API tools faq
paste
Advertisement
lcvette

xk7130 encoder feedback activated

lcvette
Jun 20th, 2018
91
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 17.39 KB | None | 0 0
raw download clone embed print report
  1. # Generated by PNCconf at Thu Nov 9 12:55:45 2017
  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 num_dio=16
  7. loadrt hostmot2
  8. loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"
  9. setp hm2_7i92.0.watchdog.timeout_ns 5000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s
  11. loadrt abs names=abs.spindle
  12. loadrt lowpass names=lowpass.spindle
  13. loadrt scale names=scale.spindle
  14. loadrt near
  15. loadrt xor2 count=4
  16.  
  17. addf hm2_7i92.0.read servo-thread
  18. addf motion-command-handler servo-thread
  19. addf motion-controller servo-thread
  20. addf pid.x.do-pid-calcs servo-thread
  21. addf pid.y.do-pid-calcs servo-thread
  22. addf pid.z.do-pid-calcs servo-thread
  23. addf pid.a.do-pid-calcs servo-thread
  24. addf pid.s.do-pid-calcs servo-thread
  25. addf scale.spindle servo-thread
  26. addf abs.spindle servo-thread
  27. addf lowpass.spindle servo-thread
  28. addf near.0 servo-thread
  29. addf hm2_7i92.0.write servo-thread
  30. addf xor2.0 servo-thread
  31. addf xor2.1 servo-thread
  32.  
  33. setp hm2_7i92.0.dpll.01.timer-us -100
  34. setp hm2_7i92.0.stepgen.timer-number 1
  35. setp hm2_7i92.0.encoder.timer-number 1
  36.  
  37. # external output signals
  38.  
  39. # --- DIGITAL OUTPUT ---
  40. net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00
  41. net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01
  42.  
  43. # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
  44. net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
  45. net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
  46. net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out
  47. net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03
  48. net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04
  49.  
  50. # --- SPINDLE ORIENT BEGIN ---
  51. net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08
  52.  
  53. # --- SPINDLE-ENABLE ---
  54. net spindle-enable hm2_7i92.0.7i77.0.0.output-09
  55.  
  56. # --- SPINDLE lOCKED ---
  57. net spindle-locked motion.spindle-locked hm2_7i92.0.7i77.0.0.output-11
  58.  
  59. # --- X-ENABLE ---
  60. net x-enable hm2_7i92.0.7i76.0.3.output-12
  61.  
  62. # --- Y-ENABLE ---
  63. net y-enable hm2_7i92.0.7i76.0.3.output-13
  64.  
  65. # --- Z-ENABLE ---
  66. net z-enable hm2_7i92.0.7i76.0.3.output-14
  67.  
  68. # --- A-ENABLE ---
  69. net a-enable hm2_7i92.0.7i76.0.3.output-15
  70.  
  71. # --- Z-ENABLE ---
  72. net z-enable hm2_7i92.0.7i76.0.3.output-01
  73.  
  74. # --- COOLANT-FLOOD ---
  75. net coolant-flood hm2_7i92.0.7i76.0.3.output-04
  76.  
  77. # external input signals
  78.  
  79. # --- SPINDLE ORIENT ENDED ---
  80. net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31
  81.  
  82. # --- ESTOP-EXT ---
  83. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  84.  
  85. # --- PROBE-IN ---
  86. net probe-in <= hm2_7i92.0.7i77.0.0.input-15
  87.  
  88. # --- DIGITAL INPUTS ---
  89. net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-00
  90.  
  91. net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-01
  92.  
  93. net atc-zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03
  94.  
  95. net atc-index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04
  96.  
  97. net tool-released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02
  98.  
  99. net tool-clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05
  100.  
  101. # --- HOME-Z ---
  102. net home-z <= hm2_7i92.0.7i77.0.0.input-05-not
  103.  
  104. # --- LIMIT-Z ---
  105. net limit-z <= hm2_7i92.0.7i77.0.0.input-04-not
  106.  
  107. # --- HOME-Y ---
  108. net home-y <= hm2_7i92.0.7i77.0.0.input-03-not
  109.  
  110. # --- LIMIT-Y ---
  111. net limit-y <= hm2_7i92.0.7i77.0.0.input-02-not
  112.  
  113. # --- HOME-X ---
  114. net home-x <= hm2_7i92.0.7i77.0.0.input-01-not
  115.  
  116. # --- LIMIT-X ---
  117. net limit-x <= hm2_7i92.0.7i77.0.0.input-00-not
  118.  
  119. #*******************
  120. # AXIS X
  121. #*******************
  122.  
