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  1. # Generated by PNCconf at Sat Sep 12 22:10:06 2020
  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_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
  9. setp hm2_5i25.0.watchdog.timeout_ns 5000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  11.  
  12. addf hm2_5i25.0.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_5i25.0.write servo-thread
  20.  
  21. # external output signals
  22.  
  23.  
  24. # external input signals
  25.  
  26.  
  27. #*******************
  28. # AXIS X
  29. #*******************
  30.  
  31. setp pid.x.Pgain [AXIS_0]P
  32. setp pid.x.Igain [AXIS_0]I
  33. setp pid.x.Dgain [AXIS_0]D
  34. setp pid.x.bias [AXIS_0]BIAS
  35. setp pid.x.FF0 [AXIS_0]FF0
  36. setp pid.x.FF1 [AXIS_0]FF1
  37. setp pid.x.FF2 [AXIS_0]FF2
  38. setp pid.x.deadband [AXIS_0]DEADBAND
  39. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  40. setp pid.x.error-previous-target true
  41. setp pid.x.maxerror .0005
  42.  
  43. net x-index-enable <=> pid.x.index-enable
  44. net x-enable => pid.x.enable
  45. net x-pos-cmd => pid.x.command
  46. net x-vel-cmd => pid.x.command-deriv
  47. net x-pos-fb => pid.x.feedback
  48. net x-output => pid.x.output
  49.  
  50. # Step Gen signals/setup
  51.  
  52. setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  53. setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  54. setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
  55. setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  56. setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  57. setp hm2_5i25.0.stepgen.00.step_type 0
  58. setp hm2_5i25.0.stepgen.00.control-type 1
  59. setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  60. setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  61.  
  62. # ---closedloop stepper signals---
  63.  
  64. net x-pos-cmd <= axis.0.motor-pos-cmd
  65. net x-vel-cmd <= axis.0.joint-vel-cmd
  66. net x-output => hm2_5i25.0.stepgen.00.velocity-cmd
  67. net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
  68. net x-pos-fb => axis.0.motor-pos-fb
  69. net x-enable <= axis.0.amp-enable-out
  70. net x-enable => hm2_5i25.0.stepgen.00.enable
  71.  
  72. # ---setup home / limit switch signals---
  73.  
  74. net x-home-sw => axis.0.home-sw-in
  75. net x-neg-limit => axis.0.neg-lim-sw-in
  76. net x-pos-limit => axis.0.pos-lim-sw-in
  77.  
  78. #*******************
  79. # AXIS Y
  80. #*******************
  81.  
  82. setp pid.y.Pgain [AXIS_1]P
  83. setp pid.y.Igain [AXIS_1]I
  84. setp pid.y.Dgain [AXIS_1]D
  85. setp pid.y.bias [AXIS_1]BIAS
  86. setp pid.y.FF0 [AXIS_1]FF0
  87. setp pid.y.FF1 [AXIS_1]FF1
  88. setp pid.y.FF2 [AXIS_1]FF2
  89. setp pid.y.deadband [AXIS_1]DEADBAND
  90. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  91. setp pid.y.error-previous-target true
  92. setp pid.y.maxerror .0005
  93.  
  94. net y-index-enable <=> pid.y.index-enable
  95. net y-enable => pid.y.enable
  96. net y-pos-cmd => pid.y.command
  97. net y-vel-cmd => pid.y.command-deriv
  98. net y-pos-fb => pid.y.feedback
  99. net y-output => pid.y.output
  100.  
  101. # Step Gen signals/setup
  102.  
  103. setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  104. setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  105. setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
  106. setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  107. setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  108. setp hm2_5i25.0.stepgen.01.step_type 0
  109. setp hm2_5i25.0.stepgen.01.control-type 1
  110. setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  111. setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  112.  
  113. # ---closedloop stepper signals---
  114.  
