API tools faq
paste
Advertisement
Guest User

Hal 12-30

a guest
Dec 30th, 2016
58
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 13.18 KB | None | 0 0
raw download clone embed print report
  1. # #######################################
  2. #
  3. # HAL file for HostMot2 with 3 servos
  4. #
  5. # Derived from Ted Hyde's original hm2-servo config
  6. #
  7. # Based up work and discussion with Seb & Peter & Jeff
  8. # GNU license references - insert here. www.linuxcnc.org
  9. #
  10. #
  11. # ########################################
  12. # Firmware files are in /lib/firmware/hm2/7i43/
  13. # Must symlink the hostmot2 firmware directory of sanbox to
  14. # /lib/firmware before running EMC2...
  15. # sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
  16. #
  17. # See also:
  18. # <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
  19. # and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
  20. #
  21. # #####################################################################
  22.  
  23.  
  24. # ###################################
  25. # Core EMC/HAL Loads
  26. # ###################################
  27.  
  28. # kinematics
  29. loadrt trivkins
  30.  
  31. # motion controller, get name and thread periods from ini file
  32. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  33.  
  34. # standard components
  35. loadrt pid num_chan=4
  36.  
  37. # only the 7i43 needs this, but it doesnt hurt the others
  38. # loadrt probe_parport Removed
  39.  
  40. # hostmot2 driver
  41. # if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
  42. #loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
  43. loadrt hostmot2
  44.  
  45. # load low-level driver
  46. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  47.  
  48. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 24000
  49.  
  50. setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000
  51.  
  52. ###### ADDED
  53. # load real time components
  54. ##loadrt pid num_chan=2 #loaded line35
  55. loadrt classicladder_rt
  56.  
  57. # numS32in=5 numS32out=5 numPhysInputs=35 numBits=30 numPhysOutputs=22
  58. loadrt weighted_sum wsum_sizes=4
  59. loadrt and2 count=6
  60. loadrt mux4 names=mpg-scale
  61. loadrt or2 count=6
  62. loadrt not count=2
  63. loadrt mult2 count=3
  64. loadrt mux16
  65. loadrt time
  66. loadrt toggle count=2
  67. loadrt toggle2nist count=2
  68.  
  69.  
  70. # load user space components
  71. loadusr halui
  72. loadusr classicladder --nogui hardinge.clp
  73.  
  74. # Flood Toggle
  75. addf and2.5 servo-thread
  76. addf toggle.1 servo-thread
  77. addf toggle2nist.1 servo-thread
  78.  
  79.  
  80.  
  81.  
  82.  
  83.  
  84. # ################################################
  85. # THREADS
  86. # ################################################
  87.  
  88. addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
  89.  
  90. addf motion-command-handler servo-thread
  91. addf motion-controller servo-thread
  92.  
  93. addf pid.0.do-pid-calcs servo-thread
  94. # addf pid.1.do-pid-calcs servo-thread refers to Y axis
  95. addf pid.2.do-pid-calcs servo-thread
  96. #addf pid.3.do-pid-calcs servo-thread
  97.  
  98.  
  99.  
  100. addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
  101.  
  102.  
  103. # addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread Removed
  104.  
  105. addf process_wsums servo-thread
  106.  
  107. addf classicladder.0.refresh servo-thread
  108.  
  109.  
  110.  
  111. # ######################################################
  112. # Axis-of-motion Specific Configs (not the GUI)
  113. # ######################################################
  114.  
  115. #########
  116. #set scales
  117. ########
  118. loadrt scale count=2
  119.  
  120. loadrt near
  121. addf near.0 servo-thread
  122.  
  123. # ################
  124. # X [0] Axis
  125. # ################
  126.  
  127. # axis enable chain
  128. newsig emcmot.00.enable bit
  129. sets emcmot.00.enable FALSE
  130. net emcmot.00.enable => pid.0.enable
  131. net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
  132. net emcmot.00.enable <= axis.0.amp-enable-out
  133.  
  134. setp hm2_[HOSTMOT2](BOARD).0.resolver.00.scale [AXIS_0]INPUT_SCALE
  135. net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.resolver.00.position => pid.0.feedback
  136. net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
  137.  
