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# Generated by PNCconf at Sat May 30 22:59:47 2020
# 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 hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=4 num_pwmgens=0 num_stepgens=4"
setp    hm2_7i93.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i93.0.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_7i93.0.write         servo-thread

# external output signals

# --- DOUT-01 ---
setp hm2_7i93.0.gpio.021.is_output true
net dout-01 hm2_7i93.0.gpio.021.out

# --- COOLANT-FLOOD ---
setp hm2_7i93.0.gpio.022.is_output true
net coolant-flood hm2_7i93.0.gpio.022.out

# --- ESTOP-OUT ---
setp hm2_7i93.0.gpio.023.is_output true
net estop-out hm2_7i93.0.gpio.023.out

# --- MACHINE-IS-ENABLED ---
setp hm2_7i93.0.gpio.029.is_output true
net machine-is-enabled hm2_7i93.0.gpio.029.out
setp hm2_7i93.0.gpio.029.invert_output true

# --- MACHINE-IS-ENABLED ---
setp hm2_7i93.0.gpio.035.is_output true
net machine-is-enabled hm2_7i93.0.gpio.035.out

# --- DOUT-03 ---
setp hm2_7i93.0.gpio.044.is_output true
net dout-03 hm2_7i93.0.gpio.044.out

# --- DOUT-02 ---
setp hm2_7i93.0.gpio.045.is_output true
net dout-02 hm2_7i93.0.gpio.045.out

# --- DOUT-00 ---
setp hm2_7i93.0.gpio.046.is_output true
net dout-00 hm2_7i93.0.gpio.046.out

# --- COOLANT-MIST ---
setp hm2_7i93.0.gpio.047.is_output true
net coolant-mist hm2_7i93.0.gpio.047.out

# external input signals

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i93.0.gpio.010.in

# --- DIN-00 ---
net din-00     <=  hm2_7i93.0.gpio.038.in

#*******************
#  AXIS X
#*******************

setp   pid.x.Pgain     [AXIS_0]P
setp   pid.x.Igain     [AXIS_0]I
setp   pid.x.Dgain     [AXIS_0]D
setp   pid.x.bias      [AXIS_0]BIAS
setp   pid.x.FF0       [AXIS_0]FF0
setp   pid.x.FF1       [AXIS_0]FF1
setp   pid.x.FF2       [AXIS_0]FF2
setp   pid.x.deadband  [AXIS_0]DEADBAND
setp   pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
setp   pid.x.maxerror .0005

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
#net x-output        =>  pid.x.output
net x-output 	    <= axis.0.motor-pos-cmd

# Step Gen signals/setup

setp   hm2_7i93.0.stepgen.02.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_7i93.0.stepgen.02.dirhold         [AXIS_0]DIRHOLD
setp   hm2_7i93.0.stepgen.02.steplen         [AXIS_0]STEPLEN
setp   hm2_7i93.0.stepgen.02.stepspace       [AXIS_0]STEPSPACE
setp   hm2_7i93.0.stepgen.02.position-scale  [AXIS_0]STEP_SCALE
setp   hm2_7i93.0.stepgen.02.step_type        1
setp   hm2_7i93.0.stepgen.02.control-type     1
setp   hm2_7i93.0.stepgen.02.maxaccel         [AXIS_0]STEPGEN_MAXACCEL
setp   hm2_7i93.0.stepgen.02.maxvel           [AXIS_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

#net x-pos-cmd    <= axis.0.motor-pos-cmd
net x-vel-cmd    <= axis.0.joint-vel-cmd
net x-output     => hm2_7i93.0.stepgen.02.velocity-cmd
#net x-pos-fb     <= hm2_7i93.0.stepgen.02.position-fb
net x-pos-fb     => axis.0.motor-pos-fb
net x-enable     <= axis.0.amp-enable-out
net x-enable     => hm2_7i93.0.stepgen.02.enable

# ---Encoder feedback signals/setup---

setp    hm2_7i93.0.encoder.02.counter-mode 0
setp    hm2_7i93.0.encoder.02.filter 1
setp    hm2_7i93.0.encoder.02.index-invert 0
setp    hm2_7i93.0.encoder.02.index-mask 0
setp    hm2_7i93.0.encoder.02.index-mask-invert 0
setp    hm2_7i93.0.encoder.02.scale  [AXIS_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_7i93.0.encoder.02.position
net x-vel-fb               <=  hm2_7i93.0.encoder.02.velocity
net x-pos-fb               =>  axis.0.motor-pos-fb
net x-index-enable    axis.0.index-enable  <=>  hm2_7i93.0.encoder.02.index-enable
net x-pos-rawcounts        <=  hm2_7i93.0.encoder.02.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
#*******************

setp   pid.y.Pgain     [AXIS_1]P
setp   pid.y.Igain     [AXIS_1]I
setp   pid.y.Dgain     [AXIS_1]D
setp   pid.y.bias      [AXIS_1]BIAS
setp   pid.y.FF0       [AXIS_1]FF0
setp   pid.y.FF1       [AXIS_1]FF1
setp   pid.y.FF2       [AXIS_1]FF2
setp   pid.y.deadband  [AXIS_1]DEADBAND
setp   pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
setp   pid.y.maxerror .0005

net y-index-enable  <=> pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-vel-cmd       =>  pid.y.command-deriv
net y-pos-fb        =>  pid.y.feedback
net y-output        =>  pid.y.output

