TinyG
From ShapeOko
Fully integrated motion controller from Synthetos.com
Vendor: synthetos.com
Link: www.synthetos.com/wiki/index.php?title=Projects:TinyG
Link: https://github.com/synthetos/TinyG
TinyG is a complete stepper driver hardware system. It is a port of grbl to the Atmel xmega that runs on the TinyG hardware.
Features:
- 6 axis motion (XYXABC axes)
- jerk controlled motion for acceleration planning (3rd order motion planning)
- status displays ('?' character)
- XON/XOFF protocol over serial
- runs a limited JSON interface over USB serial (like REST w/o the HTTP) for easier integration with upstream controllers
- tgFX is a Java FX2 controller we are developing to run TinyG (see the Synthetos github page)
Hardware:
- Four stepper motors supporting X, Y, Z and A axes, or double up on any axis for dual-gantry support
- 8x microstepping
- 2.5 amps per winding (bipolar steppers)
- 12v-30v motor voltage supported
- Independent controls and dynamics per axis
- Motor connectors plug compatible with RepRap and Makerbot electronics
- Uses TI DRV8811 stepper drivers. These are extremely robust and we've never seen one blow up, nor have heard of anyone else who has blown one up.
More details: www.synthetos.com/wiki/index.php?title=What_is_TinyG
Here's a discussion of the differences between grbl+grblShield and TinyG
www.shapeoko.com/wiki/index.php/TinyG-or-grblShield
TinyG Profile for Shapeoko
I can clean this up in a bit, but for now here's the header file I use to setup a TinyG profile for Shapeoko.
/* * settings_shapeoko375.h - Shapoko 375mm table * Part of TinyG project * * Copyright (c) 2010 - 2012 Alden S. Hart Jr. * * TinyG is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, * or (at your option) any later version. * * TinyG is distributed in the hope that it will be useful, but WITHOUT * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for details. You should have received a copy of the GNU General Public * License along with TinyG If not, see <www.gnu.org/licenses/>. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /* Note: The values in this file are the default settings that are loaded * into a virgin EEPROM, and can be changed using the config commands. * After initial load the EEPROM values (or changed values) are used. * * System and hardware settings that you shouldn't need to change * are in system.h Application settings that also shouldn't need * to be changed are in tinyg.h */ /***********************************************************************/ /**** Shapoko 375mm profile ********************************************/ /***********************************************************************/ #define TINYG_CONFIGURATION_PROFILE "Shapeoko 375mm" // displays base config profile // **** common settings - applied to all axes or motors **** #define JUNCTION_DEVIATION 0.05 // default value, in mm // **** system settings **** #define JUNCTION_ACCELERATION 200000 // centripetal acceleration around corners #define STATUS_REPORT_INTERVAL_MS 0 // in milliseconds #define GCODE_DEFAULT_PLANE CANON_PLANE_XY #define GCODE_DEFAULT_UNITS MILLIMETERS #define GCODE_DEFAULT_COORD_SYSTEM G54 #define GCODE_DEFAULT_PATH_CONTROL PATH_CONTINUOUS #define GCODE_DEFAULT_DISTANCE_MODE ABSOLUTE_MODE #define COM_APPEND_TX_CR FALSE #define COM_IGNORE_RX_CR FALSE #define COM_IGNORE_RX_LF FALSE #define COM_ENABLE_ECHO TRUE #define COM_ENABLE_XON TRUE #define ENABLE_ACCELERATION 1 // *** NOTE: this feature is disabled in 338.11 - always equal to 1 // *** motor settings *** #define M1_MOTOR_MAP X // 1ma #define M1_STEP_ANGLE 1.8 // 1sa #define M1_TRAVEL_PER_REV 34.5 // 1tr #define M1_MICROSTEPS 8 // 1mi 1,2,4,8 #define M1_POLARITY 0 // 1po 0=normal, 1=reversed #define M1_POWER_MODE 1 // 1pm TRUE=low power idle enabled #define M2_MOTOR_MAP Y #define M2_STEP_ANGLE 1.8 #define M2_TRAVEL_PER_REV 34.5 #define M2_MICROSTEPS 8 #define M2_POLARITY 1 #define M2_POWER_MODE 1 #define M3_MOTOR_MAP Z #define M3_STEP_ANGLE 1.8 #define M3_TRAVEL_PER_REV 1.25 #define M3_MICROSTEPS 8 #define M3_POLARITY 0 #define M3_POWER_MODE 1 #define M4_MOTOR_MAP A #define M4_STEP_ANGLE 1.8 #define M4_TRAVEL_PER_REV 360 // degrees per motor rev - 1:1 gearing #define M4_MICROSTEPS 8 #define M4_POLARITY 0 #define M4_POWER_MODE 0 // *** axis settings *** #define X_AXIS_MODE AXIS_STANDARD // xam see canonical_machine.h cmAxisMode for valid values #define X_VELOCITY_MAX 16000 // xvm G0 max velocity in mm/min #define X_FEEDRATE_MAX X_VELOCITY_MAX // xfr G1 max feed rate in mm/min #define X_TRAVEL_MAX 170 // xtm travel between switches or crashes #define X_JERK_MAX 5000000000 // xjm yes, that's "5 billion" mm/(min^3) #define X_JUNCTION_DEVIATION JUNCTION_DEVIATION // xjd #define X_SWITCH_MODE 1 // xsm 1=switches enabled for homing only #define X_SEARCH_VELOCITY -1000 // xsv move in negative direction #define X_LATCH_VELOCITY 100 // xlv mm/min #define X_LATCH_BACKOFF 2 // xlb mm #define X_ZERO_BACKOFF 1 // xzb mm #define Y_AXIS_MODE AXIS_STANDARD #define Y_VELOCITY_MAX 16000 #define Y_FEEDRATE_MAX Y_VELOCITY_MAX #define Y_TRAVEL_MAX 170 #define Y_JERK_MAX 5000000000 // 5,000,000,000 #define Y_JUNCTION_DEVIATION JUNCTION_DEVIATION #define Y_SWITCH_MODE 1 #define Y_SEARCH_VELOCITY -1000 #define Y_LATCH_VELOCITY 100 #define Y_LATCH_BACKOFF 2 #define Y_ZERO_BACKOFF 1 #define Z_AXIS_MODE AXIS_STANDARD #define Z_VELOCITY_MAX 1200 #define Z_FEEDRATE_MAX Z_VELOCITY_MAX #define Z_TRAVEL_MAX 50 #define Z_JERK_MAX 50000000 // 50,000,000 #define Z_JUNCTION_DEVIATION JUNCTION_DEVIATION #define Z_SWITCH_MODE 1 #define Z_SEARCH_VELOCITY -400 #define Z_LATCH_VELOCITY 100 #define Z_LATCH_BACKOFF 2 #define Z_ZERO_BACKOFF 1 #define A_AXIS_MODE AXIS_STANDARD #define A_VELOCITY_MAX 3600 #define A_FEEDRATE_MAX A_VELOCITY_MAX #define A_TRAVEL_MAX -1 #define A_JERK_MAX 20000000 // 20,000,000 #define A_JUNCTION_DEVIATION JUNCTION_DEVIATION #define A_RADIUS 1 #define A_SWITCH_MODE 1 #define A_SEARCH_VELOCITY -600 #define A_LATCH_VELOCITY 100 #define A_LATCH_BACKOFF -5 #define A_ZERO_BACKOFF 2 #define B_AXIS_MODE AXIS_DISABLED #define B_VELOCITY_MAX 3600 #define B_FEEDRATE_MAX B_VELOCITY_MAX #define B_TRAVEL_MAX -1 #define B_JERK_MAX 20000000 #define B_JUNCTION_DEVIATION JUNCTION_DEVIATION #define B_RADIUS 1 #define B_SWITCH_MODE 1 #define B_SEARCH_VELOCITY -600 #define B_LATCH_VELOCITY 100 #define B_LATCH_BACKOFF -5 #define B_ZERO_BACKOFF 2 #define C_AXIS_MODE AXIS_DISABLED #define C_VELOCITY_MAX 3600 #define C_FEEDRATE_MAX C_VELOCITY_MAX #define C_TRAVEL_MAX -1 #define C_JERK_MAX 20000000 #define C_JUNCTION_DEVIATION JUNCTION_DEVIATION #define C_RADIUS 1 #define C_SWITCH_MODE 1 #define C_SEARCH_VELOCITY -600 #define C_LATCH_VELOCITY 100 #define C_LATCH_BACKOFF -5 #define C_ZERO_BACKOFF 2 // *** DEFAULT COORDINATE SYSTEM OFFSETS *** #define G54_X_OFFSET 0 // G54 is traditionally set to all zeros #define G54_Y_OFFSET 0 #define G54_Z_OFFSET 0 #define G54_A_OFFSET 0 #define G54_B_OFFSET 0 #define G54_C_OFFSET 0 #define G55_X_OFFSET 0 // but the again, so is everyting else (at least for start) #define G55_Y_OFFSET 0 #define G55_Z_OFFSET 0 #define G55_A_OFFSET 0 #define G55_B_OFFSET 0 #define G55_C_OFFSET 0 #define G56_X_OFFSET 0 #define G56_Y_OFFSET 0 #define G56_Z_OFFSET 0 #define G56_A_OFFSET 0 #define G56_B_OFFSET 0 #define G56_C_OFFSET 0 #define G57_X_OFFSET 0 #define G57_Y_OFFSET 0 #define G57_Z_OFFSET 0 #define G57_A_OFFSET 0 #define G57_B_OFFSET 0 #define G57_C_OFFSET 0 #define G58_X_OFFSET 0 #define G58_Y_OFFSET 0 #define G58_Z_OFFSET 0 #define G58_A_OFFSET 0 #define G58_B_OFFSET 0 #define G58_C_OFFSET 0 #define G59_X_OFFSET 0 #define G59_Y_OFFSET 0 #define G59_Z_OFFSET 0 #define G59_A_OFFSET 0 #define G59_B_OFFSET 0 #define G59_C_OFFSET 0
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