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cncbasher

pwm

cncbasher
Aug 1st, 2011
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  1.  
  2. [107401.068412] hm2/hm2_7i43.0: IO Pin 036 (P3-25): IOPort
  3. [107401.068416] hm2/hm2_7i43.0: IO Pin 037 (P3-27): PWMGen #0, pin Out0 (PWM or Up) (Output)
  4. [107401.068418] hm2/hm2_7i43.0: IO Pin 038 (P3-29): IOPort
  5. [107401.068421] hm2/hm2_7i43.0: IO Pin 039 (P3-31): PWMGen #0, pin Out1 (Dir or Down) (Output)
  6.  
  7. anyone see any problem why the spindle pwm is not working output on pin 037 which is shown above
  8.  
  9. # Generated by PNCconf at Mon Aug 1 13:16:53 2011
  10. # If you make changes to this file, they will be
  11. # overwritten when you run PNCconf again
  12.  
  13. loadrt trivkins
  14. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  15. loadrt probe_parport
  16. loadrt hostmot2
  17. loadrt hm2_7i43 config="firmware=hm2/7i43-4/ORAC_48.BIT num_encoders=1 num_pwmgens=1 num_3pwmgens=0 num_stepgens=3"
  18. setp hm2_7i43.0.pwmgen.pwm_frequency 10000
  19. setp hm2_7i43.0.pwmgen.pdm_frequency 10000
  20. setp hm2_7i43.0.watchdog.timeout_ns 10000000
  21. loadrt abs names=abs.spindle
  22. loadrt lowpass names=lowpass.spindle
  23.  
  24. addf hm2_7i43.0.read servo-thread
  25. addf motion-command-handler servo-thread
  26. addf motion-controller servo-thread
  27. addf abs.spindle servo-thread
  28. addf lowpass.spindle servo-thread
  29. addf hm2_7i43.0.write servo-thread
  30. addf hm2_7i43.0.pet_watchdog servo-thread
  31.  
  32. # external output signals
  33.  
  34.  
  35.  
  36. # external input signals
  37.  
  38.  
  39.  
  40.  
  41. # ##################################################
  42. # Standard I/O Block - EStop, Etc
  43. # ##################################################
  44.  
  45. # --- BOTH-HOME-X ---
  46. net both-home-x <= hm2_7i43.0.gpio.032.in
  47. # --- BOTH-HOME-Z ---
  48. net both-home-z <= hm2_7i43.0.gpio.034.in
  49. # --- ESTOP-EXT ---
  50. net estop-ext <= hm2_7i43.0.gpio.036.in_not
  51. # --- PROBE-IN ---
  52. net probe-in <= hm2_7i43.0.gpio.038.in
  53.  
  54.  
  55.  
  56. # create a signal for the estop loopback
  57. #net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
  58.  
  59. # create signals for tool loading loopback
  60. #net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  61. #net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
  62.  
  63.  
  64. # external output signals
  65.  
  66. # --- Amp ENABLE ---
  67. setp hm2_7i43.0.gpio.040.is_output true
  68. setp hm2_7i43.0.gpio.040.invert_output true
  69. net enable => hm2_7i43.0.gpio.040.out
  70.  
  71. # --- COOLANT-MIST ---
  72. # not used
  73. #setp hm2_7i43.0.gpio.040.is_output true
  74. #setp hm2_7i43.0.gpio.040.invert_output true
  75. #net coolant-mist => hm2_7i43.0.gpio.040.out
  76.  
  77. # --- COOLANT-FLOOD ---
  78. # not used
  79. #setp hm2_7i43.0.gpio.042.is_output true
  80. #setp hm2_7i43.0.gpio.042.invert_output true
  81. #net coolant-flood => hm2_7i43.0.gpio.042.out
  82.  
  83. # --- SPINDLE-ENABLE --- digispeed enable-and spindle on relay --
  84. # pin 46 digispeed enable
  85. # pin 44 vfd spindle on relay
  86.  
