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  1. # Generated by PNCconf at Tue Mar 18 19:16:01 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=5 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0 sserial_port_0=000xxxxx "
  10. setp hm2_5i25.0.watchdog.timeout_ns 10000000
  11.  
  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. # --- COOLANT-MIST ---
  28. net coolant-mist hm2_5i25.0.7i77.0.0.output-02
  29.  
  30. # --- COOLANT-FLOOD ---
  31. net coolant-flood hm2_5i25.0.7i77.0.0.output-03
  32.  
  33. # --- A-ENABLE ---
  34. net a-enable hm2_5i25.0.7i77.0.0.output-04
  35.  
  36. # --- Z-ENABLE ---
  37. net z-enable hm2_5i25.0.7i77.0.0.output-05
  38.  
  39. # --- Y-ENABLE ---
  40. net y-enable hm2_5i25.0.7i77.0.0.output-06
  41.  
  42. # --- X-ENABLE ---
  43. net x-enable hm2_5i25.0.7i77.0.0.output-15
  44.  
  45. # --- FORCE-PIN-TRUE ---
  46. #setp hm2_5i25.0.7i77.0.0.output-15 true
  47.  
  48. # external input signals
  49.  
  50.  
  51. # --- PROBE-IN ---
  52. net probe-in <= hm2_5i25.0.7i77.0.0.input-00
  53.  
  54. #*******************
  55. # AXIS X
  56. #*******************
  57.  
  58. setp pid.x.Pgain [AXIS_0]P
  59. setp pid.x.Igain [AXIS_0]I
  60. setp pid.x.Dgain [AXIS_0]D
  61. setp pid.x.bias [AXIS_0]BIAS
  62. setp pid.x.FF0 [AXIS_0]FF0
  63. setp pid.x.FF1 [AXIS_0]FF1
  64. setp pid.x.FF2 [AXIS_0]FF2
  65. setp pid.x.deadband [AXIS_0]DEADBAND
  66. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  67.  
  68. net x-index-enable <=> pid.x.index-enable
  69. net x-enable => pid.x.enable
  70. net x-output => pid.x.output
  71. net x-pos-cmd => pid.x.command
  72. net x-vel-fb => pid.x.feedback-deriv
  73. net x-pos-fb => pid.x.feedback
  74.  
  75. # ---PWM Generator signals/setup---
  76.  
  77. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  78. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  79. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  80.  
  81. net x-output => hm2_5i25.0.7i77.0.1.analogout0
  82. net x-pos-cmd axis.0.motor-pos-cmd
  83. net x-enable axis.0.amp-enable-out
  84. # enable _all_ sserial pwmgens
  85. net x-enable hm2_5i25.0.7i77.0.1.analogena
  86.  
  87. # ---Encoder feedback signals/setup---
  88.  
  89. setp hm2_5i25.0.encoder.03.counter-mode 0
  90. setp hm2_5i25.0.encoder.03.filter 0
  91. setp hm2_5i25.0.encoder.03.index-invert 0
  92. setp hm2_5i25.0.encoder.03.index-mask 0
  93. setp hm2_5i25.0.encoder.03.index-mask-invert 0
  94. setp hm2_5i25.0.encoder.03.scale [AXIS_0]ENCODER_SCALE
  95.  
  96. net x-pos-fb <= hm2_5i25.0.encoder.03.position
  97. net x-vel-fb <= hm2_5i25.0.encoder.03.velocity
  98. net x-pos-fb => axis.0.motor-pos-fb
  99. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.03.index-enable
  100. net x-pos-rawcounts <= hm2_5i25.0.encoder.03.rawcounts
  101.  
  102. # ---setup home / limit switch signals---
  103.  
  104. net x-home-sw => axis.0.home-sw-in
  105. net x-neg-limit => axis.0.neg-lim-sw-in
  106. net x-pos-limit => axis.0.pos-lim-sw-in
  107.  
  108. #*******************
  109. # AXIS Y
  110. #*******************
  111.  
