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CNC_MILL_01.hal

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  1. # Generated by PNCconf at Fri Aug 21 17:19:15 2015
  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=000xx "
  10. setp hm2_5i25.0.watchdog.timeout_ns 10000000
  11. loadrt pid names=pid.x,pid.y,pid.z
  12. loadrt abs names=abs.spindle
  13. loadrt lowpass names=lowpass.spindle
  14. loadrt mux16 names=jogincr
  15.  
  16. addf hm2_5i25.0.read servo-thread
  17. addf motion-command-handler servo-thread
  18. addf motion-controller servo-thread
  19. addf pid.x.do-pid-calcs servo-thread
  20. addf pid.y.do-pid-calcs servo-thread
  21. addf pid.z.do-pid-calcs servo-thread
  22. addf jogincr servo-thread
  23. addf abs.spindle servo-thread
  24. addf lowpass.spindle servo-thread
  25. addf hm2_5i25.0.write servo-thread
  26. addf hm2_5i25.0.pet_watchdog servo-thread
  27.  
  28. # external output signals
  29.  
  30.  
  31. # --- ESTOP-OUT ---
  32. net estop-out hm2_5i25.0.7i77.0.0.output-00
  33.  
  34. # --- SPINDLE-CW ---
  35. net spindle-cw hm2_5i25.0.7i77.0.0.output-01
  36.  
  37. # --- SPINDLE-CCW ---
  38. net spindle-ccw hm2_5i25.0.7i77.0.0.output-02
  39.  
  40. # --- COOLANT-FLOOD ---
  41. net coolant-flood hm2_5i25.0.7i77.0.0.output-03
  42.  
  43. # external input signals
  44.  
  45.  
  46. # --- ESTOP-EXT ---
  47. net estop-ext <= hm2_5i25.0.7i77.0.0.input-00
  48.  
  49. # --- HOME-X ---
  50. net home-x <= hm2_5i25.0.7i77.0.0.input-01
  51.  
  52. # --- HOME-Y ---
  53. net home-y <= hm2_5i25.0.7i77.0.0.input-02
  54.  
  55. # --- HOME-Z ---
  56. net home-z <= hm2_5i25.0.7i77.0.0.input-03
  57.  
  58. # --- SPINDLE-AT-SPEED ---
  59. net spindle-at-speed <= hm2_5i25.0.7i77.0.0.input-04
  60.  
  61. # --- DIN-00 ---
  62. net din-00 <= hm2_5i25.0.7i77.0.0.input-05
  63.  
  64. # --- DIN-01 ---
  65. net din-01 <= hm2_5i25.0.7i77.0.0.input-06
  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.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  91. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  92. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  93.  
  94. net x-output => hm2_5i25.0.7i77.0.1.analogout0
  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.00.counter-mode 0
  103. setp hm2_5i25.0.encoder.00.filter 1
  104. setp hm2_5i25.0.encoder.00.index-invert 0
  105. setp hm2_5i25.0.encoder.00.index-mask 0
  106. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  107. setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
  108.  
  109. net x-pos-fb <= hm2_5i25.0.encoder.00.position
  110. net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
  111. net x-pos-fb => axis.0.motor-pos-fb
  112. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  113. net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  114.  
  115. # ---setup home / limit switch signals---
  116.  
  117. net home-x => axis.0.home-sw-in
  118. net x-neg-limit => axis.0.neg-lim-sw-in
  119. net x-pos-limit => 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.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  145. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  146. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  147.  
  148. net y-output => hm2_5i25.0.7i77.0.1.analogout1
  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.01.counter-mode 0
  155. setp hm2_5i25.0.encoder.01.filter 1
  156. setp hm2_5i25.0.encoder.01.index-invert 0
  157. setp hm2_5i25.0.encoder.01.index-mask 0
  158. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  159. setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
  160.  
  161. net y-pos-fb <= hm2_5i25.0.encoder.01.position
  162. net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
  163. net y-pos-fb => axis.1.motor-pos-fb
  164. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  165. net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  166.  
  167. # ---setup home / limit switch signals---
  168.  
  169. net home-y => axis.1.home-sw-in
  170. net y-neg-limit => axis.1.neg-lim-sw-in
  171. net y-pos-limit => 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.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
  197. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  198. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  199.  
