API tools faq
paste
Guest User

lcnc 5axiskins with gantry Y

a guest
Oct 19th, 2021
67
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 24.83 KB | None | 0 0
raw download clone embed print report
  1. .ini
  2. ***************************************************
  3. [EMC]
  4. VERSION = 1.1
  5. MACHINE = 5Axis Gantry Mill (xyyzbc)
  6. DEBUG = 0
  7.  
  8. [DISPLAY]
  9. JOG_AXES = XYZBC
  10. GEOMETRY = XYZBCW
  11. DISPLAY = axis
  12. CYCLE_TIME = 0.200
  13. POSITION_OFFSET = RELATIVE
  14. POSITION_FEEDBACK = ACTUAL
  15. MAX_FEED_OVERRIDE = 2.0
  16. PROGRAM_PREFIX = ../../nc_files/
  17. INTRO_GRAPHIC = linuxcnc.gif
  18. INTRO_TIME = 5
  19. #EDITOR = gedit
  20.  
  21. DEFAULT_LINEAR_VELOCITY = 40
  22. MIN_VELOCITY = .01
  23. MAX_LINEAR_VELOCITY = 60
  24. MIN_LINEAR_VELOCITY = .01
  25. DEFAULT_ANGULAR_VELOCITY = 20
  26. MIN_ANGULAR_VELOCITY = .01
  27. MAX_ANGULAR_VELOCITY = 15
  28.  
  29. [HOSTMOT2]
  30. DRIVER=hm2_pci
  31. BOARD=6i25
  32. CONFIG="firmware=hm2/6i25/SVST4_8.BIT num_encoders=1 num_pwmgens=0 num_stepgens=6 sserial_port_0=00xxxx"
  33.  
  34.  
  35. [RS274NGC]
  36. PARAMETER_FILE = 5axis.var
  37.  
  38. [EMCMOT]
  39. EMCMOT = motmod
  40. COMM_TIMEOUT = 1.0
  41. SERVO_PERIOD = 1000000
  42.  
  43. [TASK]
  44. TASK = milltask
  45. CYCLE_TIME = 0.010
  46.  
  47. [HAL]
  48. HALUI = halui
  49. HALFILE = gantry_5axis.hal
  50. HALCMD = loadusr -W ./5axisgui
  51. HALCMD = net :jx joint.0.pos-fb 5axisgui.jx
  52. HALCMD = net :jy joint.1.pos-fb 5axisgui.jy
  53. HALCMD = net :jz joint.2.pos-fb 5axisgui.jz
  54. HALCMD = net :jb joint.3.pos-fb 5axisgui.jb
  55. HALCMD = net :jc joint.4.pos-fb 5axisgui.jc
  56. HALCMD = net :tool-len motion.tooloffset.z 5axisgui.tool_length
  57.  
  58. [TRAJ]
  59. COORDINATES = X Y Z B C Y W
  60. LINEAR_UNITS = 1.0
  61. ANGULAR_UNITS = 1.0
  62. DEFAULT_ANGULAR_VELOCITY = 200.0
  63. MAX_ANGULAR_VELOCITY = 346.0
  64. MAX_ANGULAR_ACCELERATION = 800.0
  65. DEFAULT_ANGULAR_ACCELERATION = 800.0
  66.  
  67. DEFAULT_LINEAR_VELOCITY = 200.0
  68. MAX_LINEAR_VELOCITY = 346.0
  69. MAX_LINEAR_ACCELERATION = 800.0
  70. DEFAULT_LINEAR_ACCELERATION = 800.0
  71.  
  72. [EMCIO]
  73. EMCIO = io
  74. CYCLE_TIME = 0.100
  75. TOOL_TABLE = 5axis.tbl
  76.  
  77. [KINS]
  78. # 5axiskins misnomer 1 more joint for W
  79. KINEMATICS = 5axiskins
  80. JOINTS = 7
  81.  
  82.  
  83. /*************************************************************************************/
  84.  
  85. # X is one-to-one to JOINT_0
  86. [AXIS_X]
  87. MAX_VELOCITY = 100.0
  88. MAX_ACCELERATION = 350.0
  89. MIN_LIMIT = -1.0
  90. MAX_LIMIT = 1701.0
  91.  
  92. # Y is one-to-one to JOINT_1
  93. [AXIS_Y]
  94. MAX_VELOCITY = 70.0
  95. MAX_ACCELERATION = 350.0
  96. MIN_LIMIT = -1.0
  97. MAX_LIMIT = 2261.0
  98.  
  99. # Z is one-to-one to JOINT_2
  100. [AXIS_Z]
  101. MAX_VELOCITY = 70.0
  102. MAX_ACCELERATION = 950.0
  103. MIN_LIMIT = -600.0
  104. MAX_LIMIT = 1.00
  105.  
