API tools faq
paste
Advertisement
Guest User

xk7130 basic hal file

a guest
May 11th, 2018
118
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 12.99 KB | None | 0 0
raw download clone embed print report
  1. # Generated by PNCconf at Fri May 11 20:33:20 2018
  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 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.s
  11.  
  12. addf hm2_7i92.0.read servo-thread
  13. addf motion-command-handler servo-thread
  14. addf motion-controller servo-thread
  15. addf pid.x.do-pid-calcs servo-thread
  16. addf pid.y.do-pid-calcs servo-thread
  17. addf pid.z.do-pid-calcs servo-thread
  18. addf pid.s.do-pid-calcs servo-thread
  19. addf hm2_7i92.0.write servo-thread
  20.  
  21. # external output signals
  22.  
  23. # --- COOLANT-FLOOD ---
  24. net coolant-flood hm2_7i92.0.7i76.0.3.output-04
  25.  
  26. # --- X-ENABLE ---
  27. net x-enable hm2_7i92.0.7i76.0.3.output-12
  28.  
  29. # --- Y-ENABLE ---
  30. net y-enable hm2_7i92.0.7i76.0.3.output-13
  31.  
  32. # --- Z-ENABLE ---
  33. net z-enable hm2_7i92.0.7i76.0.3.output-14
  34.  
  35. # external input signals
  36.  
  37.  
  38. # --- ESTOP-EXT ---
  39. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  40.  
  41. #*******************
  42. # AXIS X
  43. #*******************
  44.  
  45. setp pid.x.Pgain [AXIS_0]P
  46. setp pid.x.Igain [AXIS_0]I
  47. setp pid.x.Dgain [AXIS_0]D
  48. setp pid.x.bias [AXIS_0]BIAS
  49. setp pid.x.FF0 [AXIS_0]FF0
  50. setp pid.x.FF1 [AXIS_0]FF1
  51. setp pid.x.FF2 [AXIS_0]FF2
  52. setp pid.x.deadband [AXIS_0]DEADBAND
  53. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  54. setp pid.x.error-previous-target true
  55. setp pid.x.maxerror .0005
  56.  
  57. net x-index-enable <=> pid.x.index-enable
  58. net x-enable => pid.x.enable
  59. net x-pos-cmd => pid.x.command
  60. net x-vel-cmd => pid.x.command-deriv
  61. net x-pos-fb => pid.x.feedback
  62. net x-output => pid.x.output
  63.  
  64. # Step Gen signals/setup
  65.  
  66. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  67. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  68. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  69. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  70. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  71. setp hm2_7i92.0.stepgen.00.step_type 0
  72. setp hm2_7i92.0.stepgen.00.control-type 1
  73. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  74. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  75.  
  76. # ---closedloop stepper signals---
  77.  
  78. net x-pos-cmd <= axis.0.motor-pos-cmd
  79. net x-vel-cmd <= axis.0.joint-vel-cmd
  80. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  81. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  82. net x-pos-fb => axis.0.motor-pos-fb
  83. net x-enable <= axis.0.amp-enable-out
  84. net x-enable => hm2_7i92.0.stepgen.00.enable
  85.  
  86. # ---Encoder feedback signals/setup---
  87.  
  88. setp hm2_7i92.0.encoder.01.counter-mode 0
  89. setp hm2_7i92.0.encoder.01.filter 1
  90. setp hm2_7i92.0.encoder.01.index-invert 0
  91. setp hm2_7i92.0.encoder.01.index-mask 0
  92. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  93. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  94.  
  95. net x-pos-fb <= hm2_7i92.0.encoder.01.position
  96. net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  97. net x-pos-fb => axis.0.motor-pos-fb
  98. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  99. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  100.  
  101. # ---setup home / limit switch signals---
  102.  
  103. net x-home-sw => axis.0.home-sw-in
  104. net x-neg-limit => axis.0.neg-lim-sw-in
  105. net x-pos-limit => axis.0.pos-lim-sw-in
  106.  
  107. #*******************
  108. # AXIS Y
  109. #*******************
  110.  
  111. setp pid.y.Pgain [AXIS_1]P
  112. setp pid.y.Igain [AXIS_1]I
  113. setp pid.y.Dgain [AXIS_1]D
  114. setp pid.y.bias [AXIS_1]BIAS
  115. setp pid.y.FF0 [AXIS_1]FF0
  116. setp pid.y.FF1 [AXIS_1]FF1
  117. setp pid.y.FF2 [AXIS_1]FF2
  118. setp pid.y.deadband [AXIS_1]DEADBAND
  119. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  120. setp pid.y.error-previous-target true
  121. setp pid.y.maxerror .0005
  122.  