  200. net z-output => hm2_5i25.0.7i77.0.1.analogout2
  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.02.counter-mode 0
  207. setp hm2_5i25.0.encoder.02.filter 1
  208. setp hm2_5i25.0.encoder.02.index-invert 0
  209. setp hm2_5i25.0.encoder.02.index-mask 0
  210. setp hm2_5i25.0.encoder.02.index-mask-invert 0
  211. setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
  212.  
  213. net z-pos-fb <= hm2_5i25.0.encoder.02.position
  214. net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
  215. net z-pos-fb => axis.2.motor-pos-fb
  216. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
  217. net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
  218.  
  219. # ---setup home / limit switch signals---
  220.  
  221. net home-z => axis.2.home-sw-in
  222. net z-neg-limit => axis.2.neg-lim-sw-in
  223. net z-pos-limit => 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.  
  236. net spindle-vel-cmd-abs => hm2_5i25.0.7i77.0.1.analogout5
  237. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  238. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  239.  
  240. # ---setup spindle control signals---
  241.  
  242. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  243. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  244. net spindle-vel-cmd <= motion.spindle-speed-out
  245. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  246. net spindle-on <= motion.spindle-on
  247. net spindle-cw <= motion.spindle-forward
  248. net spindle-ccw <= motion.spindle-reverse
  249. net spindle-brake <= motion.spindle-brake
  250. net spindle-revs => motion.spindle-revs
  251. net spindle-at-speed => motion.spindle-at-speed
  252. net spindle-vel-fb => motion.spindle-speed-in
  253. net spindle-index-enable <=> motion.spindle-index-enable
  254.  
  255.  
  256. #******************************
  257. # connect miscellaneous signals
  258. #******************************
  259.  
  260. # ---HALUI signals---
  261.  
  262. net joint-select-a halui.joint.0.select
  263. net x-is-homed halui.joint.0.is-homed
  264. net jog-x-pos halui.jog.0.plus
  265. net jog-x-neg halui.jog.0.minus
  266. net jog-x-analog halui.jog.0.analog
  267. net joint-select-b halui.joint.1.select
  268. net y-is-homed halui.joint.1.is-homed
  269. net jog-y-pos halui.jog.1.plus
  270. net jog-y-neg halui.jog.1.minus
  271. net jog-y-analog halui.jog.1.analog
  272. net joint-select-c halui.joint.2.select
  273. net z-is-homed halui.joint.2.is-homed
  274. net jog-z-pos halui.jog.2.plus
  275. net jog-z-neg halui.jog.2.minus
  276. net jog-z-analog halui.jog.2.analog
  277. net jog-selected-pos halui.jog.selected.plus
  278. net jog-selected-neg halui.jog.selected.minus
  279. net spindle-manual-cw halui.spindle.forward
  280. net spindle-manual-ccw halui.spindle.reverse
  281. net spindle-manual-stop halui.spindle.stop
  282. net machine-is-on halui.machine.is-on
  283. net jog-speed halui.jog-speed
  284. net MDI-mode halui.mode.is-mdi
  285.  
  286. # ---coolant signals---
  287.  
  288. net coolant-mist <= iocontrol.0.coolant-mist
  289. net coolant-flood <= iocontrol.0.coolant-flood
  290.  
  291. # ---probe signal---
  292.  
  293. net probe-in => motion.probe-input
  294.  
  295. # ---jogwheel signals to mesa encoder - z axis MPG---
  296.  
  297. net z-jog-count <= hm2_5i25.0.encoder.05.count
  298.  
  299. # ---mpg signals---
  300.  
  301. setp axis.2.jog-vel-mode 0
  302. net z-jog-enable => axis.2.jog-enable
  303. net z-jog-count => axis.2.jog-counts
  304. net selected-jog-incr => axis.2.jog-scale
  305. sets z-jog-enable true
  306.  
  307. sets selected-jog-incr 0.005000
  308.  
  309. # ---motion control signals---
  310.  
  311. net in-position <= motion.in-position
  312. net machine-is-enabled <= motion.motion-enabled
  313.  
  314. # ---digital in / out signals---
  315.  
  316. net din-00 => motion.digital-in-00
  317. net din-01 => motion.digital-in-01
  318. # ---estop signals---
  319.  
  320. net estop-out <= iocontrol.0.user-enable-out
  321. net estop-ext => iocontrol.0.emc-enable-in
  322.  
  323. # ---manual tool change signals---
  324.  
  325. loadusr -W hal_manualtoolchange
  326. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  327. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  328. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  329. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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