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docs: plasma: Weblate-ready tables and improved optics (docs_misc_9) #2056

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45 changes: 21 additions & 24 deletions docs/src/config/stepconf.adoc
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Expand Up @@ -6,7 +6,7 @@

== Introduction

LinuxCNC is capable of controlling a wide range of machinery
LinuxCNC is capable of controlling a wide range of machinery
using many different hardware interfaces.

StepConf is a program that generates configuration files for LinuxCNC
Expand Down Expand Up @@ -131,7 +131,7 @@ pulses. The lower the latency, the faster you can run the heartbeat,
and the faster and smoother the step pulses will be.

Latency is far more important than CPU speed. The CPU isn't the only
factor in determining latency. Motherboards, video cards, USB ports,
factor in determining latency. Motherboards, video cards, USB ports,
SMI issues, and a number of other things can hurt the latency.

.Troubleshooting SMI Issues (LinuxCNC.org Wiki)
Expand All @@ -142,18 +142,18 @@ http://wiki.linuxcnc.org/cgi-bin/wiki.pl?FixingSMIIssues
************************************************************

The important numbers are the 'max jitter'. In the example above 9075
nanoseconds, or 9.075 microseconds (µs), is the highest jitter.
nanoseconds (ns), or 9.075 microseconds (µs), is the highest jitter.
Record this number, and enter it in the Base Period Maximum Jitter box.

If your Max Jitter number is less than about 15-20 microseconds
(15000-20000 nanoseconds), the computer should give very nice results
with software stepping. If the max latency is more like 30-50
microseconds, you can still get good results, but your maximum step
If your Max Jitter number is less than about 15-20 µs
(15000-20000 ns), the computer should give very nice results
with software stepping. If the max latency is more like 30-50 µs,
you can still get good results, but your maximum step
rate might be a little disappointing, especially if you use
microstepping or have very fine pitch leadscrews. If the numbers are
100 µs or more (100,000 nanoseconds), then the PC is not a good
candidate for software stepping. Numbers over 1 millisecond (1,000,000
nanoseconds) mean the PC is not a good candidate for LinuxCNC, regardless of
100 µs or more (100,000 ns), then the PC is not a good
candidate for software stepping. Numbers over 1 millisecond (1,000,000 ns)
mean the PC is not a good candidate for LinuxCNC, regardless of
whether you use software stepping or not.

== Parallel Port Setup
Expand All @@ -163,7 +163,7 @@ image::images/stepconf-parallel-1_en.png["Parallel Port 1 Setup Page",align="cen

You may specify the address as a hexadecimal (often 0x378) or as linux's default port number (probably 0)

For each pin, choose the signal which matches your parallel port pinout.
For each pin, choose the signal which matches your parallel port pinout.
Turn on the 'invert' check box if the signal is inverted (0V for true/active, 5V for false/inactive).

* 'Output pinout presets' - Automatically set pins 2 through 9 according to
Expand Down Expand Up @@ -324,7 +324,7 @@ If 'Spindle PWM' appears on the pinout, the following information should be ente

=== Spindle-synchronized motion(((Spindle-synchronized motion)))

When the appropriate signals from a spindle encoder are connected to
When the appropriate signals from a spindle encoder are connected to
LinuxCNC via HAL, LinuxCNC supports lathe threading.
These signals are:

Expand All @@ -335,7 +335,7 @@ These signals are:
an offset from Spindle Phase A. The advantages to using both A and B are
direction sensing, increased noise immunity, and increased resolution.

If 'Spindle Phase A' and 'Spindle Index' appear
If 'Spindle Phase A' and 'Spindle Index' appear
on the pinout, the following information should be entered:

* 'Use Spindle-At-Speed' - With encoder feedback one can choose to have LinuxCNC
Expand Down Expand Up @@ -399,7 +399,7 @@ image::images/stepconf-options_en.png["Advanced Options Configuration",align="ce

== Complete Machine Configuration(((Complete Machine Configuration)))

Click 'Apply' to write the configuration files.
Click 'Apply' to write the configuration files.
Later, you can re-run this program and tweak the settings you entered before.

== Axis Travels and Homes
Expand All @@ -426,14 +426,14 @@ If a MDI command or G-code program would pass the soft limit, it is not executed
If a jog would pass the soft limit, it is terminated at the soft limit.

The 'home switch' can be placed anywhere within the travel (between hard stops).
As long as external hardware does not deactivate the motor amplifiers
As long as external hardware does not deactivate the motor amplifiers
when the limit switch is reached, one of the limit switches
can be used as a home switch.