  106.  
  107. # B is one-to-one to JOINT_3
  108. [AXIS_B]
  109. MAX_VELOCITY = 60
  110. MAX_ACCELERATION = 200
  111. MIN_LIMIT = -120
  112. MAX_LIMIT = 120
  113.  
  114. # C is one-to-one to JOINT_4
  115. [AXIS_C]
  116. MAX_VELOCITY = 60
  117. MAX_ACCELERATION = 200
  118. MIN_LIMIT = -36000
  119. MAX_LIMIT = 36000
  120.  
  121. # W is one-to-one to JOINT_5
  122. [AXIS_W]
  123. MAX_VELOCITY = 70.0
  124. MAX_ACCELERATION = 350.0
  125. MIN_LIMIT = -1.0
  126. MAX_LIMIT = 2261.0
  127.  
  128.  
  129. # X AXIS
  130. [JOINT_0]
  131. TYPE = LINEAR
  132. HOME = 0.0
  133. FERROR = 50.0
  134. MIN_FERROR = 1.0
  135. MAX_VELOCITY = 100.0
  136. MAX_ACCELERATION = 950.0
  137. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  138. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  139. STEPGEN_MAXVEL = 120.00
  140. STEPGEN_MAXACCEL = 1200.00
  141. P = 1000.0
  142. I = 0.0
  143. D = 0.0
  144. FF0 = 0.0
  145. FF1 = 1.0
  146. FF2 = 0.0
  147. BIAS = 0.0
  148. DEADBAND = 0.0
  149. MAX_OUTPUT = 0.0
  150. # these are in nanoseconds
  151. DIRSETUP = 15000
  152. DIRHOLD = 15000
  153. STEPLEN = 15000
  154. STEPSPACE = 15000
  155. STEP_SCALE = 25.477
  156. #STEP_SCALE = 2.53
  157. MIN_LIMIT = -1.0
  158. MAX_LIMIT = 1701.0
  159. #HOME_OFFSET = 0.000000
  160. #HOME_SEARCH_VEL = -100.000000
  161. #HOME_LATCH_VEL = 10.00000
  162. #HOME_FINAL_VEL = 100.000000
  163. #HOME_USE_INDEX = NO
  164. #HOME_IGNORE_LIMITS = YES
  165. #HOME_SEQUENCE = -1
  166. #******************************************
  167.  
  168.  
  169. # Y AXIS Gantry 1
  170. [JOINT_1]
  171. TYPE = LINEAR
  172. HOME = 0.0
  173. FERROR = 5.0
  174. MIN_FERROR = 0.1
  175. MAX_VELOCITY = 100.0
  176. MAX_ACCELERATION = 950.0
  177. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  178. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  179. STEPGEN_MAXVEL = 120.00
  180. STEPGEN_MAXACCEL = 1200.00
  181. P = 1000.0
  182. I = 0.0
  183. D = 0.0
  184. FF0 = 0.0
  185. FF1 = 1.0
  186. FF2 = 0.0
  187. BIAS = 0.0
  188. DEADBAND = 0.0
  189. MAX_OUTPUT = 0.0
  190. # these are in nanoseconds
  191. DIRSETUP = 15000
  192. DIRHOLD = 15000
  193. STEPLEN = 15000
  194. STEPSPACE = 15000
  195. STEP_SCALE = -25.477
  196. MIN_LIMIT = -1.0000
  197. MAX_LIMIT = 2261.0000
  198. #HOME_OFFSET = 0.000000
  199. #HOME_SEARCH_VEL = -100.000000
  200. #HOME_LATCH_VEL = 10.00000
  201. #HOME_FINAL_VEL = 100.000000
  202. #HOME_USE_INDEX = NO
  203. #HOME_IGNORE_LIMITS = YES
  204. #HOME_SEQUENCE = -1
  205. #******************************************
  206.  
  207.  
  208.  
