API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Sep 17th, 2014
298
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 11.10 KB | None | 0 0
raw download clone embed print report
  1. # Generated by PNCconf at Sat Sep 13 15:53:19 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=000xxxxx "
  10. setp hm2_5i25.0.watchdog.timeout_ns 10000000
  11. loadrt pid names=pid.x,pid.y,pid.z,pid.spindle
  12. loadrt orient
  13. loadrt sum2
  14.  
  15. addf hm2_5i25.0.read servo-thread
  16. addf motion-command-handler servo-thread
  17. addf motion-controller servo-thread
  18. addf orient.0 servo-thread
  19. addf sum2.0 servo-thread
  20. addf pid.x.do-pid-calcs servo-thread
  21. addf pid.y.do-pid-calcs servo-thread
  22. addf pid.z.do-pid-calcs servo-thread
  23. addf pid.spindle.do-pid-calcs servo-thread
  24. addf hm2_5i25.0.write servo-thread
  25. addf hm2_5i25.0.pet_watchdog servo-thread
  26.  
  27. # external output signals
  28.  
  29.  
  30. # --- MACHINE-IS-ENABLED ---
  31. net machine-is-enabled hm2_5i25.0.7i77.0.0.output-03
  32.  
  33. # external input signals
  34.  
  35.  
  36. # --- MAX-X ---
  37. net max-x <= hm2_5i25.0.7i77.0.0.input-00-not
  38.  
  39. # --- MIN-X ---
  40. net min-x <= hm2_5i25.0.7i77.0.0.input-01-not
  41.  
  42. # --- HOME-X ---
  43. net home-x <= hm2_5i25.0.7i77.0.0.input-02
  44.  
  45. # --- MAX-Y ---
  46. net max-y <= hm2_5i25.0.7i77.0.0.input-04-not
  47.  
  48. # --- MIN-Y ---
  49. net min-y <= hm2_5i25.0.7i77.0.0.input-05-not
  50.  
  51. # --- HOME-Y ---
  52. net home-y <= hm2_5i25.0.7i77.0.0.input-03
  53.  
  54. # --- MAX-Z ---
  55. net max-z <= hm2_5i25.0.7i77.0.0.input-08-not
  56.  
  57. # --- MIN-Z ---
  58. net min-z <= hm2_5i25.0.7i77.0.0.input-09-not
  59.  
  60. # --- HOME-Z ---
  61. net home-z <= hm2_5i25.0.7i77.0.0.input-10
  62.  
  63.  
  64. #*******************
  65. # AXIS X
  66. #*******************
  67.  
  68. setp pid.x.Pgain [AXIS_0]P
  69. setp pid.x.Igain [AXIS_0]I
  70. setp pid.x.Dgain [AXIS_0]D
  71. setp pid.x.bias [AXIS_0]BIAS
  72. setp pid.x.FF0 [AXIS_0]FF0
  73. setp pid.x.FF1 [AXIS_0]FF1
  74. setp pid.x.FF2 [AXIS_0]FF2
  75. setp pid.x.deadband [AXIS_0]DEADBAND
  76. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  77.  
  78. net x-index-enable <=> pid.x.index-enable
  79. net x-enable => pid.x.enable
  80. net x-output => pid.x.output
  81. net x-pos-cmd => pid.x.command
  82. net x-vel-fb => pid.x.feedback-deriv
  83. net x-pos-fb => pid.x.feedback
  84.  
  85. # ---PWM Generator signals/setup---
  86.  
  87. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_0]OUTPUT_SCALE
  88. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  89. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  90.  
  91. net x-output => hm2_5i25.0.7i77.0.1.analogout1
  92. net x-pos-cmd axis.0.motor-pos-cmd
  93. net x-enable axis.0.amp-enable-out
  94. # enable _all_ sserial pwmgens
  95. net x-enable hm2_5i25.0.7i77.0.1.analogena
  96.  
  97. # ---Encoder feedback signals/setup---
  98.  
  99. setp hm2_5i25.0.encoder.01.counter-mode 0
  100. setp hm2_5i25.0.encoder.01.filter 1
  101. setp hm2_5i25.0.encoder.01.index-invert 0
  102. setp hm2_5i25.0.encoder.01.index-mask 0
  103. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  104. setp hm2_5i25.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  105.  
  106. net x-pos-fb <= hm2_5i25.0.encoder.01.position
  107. net x-vel-fb <= hm2_5i25.0.encoder.01.velocity
  108. net x-pos-fb => axis.0.motor-pos-fb
  109. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  110. net x-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  111.  
  112. # ---setup home / limit switch signals---
  113.  