  115. net y-pos-cmd <= axis.1.motor-pos-cmd
  116. net y-vel-cmd <= axis.1.joint-vel-cmd
  117. net y-output => hm2_5i25.0.stepgen.01.velocity-cmd
  118. net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
  119. net y-pos-fb => axis.1.motor-pos-fb
  120. net y-enable <= axis.1.amp-enable-out
  121. net y-enable => hm2_5i25.0.stepgen.01.enable
  122.  
  123. # ---setup home / limit switch signals---
  124.  
  125. net y-home-sw => axis.1.home-sw-in
  126. net y-neg-limit => axis.1.neg-lim-sw-in
  127. net y-pos-limit => axis.1.pos-lim-sw-in
  128.  
  129. #*******************
  130. # AXIS Z
  131. #*******************
  132.  
  133. setp pid.z.Pgain [AXIS_2]P
  134. setp pid.z.Igain [AXIS_2]I
  135. setp pid.z.Dgain [AXIS_2]D
  136. setp pid.z.bias [AXIS_2]BIAS
  137. setp pid.z.FF0 [AXIS_2]FF0
  138. setp pid.z.FF1 [AXIS_2]FF1
  139. setp pid.z.FF2 [AXIS_2]FF2
  140. setp pid.z.deadband [AXIS_2]DEADBAND
  141. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  142. setp pid.z.error-previous-target true
  143. setp pid.z.maxerror .0005
  144.  
  145. net z-index-enable <=> pid.z.index-enable
  146. net z-enable => pid.z.enable
  147. net z-pos-cmd => pid.z.command
  148. net z-vel-cmd => pid.z.command-deriv
  149. net z-pos-fb => pid.z.feedback
  150. net z-output => pid.z.output
  151.  
  152. # Step Gen signals/setup
  153.  
  154. setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  155. setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  156. setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
  157. setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  158. setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  159. setp hm2_5i25.0.stepgen.02.step_type 0
  160. setp hm2_5i25.0.stepgen.02.control-type 1
  161. setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  162. setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  163.  
  164. # ---closedloop stepper signals---
  165.  
  166. net z-pos-cmd <= axis.2.motor-pos-cmd
  167. net z-vel-cmd <= axis.2.joint-vel-cmd
  168. net z-output => hm2_5i25.0.stepgen.02.velocity-cmd
  169. net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
  170. net z-pos-fb => axis.2.motor-pos-fb
  171. net z-enable <= axis.2.amp-enable-out
  172. net z-enable => hm2_5i25.0.stepgen.02.enable
  173.  
  174. # ---setup home / limit switch signals---
  175.  
  176. net z-home-sw => axis.2.home-sw-in
  177. net z-neg-limit => axis.2.neg-lim-sw-in
  178. net z-pos-limit => axis.2.pos-lim-sw-in
  179.  
  180. #*******************
  181. # SPINDLE S
  182. #*******************
  183.  
  184. setp pid.s.Pgain [SPINDLE_9]P
  185. setp pid.s.Igain [SPINDLE_9]I
  186. setp pid.s.Dgain [SPINDLE_9]D
  187. setp pid.s.bias [SPINDLE_9]BIAS
  188. setp pid.s.FF0 [SPINDLE_9]FF0
  189. setp pid.s.FF1 [SPINDLE_9]FF1
  190. setp pid.s.FF2 [SPINDLE_9]FF2
  191. setp pid.s.deadband [SPINDLE_9]DEADBAND
  192. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  193. setp pid.s.error-previous-target true
  194. setp pid.s.maxerror .0005
  195.  
  196. net spindle-index-enable <=> pid.s.index-enable
  197. net spindle-enable => pid.s.enable
  198. net spindle-vel-cmd-rpm => pid.s.command
  199. net spindle-vel-fb-rpm => pid.s.feedback
  200. net spindle-output <= pid.s.output
  201.  
  202. # Step Gen signals/setup
  203.  
