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  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. #net spindle-enamble => hm2_5125.0.7i77.0.1.spinena
  34. #net spindle-enable <=motion.spindle-on
  35.  
  36. # external input signals
  37.  
  38.  
  39. # --- MAX-X ---
  40. net max-x <= hm2_5i25.0.7i77.0.0.input-00-not
  41.  
  42. # --- MIN-X ---
  43. net min-x <= hm2_5i25.0.7i77.0.0.input-01-not
  44.  
  45. # --- HOME-X ---
  46. net home-x <= hm2_5i25.0.7i77.0.0.input-02
  47.  
  48. # --- MAX-Y ---
  49. net max-y <= hm2_5i25.0.7i77.0.0.input-04-not
  50.  
  51. # --- MIN-Y ---
  52. net min-y <= hm2_5i25.0.7i77.0.0.input-05-not
  53.  
  54. # --- HOME-Y ---
  55. net home-y <= hm2_5i25.0.7i77.0.0.input-03
  56.  
  57. # --- MAX-Z ---
  58. net max-z <= hm2_5i25.0.7i77.0.0.input-08-not
  59.  
  60. # --- MIN-Z ---
  61. net min-z <= hm2_5i25.0.7i77.0.0.input-09-not
  62.  
  63. # --- HOME-Z ---
  64. net home-z <= hm2_5i25.0.7i77.0.0.input-10
  65.  
  66.  
  67. #*******************
  68. # AXIS X
  69. #*******************
  70.  
  71. setp pid.x.Pgain [AXIS_0]P
  72. setp pid.x.Igain [AXIS_0]I
  73. setp pid.x.Dgain [AXIS_0]D
  74. setp pid.x.bias [AXIS_0]BIAS
  75. setp pid.x.FF0 [AXIS_0]FF0
  76. setp pid.x.FF1 [AXIS_0]FF1
  77. setp pid.x.FF2 [AXIS_0]FF2
  78. setp pid.x.deadband [AXIS_0]DEADBAND
  79. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  80.  
  81. net x-index-enable <=> pid.x.index-enable
  82. net x-enable => pid.x.enable
  83. net x-output => pid.x.output
  84. net x-pos-cmd => pid.x.command
  85. net x-vel-fb => pid.x.feedback-deriv
  86. net x-pos-fb => pid.x.feedback
  87.  
  88. # ---PWM Generator signals/setup---
  89.  
  90. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_0]OUTPUT_SCALE
  91. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  92. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  93.  
  94. net x-output => hm2_5i25.0.7i77.0.1.analogout1
  95. net x-pos-cmd axis.0.motor-pos-cmd
  96. net x-enable axis.0.amp-enable-out
  97. # enable _all_ sserial pwmgens
  98. net x-enable hm2_5i25.0.7i77.0.1.analogena
  99.  
  100. # ---Encoder feedback signals/setup---
  101.  
  102. setp hm2_5i25.0.encoder.01.counter-mode 0
  103. setp hm2_5i25.0.encoder.01.filter 1
  104. setp hm2_5i25.0.encoder.01.index-invert 0
  105. setp hm2_5i25.0.encoder.01.index-mask 0
  106. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  107. setp hm2_5i25.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  108.  
  109. net x-pos-fb <= hm2_5i25.0.encoder.01.position
  110. net x-vel-fb <= hm2_5i25.0.encoder.01.velocity
  111. net x-pos-fb => axis.0.motor-pos-fb
  112. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  113. net x-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  114.  
  115. # ---setup home / limit switch signals---
  116.  
  117. net home-x => axis.0.home-sw-in
  118. net min-x => axis.0.neg-lim-sw-in
  119. net max-x => axis.0.pos-lim-sw-in
  120.  
  121. #*******************
  122. # AXIS Y
  123. #*******************
  124.  
  125. setp pid.y.Pgain [AXIS_1]P
  126. setp pid.y.Igain [AXIS_1]I
  127. setp pid.y.Dgain [AXIS_1]D
  128. setp pid.y.bias [AXIS_1]BIAS
  129. setp pid.y.FF0 [AXIS_1]FF0
  130. setp pid.y.FF1 [AXIS_1]FF1
  131. setp pid.y.FF2 [AXIS_1]FF2
  132. setp pid.y.deadband [AXIS_1]DEADBAND
  133. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  134.  
  135. net y-index-enable <=> pid.y.index-enable
  136. net y-enable => pid.y.enable
  137. net y-output => pid.y.output
  138. net y-pos-cmd => pid.y.command
  139. net y-vel-fb => pid.y.feedback-deriv
  140. net y-pos-fb => pid.y.feedback
  141.  
  142. # ---PWM Generator signals/setup---
  143.  
  144. setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_1]OUTPUT_SCALE
  145. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  146. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  147.  
  148. net y-output => hm2_5i25.0.7i77.0.1.analogout2
  149. net y-pos-cmd axis.1.motor-pos-cmd
  150. net y-enable axis.1.amp-enable-out
  151.  
  152. # ---Encoder feedback signals/setup---
  153.  