  114. net home-x => axis.0.home-sw-in
  115. net min-x => axis.0.neg-lim-sw-in
  116. net max-x => axis.0.pos-lim-sw-in
  117.  
  118. #*******************
  119. # AXIS Y
  120. #*******************
  121.  
  122. setp pid.y.Pgain [AXIS_1]P
  123. setp pid.y.Igain [AXIS_1]I
  124. setp pid.y.Dgain [AXIS_1]D
  125. setp pid.y.bias [AXIS_1]BIAS
  126. setp pid.y.FF0 [AXIS_1]FF0
  127. setp pid.y.FF1 [AXIS_1]FF1
  128. setp pid.y.FF2 [AXIS_1]FF2
  129. setp pid.y.deadband [AXIS_1]DEADBAND
  130. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  131.  
  132. net y-index-enable <=> pid.y.index-enable
  133. net y-enable => pid.y.enable
  134. net y-output => pid.y.output
  135. net y-pos-cmd => pid.y.command
  136. net y-vel-fb => pid.y.feedback-deriv
  137. net y-pos-fb => pid.y.feedback
  138.  
  139. # ---PWM Generator signals/setup---
  140.  
  141. setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_1]OUTPUT_SCALE
  142. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  143. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  144.  
  145. net y-output => hm2_5i25.0.7i77.0.1.analogout2
  146. net y-pos-cmd axis.1.motor-pos-cmd
  147. net y-enable axis.1.amp-enable-out
  148.  
  149. # ---Encoder feedback signals/setup---
  150.  
  151. setp hm2_5i25.0.encoder.02.counter-mode 0
  152. setp hm2_5i25.0.encoder.02.filter 1
  153. setp hm2_5i25.0.encoder.02.index-invert 0
  154. setp hm2_5i25.0.encoder.02.index-mask 0
  155. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  156. setp hm2_5i25.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  157.  
  158. net y-pos-fb <= hm2_5i25.0.encoder.02.position
  159. net y-vel-fb <= hm2_5i25.0.encoder.02.velocity
  160. net y-pos-fb => axis.1.motor-pos-fb
  161. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.02.index-enable
  162. net y-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
  163.  
  164. # ---setup home / limit switch signals---
  165.  
  166. net home-y => axis.1.home-sw-in
  167. net min-y => axis.1.neg-lim-sw-in
  168. net max-y => axis.1.pos-lim-sw-in
  169.  
  170. #*******************
  171. # AXIS Z
  172. #*******************
  173.  
  174. setp pid.z.Pgain [AXIS_2]P
  175. setp pid.z.Igain [AXIS_2]I
  176. setp pid.z.Dgain [AXIS_2]D
  177. setp pid.z.bias [AXIS_2]BIAS
  178. setp pid.z.FF0 [AXIS_2]FF0
  179. setp pid.z.FF1 [AXIS_2]FF1
  180. setp pid.z.FF2 [AXIS_2]FF2
  181. setp pid.z.deadband [AXIS_2]DEADBAND
  182. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  183.  
  184. net z-index-enable <=> pid.z.index-enable
  185. net z-enable => pid.z.enable
  186. net z-output => pid.z.output
  187. net z-pos-cmd => pid.z.command
  188. net z-vel-fb => pid.z.feedback-deriv
  189. net z-pos-fb => pid.z.feedback
  190.  
  191. # ---PWM Generator signals/setup---
  192.  
  193. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_2]OUTPUT_SCALE
  194. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  195. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  196.  
  197. net z-output => hm2_5i25.0.7i77.0.1.analogout0
  198. net z-pos-cmd axis.2.motor-pos-cmd
  199. net z-enable axis.2.amp-enable-out
  200.  
  201. # ---Encoder feedback signals/setup---
  202.  
  203. setp hm2_5i25.0.encoder.00.counter-mode 0
  204. setp hm2_5i25.0.encoder.00.filter 1
  205. setp hm2_5i25.0.encoder.00.index-invert 0
  206. setp hm2_5i25.0.encoder.00.index-mask 0
  207. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  208. setp hm2_5i25.0.encoder.00.scale [AXIS_2]ENCODER_SCALE
  209.  
  210. net z-pos-fb <= hm2_5i25.0.encoder.00.position
  211. net z-vel-fb <= hm2_5i25.0.encoder.00.velocity
  212. net z-pos-fb => axis.2.motor-pos-fb
  213. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  214. net z-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  215.  
  216. # ---setup home / limit switch signals---
  217.  