  112. setp pid.y.Pgain [AXIS_1]P
  113. setp pid.y.Igain [AXIS_1]I
  114. setp pid.y.Dgain [AXIS_1]D
  115. setp pid.y.bias [AXIS_1]BIAS
  116. setp pid.y.FF0 [AXIS_1]FF0
  117. setp pid.y.FF1 [AXIS_1]FF1
  118. setp pid.y.FF2 [AXIS_1]FF2
  119. setp pid.y.deadband [AXIS_1]DEADBAND
  120. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  121.  
  122. net y-index-enable <=> pid.y.index-enable
  123. net y-enable => pid.y.enable
  124. net y-output => pid.y.output
  125. net y-pos-cmd => pid.y.command
  126. net y-vel-fb => pid.y.feedback-deriv
  127. net y-pos-fb => pid.y.feedback
  128.  
  129. # ---PWM Generator signals/setup---
  130.  
  131. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  132. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  133. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  134.  
  135. net y-output => hm2_5i25.0.7i77.0.1.analogout1
  136. net y-pos-cmd axis.1.motor-pos-cmd
  137. net y-enable axis.1.amp-enable-out
  138.  
  139. # ---Encoder feedback signals/setup---
  140.  
  141. setp hm2_5i25.0.encoder.04.counter-mode 0
  142. setp hm2_5i25.0.encoder.04.filter 0
  143. setp hm2_5i25.0.encoder.04.index-invert 0
  144. setp hm2_5i25.0.encoder.04.index-mask 0
  145. setp hm2_5i25.0.encoder.04.index-mask-invert 0
  146. setp hm2_5i25.0.encoder.04.scale [AXIS_1]ENCODER_SCALE
  147.  
  148. net y-pos-fb <= hm2_5i25.0.encoder.04.position
  149. net y-vel-fb <= hm2_5i25.0.encoder.04.velocity
  150. net y-pos-fb => axis.1.motor-pos-fb
  151. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.04.index-enable
  152. net y-pos-rawcounts <= hm2_5i25.0.encoder.04.rawcounts
  153.  
  154. # ---setup home / limit switch signals---
  155.  
  156. net y-home-sw => axis.1.home-sw-in
  157. net y-neg-limit => axis.1.neg-lim-sw-in
  158. net y-pos-limit => axis.1.pos-lim-sw-in
  159.  
  160. #*******************
  161. # AXIS Z
  162. #*******************
  163.  
  164. setp pid.z.Pgain [AXIS_2]P
  165. setp pid.z.Igain [AXIS_2]I
  166. setp pid.z.Dgain [AXIS_2]D
  167. setp pid.z.bias [AXIS_2]BIAS
  168. setp pid.z.FF0 [AXIS_2]FF0
  169. setp pid.z.FF1 [AXIS_2]FF1
  170. setp pid.z.FF2 [AXIS_2]FF2
  171. setp pid.z.deadband [AXIS_2]DEADBAND
  172. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  173.  
  174. net z-index-enable <=> pid.z.index-enable
  175. net z-enable => pid.z.enable
  176. net z-output => pid.z.output
  177. net z-pos-cmd => pid.z.command
  178. net z-vel-fb => pid.z.feedback-deriv
  179. net z-pos-fb => pid.z.feedback
  180.  
  181. # ---PWM Generator signals/setup---
  182.  
  183. setp hm2_5i25.0.7i77.0.1.analogout4-scalemax [AXIS_2]OUTPUT_SCALE
  184. setp hm2_5i25.0.7i77.0.1.analogout4-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  185. setp hm2_5i25.0.7i77.0.1.analogout4-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  186.  
  187. net z-output => hm2_5i25.0.7i77.0.1.analogout4
  188. net z-pos-cmd axis.2.motor-pos-cmd
  189. net z-enable axis.2.amp-enable-out
  190.  
  191. # ---Encoder feedback signals/setup---
  192.  
