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  1. # Generated by PNCconf at Sat Nov 3 13:47:34 2012
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. loadrt trivkins
  6. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  7. loadrt probe_parport
  8. loadrt hostmot2
  9. loadrt hm2_pci config=" num_encoders=5 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0 sserial_port_0=000xxxxx "
  10. setp hm2_5i25.0.watchdog.timeout_ns 10000000
  11. loadrt pid names=pid.x,pid.y,pid.z
  12. loadrt abs names=abs.spindle
  13. loadrt lowpass names=lowpass.spindle
  14.  
  15. addf hm2_5i25.0.read servo-thread
  16. addf motion-command-handler servo-thread
  17. addf motion-controller servo-thread
  18. addf pid.x.do-pid-calcs servo-thread
  19. addf pid.y.do-pid-calcs servo-thread
  20. addf pid.z.do-pid-calcs servo-thread
  21. addf abs.spindle servo-thread
  22. addf lowpass.spindle servo-thread
  23. addf hm2_5i25.0.write servo-thread
  24. addf hm2_5i25.0.pet_watchdog servo-thread
  25.  
  26. # external output signals
  27.  
  28.  
  29. # --- SPINDLE-CW ---
  30. net spindle-cw hm2_5i25.0.7i77.0.0.output-00
  31.  
  32. # --- SPINDLE-CCW ---
  33. net spindle-ccw hm2_5i25.0.7i77.0.0.output-01
  34.  
  35. # --- SPINDLE-ON ---
  36. net spindle-on hm2_5i25.0.7i77.0.0.output-02
  37.  
  38. # external input signals
  39.  
  40.  
  41. # --- HOME-X ---
  42. net home-x <= hm2_5i25.0.7i77.0.0.input-07-not
  43.  
  44. # --- MIN-X ---
  45. net min-x <= hm2_5i25.0.7i77.0.0.input-08-not
  46.  
  47. # --- MAX-X ---
  48. net max-x <= hm2_5i25.0.7i77.0.0.input-09-not
  49.  
  50. # --- HOME-Y ---
  51. net home-y <= hm2_5i25.0.7i77.0.0.input-10-not
  52.  
  53. # --- MIN-Y ---
  54. net min-y <= hm2_5i25.0.7i77.0.0.input-11-not
  55.  
  56. # --- MAX-Y ---
  57. net max-y <= hm2_5i25.0.7i77.0.0.input-12-not
  58.  
  59. # --- HOME-Z ---
  60. net home-z <= hm2_5i25.0.7i77.0.0.input-13-not
  61.  
  62. # --- MIN-Z ---
  63. net min-z <= hm2_5i25.0.7i77.0.0.input-14-not
  64.  
  65. # --- MAX-Z ---
  66. net max-z <= hm2_5i25.0.7i77.0.0.input-15-not
  67.  
  68. #*******************
  69. # AXIS X
  70. #*******************
  71.  
  72. setp pid.x.Pgain [AXIS_0]P
  73. setp pid.x.Igain [AXIS_0]I
  74. setp pid.x.Dgain [AXIS_0]D
  75. setp pid.x.bias [AXIS_0]BIAS
  76. setp pid.x.FF0 [AXIS_0]FF0
  77. setp pid.x.FF1 [AXIS_0]FF1
  78. setp pid.x.FF2 [AXIS_0]FF2
  79. setp pid.x.deadband [AXIS_0]DEADBAND
  80. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  81.  
  82. net x-index-enable <=> pid.x.index-enable
  83. net x-enable => pid.x.enable
  84. net x-output => pid.x.output
  85. net x-pos-cmd => pid.x.command
  86. net x-vel-fb => pid.x.command-deriv
  87. net x-pos-fb => pid.x.feedback
  88.  
  89. # ---PWM Generator signals/setup---
  90.  
  91. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  92. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  93. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  94.  
  95. net x-output => hm2_5i25.0.7i77.0.1.analogout0
  96. net x-pos-cmd axis.0.motor-pos-cmd
  97. net x-enable axis.0.amp-enable-out
  98. # enable _all_ sserial pwmgens
  99. net x-enable hm2_5i25.0.7i77.0.1.analogena
  100.  
  101. # ---Encoder feedback signals/setup---
  102.  