  123. net y-index-enable <=> pid.y.index-enable
  124. net y-enable => pid.y.enable
  125. net y-pos-cmd => pid.y.command
  126. net y-vel-cmd => pid.y.command-deriv
  127. net y-pos-fb => pid.y.feedback
  128. net y-output => pid.y.output
  129.  
  130. # Step Gen signals/setup
  131.  
  132. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  133. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  134. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  135. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  136. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  137. setp hm2_7i92.0.stepgen.01.step_type 0
  138. setp hm2_7i92.0.stepgen.01.control-type 1
  139. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  140. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  141.  
  142. # ---closedloop stepper signals---
  143.  
  144. net y-pos-cmd <= axis.1.motor-pos-cmd
  145. net y-vel-cmd <= axis.1.joint-vel-cmd
  146. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  147. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  148. net y-pos-fb => axis.1.motor-pos-fb
  149. net y-enable <= axis.1.amp-enable-out
  150. net y-enable => hm2_7i92.0.stepgen.01.enable
  151.  
  152. # ---Encoder feedback signals/setup---
  153.  
  154. setp hm2_7i92.0.encoder.02.counter-mode 0
  155. setp hm2_7i92.0.encoder.02.filter 1
  156. setp hm2_7i92.0.encoder.02.index-invert 0
  157. setp hm2_7i92.0.encoder.02.index-mask 0
  158. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  159. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  160.  
  161. net y-pos-fb <= hm2_7i92.0.encoder.02.position
  162. net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  163. net y-pos-fb => axis.1.motor-pos-fb
  164. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  165. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  166.  
  167. # ---setup home / limit switch signals---
  168.  
  169. net y-home-sw => axis.1.home-sw-in
  170. net y-neg-limit => axis.1.neg-lim-sw-in
  171. net y-pos-limit => axis.1.pos-lim-sw-in
  172.  
  173. #*******************
  174. # AXIS Z
  175. #*******************
  176.  
  177. setp pid.z.Pgain [AXIS_2]P
  178. setp pid.z.Igain [AXIS_2]I
  179. setp pid.z.Dgain [AXIS_2]D
  180. setp pid.z.bias [AXIS_2]BIAS
  181. setp pid.z.FF0 [AXIS_2]FF0
  182. setp pid.z.FF1 [AXIS_2]FF1
  183. setp pid.z.FF2 [AXIS_2]FF2
  184. setp pid.z.deadband [AXIS_2]DEADBAND
  185. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  186. setp pid.z.error-previous-target true
  187. setp pid.z.maxerror .0005
  188.  
  189. net z-index-enable <=> pid.z.index-enable
  190. net z-enable => pid.z.enable
  191. net z-pos-cmd => pid.z.command
  192. net z-vel-cmd => pid.z.command-deriv
  193. net z-pos-fb => pid.z.feedback
  194. net z-output => pid.z.output
  195.  
  196. # Step Gen signals/setup
  197.  
  198. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  199. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  200. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  201. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  202. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  203. setp hm2_7i92.0.stepgen.02.step_type 0
  204. setp hm2_7i92.0.stepgen.02.control-type 1
  205. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  206. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  207.  
  208. # ---closedloop stepper signals---
  209.  
  210. net z-pos-cmd <= axis.2.motor-pos-cmd
  211. net z-vel-cmd <= axis.2.joint-vel-cmd
  212. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  213. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  214. net z-pos-fb => axis.2.motor-pos-fb
  215. net z-enable <= axis.2.amp-enable-out
  216. net z-enable => hm2_7i92.0.stepgen.02.enable
  217.  
  218. # ---Encoder feedback signals/setup---
  219.  
  220. setp hm2_7i92.0.encoder.03.counter-mode 0
  221. setp hm2_7i92.0.encoder.03.filter 1
  222. setp hm2_7i92.0.encoder.03.index-invert 0
  223. setp hm2_7i92.0.encoder.03.index-mask 0
  224. setp hm2_7i92.0.encoder.03.index-mask-invert 0
  225. setp hm2_7i92.0.encoder.03.scale [AXIS_2]ENCODER_SCALE
  226.  
  227. net z-pos-fb <= hm2_7i92.0.encoder.03.position
  228. net z-vel-fb <= hm2_7i92.0.encoder.03.velocity
  229. net z-pos-fb => axis.2.motor-pos-fb
  230. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.03.index-enable
  231. net z-pos-rawcounts <= hm2_7i92.0.encoder.03.rawcounts
  232.  
  233. # ---setup home / limit switch signals---
  234.  
  235. net z-home-sw => axis.2.home-sw-in
  236. net z-neg-limit => axis.2.neg-lim-sw-in
  237. net z-pos-limit => axis.2.pos-lim-sw-in
  238.  