  193. setp hm2_5i25.0.encoder.01.counter-mode 0
  194. setp hm2_5i25.0.encoder.01.filter 0
  195. setp hm2_5i25.0.encoder.01.index-invert 0
  196. setp hm2_5i25.0.encoder.01.index-mask 0
  197. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  198. setp hm2_5i25.0.encoder.01.scale [AXIS_2]ENCODER_SCALE
  199.  
  200. net z-pos-fb <= hm2_5i25.0.encoder.01.position
  201. net z-vel-fb <= hm2_5i25.0.encoder.01.velocity
  202. net z-pos-fb => axis.2.motor-pos-fb
  203. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  204. net z-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  205.  
  206. # ---setup home / limit switch signals---
  207.  
  208. net z-home-sw => axis.2.home-sw-in
  209. net z-neg-limit => axis.2.neg-lim-sw-in
  210. net z-pos-limit => axis.2.pos-lim-sw-in
  211.  
  212. #*******************
  213. # SPINDLE S
  214. #*******************
  215.  
  216. # ---PWM Generator signals/setup---
  217.  
  218. setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
  219. setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  220. setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  221.  
  222.  
  223. net spindle-vel-cmd => hm2_5i25.0.7i77.0.1.analogout5
  224. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  225. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  226.  
  227. # ---Encoder feedback signals/setup---
  228.  
  229. setp hm2_5i25.0.encoder.02.counter-mode 0
  230. setp hm2_5i25.0.encoder.02.filter 0
  231. setp hm2_5i25.0.encoder.02.index-invert 0
  232. setp hm2_5i25.0.encoder.02.index-mask 0
  233. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  234. setp hm2_5i25.0.encoder.02.scale [SPINDLE_9]ENCODER_SCALE
  235.  
  236. net spindle-revs <= hm2_5i25.0.encoder.02.position
  237. net spindle-vel-fb <= hm2_5i25.0.encoder.02.velocity
  238. net spindle-index-enable <=> hm2_5i25.0.encoder.02.index-enable
  239.  
  240. # ---setup spindle control signals---
  241.  
  242. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  243. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  244. net spindle-vel-cmd <= motion.spindle-speed-out
  245. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  246. net spindle-on <= motion.spindle-on
  247. net spindle-cw <= motion.spindle-forward
  248. net spindle-ccw <= motion.spindle-reverse
  249. net spindle-brake <= motion.spindle-brake
  250. net spindle-revs => motion.spindle-revs
  251. net spindle-at-speed => motion.spindle-at-speed
  252. net spindle-vel-fb => motion.spindle-speed-in
  253. net spindle-index-enable <=> motion.spindle-index-enable
  254.  
  255. # ---Setup spindle at speed signals---
  256.  
  257. sets spindle-at-speed true
  258.  
  259.  
  260. #******************************
  261. # connect miscellaneous signals
  262. #******************************
  263.  
  264. # ---HALUI signals---
  265.  
  266. net joint-select-a halui.joint.0.select
  267. net x-is-homed halui.joint.0.is-homed
  268. net jog-x-pos halui.jog.0.plus
  269. net jog-x-neg halui.jog.0.minus
  270. net jog-x-analog halui.jog.0.analog
  271. net joint-select-b halui.joint.1.select
  272. net y-is-homed halui.joint.1.is-homed
  273. net jog-y-pos halui.jog.1.plus
  274. net jog-y-neg halui.jog.1.minus
  275. net jog-y-analog halui.jog.1.analog
  276. net joint-select-c halui.joint.2.select
  277. net z-is-homed halui.joint.2.is-homed
  278. net jog-z-pos halui.jog.2.plus
  279. net jog-z-neg halui.jog.2.minus
  280. net jog-z-analog halui.jog.2.analog
  281. net jog-selected-pos halui.jog.selected.plus
  282. net jog-selected-neg halui.jog.selected.minus
  283. net spindle-manual-cw halui.spindle.forward
  284. net spindle-manual-ccw halui.spindle.reverse
  285. net spindle-manual-stop halui.spindle.stop
  286. net machine-is-on halui.machine.is-on
  287. net jog-speed halui.jog-speed
  288. net MDI-mode halui.mode.is-mdi
  289.  
