API tools faq
paste
Advertisement
Guest User

mevon sim_core.hal

a guest
Nov 21st, 2012
90
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 8.30 KB | None | 0 0
raw download clone embed print report
  1. # core HAL config file for simulation
  2.  
  3. #First load the Python user module named /user/bin/9axis_arduino with the name 'arduino'
  4. loadusr -Wn arduino /usr/bin/9axis_arduino
  5.  
  6. # first load all the RT modules that will be needed
  7. # kinematics
  8. loadrt trivkins
  9. # motion controller, get name and thread periods from ini file
  10. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  11. # load 6 differentiators (for velocity and accel signals
  12. loadrt ddt count=6
  13. # load additional blocks
  14. loadrt hypot count=2
  15. loadrt comp count=3
  16. loadrt or2 count=1
  17.  
  18. # add motion controller functions to servo thread
  19. addf motion-command-handler servo-thread
  20. addf motion-controller servo-thread
  21. # link the differentiator functions into the code
  22. addf ddt.0 servo-thread
  23. addf ddt.1 servo-thread
  24. addf ddt.2 servo-thread
  25. addf ddt.3 servo-thread
  26. addf ddt.4 servo-thread
  27. addf ddt.5 servo-thread
  28. addf hypot.0 servo-thread
  29. addf hypot.1 servo-thread
  30.  
  31. # create HAL signals for position commands from motion module
  32. # loop position commands back to motion module feedback
  33. #net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt.0.in
  34. #net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt.2.in
  35. #net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt.4.in
  36.  
  37. #net Xpos arduino.axis0-pos => axis.0.motor-pos-fb ddt.0.in
  38. #net Ypos arduino.axis1-pos => axis.1.motor-pos-fb ddt.2.in
  39. #net Zpos arduino.axis2-pos => axis.2.motor-pos-fb ddt.4.in
  40.  
  41.  
  42. net Xpos axis.0.motor-pos-cmd => arduino.axis0-cmd
  43. net Xpos-fb arduino.axis0-pos => axis.0.motor-pos-fb ddt.0.in
  44. net Ypos axis.1.motor-pos-cmd => arduino.axis1-cmd
  45. net Ypos-fb arduino.axis1-pos => axis.1.motor-pos-fb ddt.2.in
  46. net Zpos axis.2.motor-pos-cmd => arduino.axis2-cmd
  47. net Zpos-fb arduino.axis2-pos => axis.2.motor-pos-fb ddt.4.in
  48.  
  49.  
  50. # send the position commands thru differentiators to
  51. # generate velocity and accel signals
  52. net Xvel ddt.0.out => ddt.1.in hypot.0.in0
  53. net Xacc <= ddt.1.out
  54. net Yvel ddt.2.out => ddt.3.in hypot.0.in1
  55. net Yacc <= ddt.3.out
  56. net Zvel ddt.4.out => ddt.5.in hypot.1.in0
  57. net Zacc <= ddt.5.out
  58.  
  59. # Cartesian 2- and 3-axis velocities
  60. net XYvel hypot.0.out => hypot.1.in1
  61. net XYZvel <= hypot.1.out
  62.  
  63. # estop loopback
  64. net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
  65.  
  66. # Control panel switches
  67. # E-Stop
  68. #unlinkp iocontrol.0.user-enable-out
  69. #unlinkp iocontrol.0.emc-enable-in
  70. #net eStop iocontrol.0.user-enable-out => arduino.eStop
  71. #net eStop iocontrol.0.emc-enable-in <= arduino.eStop
  72.  
  73. # Power
  74. #unlinkp halui.machine.is-on
  75. #unlinkp halui.machine.on
  76. #unlinkp halui.machine.off
  77. #net machstate arduino.machine-state <= halui.machine.is-on
  78. #net turnoff halui.machine.off <= arduino.switch-off
  79. #net turnon halui.machine.on <= arduino.switch-on
  80.  
  81. # Start/Run
  82. #unlinkp halui.program.run
  83. #net ProgramStart arduino.start => halui.program.run
  84.  
  85. # Stop
  86. #unlinkp halui.program.stop
  87. #net ProgramStop arduino.stop => halui.program.stop
  88.  
  89. # Pause
  90. #unlinkp halui.program.pause
  91. #net ProgramPause arduino.pause => halui.program.pause
  92.  