  138. # set PID loop gains from inifile
  139. setp pid.0.Pgain [AXIS_0]P
  140. setp pid.0.Igain [AXIS_0]I
  141. setp pid.0.Dgain [AXIS_0]D
  142. setp pid.0.bias [AXIS_0]BIAS
  143. setp pid.0.FF0 [AXIS_0]FF0
  144. setp pid.0.FF1 [AXIS_0]FF1
  145. setp pid.0.FF2 [AXIS_0]FF2
  146. setp pid.0.deadband [AXIS_0]DEADBAND
  147. setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
  148.  
  149. # position command signals
  150. setp hm2_5i23.0.pwmgen.00.output-type 2 #up on pin1, down on pin2
  151. setp hm2_5i23.0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
  152.  
  153. net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
  154. net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
  155.  
  156.  
  157.  
  158.  
  159. # ################
  160. # Z [2] Axis
  161. # ################
  162.  
  163. # axis enable chain
  164. newsig emcmot.02.enable bit
  165. sets emcmot.02.enable FALSE
  166. net emcmot.02.enable => pid.2.enable
  167. net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
  168. net emcmot.02.enable <= axis.2.amp-enable-out
  169.  
  170. setp hm2_[HOSTMOT2](BOARD).0.resolver.02.scale [AXIS_2]INPUT_SCALE
  171. net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.resolver.02.position => pid.2.feedback
  172. net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
  173.  
  174. # set PID loop gains from inifile
  175. setp pid.2.Pgain [AXIS_2]P
  176. setp pid.2.Igain [AXIS_2]I
  177. setp pid.2.Dgain [AXIS_2]D
  178. setp pid.2.bias [AXIS_2]BIAS
  179. setp pid.2.FF0 [AXIS_2]FF0
  180. setp pid.2.FF1 [AXIS_2]FF1
  181. setp pid.2.FF2 [AXIS_2]FF2
  182. setp pid.2.deadband [AXIS_2]DEADBAND
  183. setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
  184.  
  185. # position command signals
  186. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 2 #up on pin1, down on pin2
  187. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
  188.  
  189. net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
  190. net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
  191.  
  192.  
  193.  
  194. net home-switch-X axis.0.home-sw-in <= hm2_[HOSTMOT2](BOARD).0.gpio.028.in
  195. net home-switch-Z axis.2.home-sw-in <= hm2_[HOSTMOT2](BOARD).0.gpio.029.in
  196.  
  197.  
  198. #
  199.  
  200.  
  201.  
  202.  
  203.  
  204.  
  205.  
  206. # ##################################################
  207. # Standard I/O Block - EStop, Etc
  208. # ##################################################
  209.  
  210. # create a signal for the estop loopback
  211. net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
  212.  
  213.  
  214. # set up outputs for 7i37
  215. setp hm2_5i23.0.gpio.040.is_output 1
  216. setp hm2_5i23.0.gpio.040.invert_output 1
  217. setp hm2_5i23.0.gpio.041.is_output 1
  218. setp hm2_5i23.0.gpio.041.invert_output 1
  219. setp hm2_5i23.0.gpio.042.is_output 1
  220. setp hm2_5i23.0.gpio.042.invert_output 1
  221. setp hm2_5i23.0.gpio.043.is_output 1
  222. setp hm2_5i23.0.gpio.043.invert_output 1
  223. setp hm2_5i23.0.gpio.044.is_output 1
  224. setp hm2_5i23.0.gpio.044.invert_output 1
  225. setp hm2_5i23.0.gpio.045.is_output 1
  226. setp hm2_5i23.0.gpio.045.invert_output 1
  227. setp hm2_5i23.0.gpio.046.is_output 1
  228. setp hm2_5i23.0.gpio.046.invert_output 1
  229. setp hm2_5i23.0.gpio.047.is_output 1
  230. setp hm2_5i23.0.gpio.047.invert_output 1
  231. setp hm2_5i23.0.gpio.064.is_output 1
  232. setp hm2_5i23.0.gpio.064.invert_output 1
  233.  
  234.  
  235. # End
  236.  
  237.  
  238. #
  239. # homing
  240. #
  241.  
  242. #
  243. # In this example, each of the three axes have their own home switch. All
  244. # home switches are connected to GPIO 25, though hostmot2 boards generally
  245. # have enough GPIO pins to put each axis' home switch on its own pin.
  246. #
  247. # Each switch is normally open, momentarily closed. When the switch is open,
  248. # GPIO 25 floats high (because that is the hostmot2 way). When the switch is
  249. # closed, it shorts GPIO 25 to ground.
  250. #
  251. # EMC expects the value on the .home-sw-in HAL pin to be active high, ie
  252. # True when the switch is closed and False when the switch is open.