  103. setp hm2_5i25.0.encoder.00.counter-mode 0
  104. setp hm2_5i25.0.encoder.00.filter 1
  105. setp hm2_5i25.0.encoder.00.index-invert 0
  106. setp hm2_5i25.0.encoder.00.index-mask 0
  107. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  108. setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
  109.  
  110. net x-pos-fb <= hm2_5i25.0.encoder.00.position
  111. net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
  112. net x-pos-fb => axis.0.motor-pos-fb
  113. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  114. net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  115.  
  116. # ---setup home / limit switch signals---
  117.  
  118. net home-x => axis.0.home-sw-in
  119. net min-x => axis.0.neg-lim-sw-in
  120. net max-x => axis.0.pos-lim-sw-in
  121.  
  122. #*******************
  123. # AXIS Y
  124. #*******************
  125.  
  126. setp pid.y.Pgain [AXIS_1]P
  127. setp pid.y.Igain [AXIS_1]I
  128. setp pid.y.Dgain [AXIS_1]D
  129. setp pid.y.bias [AXIS_1]BIAS
  130. setp pid.y.FF0 [AXIS_1]FF0
  131. setp pid.y.FF1 [AXIS_1]FF1
  132. setp pid.y.FF2 [AXIS_1]FF2
  133. setp pid.y.deadband [AXIS_1]DEADBAND
  134. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  135.  
  136. net y-index-enable <=> pid.y.index-enable
  137. net y-enable => pid.y.enable
  138. net y-output => pid.y.output
  139. net y-pos-cmd => pid.y.command
  140. net y-vel-fb => pid.y.command-deriv
  141. net y-pos-fb => pid.y.feedback
  142.  
  143. # ---PWM Generator signals/setup---
  144.  
  145. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  146. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  147. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  148.  
  149. net y-output => hm2_5i25.0.7i77.0.1.analogout1
  150. net y-pos-cmd axis.1.motor-pos-cmd
  151. net y-enable axis.1.amp-enable-out
  152.  
  153. # ---Encoder feedback signals/setup---
  154.  
  155. setp hm2_5i25.0.encoder.01.counter-mode 0
  156. setp hm2_5i25.0.encoder.01.filter 1
  157. setp hm2_5i25.0.encoder.01.index-invert 0
  158. setp hm2_5i25.0.encoder.01.index-mask 0
  159. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  160. setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
  161.  
  162. net y-pos-fb <= hm2_5i25.0.encoder.01.position
  163. net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
  164. net y-pos-fb => axis.1.motor-pos-fb
  165. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  166. net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  167.  
  168. # ---setup home / limit switch signals---
  169.  
  170. net home-y => axis.1.home-sw-in
  171. net min-y => axis.1.neg-lim-sw-in
  172. net max-y => axis.1.pos-lim-sw-in
  173.  
  174. #*******************
  175. # AXIS Z
  176. #*******************
  177.  
  178. setp pid.z.Pgain [AXIS_2]P
  179. setp pid.z.Igain [AXIS_2]I
  180. setp pid.z.Dgain [AXIS_2]D
  181. setp pid.z.bias [AXIS_2]BIAS
  182. setp pid.z.FF0 [AXIS_2]FF0
  183. setp pid.z.FF1 [AXIS_2]FF1
  184. setp pid.z.FF2 [AXIS_2]FF2
  185. setp pid.z.deadband [AXIS_2]DEADBAND
  186. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  187.  
  188. net z-index-enable <=> pid.z.index-enable
  189. net z-enable => pid.z.enable
  190. net z-output => pid.z.output
  191. net z-pos-cmd => pid.z.command
  192. net z-vel-fb => pid.z.command-deriv
  193. net z-pos-fb => pid.z.feedback
  194.  
  195. # ---PWM Generator signals/setup---
  196.  
  197. setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
  198. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  199. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  200.  
  201. net z-output => hm2_5i25.0.7i77.0.1.analogout2
  202. net z-pos-cmd axis.2.motor-pos-cmd
  203. net z-enable axis.2.amp-enable-out
  204.  
  205. # ---Encoder feedback signals/setup---
  206.  