  239. #*******************
  240. # SPINDLE S
  241. #*******************
  242.  
  243. setp pid.s.Pgain [SPINDLE_9]P
  244. setp pid.s.Igain [SPINDLE_9]I
  245. setp pid.s.Dgain [SPINDLE_9]D
  246. setp pid.s.bias [SPINDLE_9]BIAS
  247. setp pid.s.FF0 [SPINDLE_9]FF0
  248. setp pid.s.FF1 [SPINDLE_9]FF1
  249. setp pid.s.FF2 [SPINDLE_9]FF2
  250. setp pid.s.deadband [SPINDLE_9]DEADBAND
  251. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  252. setp pid.s.error-previous-target true
  253.  
  254. net spindle-index-enable <=> pid.s.index-enable
  255. net spindle-enable => pid.s.enable
  256. net spindle-vel-cmd-rpm => pid.s.command
  257. net spindle-vel-fb-rpm => pid.s.feedback
  258. net spindle-output <= pid.s.output
  259.  
  260. # ---PWM Generator signals/setup---
  261.  
  262. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  263. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  264. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  265.  
  266. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  267.  
  268. # ---Encoder feedback signals/setup---
  269.  
  270. setp hm2_7i92.0.encoder.00.counter-mode 0
  271. setp hm2_7i92.0.encoder.00.filter 1
  272. setp hm2_7i92.0.encoder.00.index-invert 0
  273. setp hm2_7i92.0.encoder.00.index-mask 0
  274. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  275. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  276.  
  277. net spindle-revs <= hm2_7i92.0.encoder.00.position
  278. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  279. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  280.  
  281. # ---setup spindle control signals---
  282.  
  283. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  284. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  285. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  286. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  287. net spindle-enable <= motion.spindle-on
  288. net spindle-cw <= motion.spindle-forward
  289. net spindle-ccw <= motion.spindle-reverse
  290. net spindle-brake <= motion.spindle-brake
  291. net spindle-revs => motion.spindle-revs
  292. net spindle-at-speed => motion.spindle-at-speed
  293. net spindle-vel-fb-rps => motion.spindle-speed-in
  294. net spindle-index-enable <=> motion.spindle-index-enable
  295.  
  296. # ---Setup spindle at speed signals---
  297.  
  298. sets spindle-at-speed true
  299.  
  300.  
  301. #******************************
  302. # connect miscellaneous signals
  303. #******************************
  304.  
  305. # ---HALUI signals---
  306.  
  307. net joint-select-a halui.joint.0.select
  308. net x-is-homed halui.joint.0.is-homed
  309. net jog-x-pos halui.jog.0.plus
  310. net jog-x-neg halui.jog.0.minus
  311. net jog-x-analog halui.jog.0.analog
  312. net joint-select-b halui.joint.1.select
  313. net y-is-homed halui.joint.1.is-homed
  314. net jog-y-pos halui.jog.1.plus
  315. net jog-y-neg halui.jog.1.minus
  316. net jog-y-analog halui.jog.1.analog
  317. net joint-select-c halui.joint.2.select
  318. net z-is-homed halui.joint.2.is-homed
  319. net jog-z-pos halui.jog.2.plus
  320. net jog-z-neg halui.jog.2.minus
  321. net jog-z-analog halui.jog.2.analog
  322. net jog-selected-pos halui.jog.selected.plus
  323. net jog-selected-neg halui.jog.selected.minus
  324. net spindle-manual-cw halui.spindle.forward
  325. net spindle-manual-ccw halui.spindle.reverse
  326. net spindle-manual-stop halui.spindle.stop
  327. net machine-is-on halui.machine.is-on
  328. net jog-speed halui.jog-speed
  329. net MDI-mode halui.mode.is-mdi
  330.  
  331. # ---coolant signals---
  332.  
  333. net coolant-mist <= iocontrol.0.coolant-mist
  334. net coolant-flood <= iocontrol.0.coolant-flood
  335.  
  336. # ---probe signal---
  337.  
  338. net probe-in => motion.probe-input
  339.  
  340. # ---motion control signals---
  341.  
  342. net in-position <= motion.in-position
  343. net machine-is-enabled <= motion.motion-enabled
  344.  
  345. # ---digital in / out signals---
  346.  
  347. # ---estop signals---
  348.  
  349. net estop-out <= iocontrol.0.user-enable-out
  350. net estop-ext => iocontrol.0.emc-enable-in
  351.  
  352. # ---manual tool change signals---
  353.  
  354. loadusr -W hal_manualtoolchange
  355. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  356. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  357. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  358. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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!