  253. # We get this behavior by linking the GPIO .in_not pin instead of the .in
  254. # pin.
  255. #
  256.  
  257.  
  258. ##ADDED FILES
  259.  
  260. # Turn Control On Added Files
  261.  
  262. # setp hm2_[HOSTMOT2](BOARD).0.gpio.041.is_output 1
  263. # setp hm2_[HOSTMOT2](BOARD).0.gpio.041.invert_output 1
  264.  
  265. # pull the CR-1 relay in when the Power Button is on JT
  266. # net machine-power <= motion.motion-enabled =>
  267.  
  268. # CR-1 Control Power
  269. # net machine-power => hm2_5i20.0.gpio.046.out
  270. # net machine-power => hm2_5i23.0.gpio.041
  271.  
  272.  
  273.  
  274.  
  275.  
  276. net machine-power <= motion.motion-enabled =>
  277. net machine-power => hm2_5i23.0.gpio.040.out
  278.  
  279. net machine-power => hm2_5i23.0.gpio.041.out
  280. # End
  281.  
  282.  
  283.  
  284.  
  285. #net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.024.in_not
  286. #net home-switch => axis.0.home-sw-in
  287. #net home-switch => axis.1.home-sw-in
  288. #net home-switch => axis.2.home-sw-in
  289.  
  290. # only the Y servo has an index, X and Z home without using the index
  291.  
  292. net x-index-enable hm2_[HOSTMOT2](BOARD).0.resolver.00.index-enable <=> axis.0.index-enable
  293.  
  294. net z-index-enable hm2_[HOSTMOT2](BOARD).0.resolver.02.index-enable <=> axis.2.index-enable
  295.  
  296.  
  297. #net y-index-enable hm2_[HOSTMOT2](BOARD).0.resolver.01.index-enable <=> axis.1.index-enable
  298.  
  299.  
  300.  
  301.  
  302.  
  303.  
  304.  
  305. # ---setup home / limit switch signals---
  306.  
  307. net x-pos-ot <= hm2_5i23.0.gpio.024.in
  308. net x-pos-ot axis.0.pos-lim-sw-in
  309.  
  310. net x-neg-ot <= hm2_5i23.0.gpio.025.in
  311. net x-neg-ot axis.0.neg-lim-sw-in
  312.  
  313.  
  314.  
  315. net z-pos-ot <= hm2_5i23.0.gpio.026.in
  316. net z-pos-ot axis.2.pos-lim-sw-in
  317.  
  318. net z-neg-ot <= hm2_5i23.0.gpio.027.in
  319. net z-neg-ot axis.2.neg-lim-sw-in
  320.  
  321.  
  322. # Tool Turret Encoder Setup
  323. #Leave cancelled til rest of info is in
  324. net turret-encoder1 wsum.0.bit.0.in <= hm2_5i23.0.gpio.030.in_not
  325. net turret-encoder2 wsum.0.bit.1.in <= hm2_5i23.0.gpio.031.in_not
  326. net turret-encoder4 wsum.0.bit.2.in <= hm2_5i23.0.gpio.032.in_not
  327. net turret-encoder8 wsum.0.bit.3.in <= hm2_5i23.0.gpio.033.in_not
  328.  
  329. # create signals for tool loading loopback In original Mesa file
  330. #net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  331. #net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
  332.  
  333. # Tool Turret tool change, leave the tool prep loop in as there is no prep needed
  334. net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  335. #net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
  336. net tool-cng-req iocontrol.0.tool-change => classicladder.0.in-01
  337. net tool-cn-done iocontrol.0.tool-changed <= classicladder.0.out-01
  338. net tool-number iocontrol.0.tool-number => classicladder.0.s32in-00
  339. net tool-prep-number iocontrol.0.tool-prep-number => classicladder.0.s32in-01
  340. net tur-stop hm2_5i23.0.gpio.046.out <= classicladder.0.out-02
  341. net tur-lift-spin hm2_5i23.0.gpio.047.out <= classicladder.0.out-03
  342. net tur-locked hm2_5i23.0.gpio.034.in => classicladder.0.in-02
  343. net enc-tool-number wsum.0.sum => classicladder.0.s32in-02
  344. net tool-cng-timeout classicladder.0.out-04 => halui.program.stop
  345.  
  346.  
  347.  
  348.  
  349. #######
  350. #Spindle uses resolver.03 and pwmgen.03
  351. #######
  352.  
  353.  
