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  1. # Generated by PNCconf at Fri Nov 16 11:19:25 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. loadrt estop_latch
  15.  
  16. addf hm2_5i25.0.read servo-thread
  17. addf motion-command-handler servo-thread
  18. addf motion-controller servo-thread
  19. addf pid.x.do-pid-calcs servo-thread
  20. addf pid.y.do-pid-calcs servo-thread
  21. addf pid.z.do-pid-calcs servo-thread
  22. addf abs.spindle servo-thread
  23. addf lowpass.spindle servo-thread
  24. addf estop-latch.0 servo-thread
  25. addf hm2_5i25.0.write servo-thread
  26. addf hm2_5i25.0.pet_watchdog servo-thread
  27.  
  28. # external output signals
  29.  
  30.  
  31. # --- SPINDLE-CW ---
  32. net spindle-cw hm2_5i25.0.7i77.0.0.output-00
  33.  
  34. # --- SPINDLE-CCW ---
  35. net spindle-ccw hm2_5i25.0.7i77.0.0.output-01
  36.  
  37. # --- SPINDLE-ON ---
  38. net spindle-on hm2_5i25.0.7i77.0.0.output-02
  39.  
  40. # --- SPINDLE-BRAKE ---
  41. net spindle-brake hm2_5i25.0.7i77.0.0.output-03
  42.  
  43. # --- MACHINE-IS-ENABLED ---
  44. net machine-is-enabled hm2_5i25.0.7i77.0.0.output-04
  45.  
  46. # external input signals
  47.  
  48.  
  49. # --- ESTOP-EXT ---
  50. net estop-ext <= hm2_5i25.0.7i77.0.0.input-00-not
  51.  
  52. # --- HOME-X ---
  53. net home-x <= hm2_5i25.0.7i77.0.0.input-07-not
  54.  
  55. # --- MIN-X ---
  56. net min-x <= hm2_5i25.0.7i77.0.0.input-08-not
  57.  
  58. # --- MAX-X ---
  59. net max-x <= hm2_5i25.0.7i77.0.0.input-09-not
  60.  
  61. # --- HOME-Y ---
  62. net home-y <= hm2_5i25.0.7i77.0.0.input-10-not
  63.  
  64. # --- MIN-Y ---
  65. net min-y <= hm2_5i25.0.7i77.0.0.input-11-not
  66.  
  67. # --- MAX-Y ---
  68. net max-y <= hm2_5i25.0.7i77.0.0.input-12-not
  69.  
  70. # --- HOME-Z ---
  71. net home-z <= hm2_5i25.0.7i77.0.0.input-13-not
  72.  
  73. # --- MIN-Z ---
  74. net min-z <= hm2_5i25.0.7i77.0.0.input-14-not
  75.  
  76. # --- MAX-Z ---
  77. net max-z <= hm2_5i25.0.7i77.0.0.input-15-not
  78.  
  79. #*******************
  80. # AXIS X
  81. #*******************
  82.  
  83. setp pid.x.Pgain [AXIS_0]P
  84. setp pid.x.Igain [AXIS_0]I
  85. setp pid.x.Dgain [AXIS_0]D
  86. setp pid.x.bias [AXIS_0]BIAS
  87. setp pid.x.FF0 [AXIS_0]FF0
  88. setp pid.x.FF1 [AXIS_0]FF1
  89. setp pid.x.FF2 [AXIS_0]FF2
  90. setp pid.x.deadband [AXIS_0]DEADBAND
  91. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  92.  
  93. net x-index-enable <=> pid.x.index-enable
  94. net x-enable => pid.x.enable
  95. net x-output => pid.x.output
  96. net x-pos-cmd => pid.x.command
  97. net x-vel-fb => pid.x.command-deriv
  98. net x-pos-fb => pid.x.feedback
  99.  
  100. # ---PWM Generator signals/setup---
  101.  
  102. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  103. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  104. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  105.  
  106. net x-output => hm2_5i25.0.7i77.0.1.analogout0
  107. net x-pos-cmd axis.0.motor-pos-cmd
  108. net x-enable axis.0.amp-enable-out
  109. # enable _all_ sserial pwmgens
  110. net x-enable hm2_5i25.0.7i77.0.1.analogena
  111.  
  112. # ---Encoder feedback signals/setup---
  113.  