  123. setp pid.x.Pgain [AXIS_0]P
  124. setp pid.x.Igain [AXIS_0]I
  125. setp pid.x.Dgain [AXIS_0]D
  126. setp pid.x.bias [AXIS_0]BIAS
  127. setp pid.x.FF0 [AXIS_0]FF0
  128. setp pid.x.FF1 [AXIS_0]FF1
  129. setp pid.x.FF2 [AXIS_0]FF2
  130. setp pid.x.deadband [AXIS_0]DEADBAND
  131. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  132. setp pid.x.error-previous-target true
  133. setp pid.x.maxerror 0
  134.  
  135. net x-index-enable <=> pid.x.index-enable
  136. net x-enable => pid.x.enable
  137. net x-pos-cmd => pid.x.command
  138. net x-vel-cmd => pid.x.command-deriv
  139. net x-pos-fb => pid.x.feedback
  140. net x-output => pid.x.output
  141.  
  142. # Step Gen signals/setup
  143.  
  144. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  145. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  146. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  147. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  148. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  149. setp hm2_7i92.0.stepgen.00.step_type 0
  150. setp hm2_7i92.0.stepgen.00.control-type 1
  151. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  152. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  153.  
  154. # ---closedloop stepper signals---
  155.  
  156. net x-pos-cmd <= axis.0.motor-pos-cmd
  157. net x-vel-cmd <= axis.0.joint-vel-cmd
  158. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  159. net x-pos-fb <= hm2_7i92.0.encoder.01.position
  160. net x-pos-fb => axis.0.motor-pos-fb
  161. net x-enable <= axis.0.amp-enable-out
  162. net x-enable => hm2_7i92.0.stepgen.00.enable
  163.  
  164. # ---Encoder feedback signals/setup---
  165.  
  166. setp hm2_7i92.0.encoder.01.counter-mode 0
  167. setp hm2_7i92.0.encoder.01.filter 1
  168. setp hm2_7i92.0.encoder.01.index-invert 0
  169. setp hm2_7i92.0.encoder.01.index-mask 0
  170. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  171. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  172.  
  173. net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  174. net x-pos-fb => axis.0.motor-pos-fb
  175. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  176. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  177.  
  178. # ---setup home / limit switch signals---
  179.  
  180. net home-x => axis.0.home-sw-in
  181. net limit-x => axis.0.neg-lim-sw-in
  182.  
  183. #*******************
  184. # AXIS Y
  185. #*******************
  186.  
  187. setp pid.y.Pgain [AXIS_1]P
  188. setp pid.y.Igain [AXIS_1]I
  189. setp pid.y.Dgain [AXIS_1]D
  190. setp pid.y.bias [AXIS_1]BIAS
  191. setp pid.y.FF0 [AXIS_1]FF0
  192. setp pid.y.FF1 [AXIS_1]FF1
  193. setp pid.y.FF2 [AXIS_1]FF2
  194. setp pid.y.deadband [AXIS_1]DEADBAND
  195. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  196. setp pid.y.error-previous-target true
  197. setp pid.y.maxerror 0
  198.  
  199. net y-index-enable <=> pid.y.index-enable
  200. net y-enable => pid.y.enable
  201. net y-pos-cmd => pid.y.command
  202. net y-vel-cmd => pid.y.command-deriv
  203. net y-pos-fb => pid.y.feedback
  204. net y-output => pid.y.output
  205.  
  206. # Step Gen signals/setup
  207.  
  208. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  209. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  210. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  211. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  212. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  213. setp hm2_7i92.0.stepgen.01.step_type 0
  214. setp hm2_7i92.0.stepgen.01.control-type 1
  215. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  216. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  217.  
  218. # ---closedloop stepper signals---
  219.  
  220. net y-pos-cmd <= axis.1.motor-pos-cmd
  221. net y-vel-cmd <= axis.1.joint-vel-cmd
  222. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  223. net y-pos-fb <= hm2_7i92.0.encoder.02.position
  224. net y-pos-fb => axis.1.motor-pos-fb
  225. net y-enable <= axis.1.amp-enable-out
  226. net y-enable => hm2_7i92.0.stepgen.01.enable
  227.  
  228. # ---Encoder feedback signals/setup---
  229.  
  230. setp hm2_7i92.0.encoder.02.counter-mode 0
  231. setp hm2_7i92.0.encoder.02.filter 1
  232. setp hm2_7i92.0.encoder.02.index-invert 0
  233. setp hm2_7i92.0.encoder.02.index-mask 0
  234. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  235. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  236.  
  237. net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  238. net y-pos-fb => axis.1.motor-pos-fb
  239. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  240. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  241.  
  242. # ---setup home / limit switch signals---
  243.  
  244. net home-y => axis.1.home-sw-in
  245. net limit-y => axis.1.neg-lim-sw-in
  246.  
  247.  
  248. #*******************
  249. # AXIS Z
  250. #*******************
  251.  