  354. #spindle scales
  355. addf scale.0 servo-thread
  356. addf scale.1 servo-thread
  357.  
  358. #10v/6000rpm=0.001667
  359. #setp scale.0.gain -0.000201 above #/8
  360. #10v/3000rpm=0.003333 Leave as 1/1
  361. setp scale.0.gain 0.000275
  362.  
  363. # offset for spindle next 2 lines were #
  364. #setp scale.0.offset 0.0001loadrt pwmgen output_type=0 # This creates a 1Hz signal
  365.  
  366. setp scale.1.gain 60
  367.  
  368. #load abs comp make spindle RPM pos
  369. loadrt abs count=3
  370. addf abs.0 servo-thread
  371. addf abs.1 servo-thread
  372. addf abs.2 servo-thread
  373.  
  374. #spindle speed out limits
  375. loadrt limit1 count=1
  376. addf limit1.0 servo-thread
  377. setp limit1.0.min -2500
  378. setp limit1.0.max 2500
  379.  
  380. #set scale and pwm
  381. setp hm2_5i23.0.resolver.03.scale 1
  382. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.03.output-type 2
  383.  
  384. net spindle-speed-limit motion.spindle-speed-out => limit1.0.in
  385. net spindle-speed-limit-out limit1.0.out => scale.0.in
  386. net spindle-speed-DAC scale.0.out => hm2_5i23.0.pwmgen.03.value
  387. net spindle-rpm => abs.1.in
  388. net spindle-speed-abs <= abs.1.out
  389.  
  390.  
  391. #Added from andy
  392. net spindle-tryout motion.spindle-on => hm2_5i23.0.pwmgen.03.enable
  393.  
  394. #net spindle-index-enable <=> hm2_5i23.0.resolver.03.index-enable
  395.  
  396.  
  397. #Added for Meter
  398. #net spindle-rpm-filtered => pyvcp.spindle-speed
  399. #net spindle-rpm => pyvcp.spindle-speed
  400. #net spindle-at-speed => pyvcp.spindle-at-speed
  401.  
  402.  
  403. ## Next secions are brake related - DISABLE
  404. #spindle enable Next line cleared
  405. #net spindle-enable-req motion.spindle-on => and2.1.in0
  406. #net spindle-brake-sensor hm2_5i20.0.gpio.051.in_not => and2.1.in1
  407. #net spindle-enable and2.1.out => hm2_5i23.0.pwmgen.03.enable
  408.  
  409. # enable spindle drive
  410. #net spindle-enable => hm2_5i20.0.gpio.065.out
  411. # force spindle lock pin out
  412. #net spindle-enable => hm2_5i20.0.gpio.042.out
  413.  
  414. # release spindle brake
  415. #net spindle-brake-prg not.0.out => or2.2.in0
  416. #net spindle-brake-logic motion.spindle-brake => not.0.in
  417. #net spindle-brake hm2_5i20.0.gpio.040.out <= or2.2.out
  418. ## End of disabled area
  419.  
  420. #spindle sync
  421. net spindle-index motion.spindle-index-enable <= hm2_5i23.0.resolver.03.index-enable
  422. net spindle-velocity motion.spindle-speed-in <= hm2_5i23.0.resolver.03.velocity
  423. net spindle-revs motion.spindle-revs <= hm2_5i23.0.resolver.03.position
  424.  
  425. net spindle-velocity => abs.0.in
  426. net spindle-v-abs abs.0.out => scale.1.in
  427. net spindle-v-abs-out <= scale.1.out
  428.  
  429. # spindle speed
  430. net spindle-velocity mult2.0.in0
  431. setp mult2.0.in1 60
  432. net spindle-abs abs.2.in mult2.0.out
  433. net spindle-rpm abs.2.out
  434.  
  435. # spindle at speed
  436. setp near.0.difference 0.15
  437. net spindle-velocity near.0.in1
  438. net com-spindle-vel near.0.in2 <= motion.spindle-speed-out-rps
  439. net spindle-at-speed near.0.out <= motion.spindle-at-speed
  440.  
  441. # trick Axis
  442. net trick-axis motion.spindle-reverse
  443.  
  444. #Added Stuff
  445. #net spindle-index-enable <=> motion.spindle-index-enable -error-already linked
  446.  
  447.  
  448. #######
  449. #end of spindle
  450. ######
  451.  
  452. # Coolant Pump
  453. net coolant-pump hm2_5i23.0.gpio.064.out <= iocontrol.0.coolant-flood
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!