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VM40 HAL file

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  1. # Generated by PNCconf at Sat Jan 18 01:48:17 2014
  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=6 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0 sserial_port_0=30xxxxxx "
  10. loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0 sserial_port_0=300xxxxx "
  11. setp hm2_5i25.0.watchdog.timeout_ns 10000000
  12. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  13.  
  14. addf hm2_5i25.0.read servo-thread
  15. addf motion-command-handler servo-thread
  16. addf motion-controller servo-thread
  17. addf pid.x.do-pid-calcs servo-thread
  18. addf pid.y.do-pid-calcs servo-thread
  19. addf pid.z.do-pid-calcs servo-thread
  20. addf pid.s.do-pid-calcs servo-thread
  21. addf hm2_5i25.0.write servo-thread
  22. addf hm2_5i25.0.pet_watchdog servo-thread
  23.  
  24. # external output signals
  25.  
  26.  
  27. # external input signals
  28.  
  29.  
  30. #*******************
  31. # AXIS X
  32. #*******************
  33.  
  34. setp pid.x.Pgain [AXIS_0]P
  35. setp pid.x.Igain [AXIS_0]I
  36. setp pid.x.Dgain [AXIS_0]D
  37. setp pid.x.bias [AXIS_0]BIAS
  38. setp pid.x.FF0 [AXIS_0]FF0
  39. setp pid.x.FF1 [AXIS_0]FF1
  40. setp pid.x.FF2 [AXIS_0]FF2
  41. setp pid.x.deadband [AXIS_0]DEADBAND
  42. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  43.  
  44. net x-index-enable <=> pid.x.index-enable
  45. net x-enable => pid.x.enable
  46. net x-output => pid.x.output
  47. net x-pos-cmd => pid.x.command
  48. net x-vel-fb => pid.x.feedback-deriv
  49. net x-pos-fb => pid.x.feedback
  50.  
  51. # ---PWM Generator signals/setup---
  52.  
  53. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  54. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  55. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  56.  
  57. net x-output => hm2_5i25.0.7i77.0.1.analogout0
  58. net x-pos-cmd axis.0.motor-pos-cmd
  59. net x-enable axis.0.amp-enable-out
  60. # enable _all_ sserial pwmgens
  61. net x-enable hm2_5i25.0.7i77.0.1.analogena
  62.  
  63. # ---Encoder feedback signals/setup---
  64.  
  65. setp hm2_5i25.0.encoder.00.counter-mode 0
  66. setp hm2_5i25.0.encoder.00.filter 1
  67. setp hm2_5i25.0.encoder.00.index-invert 0
  68. setp hm2_5i25.0.encoder.00.index-mask 0
  69. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  70. setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
  71.  
  72. net x-pos-fb <= hm2_5i25.0.encoder.00.position
  73. net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
  74. net x-pos-fb => axis.0.motor-pos-fb
  75. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  76. net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  77.  
  78. # ---setup home / limit switch signals---
  79.  
  80. net x-home-sw => axis.0.home-sw-in
  81. net x-neg-limit => axis.0.neg-lim-sw-in
  82. net x-pos-limit => axis.0.pos-lim-sw-in
  83.  
  84. #*******************
  85. # AXIS Y
  86. #*******************
  87.  
  88. setp pid.y.Pgain [AXIS_1]P
  89. setp pid.y.Igain [AXIS_1]I
  90. setp pid.y.Dgain [AXIS_1]D
  91. setp pid.y.bias [AXIS_1]BIAS
  92. setp pid.y.FF0 [AXIS_1]FF0
  93. setp pid.y.FF1 [AXIS_1]FF1
  94. setp pid.y.FF2 [AXIS_1]FF2
  95. setp pid.y.deadband [AXIS_1]DEADBAND
  96. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  97.  
  98. net y-index-enable <=> pid.y.index-enable
  99. net y-enable => pid.y.enable
  100. net y-output => pid.y.output
  101. net y-pos-cmd => pid.y.command
  102. net y-vel-fb => pid.y.feedback-deriv
  103. net y-pos-fb => pid.y.feedback
  104.  