  209. # Z AXIS
  210. [JOINT_2]
  211. TYPE = LINEAR
  212. HOME = 0.0
  213. FERROR = 5.0
  214. MIN_FERROR = 0.5
  215. MAX_VELOCITY = 100.0
  216. MAX_ACCELERATION = 950.0
  217. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  218. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  219. STEPGEN_MAXVEL = 120.00
  220. STEPGEN_MAXACCEL = 1200.00
  221. P = 1000.0
  222. I = 0.0
  223. D = 0.0
  224. FF0 = 0.0
  225. FF1 = 1.0
  226. FF2 = 0.0
  227. BIAS = 0.0
  228. DEADBAND = 0.0
  229. MAX_OUTPUT = 0.0
  230. # these are in nanoseconds
  231. DIRSETUP = 15000
  232. DIRHOLD = 15000
  233. STEPLEN = 15000
  234. STEPSPACE = 15000
  235. STEP_SCALE = 25.477
  236. MIN_LIMIT = -500.0
  237. MAX_LIMIT = 1.0
  238. #HOME_OFFSET = 0.000000
  239. #HOME_SEARCH_VEL = -100.000000
  240. #HOME_LATCH_VEL = 10.00000
  241. #HOME_FINAL_VEL = 100.000000
  242. #HOME_USE_INDEX = NO
  243. #HOME_IGNORE_LIMITS = YES
  244. #HOME_SEQUENCE = 0
  245.  
  246. # B AXIS
  247. [JOINT_3]
  248. TYPE = ANGULAR
  249. HOME = 0.0
  250. FERROR = 10.0
  251. MIN_FERROR = 1.0
  252. MAX_VELOCITY = 80.0
  253. MAX_ACCELERATION = 950.0
  254. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  255. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  256. STEPGEN_MAXVEL = 120.00
  257. STEPGEN_MAXACCEL = 1200.00
  258. P = 1000.0
  259. I = 0.0
  260. D = 0.0
  261. FF0 = 0.0
  262. FF1 = 1.0
  263. FF2 = 0.0
  264. BIAS = 0.0
  265. DEADBAND = 0.0
  266. MAX_OUTPUT = 0.0
  267. # these are in nanoseconds
  268. DIRSETUP = 15000
  269. DIRHOLD = 15000
  270. STEPLEN = 15000
  271. STEPSPACE = 15000
  272. STEP_SCALE = 20.0
  273. MIN_LIMIT = -120
  274. MAX_LIMIT = 120
  275. #HOME_OFFSET = 0.000000
  276. #HOME_SEARCH_VEL = -1.000000
  277. #HOME_LATCH_VEL = -0.500000
  278. #HOME_FINAL_VEL = 0.000000
  279. #HOME_USE_INDEX = NO
  280. #HOME_IGNORE_LIMITS = YES
  281. #******************************************
  282.  
  283. #******************************************
  284.  
  285. # C AXIS
  286. [JOINT_4]
  287. TYPE = ANGULAR
  288. HOME = 0.0
  289. FERROR = 0.5
  290. MIN_FERROR = 0.05
  291. MAX_VELOCITY = 15.0
  292. MAX_ACCELERATION = 1200.0
  293. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  294. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  295. STEPGEN_MAXVEL = 80.00
  296. STEPGEN_MAXACCEL = 1500.00
  297. P = 1000.0
  298. I = 0.0
  299. D = 0.0
  300. FF0 = 0.0
  301. FF1 = 1.0
  302. FF2 = 0.0
  303. BIAS = 0.0
  304. DEADBAND = 0.0
  305. MAX_OUTPUT = 0.0
  306. # these are in nanoseconds
  307. DIRSETUP = 15000
  308. DIRHOLD = 15000
  309. STEPLEN = 15000
  310. STEPSPACE = 15000
  311. STEP_SCALE = 20.0
  312. MIN_LIMIT = -36000
  313. MAX_LIMIT = 36000
  314. #HOME_OFFSET = 0.0
  315.  
  316. # Y2 AXIS
  317. [JOINT_5]
  318. TYPE = LINEAR
  319. HOME = 0.0
  320. FERROR = 5.0
  321. MIN_FERROR = 0.1
  322. MAX_VELOCITY = 100.0
  323. MAX_ACCELERATION = 950.0
  324. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  325. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  326. STEPGEN_MAXVEL = 120.00
  327. STEPGEN_MAXACCEL = 1200.00
  328. P = 1000.0
  329. I = 0.0
  330. D = 0.0
  331. FF0 = 0.0
  332. FF1 = 1.0
  333. FF2 = 0.0
  334. BIAS = 0.0
  335. DEADBAND = 0.0
  336. MAX_OUTPUT = 0.0
  337. # these are in nanoseconds
  338. DIRSETUP = 15000
  339. DIRHOLD = 15000
  340. STEPLEN = 15000
  341. STEPSPACE = 15000
  342. STEP_SCALE = -25.477
  343. MIN_LIMIT = -1.0000
  344. MAX_LIMIT = 2261.0000
  345. #HOME_OFFSET = 0.000000
  346. #HOME_SEARCH_VEL = -100.000000
  347. #HOME_LATCH_VEL = 10.00000
  348. #HOME_FINAL_VEL = 100.000000
  349. #HOME_USE_INDEX = NO
  350. #HOME_IGNORE_LIMITS = YES
  351. #HOME_SEQUENCE = -1
  352. #******************************************
  353.  