  290. # ---coolant signals---
  291.  
  292. net coolant-mist <= iocontrol.0.coolant-mist
  293. net coolant-flood <= iocontrol.0.coolant-flood
  294.  
  295. # ---probe signal---
  296.  
  297. net probe-in => motion.probe-input
  298.  
  299. # ---motion control signals---
  300.  
  301. net in-position <= motion.in-position
  302. net machine-is-enabled <= motion.motion-enabled
  303.  
  304. # ---digital in / out signals---
  305.  
  306. # ---estop signals---
  307.  
  308. net estop-out <= iocontrol.0.user-enable-out
  309. net estop-out => iocontrol.0.emc-enable-in
  310.  
  311. # ---manual tool change signals---
  312.  
  313. loadusr -W hal_manualtoolchange
  314. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  315. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  316. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  317. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  318.  
  319.  
  320.  
  321. _________________________
  322.  
  323.  
  324. inifile
  325.  
  326. # Generated by PNCconf at Tue Mar 18 19:16:01 2014
  327. # If you make changes to this file, they will be
  328. # overwritten when you run PNCconf again
  329.  
  330. [EMC]
  331. MACHINE = my_LinuxCNC_machine
  332. DEBUG = 0
  333.  
  334. [DISPLAY]
  335. DISPLAY = gmoccapy
  336. PREFERENCE_FILE_PATH = gmoccapy_preferences
  337. POSITION_OFFSET = RELATIVE
  338. POSITION_FEEDBACK = ACTUAL
  339. MAX_FEED_OVERRIDE = 2.000000
  340. MAX_SPINDLE_OVERRIDE = 1.000000
  341. MIN_SPINDLE_OVERRIDE = 0.500000
  342. INTRO_GRAPHIC = linuxcnc.gif
  343. INTRO_TIME = 5
  344. PROGRAM_PREFIX = /home/frasen2/linuxcnc/nc_files
  345. INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
  346. POSITION_OFFSET = RELATIVE
  347. POSITION_FEEDBACK = ACTUAL
  348. DEFAULT_LINEAR_VELOCITY = 25.0
  349. MAX_LINEAR_VELOCITY = 83.33
  350. MIN_LINEAR_VELOCITY = 1.00
  351. DEFAULT_ANGULAR_VELOCITY = 0.250000
  352. MAX_ANGULAR_VELOCITY = 1.000000
  353. MIN_ANGULAR_VELOCITY = 0.010000
  354. EDITOR = gedit
  355. GEOMETRY = xyz
  356.  
  357. [FILTER]
  358. PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
  359. PROGRAM_EXTENSION = .py Python Script
  360. png = image-to-gcode
  361. gif = image-to-gcode
  362. jpg = image-to-gcode
  363. py = python
  364.  
  365. [TASK]
  366. TASK = milltask
  367. CYCLE_TIME = 0.010
  368.  
  369. [RS274NGC]
  370. PARAMETER_FILE = linuxcnc.var
  371.  
  372. [EMCMOT]
  373. EMCMOT = motmod
  374. COMM_TIMEOUT = 1.0
  375. COMM_WAIT = 0.010
  376. SERVO_PERIOD = 1000000
  377.  
  378. [HOSTMOT2]
  379. # **** This is for info only ****
  380. # DRIVER0=hm2_pci
  381. # BOARD0=5i25
  382.  
  383. [HAL]
  384. HALUI = halui
  385. HALFILE = my_LinuxCNC_machine.hal
  386. HALFILE = custom.hal
  387. HALFILE = xhc-hb04.hal
  388. POSTGUI_HALFILE = postgui_call_list.hal
  389. SHUTDOWN = shutdown.hal
  390.  
  391. [HALUI]
  392.  
  393. [TRAJ]
  394. AXES = 3
  395. COORDINATES = X Y Z
  396. LINEAR_UNITS = mm
  397. ANGULAR_UNITS = degree
  398. CYCLE_TIME = 0.010
  399. DEFAULT_VELOCITY = 83.33
  400. MAX_VELOCITY = 83.33
  401.  
