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  1. #HAL file for hm2_eth for 7i92 + (1) 7i77
  2. #Created 2/7/2017 => Jeremy Turner
  3.  
  4. #Kinmatics
  5. loadrt trivkins
  6.  
  7. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  8.  
  9. loadrt hostmot2
  10.  
  11. setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 5000000
  12. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  13.  
  14.  
  15.  
  16. ##loadrt abs names=abs.spindle
  17. ##loadrt lowpass names=lowpass.spindle
  18.  
  19. addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
  20. addf motion-command-handler servo-thread
  21. addf motion-controller servo-thread
  22. addf pid.x.do-pid-calcs servo-thread
  23. addf pid.y.do-pid-calcs servo-thread
  24. addf pid.z.do-pid-calcs servo-thread
  25. addf pid.s.do-pid-calcs servo-thread
  26.  
  27.  
  28.  
  29. ##addf abs.spindle servo-thread
  30. ##addf lowpass.spindle servo-thread
  31. addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
  32.  
  33. # external output signals
  34.  
  35.  
  36. # --- SPINDLE-CW ---
  37. net spindle-cw hm2_[HOSTMOT2](BOARD).0.7i77.0.0.output-00
  38.  
  39. # --- SPINDLE-CCW ---
  40. net spindle-ccw hm2_[HOSTMOT2](BOARD).0.7i77.0.0.output-01
  41.  
  42. # external input signals
  43.  
  44.  
  45. # --- MAX-HOME-X ---
  46. net max-home-x <= hm2_[HOSTMOT2(BOARD).0.7i77.0.0.input-00-not
  47.  
  48. # --- MAX-HOME-Y ---
  49. net max-home-y <= hm2_[HOSTMOT2(BOARD).0.7i77.0.0.input-03-not
  50.  
  51. # --- MAX-HOME-Z ---
  52. net max-home-z <= hm2_[HOSTMOT2(BOARD).0.7i77.0.0.input-04-not
  53.  
  54. # --- MIN-X ---
  55. net min-x <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-01-not
  56.  
  57. # --- MIN-Y ---
  58. net min-y <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-02-not
  59.  
  60. # --- MIN-Z ---
  61. net min-z <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-05-not
  62.  
  63. # --- ESTOP-EXT ---
  64. net estop-ext <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-06
  65.  
  66. #*******************
  67. # AXIS X
  68. #*******************
  69.  
  70. setp pid.x.Pgain [AXIS_0]P
  71. setp pid.x.Igain [AXIS_0]I
  72. setp pid.x.Dgain [AXIS_0]D
  73. setp pid.x.bias [AXIS_0]BIAS
  74. setp pid.x.FF0 [AXIS_0]FF0
  75. setp pid.x.FF1 [AXIS_0]FF1
  76. setp pid.x.FF2 [AXIS_0]FF2
  77. setp pid.x.deadband [AXIS_0]DEADBAND
  78. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  79. setp pid.x.error-previous-target true
  80. setp pid.x.maxerror 0.0
  81.  
  82. net x-index-enable <=> pid.x.index-enable
  83. net x-enable => pid.x.enable
  84. net x-pos-cmd => pid.x.command
  85. net x-vel-cmd => pid.x.command-deriv
  86. net x-pos-fb => pid.x.feedback
  87. net x-output => pid.x.output
  88.  
  89. # ---PWM Generator signals/setup---
  90.  
  91. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  92. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  93. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  94.  
  95. net x-output => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0
  96. net x-pos-cmd axis.0.motor-pos-cmd
  97. net x-enable axis.0.amp-enable-out
  98. # enable _all_ sserial pwmgens
  99. net x-enable hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogena
  100.  
  101. # ---Encoder feedback signals/setup---
  102.  
  103. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
  104. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
  105. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
  106. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
  107. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
  108. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]ENCODER_SCALE
  109.  
  110. net x-pos-fb <= hm2_[HOSTMOT2](BOARD).0.encoder.00.position
  111. net x-vel-fb <= hm2_[HOSTMOT2](BOARD).0.encoder.00.velocity
  112. net x-pos-fb => axis.0.motor-pos-fb
  113. net x-index-enable axis.0.index-enable <=> hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable
  114. net x-pos-rawcounts <= hm2_[HOSTMOT2](BOARD).0.encoder.00.rawcounts
  115.  
  116. # ---setup home / limit switch signals---
  117.  