  204. setp hm2_5i25.0.stepgen.04.dirsetup [SPINDLE_9]DIRSETUP
  205. setp hm2_5i25.0.stepgen.04.dirhold [SPINDLE_9]DIRHOLD
  206. setp hm2_5i25.0.stepgen.04.steplen [SPINDLE_9]STEPLEN
  207. setp hm2_5i25.0.stepgen.04.stepspace [SPINDLE_9]STEPSPACE
  208. setp hm2_5i25.0.stepgen.04.position-scale [SPINDLE_9]STEP_SCALE
  209. setp hm2_5i25.0.stepgen.04.step_type 0
  210. setp hm2_5i25.0.stepgen.04.control-type 1
  211. setp hm2_5i25.0.stepgen.04.maxaccel [SPINDLE_9]MAX_ACCELERATION
  212. setp hm2_5i25.0.stepgen.04.maxvel [SPINDLE_9]MAX_VELOCITY
  213.  
  214. net spindle-enable => hm2_5i25.0.stepgen.04.enable
  215. net spindle-vel-cmd-rps => hm2_5i25.0.stepgen.04.velocity-cmd
  216. net spindle-vel-fb-rps <= hm2_5i25.0.stepgen.04.velocity-fb
  217.  
  218. # ---closedloop stepper signals---
  219.  
  220.  
  221. # ---setup spindle control signals---
  222.  
  223. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  224. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  225. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  226. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  227. net spindle-enable <= motion.spindle-on
  228. net spindle-cw <= motion.spindle-forward
  229. net spindle-ccw <= motion.spindle-reverse
  230. net spindle-brake <= motion.spindle-brake
  231. net spindle-revs => motion.spindle-revs
  232. net spindle-at-speed => motion.spindle-at-speed
  233. net spindle-vel-fb-rps => motion.spindle-speed-in
  234. net spindle-index-enable <=> motion.spindle-index-enable
  235.  
  236. # ---Setup spindle at speed signals---
  237.  
  238. sets spindle-at-speed true
  239.  
  240.  
  241. #******************************
  242. # connect miscellaneous signals
  243. #******************************
  244.  
  245. # ---HALUI signals---
  246.  
  247. net joint-select-a halui.joint.0.select
  248. net x-is-homed halui.joint.0.is-homed
  249. net jog-x-pos halui.jog.0.plus
  250. net jog-x-neg halui.jog.0.minus
  251. net jog-x-analog halui.jog.0.analog
  252. net joint-select-b halui.joint.1.select
  253. net y-is-homed halui.joint.1.is-homed
  254. net jog-y-pos halui.jog.1.plus
  255. net jog-y-neg halui.jog.1.minus
  256. net jog-y-analog halui.jog.1.analog
  257. net joint-select-c halui.joint.2.select
  258. net z-is-homed halui.joint.2.is-homed
  259. net jog-z-pos halui.jog.2.plus
  260. net jog-z-neg halui.jog.2.minus
  261. net jog-z-analog halui.jog.2.analog
  262. net jog-selected-pos halui.jog.selected.plus
  263. net jog-selected-neg halui.jog.selected.minus
  264. net spindle-manual-cw halui.spindle.forward
  265. net spindle-manual-ccw halui.spindle.reverse
  266. net spindle-manual-stop halui.spindle.stop
  267. net machine-is-on halui.machine.is-on
  268. net jog-speed halui.jog-speed
  269. net MDI-mode halui.mode.is-mdi
  270.  
  271. # ---coolant signals---
  272.  
  273. net coolant-mist <= iocontrol.0.coolant-mist
  274. net coolant-flood <= iocontrol.0.coolant-flood
  275.  
  276. # ---probe signal---
  277.  
  278. net probe-in => motion.probe-input
  279.  
  280. # ---motion control signals---
  281.  
  282. net in-position <= motion.in-position
  283. net machine-is-enabled <= motion.motion-enabled
  284.  
  285. # ---digital in / out signals---
  286.  
  287. # ---estop signals---
  288.  
  289. net estop-out <= iocontrol.0.user-enable-out
  290. net estop-out => iocontrol.0.emc-enable-in
  291.  
  292. # ---manual tool change signals---
  293.  
  294. loadusr -W hal_manualtoolchange
  295. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  296. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  297. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  298. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  299.  
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