  105. # ---PWM Generator signals/setup---
  106.  
  107. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  108. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  109. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  110.  
  111. net y-output => hm2_5i25.0.7i77.0.1.analogout1
  112. net y-pos-cmd axis.1.motor-pos-cmd
  113. net y-enable axis.1.amp-enable-out
  114.  
  115. # ---Encoder feedback signals/setup---
  116.  
  117. setp hm2_5i25.0.encoder.01.counter-mode 0
  118. setp hm2_5i25.0.encoder.01.filter 1
  119. setp hm2_5i25.0.encoder.01.index-invert 0
  120. setp hm2_5i25.0.encoder.01.index-mask 0
  121. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  122. setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
  123.  
  124. net y-pos-fb <= hm2_5i25.0.encoder.01.position
  125. net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
  126. net y-pos-fb => axis.1.motor-pos-fb
  127. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  128. net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  129.  
  130. # ---setup home / limit switch signals---
  131.  
  132. net y-home-sw => axis.1.home-sw-in
  133. net y-neg-limit => axis.1.neg-lim-sw-in
  134. net y-pos-limit => axis.1.pos-lim-sw-in
  135.  
  136. #*******************
  137. # AXIS Z
  138. #*******************
  139.  
  140. setp pid.z.Pgain [AXIS_2]P
  141. setp pid.z.Igain [AXIS_2]I
  142. setp pid.z.Dgain [AXIS_2]D
  143. setp pid.z.bias [AXIS_2]BIAS
  144. setp pid.z.FF0 [AXIS_2]FF0
  145. setp pid.z.FF1 [AXIS_2]FF1
  146. setp pid.z.FF2 [AXIS_2]FF2
  147. setp pid.z.deadband [AXIS_2]DEADBAND
  148. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  149.  
  150. net z-index-enable <=> pid.z.index-enable
  151. net z-enable => pid.z.enable
  152. net z-output => pid.z.output
  153. net z-pos-cmd => pid.z.command
  154. net z-vel-fb => pid.z.feedback-deriv
  155. net z-pos-fb => pid.z.feedback
  156.  
  157. # ---PWM Generator signals/setup---
  158.  
  159. setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
  160. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  161. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  162.  
  163. net z-output => hm2_5i25.0.7i77.0.1.analogout2
  164. net z-pos-cmd axis.2.motor-pos-cmd
  165. net z-enable axis.2.amp-enable-out
  166.  
  167. # ---Encoder feedback signals/setup---
  168.  
  169. setp hm2_5i25.0.encoder.02.counter-mode 0
  170. setp hm2_5i25.0.encoder.02.filter 1
  171. setp hm2_5i25.0.encoder.02.index-invert 0
  172. setp hm2_5i25.0.encoder.02.index-mask 0
  173. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  174. setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
  175.  
  176. net z-pos-fb <= hm2_5i25.0.encoder.02.position
  177. net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
  178. net z-pos-fb => axis.2.motor-pos-fb
  179. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
  180. net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
  181.  
  182. # ---setup home / limit switch signals---
  183.  
  184. net z-home-sw => axis.2.home-sw-in
  185. net z-neg-limit => axis.2.neg-lim-sw-in
  186. net z-pos-limit => axis.2.pos-lim-sw-in
  187.  
  188. #*******************
  189. # SPINDLE S
  190. #*******************
  191.  
  192. # ---PWM Generator signals/setup---
  193.  
  194. setp hm2_5i25.0.7i77.0.1.analogout3-scalemax [SPINDLE_9]OUTPUT_SCALE
  195. setp hm2_5i25.0.7i77.0.1.analogout3-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  196. setp hm2_5i25.0.7i77.0.1.analogout3-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  197.  
  198.  
  199. net spindle-vel-cmd => hm2_5i25.0.7i77.0.1.analogout3
  200. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  201.  