  114. setp hm2_5i25.0.encoder.00.counter-mode 0
  115. setp hm2_5i25.0.encoder.00.filter 1
  116. setp hm2_5i25.0.encoder.00.index-invert 0
  117. setp hm2_5i25.0.encoder.00.index-mask 0
  118. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  119. setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
  120.  
  121. net x-pos-fb <= hm2_5i25.0.encoder.00.position
  122. net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
  123. net x-pos-fb => axis.0.motor-pos-fb
  124. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  125. net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  126.  
  127. # ---setup home / limit switch signals---
  128.  
  129. net home-x => axis.0.home-sw-in
  130. net min-x => axis.0.neg-lim-sw-in
  131. net max-x => axis.0.pos-lim-sw-in
  132.  
  133. #*******************
  134. # AXIS Y
  135. #*******************
  136.  
  137. setp pid.y.Pgain [AXIS_1]P
  138. setp pid.y.Igain [AXIS_1]I
  139. setp pid.y.Dgain [AXIS_1]D
  140. setp pid.y.bias [AXIS_1]BIAS
  141. setp pid.y.FF0 [AXIS_1]FF0
  142. setp pid.y.FF1 [AXIS_1]FF1
  143. setp pid.y.FF2 [AXIS_1]FF2
  144. setp pid.y.deadband [AXIS_1]DEADBAND
  145. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  146.  
  147. net y-index-enable <=> pid.y.index-enable
  148. net y-enable => pid.y.enable
  149. net y-output => pid.y.output
  150. net y-pos-cmd => pid.y.command
  151. net y-vel-fb => pid.y.command-deriv
  152. net y-pos-fb => pid.y.feedback
  153.  
  154. # ---PWM Generator signals/setup---
  155.  
  156. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  157. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  158. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  159.  
  160. net y-output => hm2_5i25.0.7i77.0.1.analogout1
  161. net y-pos-cmd axis.1.motor-pos-cmd
  162. net y-enable axis.1.amp-enable-out
  163.  
  164. # ---Encoder feedback signals/setup---
  165.  
  166. setp hm2_5i25.0.encoder.01.counter-mode 0
  167. setp hm2_5i25.0.encoder.01.filter 1
  168. setp hm2_5i25.0.encoder.01.index-invert 0
  169. setp hm2_5i25.0.encoder.01.index-mask 0
  170. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  171. setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
  172.  
  173. net y-pos-fb <= hm2_5i25.0.encoder.01.position
  174. net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
  175. net y-pos-fb => axis.1.motor-pos-fb
  176. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  177. net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  178.  
  179. # ---setup home / limit switch signals---
  180.  
  181. net home-y => axis.1.home-sw-in
  182. net min-y => axis.1.neg-lim-sw-in
  183. net max-y => axis.1.pos-lim-sw-in
  184.  
  185. #*******************
  186. # AXIS Z
  187. #*******************
  188.  
  189. setp pid.z.Pgain [AXIS_2]P
  190. setp pid.z.Igain [AXIS_2]I
  191. setp pid.z.Dgain [AXIS_2]D
  192. setp pid.z.bias [AXIS_2]BIAS
  193. setp pid.z.FF0 [AXIS_2]FF0
  194. setp pid.z.FF1 [AXIS_2]FF1
  195. setp pid.z.FF2 [AXIS_2]FF2
  196. setp pid.z.deadband [AXIS_2]DEADBAND
  197. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  198.  
  199. net z-index-enable <=> pid.z.index-enable
  200. net z-enable => pid.z.enable
  201. net z-output => pid.z.output
  202. net z-pos-cmd => pid.z.command
  203. net z-vel-fb => pid.z.command-deriv
  204. net z-pos-fb => pid.z.feedback
  205.  
  206. # ---PWM Generator signals/setup---
  207.  
  208. setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
  209. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  210. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  211.  
  212. net z-output => hm2_5i25.0.7i77.0.1.analogout2
  213. net z-pos-cmd axis.2.motor-pos-cmd
  214. net z-enable axis.2.amp-enable-out
  215.  
  216. # ---Encoder feedback signals/setup---
  217.  
