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- # Generated by PNCconf at Thu Dec 26 18:13:22 2013
- # If you make changes to this file, they will be
- # overwritten when you run PNCconf again
- loadrt trivkins
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt probe_parport
- loadrt hostmot2
- loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0 sserial_port_0=300xxx "
- setp hm2_5i25.0.watchdog.timeout_ns 10000000
- loadrt pid names=pid.x,pid.y,pid.z,pid.s
- addf hm2_5i25.0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf pid.x.do-pid-calcs servo-thread
- addf pid.y.do-pid-calcs servo-thread
- addf pid.z.do-pid-calcs servo-thread
- addf pid.s.do-pid-calcs servo-thread
- addf hm2_5i25.0.write servo-thread
- addf hm2_5i25.0.pet_watchdog servo-thread
- # external output signals
- # external input signals
- #***********************
- # Toggle Lite
- #***********************
- loadrt toggle count=1
- addf toggle.0 servo-thread
- net lite-toggle toggle.0.in hm2_5i25.0.7i77.0.0.input-08
- net lite-control toggle.0.out hm2_5i25.0.7i77.0.0.output-01
- #***********************
- # MPG and Jog Select
- #***********************
- loadrt mux4 count=1
- addf mux4.0 servo-thread
- # For velocity mode, set to 1
- # In velocity mode the axis stops when the dial is stopped
- # even if that means the commanded motion is not completed,
- # For position mode (the default), set to 0
- # In position mode the axis will move exactly jog-scale
- # units for each count, regardless of how long that might take,
- setp axis.0.jog-vel-mode 0
- setp axis.1.jog-vel-mode 0
- setp axis.2.jog-vel-mode 0
- # This sets the scale that will be used based on the input to the mux4
- setp mux4.0.in0 0.1
- setp mux4.0.in1 0.01
- setp mux4.0.in2 0.001
- # The inputs to the mux4 component
- net scale1 mux4.0.sel0 <= hm2_5i25.0.7i77.0.0.input-03
- net scale2 mux4.0.sel1 <= hm2_5i25.0.7i77.0.0.input-04
- # The output from the mux4 is sent to each axis jog scale
- net mpg-scale <= mux4.0.out
- net mpg-scale => axis.0.jog-scale
- net mpg-scale => axis.1.jog-scale
- net mpg-scale => axis.2.jog-scale
- # The MPG inputs
- #net mpg-a hm2_5i25.0.7i77.0.0.enc0
- #net mpg-b encoder.0.phase-B <= parport.1.pin-03-in
- # The Axis select inputs
- net mpg-x axis.0.jog-enable <= hm2_5i25.0.7i77.0.0.input-05
- net mpg-y axis.1.jog-enable <= hm2_5i25.0.7i77.0.0.input-06
- net mpg-z axis.2.jog-enable <= hm2_5i25.0.7i77.0.0.input-07
- # The encoder output counts to the axis. Only the selected axis will move.
- #net encoder-counts <= hm2_5i25.0.7i77.0.0.enc0.counts
- #net encoder-counts => axis.0.jog-counts
- #net encoder-counts => axis.1.jog-counts
- #net encoder-counts => axis.2.jog-counts
- #*******************
- # AXIS X
- #*******************
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.00.counter-mode 0
- setp hm2_5i25.0.encoder.00.filter 1
- setp hm2_5i25.0.encoder.00.index-invert 0
- setp hm2_5i25.0.encoder.00.index-mask 0
- setp hm2_5i25.0.encoder.00.index-mask-invert 0
- setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
- net x-pos-fb <= hm2_5i25.0.encoder.00.position
- net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
- net x-pos-fb => axis.0.motor-pos-fb
- net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
- net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
- # ---setup home / limit switch signals---
- net x-home-sw => axis.0.home-sw-in
- net x-neg-limit => axis.0.neg-lim-sw-in
- net x-pos-limit => axis.0.pos-lim-sw-in
- #*******************
- # AXIS Y
- #*******************
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.01.counter-mode 0
- setp hm2_5i25.0.encoder.01.filter 1
- setp hm2_5i25.0.encoder.01.index-invert 0
- setp hm2_5i25.0.encoder.01.index-mask 0
- setp hm2_5i25.0.encoder.01.index-mask-invert 0
- setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
- net y-pos-fb <= hm2_5i25.0.encoder.01.position
- net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
- net y-pos-fb => axis.1.motor-pos-fb
- net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
- net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
- # ---setup home / limit switch signals---