  154. setp hm2_5i25.0.encoder.02.counter-mode 0
  155. setp hm2_5i25.0.encoder.02.filter 1
  156. setp hm2_5i25.0.encoder.02.index-invert 0
  157. setp hm2_5i25.0.encoder.02.index-mask 0
  158. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  159. setp hm2_5i25.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  160.  
  161. net y-pos-fb <= hm2_5i25.0.encoder.02.position
  162. net y-vel-fb <= hm2_5i25.0.encoder.02.velocity
  163. net y-pos-fb => axis.1.motor-pos-fb
  164. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.02.index-enable
  165. net y-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
  166.  
  167. # ---setup home / limit switch signals---
  168.  
  169. net home-y => axis.1.home-sw-in
  170. net min-y => axis.1.neg-lim-sw-in
  171. net max-y => axis.1.pos-lim-sw-in
  172.  
  173. #*******************
  174. # AXIS Z
  175. #*******************
  176.  
  177. setp pid.z.Pgain [AXIS_2]P
  178. setp pid.z.Igain [AXIS_2]I
  179. setp pid.z.Dgain [AXIS_2]D
  180. setp pid.z.bias [AXIS_2]BIAS
  181. setp pid.z.FF0 [AXIS_2]FF0
  182. setp pid.z.FF1 [AXIS_2]FF1
  183. setp pid.z.FF2 [AXIS_2]FF2
  184. setp pid.z.deadband [AXIS_2]DEADBAND
  185. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  186.  
  187. net z-index-enable <=> pid.z.index-enable
  188. net z-enable => pid.z.enable
  189. net z-output => pid.z.output
  190. net z-pos-cmd => pid.z.command
  191. net z-vel-fb => pid.z.feedback-deriv
  192. net z-pos-fb => pid.z.feedback
  193.  
  194. # ---PWM Generator signals/setup---
  195.  
  196. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_2]OUTPUT_SCALE
  197. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  198. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  199.  
  200. net z-output => hm2_5i25.0.7i77.0.1.analogout0
  201. net z-pos-cmd axis.2.motor-pos-cmd
  202. net z-enable axis.2.amp-enable-out
  203.  
  204. # ---Encoder feedback signals/setup---
  205.  
  206. setp hm2_5i25.0.encoder.00.counter-mode 0
  207. setp hm2_5i25.0.encoder.00.filter 1
  208. setp hm2_5i25.0.encoder.00.index-invert 0
  209. setp hm2_5i25.0.encoder.00.index-mask 0
  210. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  211. setp hm2_5i25.0.encoder.00.scale [AXIS_2]ENCODER_SCALE
  212.  
  213. net z-pos-fb <= hm2_5i25.0.encoder.00.position
  214. net z-vel-fb <= hm2_5i25.0.encoder.00.velocity
  215. net z-pos-fb => axis.2.motor-pos-fb
  216. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  217. net z-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  218.  
  219. # ---setup home / limit switch signals---
  220.  
  221. net home-z => axis.2.home-sw-in
  222. net min-z => axis.2.neg-lim-sw-in
  223. net max-z => axis.2.pos-lim-sw-in
  224.  
  225. #*******************
  226. # SPINDLE S
  227. #*******************
  228.  
  229. # ---PWM Generator signals/setup---
  230.  
  231. setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
  232. setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  233. setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  234.  
  235. #SPINDLE ORIENT CHANGES
  236.  
  237. setp hm2_5i25.0.encoder.05.scale 4096
  238. #set the orientation angle here
  239. setp orient.0.angle 180
  240. # make sure the encoder is aligned to index
  241. setp hm2_5i25.0.encoder.05.index-enable 1
  242. # these values will require adjustment!!!!!
  243. setp pid.spindle.Pgain 1
  244. setp pid.spindle.Igain 0.001
  245. setp pid.spindle.maxoutput 90
  246.  
  247. net spindle-vel-cmd => sum2.0.in0
  248. net spindle-orient-pos orient.0.command => pid.spindle.command
  249. net spindle-orient-fb hm2_5i25.0.encoder.05.position => orient.0.position pid.spindle.feedback
  250. net spindle-orient-cmd pid.spindle.output sum2.0.in1
  251. net spindle-all-cmd sum2.0.out hm2_5i25.0.7i77.0.1.analogout5
  252. net tool-change-request pid.spindle.enable orient.0.enable
  253.  
  254.  
  255. # ---setup spindle control signals---
  256.  
  257. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  258. net spindle-vel-cmd <= motion.spindle-speed-out
  259. net spindle-on <= motion.spindle-on
  260. net spindle-cw <= motion.spindle-forward
  261. net spindle-ccw <= motion.spindle-reverse
  262. net spindle-brake <= motion.spindle-brake
  263. net spindle-revs => motion.spindle-revs
  264. net spindle-at-speed => motion.spindle-at-speed
  265. net spindle-vel-fb => motion.spindle-speed-in
  266. net spindle-index-enable <=> motion.spindle-index-enable
  267.  
  268.  
  269. # ---Setup spindle at speed signals---
  270.  
  271. sets spindle-at-speed true
  272.  
  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-out => 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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