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hexapod7i43.hal

pkm
Nov 9th, 2012
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  1. loadrt genhexkins
  2. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  3. loadrt probe_parport
  4. loadrt hostmot2
  5. loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVST4_6.BIT num_encoders=0 num_pwmgens=0 num_3pwmgens=0 num_stepgens=6"
  6. setp hm2_7i43.0.watchdog.timeout_ns 10000000
  7. #loadusr -W hal_input -KRAL USB
  8. loadrt near
  9. #loadrt mux16 names=jogspeed
  10.  
  11. #addf jogspeed servo-thread
  12. addf hm2_7i43.0.read servo-thread
  13. addf motion-command-handler servo-thread
  14. addf motion-controller servo-thread
  15. addf near.0 servo-thread
  16. addf hm2_7i43.0.write servo-thread
  17. addf hm2_7i43.0.pet_watchdog servo-thread
  18.  
  19. # external output signals
  20.  
  21.  
  22.  
  23. # external input signals
  24.  
  25. # --- PROBE-IN ---
  26. net probe-in <= hm2_7i43.0.gpio.026.in_not
  27. # --- HOME-X ---
  28. net home-x <= hm2_7i43.0.gpio.027.in
  29. # --- HOME-Y ---
  30. net home-y <= hm2_7i43.0.gpio.030.in
  31. # --- HOME-Z ---
  32. net home-z <= hm2_7i43.0.gpio.031.in
  33. # --- HOME-A ---
  34. net home-a <= hm2_7i43.0.gpio.034.in
  35. # --- HOME-A ---
  36. net home-b <= hm2_7i43.0.gpio.035.in
  37. # --- HOME-A ---
  38. net home-c <= hm2_7i43.0.gpio.038.in
  39. # --- ESTOP-EXT ---
  40. net estop-ext <= hm2_7i43.0.gpio.039.in
  41.  
  42.  
  43. #*******************
  44. # AXIS X
  45. #*******************
  46.  
  47. # Step Gen signals/setup
  48.  
  49. setp hm2_7i43.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  50. setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  51. setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
  52. setp hm2_7i43.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  53. setp hm2_7i43.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  54. setp hm2_7i43.0.stepgen.00.step_type 0
  55. setp hm2_7i43.0.stepgen.00.control-type 0
  56. setp hm2_7i43.0.stepgen.00.maxaccel 0
  57. setp hm2_7i43.0.stepgen.00.maxvel 0
  58.  
  59. net xpos-fb axis.0.motor-pos-fb <= hm2_7i43.0.stepgen.00.position-fb
  60. net xpos-cmd axis.0.motor-pos-cmd => hm2_7i43.0.stepgen.00.position-cmd
  61. net xenable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable
  62. setp hm2_7i43.0.gpio.024.invert_output true
  63. #setp hm2_7i43.0.gpio.025.invert_output true
  64.  
  65. # ---setup home / limit switch signals---
  66.  
  67. net x-home-sw => axis.0.home-sw-in
  68. net x-neg-limit => axis.0.neg-lim-sw-in
  69. net x-pos-limit => axis.0.pos-lim-sw-in
  70.  
  71. #*******************
  72. # AXIS Y
  73. #*******************
  74.  
  75. # Step Gen signals/setup
  76.  
  77. setp hm2_7i43.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  78. setp hm2_7i43.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  79. setp hm2_7i43.0.stepgen.01.steplen [AXIS_1]STEPLEN
  80. setp hm2_7i43.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  81. setp hm2_7i43.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  82. setp hm2_7i43.0.stepgen.01.step_type 0
  83. setp hm2_7i43.0.stepgen.01.control-type 0
  84. setp hm2_7i43.0.stepgen.01.maxaccel 0
  85. setp hm2_7i43.0.stepgen.01.maxvel 0
  86.  
  87. net ypos-fb axis.1.motor-pos-fb <= hm2_7i43.0.stepgen.01.position-fb
  88. net ypos-cmd axis.1.motor-pos-cmd => hm2_7i43.0.stepgen.01.position-cmd
  89. net yenable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable
  90. setp hm2_7i43.0.gpio.028.invert_output true
  91. #setp hm2_7i43.0.gpio.029.invert_output true
  92.  