# Step Gen signals/setup

setp   hm2_7i93.0.stepgen.01.dirsetup        [AXIS_1]DIRSETUP
setp   hm2_7i93.0.stepgen.01.dirhold         [AXIS_1]DIRHOLD
setp   hm2_7i93.0.stepgen.01.steplen         [AXIS_1]STEPLEN
setp   hm2_7i93.0.stepgen.01.stepspace       [AXIS_1]STEPSPACE
setp   hm2_7i93.0.stepgen.01.position-scale  [AXIS_1]STEP_SCALE
setp   hm2_7i93.0.stepgen.01.step_type        1
setp   hm2_7i93.0.stepgen.01.control-type     1
setp   hm2_7i93.0.stepgen.01.maxaccel         [AXIS_1]STEPGEN_MAXACCEL
setp   hm2_7i93.0.stepgen.01.maxvel           [AXIS_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= axis.1.motor-pos-cmd
net y-vel-cmd    <= axis.1.joint-vel-cmd
net y-output     => hm2_7i93.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i93.0.stepgen.01.position-fb
net y-pos-fb     => axis.1.motor-pos-fb
net y-enable     <= axis.1.amp-enable-out
net y-enable     => hm2_7i93.0.stepgen.01.enable

# ---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
#*******************

setp   pid.z.Pgain     [AXIS_2]P
setp   pid.z.Igain     [AXIS_2]I
setp   pid.z.Dgain     [AXIS_2]D
setp   pid.z.bias      [AXIS_2]BIAS
setp   pid.z.FF0       [AXIS_2]FF0
setp   pid.z.FF1       [AXIS_2]FF1
setp   pid.z.FF2       [AXIS_2]FF2
setp   pid.z.deadband  [AXIS_2]DEADBAND
setp   pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
setp   pid.z.maxerror .0005

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-vel-cmd       =>  pid.z.command-deriv
net z-pos-fb        =>  pid.z.feedback
net z-output        =>  pid.z.output

# Step Gen signals/setup

setp   hm2_7i93.0.stepgen.00.dirsetup        [AXIS_2]DIRSETUP
setp   hm2_7i93.0.stepgen.00.dirhold         [AXIS_2]DIRHOLD
setp   hm2_7i93.0.stepgen.00.steplen         [AXIS_2]STEPLEN
setp   hm2_7i93.0.stepgen.00.stepspace       [AXIS_2]STEPSPACE
setp   hm2_7i93.0.stepgen.00.position-scale  [AXIS_2]STEP_SCALE
setp   hm2_7i93.0.stepgen.00.step_type        0
setp   hm2_7i93.0.stepgen.00.control-type     1
setp   hm2_7i93.0.stepgen.00.maxaccel         [AXIS_2]STEPGEN_MAXACCEL
setp   hm2_7i93.0.stepgen.00.maxvel           [AXIS_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= axis.2.motor-pos-cmd
net z-vel-cmd    <= axis.2.joint-vel-cmd
net z-output     => hm2_7i93.0.stepgen.00.velocity-cmd
net z-pos-fb     <= hm2_7i93.0.stepgen.00.position-fb
net z-pos-fb     => axis.2.motor-pos-fb
net z-enable     <= axis.2.amp-enable-out
net z-enable     => hm2_7i93.0.stepgen.00.enable

# ---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
#*******************

setp   pid.s.Pgain     [SPINDLE_9]P
setp   pid.s.Igain     [SPINDLE_9]I
setp   pid.s.Dgain     [SPINDLE_9]D
setp   pid.s.bias      [SPINDLE_9]BIAS
setp   pid.s.FF0       [SPINDLE_9]FF0
setp   pid.s.FF1       [SPINDLE_9]FF1
setp   pid.s.FF2       [SPINDLE_9]FF2
setp   pid.s.deadband  [SPINDLE_9]DEADBAND
setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
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-rps         =>  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---

net dout-00     <=  motion.digital-out-00
net dout-01     <=  motion.digital-out-01
net dout-02     <=  motion.digital-out-02
net dout-03     <=  motion.digital-out-03
net din-00     =>  motion.digital-in-00
#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in

#  ---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