API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Feb 15th, 2014
50
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 9.80 KB | None | 0 0
raw download clone embed print report
  1. # ###################################
  2. # Core EMC/HAL Loads
  3. # ###################################
  4.  
  5. # kinematics
  6. loadrt trivkins
  7.  
  8. # motion controller, get name and thread periods from ini file
  9. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  10.  
  11. # only the 7i43 needs this, but it doesnt hurt the others
  12. # loadrt probe_parport
  13.  
  14. # hostmot2 driver
  15. loadrt hostmot2
  16.  
  17. # load low-level driver
  18. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  19.  
  20. setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000
  21.  
  22.  
  23. # ################################################
  24. # THREADS
  25. # ################################################
  26.  
  27. addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
  28. addf motion-command-handler servo-thread
  29. addf motion-controller servo-thread
  30. addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
  31. addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
  32.  
  33. loadrt and2
  34. addf and2.0 servo-thread
  35. loadrt not names=mdi-ok
  36. addf mdi-ok servo-thread
  37.  
  38. #********
  39. # X AXIS
  40. #********
  41.  
  42. # axis enable chain
  43. newsig emcmot.00.enable bit
  44. sets emcmot.00.enable FALSE
  45.  
  46. net emcmot.00.enable <= axis.0.amp-enable-out
  47. net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
  48.  
  49. # position command and feedback
  50. net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
  51. net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
  52.  
  53. net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
  54. net motor.00.pos-fb => axis.0.motor-pos-fb
  55.  
  56. # timing parameters
  57. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  58. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  59. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN
  60. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  61. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE
  62. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
  63. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
  64. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
  65.  
  66. # ---setup home switch signals---
  67. net home-x axis.0.home-sw-in <= hm2_5i25.0.7i76.0.0.input-07
  68.  
  69. #*******************
  70. # AXIS Z
  71. #*******************
  72. # axis enable chain
  73. newsig emcmot.02.enable bit
  74. sets emcmot.02.enable FALSE
  75. net emcmot.02.enable <= axis.2.amp-enable-out
  76. net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
  77.  
  78. # position command and feedback
  79. net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
  80. net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
  81. net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
  82. net motor.02.pos-fb => axis.2.motor-pos-fb
  83.  
  84. # timing parameters
  85. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  86. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  87. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN
  88. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  89. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]SCALE
  90. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL
  91. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAX_ACC
  92. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
  93.  
  94. # ---setup home switch signals---
  95.  
  96. net home-z axis.2.home-sw-in <= hm2_5i25.0.7i76.0.0.input-08
  97.  
  98. #*******************
  99. # AXIS A
  100. #*******************
  101. # axis enable chain
  102. newsig emcmot.03.enable bit
  103. sets emcmot.03.enable FALSE
  104. net emcmot.03.enable <= axis.3.amp-enable-out
  105. net emcmot.03.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.03.enable
  106.  
  107. # position command and feedback
  108. net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd
  109. net emcmot.03.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-cmd
  110. net motor.03.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb
  111. net motor.03.pos-fb => axis.3.motor-pos-fb
  112.  
  113. # timing parameters
  114. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  115. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  116. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.steplen [AXIS_3]STEPLEN
  117. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  118. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-scale [AXIS_3]SCALE
  119. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAX_VEL
  120. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAX_ACC
  121. setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.step_type 0
  122.  
  123. # ---setup home switch signals---
  124. net home-a axis.3.home-sw-in <= hm2_5i25.0.7i76.0.0.input-09
  125.  
  126. #*******************
  127. # AXIS U
  128. #*******************
  129. # axis enable chain
  130. newsig emcmot.06.enable bit
  131. sets emcmot.06.enable FALSE
  132. net emcmot.06.enable <= axis.6.amp-enable-out
  133. net emcmot.06.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.06.enable
  134.  
  135. # position command and feedback
  136. net emcmot.06.pos-cmd <= axis.6.motor-pos-cmd
  137. net emcmot.06.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.06.position-cmd
  138. net motor.06.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.06.position-fb
  139. net motor.06.pos-fb => axis.6.motor-pos-fb
  140.  
  141. # timing parameters
  142. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.dirsetup [AXIS_6]DIRSETUP
  143. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.dirhold [AXIS_6]DIRHOLD
  144. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.steplen [AXIS_6]STEPLEN
  145. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.stepspace [AXIS_6]STEPSPACE
  146. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.position-scale [AXIS_6]SCALE
  147. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.maxvel [AXIS_6]STEPGEN_MAX_VEL
  148. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.maxaccel [AXIS_6]STEPGEN_MAX_ACC
  149. setp hm2_[HOSTMOT2](BOARD).0.stepgen.06.step_type 0
  150.  