  218. setp hm2_5i25.0.encoder.02.counter-mode 0
  219. setp hm2_5i25.0.encoder.02.filter 1
  220. setp hm2_5i25.0.encoder.02.index-invert 0
  221. setp hm2_5i25.0.encoder.02.index-mask 0
  222. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  223. setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
  224.  
  225. net z-pos-fb <= hm2_5i25.0.encoder.02.position
  226. net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
  227. net z-pos-fb => axis.2.motor-pos-fb
  228. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
  229. net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
  230.  
  231. # ---setup home / limit switch signals---
  232.  
  233. net home-z => axis.2.home-sw-in
  234. net min-z => axis.2.neg-lim-sw-in
  235. net max-z => axis.2.pos-lim-sw-in
  236.  
  237. #*******************
  238. # SPINDLE S
  239. #*******************
  240.  
  241. # ---PWM Generator signals/setup---
  242.  
  243. setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
  244. setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  245. setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  246.  
  247.  
  248. net spindle-vel-cmd => hm2_5i25.0.7i77.0.1.analogout5
  249. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  250.  
  251. # ---setup spindle control signals---
  252.  
  253. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  254. net spindle-vel-cmd <= motion.spindle-speed-out
  255. net spindle-on <= motion.spindle-on
  256. net spindle-cw <= motion.spindle-forward
  257. net spindle-ccw <= motion.spindle-reverse
  258. net spindle-brake <= motion.spindle-brake
  259. net spindle-revs => motion.spindle-revs
  260. net spindle-at-speed => motion.spindle-at-speed
  261. net spindle-vel-fb => motion.spindle-speed-in
  262. net spindle-index-enable <=> motion.spindle-index-enable
  263.  
  264. # ---Setup spindle at speed signals---
  265.  
  266. sets spindle-at-speed true
  267.  
  268. # Use COMMANDED spindle velocity from LinuxCNC because no spindle encoder was specified
  269. # COMMANDED velocity is signed so we use absolute component to remove sign
  270.  
  271. net spindle-vel-cmd => abs.spindle.in
  272. net absolute-spindle-vel <= abs.spindle.out
  273.  
  274. #******************************
  275. # connect miscellaneous signals
  276. #******************************
  277.  
  278. # ---HALUI signals---
  279.  
  280. net joint-select-a halui.joint.0.select
  281. net x-is-homed halui.joint.0.is-homed
  282. net jog-x-pos halui.jog.0.plus
  283. net jog-x-neg halui.jog.0.minus
  284. net jog-x-analog halui.jog.0.analog
  285. net joint-select-b halui.joint.1.select
  286. net y-is-homed halui.joint.1.is-homed
  287. net jog-y-pos halui.jog.1.plus
  288. net jog-y-neg halui.jog.1.minus
  289. net jog-y-analog halui.jog.1.analog
  290. net joint-select-c halui.joint.2.select
  291. net z-is-homed halui.joint.2.is-homed
  292. net jog-z-pos halui.jog.2.plus
  293. net jog-z-neg halui.jog.2.minus
  294. net jog-z-analog halui.jog.2.analog
  295. net jog-selected-pos halui.jog.selected.plus
  296. net jog-selected-neg halui.jog.selected.minus
  297. net spindle-manual-cw halui.spindle.forward
  298. net spindle-manual-ccw halui.spindle.reverse
  299. net spindle-manual-stop halui.spindle.stop
  300. net machine-is-on halui.machine.is-on
  301. net jog-speed halui.jog-speed
  302. net MDI-mode halui.mode.is-mdi
  303.  
  304. # ---coolant signals---
  305.  
  306. net coolant-mist <= iocontrol.0.coolant-mist
  307. net coolant-flood <= iocontrol.0.coolant-flood
  308.  
  309. # ---probe signal---
  310.  
  311. net probe-in => motion.probe-input
  312.  
  313. # ---motion control signals---
  314.  
  315. net in-position <= motion.in-position
  316. net machine-is-enabled <= motion.motion-enabled
  317.  
  318. # ---digital in / out signals---
  319.  
  320. # ---estop signals---
  321.  
  322. net estop-out <= iocontrol.0.user-enable-out
  323. net estop-ext => iocontrol.0.emc-enable-in
  324.  
  325. # ---manual tool change signals---
  326.  
  327. loadusr -W hal_manualtoolchange
  328. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  329. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  330. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  331. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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