  93. # ---setup home / limit switch signals---
  94.  
  95. net y-home-sw => axis.1.home-sw-in
  96. net y-neg-limit => axis.1.neg-lim-sw-in
  97. net y-pos-limit => axis.1.pos-lim-sw-in
  98.  
  99. #*******************
  100. # AXIS Z
  101. #*******************
  102.  
  103. # Step Gen signals/setup
  104.  
  105. setp hm2_7i43.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  106. setp hm2_7i43.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  107. setp hm2_7i43.0.stepgen.02.steplen [AXIS_2]STEPLEN
  108. setp hm2_7i43.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  109. setp hm2_7i43.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  110. setp hm2_7i43.0.stepgen.02.step_type 0
  111. setp hm2_7i43.0.stepgen.02.control-type 0
  112. setp hm2_7i43.0.stepgen.02.maxaccel 0
  113. setp hm2_7i43.0.stepgen.02.maxvel 0
  114.  
  115. net zpos-fb axis.2.motor-pos-fb <= hm2_7i43.0.stepgen.02.position-fb
  116. net zpos-cmd axis.2.motor-pos-cmd => hm2_7i43.0.stepgen.02.position-cmd
  117. net zenable axis.2.amp-enable-out => hm2_7i43.0.stepgen.02.enable
  118. setp hm2_7i43.0.gpio.032.invert_output true
  119. #setp hm2_7i43.0.gpio.033.invert_output true
  120.  
  121. # ---setup home / limit switch signals---
  122.  
  123. net z-home-sw => axis.2.home-sw-in
  124. net z-neg-limit => axis.2.neg-lim-sw-in
  125. net z-pos-limit => axis.2.pos-lim-sw-in
  126.  
  127. #*******************
  128. # AXIS A
  129. #*******************
  130.  
  131. # Step Gen signals/setup
  132.  
  133. setp hm2_7i43.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  134. setp hm2_7i43.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  135. setp hm2_7i43.0.stepgen.03.steplen [AXIS_3]STEPLEN
  136. setp hm2_7i43.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  137. setp hm2_7i43.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  138. setp hm2_7i43.0.stepgen.03.step_type 0
  139. setp hm2_7i43.0.stepgen.03.control-type 0
  140. setp hm2_7i43.0.stepgen.03.maxaccel 0
  141. setp hm2_7i43.0.stepgen.03.maxvel 0
  142.  
  143. net apos-fb axis.3.motor-pos-fb <= hm2_7i43.0.stepgen.03.position-fb
  144. net apos-cmd axis.3.motor-pos-cmd => hm2_7i43.0.stepgen.03.position-cmd
  145. net aenable axis.3.amp-enable-out => hm2_7i43.0.stepgen.03.enable
  146. setp hm2_7i43.0.gpio.036.invert_output true
  147. #setp hm2_7i43.0.gpio.037.invert_output true
  148.  
  149. # ---setup home / limit switch signals---
  150.  
  151. net a-home-sw => axis.3.home-sw-in
  152. net a-neg-limit => axis.3.neg-lim-sw-in
  153. net a-pos-limit => axis.3.pos-lim-sw-in
  154.  
  155. #*******************
  156. # AXIS B
  157. #*******************
  158.  
  159. # Step Gen signals/setup
  160.  
  161. setp hm2_7i43.0.stepgen.04.dirsetup [AXIS_4]DIRSETUP
  162. setp hm2_7i43.0.stepgen.04.dirhold [AXIS_4]DIRHOLD
  163. setp hm2_7i43.0.stepgen.04.steplen [AXIS_4]STEPLEN
  164. setp hm2_7i43.0.stepgen.04.stepspace [AXIS_4]STEPSPACE
  165. setp hm2_7i43.0.stepgen.04.position-scale [AXIS_4]STEP_SCALE
  166. setp hm2_7i43.0.stepgen.04.step_type 0
  167. setp hm2_7i43.0.stepgen.04.control-type 0
  168. setp hm2_7i43.0.stepgen.04.maxaccel 0
  169. setp hm2_7i43.0.stepgen.04.maxvel 0
  170.  