  87. setp hm2_7i43.0.gpio.044.is_output true
  88. setp hm2_7i43.0.gpio.044.invert_output true
  89.  
  90. setp hm2_7i43.0.gpio.046.is_output true
  91. setp hm2_7i43.0.gpio.046.is_opendrain true
  92.  
  93.  
  94.  
  95.  
  96. setp hm2_7i43.0.gpio.046.is_output true
  97. #setp hm2_7i43.0.gpio.046.invert_output true
  98.  
  99. net spindle-enable => hm2_7i43.0.gpio.044.out hm2_7i43.0.gpio.046.out
  100.  
  101. # --- SPINDLE-CW ---
  102. # not needed direction by pwm dir pin 015 p3
  103. #setp hm2_7i43.0.gpio.046.is_output true
  104. #setp hm2_7i43.0.gpio.046.invert_output true
  105. #net spindle-cw => hm2_7i43.0.gpio.046.out
  106.  
  107. # external input signals
  108.  
  109.  
  110. #*******************
  111. # AXIS X
  112. #*******************
  113.  
  114. # Step Gen signals/setup
  115.  
  116. setp hm2_7i43.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  117. setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  118. setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
  119. setp hm2_7i43.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  120. setp hm2_7i43.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  121. setp hm2_7i43.0.stepgen.00.step_type 0
  122. setp hm2_7i43.0.stepgen.00.control-type 0
  123. setp hm2_7i43.0.stepgen.00.maxaccel 10.4
  124. setp hm2_7i43.0.stepgen.00.maxvel 30.6
  125.  
  126. net xpos-fb axis.0.motor-pos-fb <= hm2_7i43.0.stepgen.00.position-fb
  127. net xpos-cmd axis.0.motor-pos-cmd => hm2_7i43.0.stepgen.00.position-cmd
  128. net xenable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable
  129.  
  130. # ---setup home / limit switch signals---
  131.  
  132. net both-home-x => axis.0.home-sw-in
  133. net both-home-x => axis.0.neg-lim-sw-in
  134. net both-home-x => axis.0.pos-lim-sw-in
  135.  
  136. #*******************
  137. # AXIS Z
  138. #*******************
  139.  
  140. # Step Gen signals/setup
  141.  
  142. setp hm2_7i43.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP
  143. setp hm2_7i43.0.stepgen.01.dirhold [AXIS_2]DIRHOLD
  144. setp hm2_7i43.0.stepgen.01.steplen [AXIS_2]STEPLEN
  145. setp hm2_7i43.0.stepgen.01.stepspace [AXIS_2]STEPSPACE
  146. setp hm2_7i43.0.stepgen.01.position-scale [AXIS_2]STEP_SCALE
  147. setp hm2_7i43.0.stepgen.01.step_type 0
  148. setp hm2_7i43.0.stepgen.01.control-type 0
  149. setp hm2_7i43.0.stepgen.01.maxaccel 10.4
  150. setp hm2_7i43.0.stepgen.01.maxvel 31.2
  151.  
  152. net zpos-fb axis.2.motor-pos-fb <= hm2_7i43.0.stepgen.01.position-fb
  153. net zpos-cmd axis.2.motor-pos-cmd => hm2_7i43.0.stepgen.01.position-cmd
  154. net zenable axis.2.amp-enable-out => hm2_7i43.0.stepgen.01.enable
  155.  
  156. # ---setup home / limit switch signals---
  157.  
  158. net both-home-z => axis.2.home-sw-in
  159. net both-home-z => axis.2.neg-lim-sw-in
  160. net both-home-z => axis.2.pos-lim-sw-in
  161.  
  162. #*******************
  163. # SPINDLE S
  164. #*******************
  165.  
  166. # ---PWM Generator signals/setup---
  167.  
  168. setp hm2_7i43.0.pwmgen.00.output-type 1
  169. setp hm2_7i43.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE
  170.  
  171.  
  172. net spindle-vel-cmd => hm2_7i43.0.pwmgen.00.value
  173. net spindle-enable => hm2_7i43.0.pwmgen.00.enable
  174.  