  93. # Resume
  94. #unlinkp halui.program.resume
  95. #net ProgramResume arduino.resume => halui.program.resume
  96.  
  97. # Program step
  98. #unlinkp halui.program.step
  99. #net ProgramStep arduino.step => halui.program.step
  100.  
  101. # Touch probe
  102. #unlinkp motion.probe-input
  103. #net probe arduino.probe => motion.probe-input
  104.  
  105. # Spindle power
  106. #unlinkp motion.spindle-on
  107. #net spindle-On arduino.spindleEnable <= motion.spindle-on
  108.  
  109. # Spindle direction
  110. #unlinkp motion.spindle-reverse
  111. #net spindle-Dir arduino.spindleDirection <= motion.spindle-reverse
  112.  
  113. # Spindle at speed
  114. #unlinkp motion.spindle-at-speed
  115. #net spindle-at-speed arduino.spindleAtSpeed => motion.spindle-at-speed
  116.  
  117. # Coolant flood
  118. #unlinkp iocontrol.0.coolant-flood
  119. #net flood arduino.coolantFlood <= iocontrol.0.coolant-flood
  120.  
  121. # Coolant mist
  122. #unlinkp iocontrol.0.coolant-mist
  123. #net mist arduino.coolantMist <= iocontrol.0.coolant-mist
  124.  
  125. # create signals for tool loading loopback
  126. net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
  127. net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
  128.  
  129.  
  130. ###############################################################################
  131. ##### Now on to the axies, if you don't have a given axis comment out the #####
  132. ##### related section entirely. If you don't, EMC will crash on load. #####
  133. ##### (But will give you useful debug info to guide you.) #####
  134. ###############################################################################
  135. ##### If you just want the switches for an axis, comment out the lines #####
  136. ##### containing the word 'motor' in them for the axies you DO have. #####
  137. ###############################################################################
  138.  
  139. ### X-axis (axis.0) ###
  140. #unlinkp axis.0.home-sw-in
  141. #net home-X arduino.xHome => axis.0.home-sw-in
  142.  
  143. #unlinkp axis.0.neg-lim-sw-in
  144. net min-home-X arduino.xMinLmt => axis.0.neg-lim-sw-in axis.0.home-sw-in
  145. #net min-X arduino.xMinLmt => axis.0.neg-lim-sw-in
  146.  
  147. #unlinkp axis.0.pos-lim-sw-in
  148. net max-X arduino.xMaxLmt => axis.0.pos-lim-sw-in
  149.  
  150. #unlinkp axis.0.motor-pos-cmd
  151. #net Xpos-cmd axis.0.motor-pos-cmd => arduino.axis0-cmd
  152. #net Xpos => arduino.axis0-cmd
  153.  
  154.  
  155. ### Y-axis (axis.1) ###
  156. #unlinkp axis.1.home-sw-in
  157. #net home-Y arduino.yHome => axis.1.home-sw-in
  158.  
  159. #unlinkp axis.1.neg-lim-sw-in
  160. net min-home-Y arduino.yMinLmt => axis.1.neg-lim-sw-in axis.1.home-sw-in
  161. #net min-Y arduino.yMinLmt => axis.1.neg-lim-sw-in
  162.  
  163. #unlinkp axis.1.pos-lim-sw-in
  164. net max-Y arduino.yMaxLmt => axis.1.pos-lim-sw-in
  165.  
  166. #unlinkp axis.1.motor-pos-cmd
  167. #net Ypos-cmd axis.1.motor-pos-cmd => arduino.axis1-cmd
  168. #net Ypos => arduino.axis1-cmd
  169.  
  170.  
  171. ### Z-axis (axis.2) ###
  172. #unlinkp axis.2.home-sw-in
  173. #net home-Z arduino.zHome => xis.2.home-sw-in
  174.  
  175. #unlinkp axis.2.neg-lim-sw-in
  176. net min-home-Z => arduino.zMinLmt => axis.2.neg-lim-sw-in axis.2.home-sw-in
  177. #net min-Z => arduino.zMinLmt => axis.2.neg-lim-sw-in
  178.  
  179. #unlinkp axis.2.pos-lim-sw-in
  180. net max-Z => arduino.zMaxLmt => axis.2.pos-lim-sw-in
  181.  