The 'zero position' is the location on the axis that is 0 in
the machine coordinate system.
Usually the 'zero position' will be within the 'soft limits'.
On lathes, constant surface speed mode requires that machine 'X=0'
On lathes, constant surface speed mode requires that machine 'X=0'
correspond to the center of spindle rotation when no tool offset is in effect.

The 'home position' is the location within travel that the axis will
Expand Down Expand Up @@ -468,17 +468,14 @@ while there are as many as 9 switches on a 3-axis machine.
Instead, multiple switches are wired together in various
ways so that a smaller number of inputs are required.

The figures below show the general idea of wiring multiple switches
to a single input pin.
In each case, when one switch is actuated,
the value seen on INPUT goes from logic HIGH to LOW.
However, LinuxCNC expects a TRUE value when a switch is closed,
so the corresponding 'Invert' box
The figures below show the general idea of wiring multiple switches to a single input pin.
In each case, when one switch is actuated, the value seen on INPUT goes from logic HIGH to LOW.
However, LinuxCNC expects a TRUE value when a switch is closed, so the corresponding 'Invert' box
must be checked on the pinout configuration page.
The pull up resistor show in the diagrams pulls the input high
until the connection to ground is made and then the input goes low.
Otherwise the input might float between on and off when the circuit is open.
Typically for a parallel port you might use 47k.
Typically for a parallel port you might use 47 kΩ;.

.Normally Closed Switches (N/C) wiring in series (simplified diagram)
image::images/switch-nc-series_en.svg["Normally Closed Switches",align="center"]
Expand All @@ -497,4 +494,4 @@ The following combinations of switches are permitted in StepConf:
The last two combinations are also appropriate when the type
contact + home is used.

// vim: set syntax=asciidoc:
// vim: set syntax=asciidoc:
131 changes: 57 additions & 74 deletions docs/src/drivers/hostmot2.adoc
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Expand Up @@ -612,12 +612,12 @@ component. Each pwmgen instance has the following pins and parameters:
a space.
Each pulse (and space) in the PDM pulse train has a duration of
1/pdm_frequency seconds.
For example, setting the pdm_frequency to 2*10^6^ (2 MHz) and the duty
For example, setting the pdm_frequency to 2*10^6^ Hz (2 MHz) and the duty
cycle to 50% results in a 1 MHz square wave, identical to a 1 MHz
PWM signal with 50% duty cycle. The effective range of this parameter
is from about 1525 Hz up to just under 100 MHz. Note that the max
frequency is determined by the ClockHigh frequency of the Anything I/O
board; the 5i20 and 7i43 both have a 100 MHz clock, resulting in a
board; the 5I20 and 7I43 both have a 100 MHz clock, resulting in a
100 MHz max PDM frequency. Other boards may have different clocks,
resulting in different max PDM frequencies. If the user attempts to
set the frequency too high, it will be clipped to the max supported
Expand All @@ -633,107 +633,91 @@ component. Each pwmgen instance has the following pins and parameters:
boards may have different clocks, resulting in different max PWM
frequencies. If the user attempts to set the frequency too high, it
will be clipped to the max supported frequency of the board.
Frequencies below about 5 Hz are not terribly accurate, but above 5 Hz
they're pretty close.
Frequencies below about 5 Hz are not terribly accurate,
but above 5 Hz they are pretty close.

=== Output Parameters

The output pins of each PWMGen have two additional parameters. To find
which I/O pin belongs to which output run 'dmesg' as described above.
which I/O pin belongs to which output run `dmesg` as described above.

* 'invert_output' - (Bit, RW) This parameter only has an effect if the
'is_output' parameter is true. If this parameter is true, the output
value of the GPIO will be the inverse of the value on the 'out' HAL
pin.
* `invert_output` - (Bit, RW) This parameter only has an effect if the
`is_output` parameter is true. If this parameter is true, the output
value of the GPIO will be the inverse of the value on the `out` HAL pin.