  175. # ---setup spindle control signals---
  176.  
  177. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  178. net spindle-vel-cmd <= motion.spindle-speed-out
  179. net spindle-enable <= motion.spindle-on
  180. net spindle-cw <= motion.spindle-forward
  181. net spindle-ccw <= motion.spindle-reverse
  182. net spindle-brake <= motion.spindle-brake
  183. net spindle-revs => motion.spindle-revs
  184. net spindle-at-speed => motion.spindle-at-speed
  185. net spindle-vel-fb => motion.spindle-speed-in
  186. net spindle-index-enable <=> motion.spindle-index-enable
  187.  
  188.  
  189. # ---Setup spindle at speed signals---
  190.  
  191. sets spindle-at-speed true
  192.  
  193. # Use COMMANDED spindle velocity from EMC because no spindle encoder was specified
  194. # COMMANDED velocity is signed so we use absolute component to remove sign
  195.  
  196. net spindle-vel-cmd => abs.spindle.in
  197. net absolute-spindle-vel <= abs.spindle.out
  198.  
  199. #******************************
  200. # connect miscellaneous signals
  201. #******************************
  202.  
  203. # ---HALUI signals---
  204.  
  205. net joint-select-a halui.joint.0.select
  206. net x-is-homed halui.joint.0.is-homed
  207. net jog-x-pos halui.jog.0.plus
  208. net jog-x-neg halui.jog.0.minus
  209. net jog-x-analog halui.jog.0.analog
  210. net joint-select-c halui.joint.2.select
  211. net z-is-homed halui.joint.2.is-homed
  212. net jog-z-pos halui.jog.2.plus
  213. net jog-z-neg halui.jog.2.minus
  214. net jog-z-analog halui.jog.2.analog
  215. net jog-selected-pos halui.jog.selected.plus
  216. net jog-selected-neg halui.jog.selected.minus
  217. net spindle-manual-cw halui.spindle.forward
  218. net spindle-manual-ccw halui.spindle.reverse
  219. net spindle-manual-stop halui.spindle.stop
  220. net machine-is-on halui.machine.is-on
  221. net jog-speed halui.jog-speed
  222. net MDI-mode halui.mode.is-mdi
  223.  
  224. # ---coolant signals---
  225.  
  226. net coolant-mist <= iocontrol.0.coolant-mist
  227. net coolant-flood <= iocontrol.0.coolant-flood
  228.  
  229. # ---probe signal---
  230.  
  231. net probe-in => motion.probe-input
  232.  
  233. # ---motion control signals---
  234.  
  235. net in_position motion.in-position
  236.  
  237. # ---digital in / out signals---
  238.  
  239. # ---estop signals---
  240.  
  241. net estop-out <= iocontrol.0.user-enable-out
  242. net estop-ext => iocontrol.0.emc-enable-in
  243. net enable => motion.motion-enabled
  244.  
  245. # ---manual tool change signals---
  246.  
  247. #loadusr -W hal_manualtoolchange
  248. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  249. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  250. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  251. #net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  252.  
  253.  
  254. #******************************
  255. # autotoolchanger
  256. #******************************
  257.  
  258. loadrt oracchanger
  259. addf oracchanger servo-thread
  260.  
  261. net tool-change iocontrol.0.tool-change => oracchanger.toolchange
  262. net tool-changed iocontrol.0.tool-changed <= oracchanger.toolchanged
  263. net tool-number iocontrol.0.tool-prep-number => oracchanger.toolnumber
  264. net tool-oldnumber iocontrol.0.tool-number => oracchanger.currenttoolnumber
  265. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  266.  
  267.  
  268. net oracchanger-opto1 <= hm2_7i43.0.gpio.030.in
  269. net oracchanger-opto2 <= hm2_7i43.0.gpio.033.in
  270. net oracchanger-opto3 <= hm2_7i43.0.gpio.035.in
  271.  
  272. net oracchanger-forward => hm2_7i43.0.gpio.042.out
  273. #net oracchanger-run => hm2_7i43.0.gpio.000.out
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