  118. net max-home-x => axis.0.home-sw-in
  119. net min-x => axis.0.neg-lim-sw-in
  120. net max-home-x => axis.0.pos-lim-sw-in
  121.  
  122.  
  123. #*******************
  124. # AXIS Y
  125. #*******************
  126.  
  127. setp pid.y.Pgain [AXIS_1]P
  128. setp pid.y.Igain [AXIS_1]I
  129. setp pid.y.Dgain [AXIS_1]D
  130. setp pid.y.bias [AXIS_1]BIAS
  131. setp pid.y.FF0 [AXIS_1]FF0
  132. setp pid.y.FF1 [AXIS_1]FF1
  133. setp pid.y.FF2 [AXIS_1]FF2
  134. setp pid.y.deadband [AXIS_1]DEADBAND
  135. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  136. setp pid.y.error-previous-target true
  137. setp pid.y.maxerror 0.0
  138.  
  139. net y-index-enable <=> pid.y.index-enable
  140. net y-enable => pid.y.enable
  141. net y-pos-cmd => pid.y.command
  142. net y-vel-cmd => pid.y.command-deriv
  143. net y-pos-fb => pid.y.feedback
  144. net y-output => pid.y.output
  145.  
  146. # ---PWM Generator signals/setup---
  147.  
  148. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  149. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  150. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  151.  
  152. net y-output => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1
  153. net y-pos-cmd axis.1.motor-pos-cmd
  154. net y-enable axis.1.amp-enable-out
  155.  
  156. # ---Encoder feedback signals/setup---
  157.  
  158. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
  159. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
  160. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
  161. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
  162. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
  163. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [AXIS_1]ENCODER_SCALE
  164.  
  165. net y-pos-fb <= hm2_[HOSTMOT2](BOARD).0.encoder.01.position
  166. net y-vel-fb <= hm2_[HOSTMOT2](BOARD).0.encoder.01.velocity
  167. net y-pos-fb => axis.1.motor-pos-fb
  168. net y-index-enable axis.1.index-enable <=> hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable
  169. net y-pos-rawcounts <= hm2_[HOSTMOT2](BOARD).0.encoder.01.rawcounts
  170.  
  171. # ---setup home / limit switch signals---
  172.  
  173. net max-home-y => axis.1.home-sw-in
  174. net min-y => axis.1.neg-lim-sw-in
  175. net max-home-y => axis.1.pos-lim-sw-in
  176.  
  177. #*******************
  178. # AXIS Z
  179. #*******************
  180.  
  181. setp pid.z.Pgain [AXIS_2]P
  182. setp pid.z.Igain [AXIS_2]I
  183. setp pid.z.Dgain [AXIS_2]D
  184. setp pid.z.bias [AXIS_2]BIAS
  185. setp pid.z.FF0 [AXIS_2]FF0
  186. setp pid.z.FF1 [AXIS_2]FF1
  187. setp pid.z.FF2 [AXIS_2]FF2
  188. setp pid.z.deadband [AXIS_2]DEADBAND
  189. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  190. setp pid.z.error-previous-target true
  191. setp pid.z.maxerror 0.0
  192.  
  193. net z-index-enable <=> pid.z.index-enable
  194. net z-enable => pid.z.enable
  195. net z-pos-cmd => pid.z.command
  196. net z-vel-cmd => pid.z.command-deriv
  197. net z-pos-fb => pid.z.feedback
  198. net z-output => pid.z.output
  199.  
  200. # ---PWM Generator signals/setup---
  201.  
  202. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
  203. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  204. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  205.  
  206. net z-output => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2
  207. net z-pos-cmd axis.2.motor-pos-cmd
  208. net z-enable axis.2.amp-enable-out
  209.  
  210. # ---Encoder feedback signals/setup---
  211.  
  212. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
  213. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
  214. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
  215. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
  216. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
  217. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]ENCODER_SCALE
  218.  
  219. net z-pos-fb <= hm2_[HOSTMOT2](BOARD).0.encoder.02.position
  220. net z-vel-fb <= hm2_[HOSTMOT2](BOARD).0.encoder.02.velocity
  221. net z-pos-fb => axis.2.motor-pos-fb
  222. net z-index-enable axis.2.index-enable <=> hm2_[HOSTMOT2](BOARD).0.encoder.02.index-enable
  223. net z-pos-rawcounts <= hm2_[HOSTMOT2](BOARD).0.encoder.02.rawcounts
  224.  
  225. # ---setup home / limit switch signals---
  226.  