- net y-home-sw => axis.1.home-sw-in
- net y-neg-limit => axis.1.neg-lim-sw-in
- net y-pos-limit => axis.1.pos-lim-sw-in
- #*******************
- # AXIS Z
- #*******************
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.02.counter-mode 0
- setp hm2_5i25.0.encoder.02.filter 1
- setp hm2_5i25.0.encoder.02.index-invert 0
- setp hm2_5i25.0.encoder.02.index-mask 0
- setp hm2_5i25.0.encoder.02.index-mask-invert 0
- setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
- net z-pos-fb <= hm2_5i25.0.encoder.02.position
- net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
- net z-pos-fb => axis.2.motor-pos-fb
- net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
- net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
- # ---setup home / limit switch signals---
- net z-home-sw => axis.2.home-sw-in
- net z-neg-limit => axis.2.neg-lim-sw-in
- net z-pos-limit => axis.2.pos-lim-sw-in
- #*******************
- # SPINDLE S
- #*******************
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.03.counter-mode 0
- setp hm2_5i25.0.encoder.03.filter 1
- setp hm2_5i25.0.encoder.03.index-invert 0
- setp hm2_5i25.0.encoder.03.index-mask 0
- setp hm2_5i25.0.encoder.03.index-mask-invert 0
- setp hm2_5i25.0.encoder.03.scale [SPINDLE_9]ENCODER_SCALE
- net spindle-revs <= hm2_5i25.0.encoder.03.position
- net spindle-vel-fb <= hm2_5i25.0.encoder.03.velocity
- net spindle-index-enable <=> hm2_5i25.0.encoder.03.index-enable
- # ---setup spindle control signals---
- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
- net spindle-vel-cmd <= motion.spindle-speed-out
- net spindle-enable <= motion.spindle-on
- net spindle-cw <= motion.spindle-forward
- net spindle-ccw <= motion.spindle-reverse
- net spindle-brake <= motion.spindle-brake
- net spindle-revs => motion.spindle-revs
- net spindle-at-speed => motion.spindle-at-speed
- net spindle-vel-fb => motion.spindle-speed-in
- net spindle-index-enable <=> motion.spindle-index-enable
- # ---Setup spindle at speed signals---
- sets spindle-at-speed true
- #******************************
- # connect miscellaneous signals
- #******************************
- # ---HALUI signals---
- net joint-select-a halui.joint.0.select
- net x-is-homed halui.joint.0.is-homed
- net jog-x-pos halui.jog.0.plus
- net jog-x-neg halui.jog.0.minus
- net jog-x-analog halui.jog.0.analog
- net joint-select-b halui.joint.1.select
- net y-is-homed halui.joint.1.is-homed
- net jog-y-pos halui.jog.1.plus
- net jog-y-neg halui.jog.1.minus
- net jog-y-analog halui.jog.1.analog
- net joint-select-c halui.joint.2.select
- net z-is-homed halui.joint.2.is-homed
- net jog-z-pos halui.jog.2.plus
- net jog-z-neg halui.jog.2.minus
- net jog-z-analog halui.jog.2.analog
- net jog-selected-pos halui.jog.selected.plus
- net jog-selected-neg halui.jog.selected.minus
- net spindle-manual-cw halui.spindle.forward
- net spindle-manual-ccw halui.spindle.reverse
- net spindle-manual-stop halui.spindle.stop
- net machine-is-on halui.machine.is-on
- net jog-speed halui.jog-speed
- net MDI-mode halui.mode.is-mdi
- # ---coolant signals---
- net coolant-mist <= iocontrol.0.coolant-mist
- net coolant-flood <= iocontrol.0.coolant-flood
- # ---probe signal---
- net probe-in => motion.probe-input
- # ---motion control signals---
- net in-position <= motion.in-position
- net machine-is-enabled <= motion.motion-enabled
- # ---digital in / out signals---
- # ---estop signals---
- #net estop-out <= iocontrol.0.user-enable-out
- #net estop-out => iocontrol.0.emc-enable-in
- #net estop-loop hm2_5i25.0.7i77.0.0.input-01 iocontrol.0.emc-enable-in
- loadrt estop_latch
- addf estop-latch.0 servo-thread
- net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
- net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
- net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
- net remote-estop estop-latch.0.fault-in <= hm2_5i25.0.7i77.0.0.input-01-not
- # ---manual tool change signals---
- loadusr -W hal_manualtoolchange
- net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
- net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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