  354. # W AXIS
  355. [JOINT_6]
  356. TYPE = LINEAR
  357. HOME = 0.0
  358. FERROR = 50.0
  359. MIN_FERROR = 1.0
  360. MAX_VELOCITY = 100.0
  361. MAX_ACCELERATION = 950.0
  362. # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
  363. # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
  364. STEPGEN_MAXVEL = 120.00
  365. STEPGEN_MAXACCEL = 1200.00
  366. P = 1000.0
  367. I = 0.0
  368. D = 0.0
  369. FF0 = 0.0
  370. FF1 = 1.0
  371. FF2 = 0.0
  372. BIAS = 0.0
  373. DEADBAND = 0.0
  374. MAX_OUTPUT = 0.0
  375. # these are in nanoseconds
  376. DIRSETUP = 15000
  377. DIRHOLD = 15000
  378. STEPLEN = 15000
  379. STEPSPACE = 15000
  380. STEP_SCALE = 25.477
  381. #STEP_SCALE = 2.53
  382. MIN_LIMIT = -2261.0
  383. MAX_LIMIT = 2261.0
  384. #HOME_OFFSET = 0.000000
  385. #HOME_SEARCH_VEL = -100.000000
  386. #HOME_LATCH_VEL = 10.00000
  387. #HOME_FINAL_VEL = 100.000000
  388. #HOME_USE_INDEX = NO
  389. #HOME_IGNORE_LIMITS = YES
  390. #HOME_SEQUENCE = -1
  391. #******************************************
  392.  
  393.  
  394.  
  395.  
  396.  
  397. *************************************************
  398. .hal
  399. *************************************************
  400.  
  401. loadrt [KINS]KINEMATICS
  402. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  403. loadrt hostmot2
  404.  
  405. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  406.  
  407.  
  408. #loadrt 5axiskins
  409. #loadrt motmod servo_period_nsec=1000000 num_joints=6
  410. #loadrt hostmot2
  411. #loadrt hm2_pci config="firmware=hm2/6i25/SVST4_8.BIT num_encoders=1 num_pwmgens=0 num_stepgens=6 sserial_port_0=00xxxx"
  412.  
  413. loadrt pid names=pid.x,pid.y1,pid.y2,pid.z,pid.b,pid.c
  414.  
  415.  
  416. addf hm2_5i25.0.read servo-thread
  417. addf motion-command-handler servo-thread
  418. addf motion-controller servo-thread
  419. addf pid.x.do-pid-calcs servo-thread
  420. addf pid.y2.do-pid-calcs servo-thread
  421. addf pid.y1.do-pid-calcs servo-thread
  422. addf pid.z.do-pid-calcs servo-thread
  423. addf pid.b.do-pid-calcs servo-thread
  424. addf pid.c.do-pid-calcs servo-thread
  425. addf hm2_5i25.0.write servo-thread
  426.  
  427.  
  428.  
  429. # --- X-ENABLE ---
  430. net x-enable => hm2_5i25.0.7i76.0.0.output-00
  431. setp hm2_5i25.0.7i76.0.0.output-00-invert true
  432.  
  433. # --- Y1-ENABLE ---
  434. net y1-enable => hm2_5i25.0.7i76.0.0.output-01
  435. setp hm2_5i25.0.7i76.0.0.output-01-invert true
  436.  
  437. # --- Y2-ENABLE ---
  438. net y2-enable => hm2_5i25.0.7i76.0.0.output-02
  439. setp hm2_5i25.0.7i76.0.0.output-02-invert true
  440.  
  441. # --- Z-ENABLE ---
  442. net z-enable => hm2_5i25.0.7i76.0.0.output-03
  443. setp hm2_5i25.0.7i76.0.0.output-03-invert true
  444.  
  445. # --- B-ENABLE ---
  446. net b-enable => hm2_5i25.0.7i76.0.0.output-04
  447. setp hm2_5i25.0.7i76.0.0.output-04-invert true
  448.  
  449. # --- C-ENABLE ---
  450. net c-enable => hm2_5i25.0.7i76.0.0.output-05
  451. setp hm2_5i25.0.7i76.0.0.output-05-invert true
  452.  
  453. # external input signals
  454.  
  455.  
  456. # --- MIN-X ---
  457. net min-x <= hm2_5i25.0.7i76.0.0.input-00
  458.  
  459. # --- MAX-X ---
  460. net max-x <= hm2_5i25.0.7i76.0.0.input-01
  461.  
  462. # --- MIN-Y1 ---
  463. net min-y1 <= hm2_5i25.0.7i76.0.0.input-02
  464.  