  252. setp pid.z.Pgain [AXIS_2]P
  253. setp pid.z.Igain [AXIS_2]I
  254. setp pid.z.Dgain [AXIS_2]D
  255. setp pid.z.bias [AXIS_2]BIAS
  256. setp pid.z.FF0 [AXIS_2]FF0
  257. setp pid.z.FF1 [AXIS_2]FF1
  258. setp pid.z.FF2 [AXIS_2]FF2
  259. setp pid.z.deadband [AXIS_2]DEADBAND
  260. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  261. setp pid.z.error-previous-target true
  262. setp pid.z.maxerror 0
  263.  
  264. net z-index-enable <=> pid.z.index-enable
  265. net z-enable => pid.z.enable
  266. net z-pos-cmd => pid.z.command
  267. net z-vel-cmd => pid.z.command-deriv
  268. net z-pos-fb => pid.z.feedback
  269. net z-output => pid.z.output
  270.  
  271. # Step Gen signals/setup
  272.  
  273. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  274. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  275. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  276. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  277. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  278. setp hm2_7i92.0.stepgen.02.step_type 0
  279. setp hm2_7i92.0.stepgen.02.control-type 1
  280. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  281. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  282.  
  283. # ---closedloop stepper signals---
  284.  
  285. net z-pos-cmd <= axis.2.motor-pos-cmd
  286. net z-vel-cmd <= axis.2.joint-vel-cmd
  287. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  288. net z-pos-fb <= hm2_7i92.0.encoder.03.position
  289. net z-pos-fb => axis.2.motor-pos-fb
  290. net z-enable <= axis.2.amp-enable-out
  291. net z-enable => hm2_7i92.0.stepgen.02.enable
  292.  
  293. # ---Encoder feedback signals/setup---
  294.  
  295. setp hm2_7i92.0.encoder.03.counter-mode 0
  296. setp hm2_7i92.0.encoder.03.filter 1
  297. setp hm2_7i92.0.encoder.03.index-invert 0
  298. setp hm2_7i92.0.encoder.03.index-mask 0
  299. setp hm2_7i92.0.encoder.03.index-mask-invert 0
  300. setp hm2_7i92.0.encoder.03.scale [AXIS_2]ENCODER_SCALE
  301.  
  302.  
  303. net z-vel-fb <= hm2_7i92.0.encoder.03.velocity
  304. net z-pos-fb => axis.2.motor-pos-fb
  305. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.03.index-enable
  306. net z-pos-rawcounts <= hm2_7i92.0.encoder.03.rawcounts
  307.  
  308. # ---setup home / limit switch signals---
  309.  
  310. net home-z => axis.2.home-sw-in
  311. net limit-z => axis.2.neg-lim-sw-in
  312.  
  313.  
  314. #*******************
  315. # AXIS A
  316. #*******************
  317.  
  318. setp pid.a.Pgain [AXIS_3]P
  319. setp pid.a.Igain [AXIS_3]I
  320. setp pid.a.Dgain [AXIS_3]D
  321. setp pid.a.bias [AXIS_3]BIAS
  322. setp pid.a.FF0 [AXIS_3]FF0
  323. setp pid.a.FF1 [AXIS_3]FF1
  324. setp pid.a.FF2 [AXIS_3]FF2
  325. setp pid.a.deadband [AXIS_3]DEADBAND
  326. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  327. setp pid.a.error-previous-target true
  328. setp pid.a.maxerror 0
  329.  
  330. net a-index-enable <=> pid.a.index-enable
  331. net a-enable => pid.a.enable
  332. net a-pos-cmd => pid.a.command
  333. net a-vel-cmd => pid.a.command-deriv
  334. net a-pos-fb => pid.a.feedback
  335. net a-output => pid.a.output
  336.  
  337. # Step Gen signals/setup
  338.  
  339. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  340. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  341. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  342. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  343. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  344. setp hm2_7i92.0.stepgen.03.step_type 0
  345. setp hm2_7i92.0.stepgen.03.control-type 1
  346. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  347. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  348.  
  349. # ---closedloop stepper signals---
  350.  
  351. net a-pos-cmd <= axis.3.motor-pos-cmd
  352. net a-vel-cmd <= axis.3.joint-vel-cmd
  353. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  354. net a-pos-fb <= hm2_7i92.0.encoder.04.position
  355. net a-pos-fb => axis.3.motor-pos-fb
  356. net a-enable <= axis.3.amp-enable-out
  357. net a-enable => hm2_7i92.0.stepgen.03.enable
  358.  
  359. # ---Encoder feedback signals/setup---
  360.  