  202. # ---Encoder feedback signals/setup---
  203.  
  204. setp hm2_5i25.0.encoder.03.counter-mode 0
  205. setp hm2_5i25.0.encoder.03.filter 1
  206. setp hm2_5i25.0.encoder.03.index-invert 0
  207. setp hm2_5i25.0.encoder.03.index-mask 0
  208. setp hm2_5i25.0.encoder.03.index-mask-invert 0
  209. setp hm2_5i25.0.encoder.03.scale [SPINDLE_9]ENCODER_SCALE
  210.  
  211. net spindle-revs <= hm2_5i25.0.encoder.03.position
  212. net spindle-vel-fb <= hm2_5i25.0.encoder.03.velocity
  213. net spindle-index-enable <=> hm2_5i25.0.encoder.03.index-enable
  214.  
  215. # ---setup spindle control signals---
  216.  
  217. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  218. net spindle-vel-cmd <= motion.spindle-speed-out
  219. net spindle-on <= motion.spindle-on
  220. net spindle-cw <= motion.spindle-forward
  221. net spindle-ccw <= motion.spindle-reverse
  222. net spindle-brake <= motion.spindle-brake
  223. net spindle-revs => motion.spindle-revs
  224. net spindle-at-speed => motion.spindle-at-speed
  225. net spindle-vel-fb => motion.spindle-speed-in
  226. net spindle-index-enable <=> motion.spindle-index-enable
  227.  
  228. # ---Setup spindle at speed signals---
  229.  
  230. sets spindle-at-speed true
  231.  
  232.  
  233. #******************************
  234. # connect miscellaneous signals
  235. #******************************
  236.  
  237. # ---HALUI signals---
  238.  
  239. net joint-select-a halui.joint.0.select
  240. net x-is-homed halui.joint.0.is-homed
  241. net jog-x-pos halui.jog.0.plus
  242. net jog-x-neg halui.jog.0.minus
  243. net jog-x-analog halui.jog.0.analog
  244. net joint-select-b halui.joint.1.select
  245. net y-is-homed halui.joint.1.is-homed
  246. net jog-y-pos halui.jog.1.plus
  247. net jog-y-neg halui.jog.1.minus
  248. net jog-y-analog halui.jog.1.analog
  249. net joint-select-c halui.joint.2.select
  250. net z-is-homed halui.joint.2.is-homed
  251. net jog-z-pos halui.jog.2.plus
  252. net jog-z-neg halui.jog.2.minus
  253. net jog-z-analog halui.jog.2.analog
  254. net jog-selected-pos halui.jog.selected.plus
  255. net jog-selected-neg halui.jog.selected.minus
  256. net spindle-manual-cw halui.spindle.forward
  257. net spindle-manual-ccw halui.spindle.reverse
  258. net spindle-manual-stop halui.spindle.stop
  259. net machine-is-on halui.machine.is-on
  260. net jog-speed halui.jog-speed
  261. net MDI-mode halui.mode.is-mdi
  262.  
  263.  
  264. # ---jog button signals---
  265.  
  266. sets jog-speed 200.000000
  267.  
  268. # ---coolant signals---
  269.  
  270. #net coolant-flood => hm2_5i25.0.7i77.0.0.output-02
  271. #net coolant-flood <= iocontrol.0.coolant-flood
  272.  
  273. # ---probe signal---
  274.  
  275. net probe-in => motion.probe-input
  276.  
  277. # ---motion control signals---
  278.  
  279. net in-position <= motion.in-position
  280. net machine-is-enabled <= motion.motion-enabled
  281.  
  282. # ---digital in / out signals---
  283.  
  284. # ---estop signals---
  285.  
  286. #net estop-out <= iocontrol.0.user-enable-out
  287. #net estop-out => iocontrol.0.emc-enable-in
  288.  
  289. # ---manual tool change signals---
  290.  
  291. loadusr -W hal_manualtoolchange
  292. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  293. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  294. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  295. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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