  465. # --- MAX-Y1 ---
  466. net max-y1 <= hm2_5i25.0.7i76.0.0.input-03
  467.  
  468. # --- MIN-Y2 ---
  469. net min-y2 <= hm2_5i25.0.7i76.0.0.input-04
  470.  
  471. # --- MAX-Y2 ---
  472. net max-y2 <= hm2_5i25.0.7i76.0.0.input-05
  473.  
  474. # --- MIN-Z ---
  475. net min-z <= hm2_5i25.0.7i76.0.0.input-06
  476.  
  477. # --- MAX-Z ---
  478. net max-z <= hm2_5i25.0.7i76.0.0.input-07
  479.  
  480. # --- MIN-B ---
  481. net min-b <= hm2_5i25.0.7i76.0.0.input-08
  482.  
  483. # --- MAX-B ---
  484. net max-b <= hm2_5i25.0.7i76.0.0.input-09
  485.  
  486. # --- ESTOP-EXT ---
  487. #net estop-ext <= hm2_5i25.0.7i76.0.0.input-15
  488. net estop-ext <= hm2_5i25.0.7i76.0.0.input-15-not
  489.  
  490. # --- PROBE-IN ---
  491. net probe-in <= hm2_5i25.0.7i76.0.0.input-14
  492.  
  493.  
  494.  
  495. # *************************************************************************************************************
  496. # *************************************************************************************************************
  497. # *************************************************************************************************************
  498. # *************************************************************************************************************
  499.  
  500.  
  501. #*******************
  502. # AXIS X JOINT 0
  503. #*******************
  504.  
  505. setp pid.x.Pgain [JOINT_0]P
  506. setp pid.x.Igain [JOINT_0]I
  507. setp pid.x.Dgain [JOINT_0]D
  508. setp pid.x.bias [JOINT_0]BIAS
  509. setp pid.x.FF0 [JOINT_0]FF0
  510. setp pid.x.FF1 [JOINT_0]FF1
  511. setp pid.x.FF2 [JOINT_0]FF2
  512. setp pid.x.deadband [JOINT_0]DEADBAND
  513. setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
  514. setp pid.x.error-previous-target true
  515. setp pid.x.maxerror .0005
  516.  
  517. net x-enable => pid.x.enable
  518.  
  519. net x-index-enable <=> pid.x.index-enable
  520. net x-pos-cmd => pid.x.command
  521. net x-vel-cmd => pid.x.command-deriv
  522. net x-pos-fb => pid.x.feedback
  523. net x-output <= pid.x.output
  524.  
  525. # Step Gen signals/setup
  526.  
  527. setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
  528. setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
  529. setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN
  530. setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
  531. setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
  532. setp hm2_5i25.0.stepgen.00.step_type 0
  533. setp hm2_5i25.0.stepgen.00.control-type 1
  534. setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  535. setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
  536.  
  537. # ---closedloop stepper signals---
  538.  
  539. net x-pos-cmd <= joint.0.motor-pos-cmd
  540. net x-vel-cmd <= joint.0.vel-cmd
  541. net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
  542. net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
  543. net x-pos-fb => joint.0.motor-pos-fb
  544. net x-enable <= joint.0.amp-enable-out
  545. net x-enable => hm2_5i25.0.stepgen.00.enable
  546.  
  547. # ---setup home / limit switch signals---
  548.  
  549. net min-home-x => joint.0.home-sw-in
  550. net min-home-x => joint.0.neg-lim-sw-in
  551. net max-x => joint.0.pos-lim-sw-in
  552.  
  553. #*******************
  554. # Tandem AXIS y1 JOINT 1
  555. #*******************
  556.  
  557. setp pid.y1.Pgain [JOINT_1]P
  558. setp pid.y1.Igain [JOINT_1]I
  559. setp pid.y1.Dgain [JOINT_1]D
  560. setp pid.y1.bias [JOINT_1]BIAS
  561. setp pid.y1.FF0 [JOINT_1]FF0
  562. setp pid.y1.FF1 [JOINT_1]FF1
  563. setp pid.y1.FF2 [JOINT_1]FF2
  564. setp pid.y1.deadband [JOINT_1]DEADBAND
  565. setp pid.y1.maxoutput [JOINT_1]MAX_OUTPUT
  566. setp pid.y1.error-previous-target true
  567. setp pid.y1.maxerror .0005
  568.  
  569. net y1-index-enable <=> pid.y1.index-enable
  570. net y1-enable => pid.y1.enable
  571. net y1-pos-cmd => pid.y1.command
  572. net y1-vel-cmd => pid.y1.command-deriv
  573. net y1-pos-fb => pid.y1.feedback
  574. net y1-output <= pid.y1.output
  575.  
