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  1. # Generated by PNCconf at Fri Aug 31 00:29:17 2012
  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_7i43 config="firmware=hm2/7i43-4/SVST4_6.BIT num_encoders=0 num_pwmgens=0 num_3pwmgens=0 num_stepgens=4 "
  10. setp hm2_7i43.0.watchdog.timeout_ns 10000000
  11.  
  12. addf hm2_7i43.0.read servo-thread
  13. addf motion-command-handler servo-thread
  14. addf motion-controller servo-thread
  15. addf hm2_7i43.0.write servo-thread
  16. addf hm2_7i43.0.pet_watchdog servo-thread
  17.  
  18. # external output signals
  19.  
  20. # --- DOUT-00 ---
  21. setp hm2_7i43.0.gpio.000.is_output true
  22. net dout-00 hm2_7i43.0.gpio.000.out
  23.  
  24. # --- DOUT-01 ---
  25. setp hm2_7i43.0.gpio.001.is_output true
  26. net dout-01 hm2_7i43.0.gpio.001.out
  27. setp hm2_7i43.0.gpio.001.invert_output true
  28.  
  29. # --- DOUT-02 ---
  30. setp hm2_7i43.0.gpio.002.is_output true
  31. net dout-02 hm2_7i43.0.gpio.002.out
  32.  
  33. # --- DOUT-03 ---
  34. setp hm2_7i43.0.gpio.003.is_output true
  35. net dout-03 hm2_7i43.0.gpio.003.out
  36. setp hm2_7i43.0.gpio.003.invert_output true
  37.  
  38. # --- XENABLE ---
  39. setp hm2_7i43.0.gpio.026.is_output true
  40. net xenable hm2_7i43.0.gpio.026.out
  41.  
  42. # --- YENABLE ---
  43. setp hm2_7i43.0.gpio.030.is_output true
  44. net yenable hm2_7i43.0.gpio.030.out
  45.  
  46. # --- ZENABLE ---
  47. setp hm2_7i43.0.gpio.034.is_output true
  48. net zenable hm2_7i43.0.gpio.034.out
  49.  
  50. # --- SPINDLE-ENABLE ---
  51. setp hm2_7i43.0.gpio.038.is_output true
  52. net spindle-enable hm2_7i43.0.gpio.038.out
  53.  
  54. # external input signals
  55.  
  56. #*******************
  57. # AXIS X
  58. #*******************
  59.  
  60. # Step Gen signals/setup
  61.  
  62. setp hm2_7i43.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  63. setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  64. setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
  65. setp hm2_7i43.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  66. setp hm2_7i43.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  67. setp hm2_7i43.0.stepgen.00.step_type 0
  68. setp hm2_7i43.0.stepgen.00.control-type 0
  69. setp hm2_7i43.0.stepgen.00.maxaccel 1250.0
  70. setp hm2_7i43.0.stepgen.00.maxvel 312.5
  71.  
  72. net x-pos-fb axis.0.motor-pos-fb <= hm2_7i43.0.stepgen.00.position-fb
  73. net x-pos-cmd axis.0.motor-pos-cmd => hm2_7i43.0.stepgen.00.position-cmd
  74. net x-enable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable
  75.  
  76. # ---setup home / limit switch signals---
  77.  
  78. net x-home-sw => axis.0.home-sw-in
  79. net x-neg-limit => axis.0.neg-lim-sw-in
  80. net x-pos-limit => axis.0.pos-lim-sw-in
  81.  
  82. #*******************
  83. # AXIS Y
  84. #*******************
  85.  
  86. # Step Gen signals/setup
  87.  
  88. setp hm2_7i43.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  89. setp hm2_7i43.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  90. setp hm2_7i43.0.stepgen.01.steplen [AXIS_1]STEPLEN
  91. setp hm2_7i43.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  92. setp hm2_7i43.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  93. setp hm2_7i43.0.stepgen.01.step_type 0
  94. setp hm2_7i43.0.stepgen.01.control-type 0
  95. setp hm2_7i43.0.stepgen.01.maxaccel 1250.0
  96. setp hm2_7i43.0.stepgen.01.maxvel 312.5
  97.  
  98. net y-pos-fb axis.1.motor-pos-fb <= hm2_7i43.0.stepgen.01.position-fb
  99. net y-pos-cmd axis.1.motor-pos-cmd => hm2_7i43.0.stepgen.01.position-cmd
  100. net y-enable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable
  101.  
  102. # ---setup home / limit switch signals---
  103.  
  104. net y-home-sw => axis.1.home-sw-in
  105. net y-neg-limit => axis.1.neg-lim-sw-in
  106. net y-pos-limit => axis.1.pos-lim-sw-in
  107.  
  108. #*******************
  109. # AXIS Z
  110. #*******************
  111.  
  112. # Step Gen signals/setup
  113.  
  114. setp hm2_7i43.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  115. setp hm2_7i43.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  116. setp hm2_7i43.0.stepgen.02.steplen [AXIS_2]STEPLEN
  117. setp hm2_7i43.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  118. setp hm2_7i43.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  119. setp hm2_7i43.0.stepgen.02.step_type 0
  120. setp hm2_7i43.0.stepgen.02.control-type 0
  121. setp hm2_7i43.0.stepgen.02.maxaccel 1250.0
  122. setp hm2_7i43.0.stepgen.02.maxvel 312.5
  123.  