  402. [EMCIO]
  403. EMCIO = io
  404. CYCLE_TIME = 0.100
  405. TOOL_TABLE = tool.tbl
  406.  
  407. #********************
  408. # Axis X
  409. #********************
  410. [AXIS_0]
  411. TYPE = LINEAR
  412. HOME = 0.0
  413. FERROR = 10.0
  414. MIN_FERROR = 10.0
  415. MAX_VELOCITY = 5000.0
  416. MAX_ACCELERATION = 500.0
  417. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  418. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  419. STEPGEN_MAXVEL = 6000.0
  420. STEPGEN_MAXACCEL = 200.0
  421. P = 1.0
  422. I = 0.0
  423. D = 0.0
  424. FF0 = 0.0
  425. FF1 = 0.0
  426. FF2 = 0.0
  427. BIAS = 0.0
  428. DEADBAND = 0.0
  429. MAX_OUTPUT = 10.0
  430. ENCODER_SCALE = 9830.4
  431. OUTPUT_SCALE = -1
  432. OUTPUT_MIN_LIMIT = -10
  433. OUTPUT_MAX_LIMIT = 10
  434. MIN_LIMIT = -0.01
  435. MAX_LIMIT = 800.0
  436. HOME_OFFSET = 0.0
  437.  
  438. #********************
  439. # Axis Y
  440. #********************
  441. [AXIS_1]
  442. TYPE = LINEAR
  443. HOME = 0.0
  444. FERROR = 10.0
  445. MIN_FERROR = 10.0
  446. MAX_VELOCITY = 83.3333333333
  447. MAX_ACCELERATION = 500.0
  448. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  449. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  450. STEPGEN_MAXVEL = 104.2
  451. STEPGEN_MAXACCEL = 62.5
  452. P = 1.0
  453. I = 0.0
  454. D = 0.0
  455. FF0 = 0.0
  456. FF1 = 0.0
  457. FF2 = 0.0
  458. BIAS = 0.0
  459. DEADBAND = 0.0
  460. MAX_OUTPUT = 10.0
  461. ENCODER_SCALE = 9830.4
  462. OUTPUT_SCALE = -1
  463. OUTPUT_MIN_LIMIT = -10.0
  464. OUTPUT_MAX_LIMIT = 10.0
  465. MIN_LIMIT = -0.01
  466. MAX_LIMIT = 600.0
  467. HOME_OFFSET = 0.0
  468.  
  469. #********************
  470. # Axis Z
  471. #********************
  472. [AXIS_2]
  473. TYPE = LINEAR
  474. HOME = 0.0
  475. FERROR = 10.0
  476. MIN_FERROR = 10.0
  477. MAX_VELOCITY = 5000
  478. MAX_ACCELERATION = 500.0
  479. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  480. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  481. STEPGEN_MAXVEL = 104.2
  482. STEPGEN_MAXACCEL = 62.5
  483. P = 1.0
  484. I = 0.0
  485. D = 0.0
  486. FF0 = 0.0
  487. FF1 = 0.0
  488. FF2 = 0.0
  489. BIAS = 0.0
  490. DEADBAND = 0.0
  491. MAX_OUTPUT = 10.0
  492. ENCODER_SCALE = 6553.6
  493. OUTPUT_SCALE = 1.0
  494. OUTPUT_MIN_LIMIT = -5000.0
  495. OUTPUT_MAX_LIMIT = 5000.0
  496. MIN_LIMIT = -0.01
  497. MAX_LIMIT = 800.0
  498. HOME_OFFSET = 0.0
  499.  
  500. #********************
  501. # Spindle
  502. #********************
  503. [SPINDLE_9]
  504. ENCODER_SCALE = 16384.0
  505. OUTPUT_SCALE = -10
  506. OUTPUT_MIN_LIMIT = -3000.0
  507. OUTPUT_MAX_LIMIT = 3000.0
  508. MAX_OUTPUT = 10.0
  509. MIN_OUTPUT = -10.0
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