  171. net bpos-fb axis.4.motor-pos-fb <= hm2_7i43.0.stepgen.04.position-fb
  172. net bpos-cmd axis.4.motor-pos-cmd => hm2_7i43.0.stepgen.04.position-cmd
  173. net benable axis.4.amp-enable-out => hm2_7i43.0.stepgen.04.enable
  174. setp hm2_7i43.0.gpio.040.invert_output true
  175. #setp hm2_7i43.0.gpio.041.invert_output true
  176.  
  177. # ---setup home / limit switch signals---
  178.  
  179. net b-home-sw => axis.4.home-sw-in
  180. net b-neg-limit => axis.4.neg-lim-sw-in
  181. net b-pos-limit => axis.4.pos-lim-sw-in
  182.  
  183. #*******************
  184. # AXIS C
  185. #*******************
  186.  
  187. # Step Gen signals/setup
  188.  
  189. setp hm2_7i43.0.stepgen.05.dirsetup [AXIS_2]DIRSETUP
  190. setp hm2_7i43.0.stepgen.05.dirhold [AXIS_2]DIRHOLD
  191. setp hm2_7i43.0.stepgen.05.steplen [AXIS_2]STEPLEN
  192. setp hm2_7i43.0.stepgen.05.stepspace [AXIS_2]STEPSPACE
  193. setp hm2_7i43.0.stepgen.05.position-scale [AXIS_2]STEP_SCALE
  194. setp hm2_7i43.0.stepgen.05.step_type 0
  195. setp hm2_7i43.0.stepgen.05.control-type 0
  196. setp hm2_7i43.0.stepgen.05.maxaccel 0
  197. setp hm2_7i43.0.stepgen.05.maxvel 0
  198.  
  199. net cpos-fb axis.5.motor-pos-fb <= hm2_7i43.0.stepgen.05.position-fb
  200. net cpos-cmd axis.5.motor-pos-cmd => hm2_7i43.0.stepgen.05.position-cmd
  201. net cenable axis.5.amp-enable-out => hm2_7i43.0.stepgen.05.enable
  202. setp hm2_7i43.0.gpio.044.invert_output true
  203. #setp hm2_7i43.0.gpio.045.invert_output true
  204.  
  205. # ---setup home / limit switch signals---
  206.  
  207. net c-home-sw => axis.5.home-sw-in
  208. net c-neg-limit => axis.5.neg-lim-sw-in
  209. net c-pos-limit => axis.5.pos-lim-sw-in
  210.  
  211.  
  212. #*******************
  213. # SPINDLE S
  214. #*******************
  215.  
  216. # ---setup spindle control signals---
  217.  
  218. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  219. net spindle-vel-cmd <= motion.spindle-speed-out
  220. net spindle-enable <= motion.spindle-on
  221. net spindle-cw <= motion.spindle-forward
  222. net spindle-ccw <= motion.spindle-reverse
  223. net spindle-brake <= motion.spindle-brake
  224. net spindle-revs => motion.spindle-revs
  225. net spindle-at-speed => motion.spindle-at-speed
  226. net spindle-vel-fb => motion.spindle-speed-in
  227. net spindle-index-enable <=> motion.spindle-index-enable
  228.  
  229. # ---Setup spindle at speed signals---
  230.  
  231. sets spindle-at-speed true
  232.  
  233. #******************************
  234. # connect miscellaneous signals
  235. #******************************
  236.  
  237. # ---coolant signals---
  238.  
  239. #net coolant-mist <= iocontrol.0.coolant-mist
  240. #net coolant-flood <= iocontrol.0.coolant-flood
  241.  
  242. # ---probe signal---
  243.  
  244. net probe-in => motion.probe-input
  245.  
  246. # ---digital in / out signals---
  247.  
  248. # ---estop signals---
  249.  
  250. net estop-out <= iocontrol.0.user-enable-out
  251. net estop-out => iocontrol.0.emc-enable-in
  252.  
  253. # ---manual tool change signals---
  254.  
  255. loadusr -W hal_manualtoolchange
  256. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  257. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  258. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  259. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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