* 'is_opendrain' - (Bit, RW) If this parameter is false, the GPIO behaves
* `is_opendrain` - (Bit, RW) If this parameter is false, the GPIO behaves
as a normal output pin: the I/O pin on the connector is driven to the
value specified by the 'out' HAL pin (possibly inverted).
value specified by the `out` HAL pin (possibly inverted).
If this parameter is true, the GPIO behaves as an open-drain pin.
Writing 0 to the 'out' HAL pin drives the I/O pin low, writing 1 to
the 'out' HAL pin puts the I/O pin in a high-impedance state. In this
Writing 0 to the `out` HAL pin drives the I/O pin low, writing 1 to
the `out` HAL pin puts the I/O pin in a high-impedance state. In this
high-impedance state the I/O pin floats (weakly pulled high), and other
devices can drive the value; the resulting value on the I/O pin is
available on the 'in' and 'in_not' pins.
available on the `in` and `in_not` pins.
Only full GPIO pins and I/O pins used as outputs by active module
instances have this parameter.

[[sec:hm2-encoder]]
== Encoder

Encoders have names like
'hm2_<BoardType>.<BoardNum>.encoder.<Instance>.'. 'Instance' is a
two-digit number that corresponds to the HostMot2 encoder instance
number. There are 'num_encoders' instances, starting with 00.
`hm2_<BoardType>.<BoardNum>.encoder.<Instance>.`.
`Instance` is a two-digit number that corresponds to the HostMot2 encoder instance number.
There are _num_encoders_ instances, starting with 00.

Each encoder uses three or four input I/O pins, depending on how the
firmware was compiled. Three-pin encoders use A, B, and Index
(sometimes also known as Z). Four-pin encoders use A, B, Index, and
Index-mask.
Each encoder uses three or four input I/O pins, depending on how the firmware was compiled.
Three-pin encoders use A, B, and Index (sometimes also known as Z).
Four-pin encoders use A, B, Index, and Index-mask.

The hm2 encoder representation is similar to the one described by the
Canonical Device Interface (in the HAL General Reference document), and
to the software encoder component. Each encoder instance has the
following pins and parameters:
to the software encoder component.
Each encoder instance has the following pins and parameters:

=== Pins

* 'count' - (s32, Out) Number of encoder counts since the previous reset.

* 'index-enable' - (Bit, I/O) When this pin is set to True, the count
(and therefore also
position) are reset to zero on the next Index (Phase-Z) pulse. At the
same time, index-enable is reset to zero to indicate that the pulse has
occurred.

* 'position' - (Float, Out) Encoder position in position units
(count / scale).

* 'rawcounts' - (s32, Out) Total number of encoder counts since the
start, not adjusted for index or reset.

* 'reset' - (Bit, In) When this pin is TRUE, the count and position pins
are set to 0.
* `count` - (s32, Out) Number of encoder counts since the previous reset.
* `index-enable` - (Bit, I/O) When this pin is set to True,
the count (and therefore also position) are reset to zero on the next Index (Phase-Z) pulse.
At the same time, index-enable is reset to zero to indicate that the pulse has occurred.
* `position` - (Float, Out) Encoder position in position units (count / scale).
* `rawcounts` - (s32, Out) Total number of encoder counts since the start, not adjusted for index or reset.
* `reset` - (Bit, In) When this pin is TRUE, the count and position pins are set to 0.
The value of the velocity pin is not affected by this.
The driver does not reset this pin to FALSE after resetting the count
to 0, that is the user's job.

* 'velocity' - (Float, Out) Estimated encoder velocity in position units
per second.
The driver does not reset this pin to FALSE after resetting the count to 0, that is the user's job.
* `velocity` - (Float, Out) Estimated encoder velocity in position units per second.

=== Parameters

* 'counter-mode' - (Bit, RW) Set to False (the default) for Quadrature.
Set to True for
Up/Down or for single input on Phase A. Can be used for a frequency to
velocity converter with a single input on Phase A when set to true.
* `counter-mode` - (Bit, RW) Set to False (the default) for Quadrature.
Set to True for Up/Down or for single input on Phase A.
Can be used for a frequency to velocity converter with a single input on Phase A when set to true.

* 'filter' - (Bit, RW) If set to True (the default), the quadrature
* `filter` - (Bit, RW) If set to True (the default), the quadrature
counter needs 15 clocks to register a change on any of the three input
lines (any pulse shorter than this is rejected as noise).
If set to False, the quadrature counter needs only 3 clocks to register
a change. The encoder sample clock runs at 33&thinsp;MHz on the PCI Anything
I/O cards and 50&thinsp;MHz on the 7i43.
If set to False, the quadrature counter needs only 3 clocks to register a change.
The encoder sample clock runs at 33&thinsp;MHz on the PCI Anything I/O cards and 50&thinsp;MHz on the 7I43.