  227. net max-home-z => axis.2.home-sw-in
  228. net min-z => axis.2.neg-lim-sw-in
  229. net max-home-z => axis.2.pos-lim-sw-in
  230.  
  231. #*******************
  232. # SPINDLE
  233. #*******************
  234.  
  235. setp pid.s.Pgain [SPINDLE_9]P
  236. setp pid.s.Igain [SPINDLE_9]I
  237. setp pid.s.Dgain [SPINDLE_9]D
  238. setp pid.s.bias [SPINDLE_9]BIAS
  239. setp pid.s.FF0 [SPINDLE_9]FF0
  240. setp pid.s.FF1 [SPINDLE_9]FF1
  241. setp pid.s.FF2 [SPINDLE_9]FF2
  242. setp pid.s.deadband [SPINDLE_9]DEADBAND
  243. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  244. setp pid.s.error-previous-target true
  245. setp pid.s.maxerror 0.0
  246.  
  247. net spindle-index-enable <=> pid.s.index-enable
  248. net spindle-enable => pid.s.enable
  249. net spindle-vel-cmd-rpm-abs => pid.s.command
  250. net spindle-vel-fb-rpm-abs => pid.s.feedback
  251. net spindle-output <= pid.s.output
  252.  
  253. # ---PWM Generator signals/setup---
  254.  
  255. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
  256. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  257. setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  258.  
  259. net spindle-vel-cmd-rpm-abs => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout5
  260. net spindle-on motion.spindle-on => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.spinena
  261.  
  262. # ---setup spindle control signals---
  263.  
  264. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  265. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  266. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  267. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  268. net spindle-cw <= motion.spindle-forward
  269. net spindle-ccw <= motion.spindle-reverse
  270. net spindle-brake <= motion.spindle-brake
  271. net spindle-revs => motion.spindle-revs
  272. net spindle-at-speed => motion.spindle-at-speed
  273. net spindle-vel-fb-rps => motion.spindle-speed-in
  274. net spindle-index-enable <=> motion.spindle-index-enable
  275.  
  276. # ---Setup spindle at speed signals---
  277.  
  278. sets spindle-at-speed true
  279.  
  280.  
  281.  
  282.  
  283. #******************************
  284. # connect miscellaneous signals
  285. #******************************
  286.  
  287. # ---HALUI signals---
  288.  
  289. net joint-select-a halui.joint.0.select
  290. net x-is-homed halui.joint.0.is-homed
  291. net jog-x-pos halui.jog.0.plus
  292. net jog-x-neg halui.jog.0.minus
  293. net jog-x-analog halui.jog.0.analog
  294. net joint-select-b halui.joint.1.select
  295. net y-is-homed halui.joint.1.is-homed
  296. net jog-y-pos halui.jog.1.plus
  297. net jog-y-neg halui.jog.1.minus
  298. net jog-y-analog halui.jog.1.analog
  299. net joint-select-c halui.joint.2.select
  300. net z-is-homed halui.joint.2.is-homed
  301. net jog-z-pos halui.jog.2.plus
  302. net jog-z-neg halui.jog.2.minus
  303. net jog-z-analog halui.jog.2.analog
  304. net jog-selected-pos halui.jog.selected.plus
  305. net jog-selected-neg halui.jog.selected.minus
  306. net spindle-manual-cw halui.spindle.forward
  307. net spindle-manual-ccw halui.spindle.reverse
  308. net spindle-manual-stop halui.spindle.stop
  309. net machine-is-on halui.machine.is-on
  310. net jog-speed halui.jog-speed
  311. net MDI-mode halui.mode.is-mdi
  312.  
  313. # ---coolant signals---
  314.  
  315. net coolant-mist <= iocontrol.0.coolant-mist
  316. net coolant-flood <= iocontrol.0.coolant-flood
  317.  
  318. # ---probe signal---
  319.  
  320. net probe-in => motion.probe-input
  321.  
  322. # ---motion control signals---
  323.  
  324. net in-position <= motion.in-position
  325. net machine-is-enabled <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.output-02 <= motion.motion-enabled
  326.  
  327. # ---digital in / out signals---
  328.  
  329. # ---estop signals---
  330.  
  331. net estop-out <= iocontrol.0.user-enable-out
  332. net estop-ext => iocontrol.0.emc-enable-in
  333.  
  334. # ---manual tool change signals---
  335.  
  336. loadusr -W hal_manualtoolchange
  337. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  338. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  339. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  340. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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