GcodeDriver_Example Configurations
Example configurations for the GcodeDriver with various controllers. If you have a known working config, please post it here so that others can use it as a starting point for their machine.
In the video below there are two GcodeDrivers running. One is controlling the Smoothieboard running the machine and one is controlling an Arduino running a simple sketch. The video shows several feeders which use actuators to send commands to a second controller. This is intended to demonstrate how you can easily integrate additional hardware such as feeders.
Demonstration Video (Pay attention to the four red LEDs at the bottom right corner): https://www.youtube.com/watch?v=0ntYOy0s_8Y
machine.xml
<openpnp-machine>
<machine class="org.openpnp.machine.reference.ReferenceMachine" speed="1.0">
<heads>
<head class="org.openpnp.machine.reference.ReferenceHead" id="22964dce-252a-453e-8106-65db104a0763" name="H1">
<nozzles>
<nozzle class="org.openpnp.machine.reference.ReferenceNozzle" id="69edd567-df6c-495a-9b30-2fcbf5c9742f" name="N1" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" current-nozzle-tip-id="e092921a-2eef-449b-b340-aa3f40d8d791" changer-enabled="false" limit-rotation="true">
<nozzle-tips>
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="e092921a-2eef-449b-b340-aa3f40d8d791" name="NT1" allow-incompatible-packages="true">
<compatible-package-ids class="java.util.HashSet"/>
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</nozzle-tip>
</nozzle-tips>
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
</nozzle>
</nozzles>
<actuators/>
<cameras>
<camera class="org.openpnp.machine.reference.camera.ImageCamera" id="d66faf53-05e1-4629-baae-b614c5ed8320" name="Zoom" looking="Down" settle-time-ms="250" rotation="0.0" flip-x="false" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" fps="24" width="640" height="480">
<units-per-pixel units="Millimeters" x="0.04233" y="0.04233" z="0.0" rotation="0.0"/>
<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
<source-uri>classpath://samples/pnp-test/pnp-test.png</source-uri>
</camera>
</cameras>
<paste-dispensers>
<paste-dispenser class="org.openpnp.machine.reference.ReferencePasteDispenser" id="53050ccf-59a0-4d9f-a8d3-6216f5412e4e" name="D1">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
</paste-dispenser>
</paste-dispensers>
<park-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</head>
</heads>
<signalers/>
<feeders>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceAutoFeeder" id="ec54bc2c-b18d-4088-aca5-dab09f5bf3d0" name="ReferenceAutoFeeder" enabled="true" part-id="R0201-1K" retry-count="3" actuator-name="A1" actuator-value="0.0">
<location units="Millimeters" x="100.0" y="-200.0" z="-20.0" rotation="0.0"/>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceAutoFeeder" id="aed8f089-f65d-42e6-baa6-d65bebd567a6" name="ReferenceAutoFeeder" enabled="true" part-id="R0402-1K" retry-count="3" actuator-name="A2" actuator-value="0.0">
<location units="Millimeters" x="110.0" y="-200.0" z="-20.0" rotation="0.0"/>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceAutoFeeder" id="de8de97f-fef7-4c5d-a525-e2e4ce257ff8" name="ReferenceAutoFeeder" enabled="true" part-id="R0603-1K" retry-count="3" actuator-name="A3" actuator-value="0.0">
<location units="Millimeters" x="120.0" y="-200.0" z="-20.0" rotation="0.0"/>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceAutoFeeder" id="53a97089-1bf8-4632-b91b-3f7f3d46362c" name="ReferenceAutoFeeder" enabled="true" part-id="R0805-1K" retry-count="3" actuator-name="A4" actuator-value="0.0">
<location units="Millimeters" x="130.0" y="-200.0" z="-20.0" rotation="0.0"/>
</feeder>
</feeders>
<cameras/>
<actuators>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="A1" name="A1" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="A2" name="A2" index="1">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="A3" name="A3" index="2">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="A4" name="A4" index="3">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