  218. net home-z => axis.2.home-sw-in
  219. net min-z => axis.2.neg-lim-sw-in
  220. net max-z => axis.2.pos-lim-sw-in
  221.  
  222. #*******************
  223. # SPINDLE S
  224. #*******************
  225.  
  226. # ---PWM Generator signals/setup---
  227.  
  228. setp hm2_5i25.0.7i77.0.1.analogout3-scalemax [SPINDLE_9]OUTPUT_SCALE
  229. setp hm2_5i25.0.7i77.0.1.analogout3-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  230. setp hm2_5i25.0.7i77.0.1.analogout3-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  231.  
  232. #SPINDLE ORIENT CHANGES
  233.  
  234. setp hm2_5i25.0.encoder.03.scale 4098
  235. #set the orientation angle here
  236. setp orient.0.angle 180
  237. # make sure the encoder is aligned to index
  238. setp hm2_5i25.0.encoder.03.index-enable 1
  239. # these values will require adjustment!!!!!
  240. setp pid.spindle.Pgain 1
  241. setp pid.spindle.Igain 0.001
  242. setp pid.spindle.maxoutput 90
  243.  
  244. net spindle-vel-cmd => sum2.0.in0
  245. net spindle-orient-pos orient.0.command => pid.spindle.command
  246. net spindle-orient-fb hm2_5i25.0.encoder.03.position => orient.0.position pid.spindle.feedback
  247. net spindle-orient-cmd pid.spindle.command sum2.0.in1
  248. n net spindle-all-cmd sum2.0.out hm2_5i25.0.7i77.0.1.analogout3
  249. net tool-change-request pid.spindle.enable orient.0.enable
  250.  
  251.  
  252. # ---setup spindle control signals---
  253.  
  254. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  255. net spindle-vel-cmd <= motion.spindle-speed-out
  256. net spindle-on <= motion.spindle-on
  257. net spindle-cw <= motion.spindle-forward
  258. net spindle-ccw <= motion.spindle-reverse
  259. net spindle-brake <= motion.spindle-brake
  260. net spindle-revs => motion.spindle-revs
  261. net spindle-at-speed => motion.spindle-at-speed
  262. net spindle-vel-fb => motion.spindle-speed-in
  263. net spindle-index-enable <=> motion.spindle-index-enable
  264.  
  265. # ---Setup spindle at speed signals---
  266.  
  267. sets spindle-at-speed true
  268.  
  269.  
  270. #******************************
  271. # connect miscellaneous signals
  272. #******************************
  273.  
  274. # ---HALUI signals---
  275.  
  276. net joint-select-a halui.joint.0.select
  277. net x-is-homed halui.joint.0.is-homed
  278. net jog-x-pos halui.jog.0.plus
  279. net jog-x-neg halui.jog.0.minus
  280. net jog-x-analog halui.jog.0.analog
  281. net joint-select-b halui.joint.1.select
  282. net y-is-homed halui.joint.1.is-homed
  283. net jog-y-pos halui.jog.1.plus
  284. net jog-y-neg halui.jog.1.minus
  285. net jog-y-analog halui.jog.1.analog
  286. net joint-select-c halui.joint.2.select
  287. net z-is-homed halui.joint.2.is-homed
  288. net jog-z-pos halui.jog.2.plus
  289. net jog-z-neg halui.jog.2.minus
  290. net jog-z-analog halui.jog.2.analog
  291. net jog-selected-pos halui.jog.selected.plus
  292. net jog-selected-neg halui.jog.selected.minus
  293. net spindle-manual-cw halui.spindle.forward
  294. net spindle-manual-ccw halui.spindle.reverse
  295. net spindle-manual-stop halui.spindle.stop
  296. net machine-is-on halui.machine.is-on
  297. net jog-speed halui.jog-speed
  298. net MDI-mode halui.mode.is-mdi
  299.  
  300. # ---coolant signals---
  301.  
  302. net coolant-mist <= iocontrol.0.coolant-mist
  303. net coolant-flood <= iocontrol.0.coolant-flood
  304.  
  305. # ---probe signal---
  306.  
  307. net probe-in => motion.probe-input
  308.  
  309. # ---motion control signals---
  310.  
  311. net in-position <= motion.in-position
  312. net machine-is-enabled <= motion.motion-enabled
  313.  
  314. # ---digital in / out signals---
  315.  
  316. # ---estop signals---
  317.  
  318. net estop-out <= iocontrol.0.user-enable-out
  319. net estop-out => iocontrol.0.emc-enable-in
  320.  
  321. # ---manual tool change signals---
  322.  
  323. loadusr -W hal_manualtoolchange
  324. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  325. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  326. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  327. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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!