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Feb 9th, 2014
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  1. # Generated by PNCconf at Sun Feb 9 20:58:19 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=0 num_pwmgens=0 num_3pwmgens=0 num_stepgens=3 "
  10. setp hm2_5i25.0.watchdog.timeout_ns 10000000
  11.  
  12. addf hm2_5i25.0.read servo-thread
  13. addf motion-command-handler servo-thread
  14. addf motion-controller servo-thread
  15. addf hm2_5i25.0.write servo-thread
  16. addf hm2_5i25.0.pet_watchdog servo-thread
  17.  
  18. # external output signals
  19.  
  20. # --- XENABLE ---
  21. setp hm2_5i25.0.gpio.000.is_output true
  22. net x-enable hm2_5i25.0.gpio.000.out
  23. setp hm2_5i25.0.gpio.000.invert_output true
  24.  
  25. # external input signals
  26.  
  27. # --- BOTH-HOME-X ---
  28. net both-home-x <= hm2_5i25.0.gpio.012.in_not
  29.  
  30. # --- BOTH-HOME-Y ---
  31. net both-home-y <= hm2_5i25.0.gpio.013.in_not
  32.  
  33. # --- BOTH-HOME-Z ---
  34. net both-home-z <= hm2_5i25.0.gpio.014.in_not
  35.  
  36. # --- PROBE-IN ---
  37. net probe-in <= hm2_5i25.0.gpio.015.in
  38.  
  39. #*******************
  40. # AXIS X
  41. #*******************
  42.  
  43. # Step Gen signals/setup
  44.  
  45. setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  46. setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  47. setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
  48. setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  49. setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  50. setp hm2_5i25.0.stepgen.00.step_type 0
  51. setp hm2_5i25.0.stepgen.00.control-type 0
  52. setp hm2_5i25.0.stepgen.00.maxaccel 100.0
  53. setp hm2_5i25.0.stepgen.00.maxvel 58.3
  54.  
  55. net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
  56. net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
  57. net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
  58.  
  59. # ---setup home / limit switch signals---
  60.  
  61. net both-home-x => axis.0.home-sw-in
  62. net both-home-x => axis.0.neg-lim-sw-in
  63. net both-home-x => axis.0.pos-lim-sw-in
  64.  
  65. #*******************
  66. # AXIS Y
  67. #*******************
  68.  
  69. # Step Gen signals/setup
  70.  
  71. setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  72. setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  73. setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
  74. setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  75. setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  76. setp hm2_5i25.0.stepgen.01.step_type 0
  77. setp hm2_5i25.0.stepgen.01.control-type 0
  78. setp hm2_5i25.0.stepgen.01.maxaccel 100.0
  79. setp hm2_5i25.0.stepgen.01.maxvel 58.3
  80.  
  81. net y-pos-fb axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
  82. net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
  83. net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable
  84.  
  85. # ---setup home / limit switch signals---
  86.  
  87. net both-home-y => axis.1.home-sw-in
  88. net both-home-y => axis.1.neg-lim-sw-in
  89. net both-home-y => axis.1.pos-lim-sw-in
  90.  
  91. #*******************
  92. # AXIS Z
  93. #*******************
  94.  
  95. # Step Gen signals/setup
  96.  
  97. setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  98. setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  99. setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
  100. setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  101. setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  102. setp hm2_5i25.0.stepgen.02.step_type 0
  103. setp hm2_5i25.0.stepgen.02.control-type 0
  104. setp hm2_5i25.0.stepgen.02.maxaccel 100.0
  105. setp hm2_5i25.0.stepgen.02.maxvel 29.2
  106.  
  107. net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
  108. net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
  109. net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable
  110.  
  111. # ---setup home / limit switch signals---
  112.  
  113. net both-home-z => axis.2.home-sw-in
  114. net both-home-z => axis.2.neg-lim-sw-in
  115. net both-home-z => axis.2.pos-lim-sw-in
  116.  
  117. #*******************
  118. # SPINDLE S
  119. #*******************
  120.  
  121. # ---setup spindle control signals---
  122.  
  123. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  124. net spindle-vel-cmd <= motion.spindle-speed-out
  125. net spindle-enable <= motion.spindle-on
  126. net spindle-cw <= motion.spindle-forward
  127. net spindle-ccw <= motion.spindle-reverse
  128. net spindle-brake <= motion.spindle-brake
  129. net spindle-revs => motion.spindle-revs
  130. net spindle-at-speed => motion.spindle-at-speed
  131. net spindle-vel-fb => motion.spindle-speed-in
  132. net spindle-index-enable <=> motion.spindle-index-enable
  133.  
  134. # ---Setup spindle at speed signals---
  135.  
  136. sets spindle-at-speed true
  137.  
  138.  
  139. #******************************
  140. # connect miscellaneous signals
  141. #******************************
  142.  
  143. # ---HALUI signals---
  144.  
  145. net joint-select-a halui.joint.0.select
  146. net x-is-homed halui.joint.0.is-homed
  147. net jog-x-pos halui.jog.0.plus
  148. net jog-x-neg halui.jog.0.minus
  149. net jog-x-analog halui.jog.0.analog
  150. net joint-select-b halui.joint.1.select
  151. net y-is-homed halui.joint.1.is-homed
  152. net jog-y-pos halui.jog.1.plus
  153. net jog-y-neg halui.jog.1.minus
  154. net jog-y-analog halui.jog.1.analog
  155. net joint-select-c halui.joint.2.select
  156. net z-is-homed halui.joint.2.is-homed
  157. net jog-z-pos halui.jog.2.plus
  158. net jog-z-neg halui.jog.2.minus
  159. net jog-z-analog halui.jog.2.analog
  160. net jog-selected-pos halui.jog.selected.plus
  161. net jog-selected-neg halui.jog.selected.minus
  162. net spindle-manual-cw halui.spindle.forward
  163. net spindle-manual-ccw halui.spindle.reverse
  164. net spindle-manual-stop halui.spindle.stop
  165. net machine-is-on halui.machine.is-on
  166. net jog-speed halui.jog-speed
  167. net MDI-mode halui.mode.is-mdi
  168.  
  169. # ---coolant signals---
  170.  
  171. net coolant-mist <= iocontrol.0.coolant-mist
  172. net coolant-flood <= iocontrol.0.coolant-flood
  173.  
  174. # ---probe signal---
  175.  
  176. net probe-in => motion.probe-input
  177.  
  178. # ---motion control signals---
  179.  
  180. net in-position <= motion.in-position
  181. net machine-is-enabled <= motion.motion-enabled
  182.  
  183. # ---digital in / out signals---
  184.  
  185. # ---estop signals---
  186.  
  187. net estop-out <= iocontrol.0.user-enable-out
  188. net estop-out => iocontrol.0.emc-enable-in
  189.  
  190. # ---manual tool change signals---
  191.  
  192. loadusr -W hal_manualtoolchange
  193. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  194. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  195. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  196. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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