-style CNC router with dual Y drive motors
- XYYZ config (Joints: X=0, YL=1, YR=2, Z=3)
- Inductive proximity homing/limit switches
- Z+ home/limit
- X (single sensor mounted on X carriage covers X+ home/limit and X- limit)
- Y+ home/limit (separate sensors Left and Right for independent homing of either side of the gantry)
- Y- limit (right side only)
- Homing config
- Machine homes in the positive direction for all axes (home is in the top/back/right corner)
- Z homes first (for clearance)
- YL and YR home independently - but coordinated to eliminate any racking of the gantry
- X homes coordinated with YL and YR - not out of necessity, but it saves time relative to homing sequentially
- Clearpath SDSK integrated servos - step and direction control, open-loop as far as LinuxCNC is concerned
- Mesa 7i93 ethernet FPGA controller
- Custom breakout board interfaces Clearpath servos, limit switches, hardware E-stops, probes, tool setter, and miscellaneous other I/O
- 7i37-COM I/O card for additional I/O (e.g. Solenoid valves for ATC spindle)
- Modified HOSTMOT2 FW to support these breakout boards
- Dual probe inputs:
- Touch plate (electrical continuity type) for zeroing Z work coordinate to the workpiece (Normally Open)
- 3D touch probe for other probing operations (Normally Closed)
- ATC spindle and linear tool rack (oriented along X axis) - the rack is actuated with air cylinders, extending for tool changes and retracting out of the way otherwise
- M6 remapped for both manual and automatic tool changes, with automatic tool length offset using tool setter. This was achieved using an NGC script as the top-level remap, which calls custom M-code (M102) which invokes a python script when necessary to generate a user prompt. A button on the GUI toggles between manual and automatic tool changes.
- In Manual tool change mode, the machine moves to a convenient location and prompts the user to change the tool.
- In Automatic tool change mode, the machine changes the tool automatically (of course) - Example (Actuated tool rack was added after this video)
- Following tool change, the machine moves over the tool setter (fixed location on machine bed)
- The tool length offset is measured with zero work offset (using G59.3) and therefore the measured tool length offset is equivalent to the absolute Z position in machine coordinates at the point where the tool contacted the setter.
- TLO value is always negative
- TLO is independent of active work coordinate offsets (e.g. G54)
- Hitachi WJ200 VFD controlled via Modbus using USB-RS485 adapter
- iMach P4S pendant
- Automatically turn on air compressor (MQTT via Adafruit.io, custom ESP32-based hardware controls compressor)
I started with the stock qtdragon UI and made a few changes:
- Resized to best fit my 1600x1200 display
- Added some indicators & controls in the lower right for tool changer-related items (tool pocket sensors, compressed air pressure sensor, auto/manual tool change mode)
- Added some ATC-related buttons to the left pane of the tool tab