  576. # Step Gen signals/setup for tandem axis
  577.  
  578. setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
  579. setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
  580. setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
  581. setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
  582. setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
  583. setp hm2_5i25.0.stepgen.01.step_type 0
  584. setp hm2_5i25.0.stepgen.01.control-type 1
  585. setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  586. setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
  587.  
  588. # ---closedloop stepper signals---
  589.  
  590. net y1-pos-cmd <= joint.1.motor-pos-cmd
  591. net y1-vel-cmd <= joint.1.vel-cmd
  592. net y1-output <= hm2_5i25.0.stepgen.01.velocity-cmd
  593. net y1-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
  594. net y1-pos-fb => joint.1.motor-pos-fb
  595. net y1-enable <= joint.1.amp-enable-out
  596. net y1-enable => hm2_5i25.0.stepgen.01.enable
  597.  
  598. # ---setup home / limit switch signals---
  599.  
  600. net min-home-y1 => joint.1.home-sw-in
  601. net min-home-y1 => joint.1.neg-lim-sw-in
  602. net max-y1 => joint.1.pos-lim-sw-in
  603.  
  604.  
  605. #*******************
  606. # AXIS Z JOINT 2
  607. #*******************
  608.  
  609. setp pid.z.Pgain [JOINT_2]P
  610. setp pid.z.Igain [JOINT_2]I
  611. setp pid.z.Dgain [JOINT_2]D
  612. setp pid.z.bias [JOINT_2]BIAS
  613. setp pid.z.FF0 [JOINT_2]FF0
  614. setp pid.z.FF1 [JOINT_2]FF1
  615. setp pid.z.FF2 [JOINT_2]FF2
  616. setp pid.z.deadband [JOINT_2]DEADBAND
  617. setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
  618. setp pid.z.error-previous-target true
  619. setp pid.z.maxerror .0005
  620.  
  621. net z-index-enable <=> pid.z.index-enable
  622. net z-enable => pid.z.enable
  623. net z-pos-cmd => pid.z.command
  624. net z-vel-cmd => pid.z.command-deriv
  625. net z-pos-fb => pid.z.feedback
  626. net z-output <= pid.z.output
  627.  
  628. # Step Gen signals/setup
  629.  
  630. setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
  631. setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
  632. setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN
  633. setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
  634. setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
  635. setp hm2_5i25.0.stepgen.02.step_type 0
  636. setp hm2_5i25.0.stepgen.02.control-type 1
  637. setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  638. setp hm2_5i25.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
  639.  
  640. # ---closedloop stepper signals---
  641.  
  642. net z-pos-cmd <= joint.2.motor-pos-cmd
  643. net z-vel-cmd <= joint.2.vel-cmd
  644. net z-output <= hm2_5i25.0.stepgen.02.velocity-cmd
  645. net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
  646. net z-pos-fb => joint.2.motor-pos-fb
  647. net z-enable <= joint.2.amp-enable-out
  648. net z-enable => hm2_5i25.0.stepgen.02.enable
  649.  
  650. # ---setup home / limit switch signals---
  651.  
  652. net max-home-z => joint.2.home-sw-in
  653. net min-z => joint.2.neg-lim-sw-in
  654. net max-home-z => joint.2.pos-lim-sw-in
  655.  
  656. #*******************
  657. # AXIS B JOINT 3
  658. #*******************
  659.  
  660. setp pid.b.Pgain [JOINT_3]P
  661. setp pid.b.Igain [JOINT_3]I
  662. setp pid.b.Dgain [JOINT_3]D
  663. setp pid.b.bias [JOINT_3]BIAS
  664. setp pid.b.FF0 [JOINT_3]FF0
  665. setp pid.b.FF1 [JOINT_3]FF1
  666. setp pid.b.FF2 [JOINT_3]FF2
  667. setp pid.b.deadband [JOINT_3]DEADBAND
  668. setp pid.b.maxoutput [JOINT_3]MAX_OUTPUT
  669. setp pid.b.error-previous-target true
  670. setp pid.b.maxerror .000
  671.  
  672. net b-index-enable <=> pid.b.index-enable
  673. net b-enable => pid.b.enable
  674. net b-pos-cmd => pid.b.command
  675. net b-vel-cmd => pid.b.command-deriv
  676. net b-pos-fb => pid.b.feedback
  677. net b-output <= pid.b.output
  678.  
  679. # Step Gen signals/setup
  680.  