  182. #unlinkp axis.2.motor-pos-cmd
  183. #net Zpos-cmd axis.2.motor-pos-cmd => arduino.axis2-cmd
  184. #net Zpos => arduino.axis2-cmd
  185.  
  186.  
  187. ### A-axis (axis.3) ###
  188. #unlinkp axis.3.home-sw-in
  189. #net home-A arduino.aHome => axis.3.home-sw-in
  190.  
  191. #unlinkp axis.3.neg-lim-sw-in
  192. #net min-A => arduino.aMinLmt => axis.3.neg-lim-sw-in
  193.  
  194. #unlinkp axis.3.pos-lim-sw-in
  195. #net max-A => arduino.aMaxLmt => axis.3.pos-lim-sw-in
  196.  
  197. #unlinkp axis.3.motor-pos-cmd
  198. #net apos-cmd axis.3.motor-pos-cmd => arduino.axis3-cmd
  199.  
  200.  
  201. ### B-axis (axis.4) ###
  202. #unlinkp axis.4.home-sw-in
  203. #net home-B arduino.bHome => axis.4.home-sw-in
  204.  
  205. #unlinkp axis.4.neg-lim-sw-in
  206. #net min-B => arduino.bMinLmt => axis.4.neg-lim-sw-in
  207.  
  208. #unlinkp axis.4.pos-lim-sw-in
  209. #net max-B => arduino.bMaxLmt => axis.4.pos-lim-sw-in
  210.  
  211. #unlinkp axis.4.motor-pos-cmd
  212. #net bpos-cmd axis.4.motor-pos-cmd => arduino.axis4-cmd
  213.  
  214.  
  215. ### C-axis (axis.5) ###
  216. #unlinkp axis.5.home-sw-in
  217. #net home-C arduino.cHome => axis.5.home-sw-in
  218.  
  219. #unlinkp axis.5.neg-lim-sw-in
  220. #net min-C => arduino.cMinLmt => axis.5.neg-lim-sw-in
  221.  
  222. #unlinkp axis.5.pos-lim-sw-in
  223. #net max-C => arduino.cMaxLmt => axis.5.pos-lim-sw-in
  224.  
  225. #unlinkp axis.5.motor-pos-cmd
  226. #net cpos-cmd axis.5.motor-pos-cmd => arduino.axis5-cmd
  227.  
  228.  
  229. ### U-axis (axis.6) ###
  230. #unlinkp axis.6.home-sw-in
  231. #net home-U arduino.uHome => axis.6.home-sw-in
  232.  
  233. #unlinkp axis.6.neg-lim-sw-in
  234. #net min-U => arduino.uMinLmt => axis.6.neg-lim-sw-in
  235.  
  236. #unlinkp axis.6.pos-lim-sw-in
  237. #net max-U => arduino.uMaxLmt => axis.6.pos-lim-sw-in
  238.  
  239. #unlinkp axis.6.motor-pos-cmd
  240. #net upos-cmd axis.6.motor-pos-cmd => arduino.axis6-cmd
  241.  
  242.  
  243. ### V-axis (axis.7) ###
  244. #unlinkp axis.7.home-sw-in
  245. #net home-V arduino.vHome => axis.7.home-sw-in
  246.  
  247. #unlinkp axis.7.neg-lim-sw-in
  248. #net min-V => arduino.vMinLmt => axis.7.neg-lim-sw-in
  249.  
  250. #unlinkp axis.7.pos-lim-sw-in
  251. #net max-V => arduino.vMaxLmt => axis.7.pos-lim-sw-in
  252.  
  253. #unlinkp axis.7.motor-pos-cmd
  254. #net vpos-cmd axis.7.motor-pos-cmd => arduino.axis7-cmd
  255.  
  256.  
  257. ### W-axis (axis.8) ###
  258. #unlinkp axis.8.home-sw-in
  259. #net home-W arduino.wHome => axis.8.home-sw-in
  260.  
  261. #unlinkp axis.8.neg-lim-sw-in
  262. #net min-W => arduino.wMinLmt => axis.8.neg-lim-sw-in
  263.  
  264. #unlinkp axis.8.pos-lim-sw-in
  265. #net max-W => arduino.wMaxLmt => axis.8.pos-lim-sw-in
  266.  
  267. #unlinkp axis.8.motor-pos-cmd
  268. #net wpos-cmd axis.8.motor-pos-cmd => arduino.axis8-cmd
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!