  124. net z-pos-fb axis.2.motor-pos-fb <= hm2_7i43.0.stepgen.02.position-fb
  125. net z-pos-cmd axis.2.motor-pos-cmd => hm2_7i43.0.stepgen.02.position-cmd
  126. net z-enable axis.2.amp-enable-out => hm2_7i43.0.stepgen.02.enable
  127.  
  128. # ---setup home / limit switch signals---
  129.  
  130. net z-home-sw => axis.2.home-sw-in
  131. net z-neg-limit => axis.2.neg-lim-sw-in
  132. net z-pos-limit => axis.2.pos-lim-sw-in
  133.  
  134. #*******************
  135. # SPINDLE S
  136. #*******************
  137.  
  138. # Step Gen signals/setup
  139.  
  140. setp hm2_7i43.0.stepgen.03.dirsetup [SPINDLE_9]DIRSETUP
  141. setp hm2_7i43.0.stepgen.03.dirhold [SPINDLE_9]DIRHOLD
  142. setp hm2_7i43.0.stepgen.03.steplen [SPINDLE_9]STEPLEN
  143. setp hm2_7i43.0.stepgen.03.stepspace [SPINDLE_9]STEPSPACE
  144. setp hm2_7i43.0.stepgen.03.position-scale [SPINDLE_9]STEP_SCALE
  145. setp hm2_7i43.0.stepgen.03.step_type 0
  146. setp hm2_7i43.0.stepgen.03.control-type 1
  147. setp hm2_7i43.0.stepgen.03.maxaccel [SPINDLE_9]MAX_ACCELERATION
  148. setp hm2_7i43.0.stepgen.03.maxvel [SPINDLE_9]MAX_VELOCITY
  149.  
  150. net spindle-enable => hm2_7i43.0.stepgen.03.enable
  151. net spindle-vel-cmd-rps => hm2_7i43.0.stepgen.03.velocity-cmd
  152. net spindle-vel-fb <= hm2_7i43.0.stepgen.03.velocity-fb
  153.  
  154. # ---setup spindle control signals---
  155.  
  156. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  157. net spindle-vel-cmd <= motion.spindle-speed-out
  158. net spindle-enable <= motion.spindle-on
  159. net spindle-cw <= motion.spindle-forward
  160. net spindle-ccw <= motion.spindle-reverse
  161. net spindle-brake <= motion.spindle-brake
  162. net spindle-revs => motion.spindle-revs
  163. net spindle-at-speed => motion.spindle-at-speed
  164. net spindle-vel-fb => motion.spindle-speed-in
  165. net spindle-index-enable <=> motion.spindle-index-enable
  166.  
  167. # ---Setup spindle at speed signals---
  168.  
  169. sets spindle-at-speed true
  170.  
  171.  
  172. #******************************
  173. # connect miscellaneous signals
  174. #******************************
  175.  
  176. # ---HALUI signals---
  177.  
  178. net joint-select-a halui.joint.0.select
  179. net x-is-homed halui.joint.0.is-homed
  180. net jog-x-pos halui.jog.0.plus
  181. net jog-x-neg halui.jog.0.minus
  182. net jog-x-analog halui.jog.0.analog
  183. net joint-select-b halui.joint.1.select
  184. net y-is-homed halui.joint.1.is-homed
  185. net jog-y-pos halui.jog.1.plus
  186. net jog-y-neg halui.jog.1.minus
  187. net jog-y-analog halui.jog.1.analog
  188. net joint-select-c halui.joint.2.select
  189. net z-is-homed halui.joint.2.is-homed
  190. net jog-z-pos halui.jog.2.plus
  191. net jog-z-neg halui.jog.2.minus
  192. net jog-z-analog halui.jog.2.analog
  193. net jog-selected-pos halui.jog.selected.plus
  194. net jog-selected-neg halui.jog.selected.minus
  195. net spindle-manual-cw halui.spindle.forward
  196. net spindle-manual-ccw halui.spindle.reverse
  197. net spindle-manual-stop halui.spindle.stop
  198. net machine-is-on halui.machine.is-on
  199. net jog-speed halui.jog-speed
  200. net MDI-mode halui.mode.is-mdi
  201.  
  202. # ---coolant signals---
  203.  
  204. net coolant-mist <= iocontrol.0.coolant-mist
  205. net coolant-flood <= iocontrol.0.coolant-flood
  206.  
  207. # ---probe signal---
  208.  
  209. net probe-in => motion.probe-input
  210.  
  211. # ---motion control signals---
  212.  
  213. net in-position <= motion.in-position
  214. net machine-is-enabled <= motion.motion-enabled
  215.  
  216. # ---digital in / out signals---
  217.  
  218. net dout-00 <= motion.digital-out-00
  219. net dout-01 <= motion.digital-out-01
  220. net dout-02 <= motion.digital-out-02
  221. net dout-03 <= motion.digital-out-03
  222. # ---estop signals---
  223.  
  224. net estop-out <= iocontrol.0.user-enable-out
  225. net estop-out => iocontrol.0.emc-enable-in
  226.  
  227. # ---toolchange signals for custom tool changer---
  228.  
  229. net tool-number <= iocontrol.0.tool-prep-number
  230. net tool-change-request <= iocontrol.0.tool-change
  231. net tool-change-confirmed => iocontrol.0.tool-changed
  232. net tool-prepare-request <= iocontrol.0.tool-prepare
  233. net tool-prepare-confirmed => iocontrol.0.tool-prepared
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