  681. setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
  682. setp hm2_5i25.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
  683. setp hm2_5i25.0.stepgen.03.steplen [JOINT_3]STEPLEN
  684. setp hm2_5i25.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
  685. setp hm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
  686. setp hm2_5i25.0.stepgen.03.step_type 0
  687. setp hm2_5i25.0.stepgen.03.control-type 1
  688. setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
  689. setp hm2_5i25.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
  690.  
  691. # ---closedloop stepper signals---
  692.  
  693. net b-pos-cmd <= joint.3.motor-pos-cmd
  694. net b-vel-cmd <= joint.3.vel-cmd
  695. net b-output <= hm2_5i25.0.stepgen.03.velocity-cmd
  696. net b-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
  697. net b-pos-fb => joint.3.motor-pos-fb
  698. net b-enable <= joint.3.amp-enable-out
  699. net b-enable => hm2_5i25.0.stepgen.03.enable
  700.  
  701. # ---setup home / limit switch signals---
  702.  
  703. # net max-home-z => joint.2.home-sw-in
  704. # net min-z => joint.2.neg-lim-sw-in
  705. # net max-home-z => joint.2.pos-lim-sw-in
  706.  
  707. #*******************
  708. # AXIS C JOINT 4
  709. #*******************
  710.  
  711. setp pid.c.Pgain [JOINT_4]P
  712. setp pid.c.Igain [JOINT_4]I
  713. setp pid.c.Dgain [JOINT_4]D
  714. setp pid.c.bias [JOINT_4]BIAS
  715. setp pid.c.FF0 [JOINT_4]FF0
  716. setp pid.c.FF1 [JOINT_4]FF1
  717. setp pid.c.FF2 [JOINT_4]FF2
  718. setp pid.c.deadband [JOINT_4]DEADBAND
  719. setp pid.c.maxoutput [JOINT_4]MAX_OUTPUT
  720. setp pid.c.error-previous-target true
  721. setp pid.c.maxerror .0005
  722.  
  723. net c-index-enable <=> pid.c.index-enable
  724. net c-enable => pid.c.enable
  725. net c-pos-cmd => pid.c.command
  726. net c-vel-cmd => pid.c.command-deriv
  727. net c-pos-fb => pid.c.feedback
  728. net c-output <= pid.c.output
  729.  
  730. # Step Gen signals/setup
  731.  
  732. setp hm2_5i25.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
  733. setp hm2_5i25.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
  734. setp hm2_5i25.0.stepgen.04.steplen [JOINT_4]STEPLEN
  735. setp hm2_5i25.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
  736. setp hm2_5i25.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
  737. setp hm2_5i25.0.stepgen.04.step_type 0
  738. setp hm2_5i25.0.stepgen.04.control-type 1
  739. setp hm2_5i25.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
  740. setp hm2_5i25.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
  741.  
  742. # ---closedloop stepper signals---
  743.  
  744. net c-pos-cmd <= joint.4.motor-pos-cmd
  745. net c-vel-cmd <= joint.4.vel-cmd
  746. net c-output <= hm2_5i25.0.stepgen.04.velocity-cmd
  747. net c-pos-fb <= hm2_5i25.0.stepgen.04.position-fb
  748. net c-pos-fb => joint.4.motor-pos-fb
  749. net c-enable <= joint.4.amp-enable-out
  750. net c-enable => hm2_5i25.0.stepgen.04.enable
  751.  
  752. #*******************
  753. # Tandem AXIS y2 JOINT 5
  754. #*******************
  755.  
  756. setp pid.y2.Pgain [JOINT_5]P
  757. setp pid.y2.Igain [JOINT_5]I
  758. setp pid.y2.Dgain [JOINT_5]D
  759. setp pid.y2.bias [JOINT_5]BIAS
  760. setp pid.y2.FF0 [JOINT_5]FF0
  761. setp pid.y2.FF1 [JOINT_5]FF1
  762. setp pid.y2.FF2 [JOINT_5]FF2
  763. setp pid.y2.deadband [JOINT_5]DEADBAND
  764. setp pid.y2.maxoutput [JOINT_5]MAX_OUTPUT
  765. setp pid.y2.error-previous-target true
  766. setp pid.y2.maxerror .0005
  767.  
  768. net y2-index-enable <=> pid.y2.index-enable
  769. net y2-enable => pid.y2.enable
  770. net y2-pos-cmd => pid.y2.command
  771. net y2-vel-cmd => pid.y2.command-deriv
  772. net y2-pos-fb => pid.y2.feedback
  773. net y2-output <= pid.y2.output
  774.  
  775. # Step Gen signals/setup
  776.  