* 'index-invert' - (Bit, RW) If set to True, the rising edge of the
Index input pin triggers the Index event (if index-enable is True). If
set to False, the falling edge triggers.
* `index-invert` - (Bit, RW) If set to True, the rising edge of the
Index input pin triggers the Index event (if index-enable is True).
If set to False, the falling edge triggers.

* 'index-mask' - (Bit, RW) If set to True, the Index input pin only has
* `index-mask` - (Bit, RW) If set to True, the Index input pin only has
an effect if the Index-Mask input pin is True (or False, depending on
the index-mask-invert pin below).
the `index-mask-invert` pin below).

* 'index-mask-invert' - (Bit, RW) If set to True, Index-Mask must be
* `index-mask-invert` - (Bit, RW) If set to True, Index-Mask must be
False for Index to have an effect.
If set to False, the Index-Mask pin must be True.
If set to False, the `Index-Mask` pin must be True.

* 'scale' - (Float, RW) Converts from 'count' units to 'position' units.
* `scale` - (Float, RW) Converts from 'count' units to 'position' units.
A quadrature encoder will normally have 4 counts per pulse so a 100 PPR
encoder would be 400 counts per revolution. In '.counter-mode' a 100
encoder would be 400 counts per revolution. In `.counter-mode` a 100
PPR encoder would have 100 counts per revolution as it only uses the
rising edge of A and direction is B.

* 'vel-timeout' - (Float, RW) When the encoder is moving slower than one
* `vel-timeout` - (Float, RW) When the encoder is moving slower than one
pulse for each time that the driver reads the count from the FPGA (in
the hm2_read() function), the velocity is harder to estimate.
The driver can wait several iterations for the next pulse to arrive,
Expand All @@ -743,23 +727,23 @@ following pins and parameters:
reporting the encoder stopped.
This parameter is in seconds.

== 5i25 Configuration
== 5I25 Configuration

=== Firmware

The 5i25 firmware comes preloaded for the daughter card it is purchased with.
The 5I25 firmware comes preloaded for the daughter card it is purchased with.
So the `firmware=xxx.BIT` is not part of the hm2_pci configuration string when
using a 5i25.
using a 5I25.

=== Configuration

Example configurations of the 5i25/7i76 and 5i25/7i77 cards are included in
Example configurations of the 5I25/7I76 and 5I25/7I77 cards are included in
the <<sub:configuration-selector,Configuration Selector>>.

If you like to roll your own configuration the following examples show how
to load the drivers in the HAL file.

.5i25 + 7i76 Card
.5I25 + 7I76 Card
[source,{hal}]
----
# load the generic driver
Expand All @@ -769,7 +753,7 @@ loadrt hostmot2
loadrt hm2_pci config="num_encoders=1 num_stepgens=5 sserial_port_0=0XXX"
----

.5i25 + 7i77 Card
.5I25 + 7I77 Card
[source,{hal}]
----
# load the generic driver
Expand All @@ -787,15 +771,14 @@ the Mesa manual for more information on the exact usage (typically in the sectio
called SOFTWARE PROCESS DATA MODES) or see the manual page of
link:../man/man9/sserial.9.html[SSERIAL(9)].

=== 7i77 Limits
=== 7I77 Limits

The minlimit and maxlimit are bounds on the pin value (in this case the analog
out value) fullscalemax is the scale factor.

These are by default set to the analog in or analog range (most likely in
volts).
These are by default set to the analog in or analog range (most likely in Volts).

So for example on the 7i77 +-10V analog outputs, the default values are:
So for example on the 7I77 +-10&thinsp;V analog outputs, the default values are:

minlimit: -10 +
maxlimit: +10 +
Expand All @@ -809,7 +792,7 @@ maxlimit: +24 +
maxfullscale: 24 +

If you wanted to scale the analog out of a channel to RPM for a 0 to 6000 RPM
spindle with 0-10V control you could set the limits like this:
spindle with 0-10&thinsp;V control you could set the limits like this:

minlimit: 0 +
maxlimit: 6000 +
Expand All @@ -826,7 +809,7 @@ load. The examples are a good place to start and will save you time.
Just pick the proper example from the LinuxCNC Configuration Selector and
save a copy to your computer so you can edit it. To see the exact pins
and parameters that your configuration gave you, open the Show HAL
Configuration window from the Machine menu, or do 'dmesg' as outlined
Configuration window from the Machine menu, or do `dmesg` as outlined
above.

// vim: set syntax=asciidoc:
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