  151. # ---setup home switch signals---
  152. net home-u axis.6.home-sw-in <= hm2_5i25.0.7i76.0.2.input-07
  153.  
  154. #*******************
  155. # AXIS V
  156. #*******************
  157. # axis enable chain
  158. newsig emcmot.07.enable bit
  159. sets emcmot.07.enable FALSE
  160. net emcmot.07.enable <= axis.7.amp-enable-out
  161. net emcmot.07.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.07.enable
  162.  
  163. # position command and feedback
  164. net emcmot.07.pos-cmd <= axis.7.motor-pos-cmd
  165. net emcmot.07.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.07.position-cmd
  166. net motor.07.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.07.position-fb
  167. net motor.07.pos-fb => axis.7.motor-pos-fb
  168.  
  169. # timing parameters
  170. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.dirsetup [AXIS_7]DIRSETUP
  171. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.dirhold [AXIS_7]DIRHOLD
  172. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.steplen [AXIS_7]STEPLEN
  173. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.stepspace [AXIS_7]STEPSPACE
  174. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.position-scale [AXIS_7]SCALE
  175. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.maxvel [AXIS_7]STEPGEN_MAX_VEL
  176. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.maxaccel [AXIS_7]STEPGEN_MAX_ACC
  177. setp hm2_[HOSTMOT2](BOARD).0.stepgen.07.step_type 0
  178.  
  179. # ---setup home switch signals---
  180. net home-v axis.7.home-sw-in <= hm2_5i25.0.7i76.0.2.input-08
  181.  
  182. #*******************
  183. # AXIS W
  184. #*******************
  185. # axis enable chain
  186. newsig emcmot.08.enable bit
  187. sets emcmot.08.enable FALSE
  188. net emcmot.08.enable <= axis.8.amp-enable-out
  189. net emcmot.08.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.08.enable
  190.  
  191. # position command and feedback
  192. net emcmot.08.pos-cmd <= axis.8.motor-pos-cmd
  193. net emcmot.08.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.08.position-cmd
  194. net motor.08.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.08.position-fb
  195. net motor.08.pos-fb => axis.8.motor-pos-fb
  196.  
  197. # timing parameters
  198. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.dirsetup [AXIS_8]DIRSETUP
  199. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.dirhold [AXIS_8]DIRHOLD
  200. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.steplen [AXIS_8]STEPLEN
  201. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.stepspace [AXIS_8]STEPSPACE
  202. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.position-scale [AXIS_8]SCALE
  203. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.maxvel [AXIS_8]STEPGEN_MAX_VEL
  204. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.maxaccel [AXIS_8]STEPGEN_MAX_ACC
  205. setp hm2_[HOSTMOT2](BOARD).0.stepgen.08.step_type 0
  206.  
  207. # ---setup home switch signals---
  208. net home-w axis.8.home-sw-in <= hm2_5i25.0.7i76.0.2.input-09
  209.  
  210.  
  211. #******************************
  212. # connect miscellaneous signals
  213. #******************************
  214.  
  215. # ---digital in / out signals---
  216. # External Program Run Button
  217. net program-run-btn halui.mode.auto <= hm2_5i25.0.7i76.0.0.input-01-not
  218. net program-run-btn and2.0.in0
  219. net program-is-auto and2.0.in1 <= halui.mode.is-auto
  220. net remote-prg-run halui.program.run <= and2.0.out
  221.  
  222. # External Home All Button
  223. # once homing is verified un-comment
  224. net home-machine halui.home-all <= hm2_5i25.0.7i76.0.0.input-02-not
  225.  
  226. # External Move to Load Position Button
  227. # once load location is established un-comment
  228. net load-machine halui.mdi-command-00 <= hm2_5i25.0.7i76.0.0.input-03-not
  229.  
  230. # estop
  231. loadrt estop_latch
  232. addf estop-latch.0 servo-thread
  233. net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
  234. net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
  235. net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
  236. net remote-estop estop-latch.0.fault-in <= hm2_5i25.0.7i76.0.0.input-00-not
  237.  
  238. # ---toolchange signals for custom tool changer---
  239. net tool-number <= iocontrol.0.tool-prep-number
  240. net tool-change-request <= iocontrol.0.tool-change
  241. net tool-change-confirmed => iocontrol.0.tool-changed
  242. net tool-prepare-request <= iocontrol.0.tool-prepare
  243. net tool-prepare-confirmed => iocontrol.0.tool-prepared
  244.  
  245. # spindles
  246. net m3-spindles motion.spindle-on => hm2_5i25.0.7i76.0.0.output-00
  247. net m66p0-spindle motion.digital-out-00 => hm2_5i25.0.7i76.0.0.output-01
  248. net m66p0-spindle motion.digital-out-00 => hm2_5i25.0.7i76.0.0.output-02
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!