  361. setp hm2_7i92.0.encoder.04.counter-mode 0
  362. setp hm2_7i92.0.encoder.04.filter 1
  363. setp hm2_7i92.0.encoder.04.index-invert 0
  364. setp hm2_7i92.0.encoder.04.index-mask 0
  365. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  366. setp hm2_7i92.0.encoder.04.scale [AXIS_3]ENCODER_SCALE
  367.  
  368.  
  369. net a-vel-fb <= hm2_7i92.0.encoder.04.velocity
  370. net a-pos-fb => axis.3.motor-pos-fb
  371. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  372. net a-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  373.  
  374. # ---setup home / limit switch signals---
  375.  
  376. net a-home-sw => axis.3.home-sw-in
  377. net a-neg-limit => axis.3.neg-lim-sw-in
  378. net a-pos-limit => axis.3.pos-lim-sw-in
  379.  
  380. #*******************
  381. # SPINDLE S
  382. #*******************
  383.  
  384. setp pid.s.Pgain [SPINDLE_9]P
  385. setp pid.s.Igain [SPINDLE_9]I
  386. setp pid.s.Dgain [SPINDLE_9]D
  387. setp pid.s.bias [SPINDLE_9]BIAS
  388. setp pid.s.FF0 [SPINDLE_9]FF0
  389. setp pid.s.FF1 [SPINDLE_9]FF1
  390. setp pid.s.FF2 [SPINDLE_9]FF2
  391. setp pid.s.deadband [SPINDLE_9]DEADBAND
  392. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  393. setp pid.s.error-previous-target true
  394.  
  395. net spindle-index-enable <=> pid.s.index-enable
  396. net spindle-enable => pid.s.enable
  397. net spindle-vel-cmd-rpm => pid.s.command
  398. net spindle-vel-fb-rpm-abs => pid.s.feedback
  399. net spindle-output <= pid.s.output
  400.  
  401. # ---PWM Generator signals/setup---
  402.  
  403. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  404. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  405. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  406.  
  407. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  408. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  409.  
  410. # ---Encoder feedback signals/setup---
  411.  
  412. setp hm2_7i92.0.encoder.00.counter-mode 0
  413. setp hm2_7i92.0.encoder.00.filter 1
  414. setp hm2_7i92.0.encoder.00.index-invert 0
  415. setp hm2_7i92.0.encoder.00.index-mask 0
  416. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  417. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  418.  
  419. net spindle-revs <= hm2_7i92.0.encoder.00.position
  420. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  421. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  422.  
  423. # ---setup spindle control signals---
  424.  
  425. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  426. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  427. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  428. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  429. net spindle-enable <= motion.spindle-on
  430. net spindle-cw <= motion.spindle-forward
  431. net spindle-ccw <= motion.spindle-reverse
  432. net spindle-brake <= motion.spindle-brake
  433. net spindle-revs => motion.spindle-revs
  434. net spindle-at-speed => motion.spindle-at-speed
  435. net spindle-vel-fb-rps => motion.spindle-speed-in
  436. net spindle-index-enable <=> motion.spindle-index-enable
  437.  
  438. # ---Setup spindle at speed signals---
  439.  
  440. net spindle-vel-cmd-rps => near.0.in1
  441. net spindle-vel-fb-rps => near.0.in2
  442.  
  443. ##########################
  444. net spindle-at-speed <= near.0.out
  445. ##########################
  446. setp near.0.scale 1.000000
  447. ##########################
  448. setp near.0.difference 5
  449.  
  450. ##sets spindle-at-speed true
  451.  
  452. # Use ACTUAL spindle velocity from spindle encoder
  453. # spindle-velocity bounces around so we filter it with lowpass
  454. # spindle-velocity is signed so we use absolute component to remove sign
  455. # ACTUAL velocity is in RPS not RPM so we scale it.
  456.  
  457. setp scale.spindle.gain 60
  458. setp lowpass.spindle.gain 1.000000
  459. net spindle-vel-fb-rps => scale.spindle.in
  460. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  461. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  462. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  463.  
  464. # ---coolant signals---
  465. net coolant-mist <= iocontrol.0.coolant-mist
  466. net coolant-flood <= iocontrol.0.coolant-flood
  467.  
  468. # ---probe signal---
  469.  
  470. net probe-in => motion.probe-input
  471.  
  472. # ---motion control signals---
  473.  
  474. net in-position <= motion.in-position
  475. net machine-is-enabled <= motion.motion-enabled
  476.  
  477. # ---digital in / out signals---
  478.  
  479. # ---estop signals---
  480.  
  481. net estop-out <= iocontrol.0.user-enable-out
  482. net estop-ext => iocontrol.0.emc-enable-in
  483.  
  484. # ---manual tool change signals---
  485.  
  486. #loadusr -W hal_manualtoolchange
  487. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  488. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  489. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  490. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  491. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
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!