</actuator>
</actuators>
<discard-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<driver class="org.openpnp.machine.reference.driver.GcodeDriver" port-name="/dev/tty.usbmodem1A1211" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" units="Millimeters" max-feed-rate="15000" timeout-milliseconds="5000" connect-wait-time-milliseconds="0">
<command type="COMMAND_CONFIRM_REGEX">
<text><![CDATA[^ok.*]]></text>
</command>
<command type="CONNECT_COMMAND">
<text><![CDATA[G21]]></text>
<text><![CDATA[G90]]></text>
<text><![CDATA[M82]]></text>
</command>
<command type="ENABLE_COMMAND">
<text><![CDATA[M810]]></text>
</command>
<command type="DISABLE_COMMAND">
<text><![CDATA[M84]]></text>
<text><![CDATA[M811]]></text>
</command>
<command type="HOME_COMMAND">
<text><![CDATA[M84]]></text>
<text><![CDATA[G4P500]]></text>
<text><![CDATA[G28 X0 Y0]]></text>
<text><![CDATA[G92 X0 Y0 Z0 E0]]></text>
</command>
<command type="MOVE_TO_COMMAND">
<text><![CDATA[G0 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {Rotation:E%.4f} F{FeedRate:%.0f}]]></text>
<text><![CDATA[M400]]></text>
</command>
<command type="PICK_COMMAND">
<text><![CDATA[M808]]></text>
<text><![CDATA[M800]]></text>
</command>
<command type="PLACE_COMMAND">
<text><![CDATA[M809]]></text>
<text><![CDATA[M801]]></text>
<text><![CDATA[M802]]></text>
<text><![CDATA[G4P250]]></text>
<text><![CDATA[M803]]></text>
</command>
<sub-drivers class="java.util.ArrayList">
<reference-driver class="org.openpnp.machine.reference.driver.GcodeDriver" port-name="/dev/tty.usbmodem1A12421" baud="9600" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" units="Millimeters" max-feed-rate="50000" timeout-milliseconds="5000" connect-wait-time-milliseconds="750">
<command type="COMMAND_CONFIRM_REGEX">
<text><![CDATA[^ok.*]]></text>
</command>
<command type="ACTUATE_DOUBLE_COMMAND">
<text><![CDATA[{Index}]]></text>
</command>
<sub-drivers class="java.util.ArrayList"/>
<axes class="java.util.ArrayList">
<axis name="x" type="X" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="y" type="Y" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="z" type="Z" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="rotation" type="Rotation" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
</axes>
</reference-driver>
</sub-drivers>
<axes class="java.util.ArrayList">
<axis name="x" type="X" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="y" type="Y" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="z" type="Z" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="rotation" type="Rotation" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
</axes>
</driver>
<pnp-job-processor class="org.openpnp.machine.reference.ReferencePnpJobProcessor" park-when-complete="false"/>
<paste-dispense-job-processor class="org.openpnp.machine.reference.ReferencePasteDispenseJobProcessor" park-when-complete="false"/>
<glue-dispense-job-processor class="org.openpnp.machine.reference.ReferenceGlueDispenseJobProcessor" park-when-complete="false"/>
<fiducial-locator class="org.openpnp.machine.reference.vision.ReferenceFiducialLocator"/>
</machine>
</openpnp-machine>
Arduino Sketch
String inData;
void setup() {
for (int i = 0; i < 4; i++) {
pinMode(2 + i, OUTPUT);
digitalWrite(2 + i, LOW);
}
Serial.begin(9600);
Serial.println("Feeduino");
Serial.println("ok");
}
void loop() {
while (Serial.available() > 0) {
char recieved = Serial.read();
inData += recieved;
if (recieved == '\n') {
processCommand();
inData = "";
}
}
}
void processCommand() {
int pin = inData.toInt();
digitalWrite(2 + pin, HIGH);
delay(500);
digitalWrite(2 + pin, LOW);
Serial.println("ok");
}
This is a configuration from mailing list user Александр Зендриков. It uses an MKS Sbase controller and has two nozzles in a cam configuration.
The files can be found at https://gist.github.com/vonnieda/7a72c5d7b459f8da00e7124e1067f9e7.
The discussion is at https://groups.google.com/d/msgid/openpnp/f487734a-4af2-4d6a-b8d2-ef4fbe267e49%40googlegroups.com?utm_medium=email&utm_source=footer.
Search the Wiki