  777. setp hm2_5i25.0.stepgen.05.dirsetup [JOINT_5]DIRSETUP
  778. setp hm2_5i25.0.stepgen.05.dirhold [JOINT_5]DIRHOLD
  779. setp hm2_5i25.0.stepgen.05.steplen [JOINT_5]STEPLEN
  780. setp hm2_5i25.0.stepgen.05.stepspace [JOINT_5]STEPSPACE
  781. setp hm2_5i25.0.stepgen.05.position-scale [JOINT_5]STEP_SCALE
  782. setp hm2_5i25.0.stepgen.05.step_type 0
  783. setp hm2_5i25.0.stepgen.05.control-type 1
  784. setp hm2_5i25.0.stepgen.05.maxaccel [JOINT_5]STEPGEN_MAXACCEL
  785. setp hm2_5i25.0.stepgen.05.maxvel [JOINT_5]STEPGEN_MAXVEL
  786.  
  787. # ---closedloop stepper signals---
  788.  
  789. net y2-pos-cmd <= joint.5.motor-pos-cmd
  790. net y2-vel-cmd <= joint.5.vel-cmd
  791. net y2-output <= hm2_5i25.0.stepgen.05.velocity-cmd
  792. net y2-pos-fb <= hm2_5i25.0.stepgen.05.position-fb
  793. net y2-pos-fb => joint.5.motor-pos-fb
  794. net y2-enable <= joint.5.amp-enable-out
  795. net y2-enable => hm2_5i25.0.stepgen.05.enable
  796.  
  797. # ---setup home / limit switch signals---
  798.  
  799. net min-home-y2 => joint.5.home-sw-in
  800. net min-home-y2 => joint.5.neg-lim-sw-in
  801. net max-y2 => joint.5.pos-lim-sw-in
  802.  
  803.  
  804. # *************************************************************************************************************
  805. # *************************************************************************************************************
  806. # *************************************************************************************************************
  807. # *************************************************************************************************************
  808.  
  809.  
  810.  
  811.  
  812. #******************************
  813. # connect miscellaneous signals
  814. #******************************
  815.  
  816. # ---HALUI signals---
  817.  
  818. net axis-select-x halui.axis.x.select
  819. net jog-x-pos halui.axis.x.plus
  820. net jog-x-neg halui.axis.x.minus
  821. net jog-x-analog halui.axis.x.analog
  822. net x-is-homed halui.joint.0.is-homed
  823.  
  824. net axis-select-y halui.axis.y.select
  825. net jog-y-pos halui.axis.y.plus
  826. net jog-y-neg halui.axis.y.minus
  827. net jog-y-analog halui.axis.y.analog
  828. net y-is-homed halui.joint.1.is-homed
  829.  
  830. net axis-select-z halui.axis.z.select
  831. net jog-z-pos halui.axis.z.plus
  832. net jog-z-neg halui.axis.z.minus
  833. net jog-z-analog halui.axis.z.analog
  834. net z-is-homed halui.joint.2.is-homed
  835.  
  836. net axis-select-b halui.axis.b.select
  837. net jog-b-pos halui.axis.b.plus
  838. net jog-b-neg halui.axis.b.minus
  839. net jog-b-analog halui.axis.b.analog
  840. net b-is-homed halui.joint.3.is-homed
  841.  
  842. net axis-select-c halui.axis.c.select
  843. net jog-c-pos halui.axis.c.plus
  844. net jog-c-neg halui.axis.c.minus
  845. net jog-c-analog halui.axis.c.analog
  846. net c-is-homed halui.joint.4.is-homed
  847.  
  848. net axis-select-w halui.axis.w.select
  849. net jog-w-pos halui.axis.w.plus
  850. net jog-w-neg halui.axis.w.minus
  851. net jog-w-analog halui.axis.w.analog
  852. net w-is-homed halui.joint.5.is-homed
  853.  
  854. net jog-selected-pos halui.axis.selected.plus
  855. net jog-selected-neg halui.axis.selected.minus
  856. net machine-is-on halui.machine.is-on
  857. net jog-speed halui.axis.jog-speed
  858. net MDI-mode halui.mode.is-mdi
  859.  
  860.  
  861. # ---motion control signals---
  862.  
  863. net in-position <= motion.in-position
  864. net machine-is-enabled <= motion.motion-enabled
  865.  
  866. # ---digital in / out signals---
  867.  
  868. # ---manual tool change signals---
  869.  
  870. loadusr -W hal_manualtoolchange
  871. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  872. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  873. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  874. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  875.  
  876. # ---estop signals---
  877.  
  878. #net estop-out <= iocontrol.0.user-enable-out
  879. net estop-ext => iocontrol.0.emc-enable-in
  880.  
  881.  
  882.  
  883.  
  884.  
  885.  
  886.  
Advertisement
Add Comment
Please, Sign In to add comment
Public Pastes
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!