  207. setp hm2_5i25.0.encoder.02.counter-mode 0
  208. setp hm2_5i25.0.encoder.02.filter 1
  209. setp hm2_5i25.0.encoder.02.index-invert 0
  210. setp hm2_5i25.0.encoder.02.index-mask 0
  211. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  212. setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
  213.  
  214. net z-pos-fb <= hm2_5i25.0.encoder.02.position
  215. net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
  216. net z-pos-fb => axis.2.motor-pos-fb
  217. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
  218. net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
  219.  
  220. # ---setup home / limit switch signals---
  221.  
  222. net home-z => axis.2.home-sw-in
  223. net min-z => axis.2.neg-lim-sw-in
  224. net max-z => axis.2.pos-lim-sw-in
  225.  
  226. #*******************
  227. # SPINDLE S
  228. #*******************
  229.  
  230. # ---PWM Generator signals/setup---
  231.  
  232. setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
  233. setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  234. setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  235.  
  236.  
  237. net spindle-vel-cmd => hm2_5i25.0.7i77.0.1.analogout5
  238. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  239.  
  240. # ---setup spindle control signals---
  241.  
  242. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  243. net spindle-vel-cmd <= motion.spindle-speed-out
  244. net spindle-on <= motion.spindle-on
  245. net spindle-cw <= motion.spindle-forward
  246. net spindle-ccw <= motion.spindle-reverse
  247. net spindle-brake <= motion.spindle-brake
  248. net spindle-revs => motion.spindle-revs
  249. net spindle-at-speed => motion.spindle-at-speed
  250. net spindle-vel-fb => motion.spindle-speed-in
  251. net spindle-index-enable <=> motion.spindle-index-enable
  252.  
  253. # ---Setup spindle at speed signals---
  254.  
  255. sets spindle-at-speed true
  256.  
  257. # Use COMMANDED spindle velocity from LinuxCNC because no spindle encoder was specified
  258. # COMMANDED velocity is signed so we use absolute component to remove sign
  259.  
  260. net spindle-vel-cmd => abs.spindle.in
  261. net absolute-spindle-vel <= abs.spindle.out
  262.  
  263. #******************************
  264. # connect miscellaneous signals
  265. #******************************
  266.  
  267. # ---HALUI signals---
  268.  
  269. net joint-select-a halui.joint.0.select
  270. net x-is-homed halui.joint.0.is-homed
  271. net jog-x-pos halui.jog.0.plus
  272. net jog-x-neg halui.jog.0.minus
  273. net jog-x-analog halui.jog.0.analog
  274. net joint-select-b halui.joint.1.select
  275. net y-is-homed halui.joint.1.is-homed
  276. net jog-y-pos halui.jog.1.plus
  277. net jog-y-neg halui.jog.1.minus
  278. net jog-y-analog halui.jog.1.analog
  279. net joint-select-c halui.joint.2.select
  280. net z-is-homed halui.joint.2.is-homed
  281. net jog-z-pos halui.jog.2.plus
  282. net jog-z-neg halui.jog.2.minus
  283. net jog-z-analog halui.jog.2.analog
  284. net jog-selected-pos halui.jog.selected.plus
  285. net jog-selected-neg halui.jog.selected.minus
  286. net spindle-manual-cw halui.spindle.forward
  287. net spindle-manual-ccw halui.spindle.reverse
  288. net spindle-manual-stop halui.spindle.stop
  289. net machine-is-on halui.machine.is-on
  290. net jog-speed halui.jog-speed
  291. net MDI-mode halui.mode.is-mdi
  292.  
  293. # ---coolant signals---
  294.  
  295. net coolant-mist <= iocontrol.0.coolant-mist
  296. net coolant-flood <= iocontrol.0.coolant-flood
  297.  
  298. # ---probe signal---
  299.  
  300. net probe-in => motion.probe-input
  301.  
  302. # ---motion control signals---
  303.  
  304. net in-position <= motion.in-position
  305. net machine-is-enabled <= motion.motion-enabled
  306.  
  307. # ---digital in / out signals---
  308.  
  309. # ---estop signals---
  310.  
  311. net estop-out <= iocontrol.0.user-enable-out
  312. net estop-out => iocontrol.0.emc-enable-in
  313.  
  314. # ---manual tool change signals---
  315.  
  316. loadusr -W hal_manualtoolchange
  317. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  318. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  319. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  320. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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