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  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. # external output signals
  34.  
  35. # --- DIGITAL OUTPUT ---
  36. net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00
  37.  
  38. net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01
  39.  
  40. # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
  41. net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
  42. net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
  43. net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out
  44.  
  45. net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03
  46.  
  47. net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04
  48.  
  49. # --- SPINDLE OREINT BEGIN ---
  50. net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08
  51.  
  52. # --- X-ENABLE ---
  53. net x-enable hm2_7i92.0.7i76.0.3.output-12
  54.  
  55. # --- Y-ENABLE ---
  56. net y-enable hm2_7i92.0.7i76.0.3.output-13
  57.  
  58. # --- Z-ENABLE ---
  59. net z-enable hm2_7i92.0.7i76.0.3.output-14
  60.  
  61. # --- A-ENABLE ---
  62. net a-enable hm2_7i92.0.7i76.0.3.output-15
  63.  
  64. # --- FLOOD COOLANT ---
  65. net coolant-flood hm2_7i92.0.7i76.0.3.output-04 <= xor2.1.out
  66.  
  67. # external input signals
  68.  
  69. # --- SPINDLE ORIENT ENDED ---
  70. net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31
  71.  
  72. # --- ESTOP-EXT ---
  73. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21-not
  74. o
  75. # --- PROBE-IN ---
  76. net probe-in <= hm2_7i92.0.7i77.0.0.input-15
  77.  
  78. # --- DIGITAL INPUTS ---
  79. net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-00
  80.  
  81. net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-01
  82.  
  83. net Tool-Released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02
  84.  
  85. net Atc-Zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03
  86.  
  87. net Atc-Index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04
  88.  
  89. net Tool-Clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05
  90.  
  91. # --- MIN-Z ---
  92. net min-z <= hm2_7i92.0.7i77.0.0.input-06-not
  93.  
  94. # --- HOME-Z ---
  95. net home-z <= hm2_7i92.0.7i77.0.0.input-07-not
  96.  
  97. # --- MAX-Z ---
  98. net max-z <= hm2_7i92.0.7i77.0.0.input-08-not
  99.  
  100. # --- HOME-Y ---
  101. net home-y <= hm2_7i92.0.7i77.0.0.input-04-not
  102.  
  103. # --- MIN-Y ---
  104. net min-y <= hm2_7i92.0.7i77.0.0.input-03-not
  105.  
  106. # --- MAX-Y ---
  107. net max-y <= hm2_7i92.0.7i77.0.0.input-05-not
  108.  
  109. # --- HOME-X ---
  110. net home-x <= hm2_7i92.0.7i77.0.0.input-01-not
  111.  
  112. # --- MAX-X ---
  113. net max-x <= hm2_7i92.0.7i77.0.0.input-02-not
  114.  
  115. # --- MIN-X ---
  116. net min-x <= hm2_7i92.0.7i77.0.0.input-00-not
  117.  
  118. #*******************
  119. # AXIS X
  120. #*******************
  121.  
  122. setp pid.x.Pgain [AXIS_0]P
  123. setp pid.x.Igain [AXIS_0]I
  124. setp pid.x.Dgain [AXIS_0]D
  125. setp pid.x.bias [AXIS_0]BIAS
  126. setp pid.x.FF0 [AXIS_0]FF0
  127. setp pid.x.FF1 [AXIS_0]FF1
  128. setp pid.x.FF2 [AXIS_0]FF2
  129. setp pid.x.deadband [AXIS_0]DEADBAND
  130. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  131. setp pid.x.error-previous-target true
  132. setp pid.x.maxerror .0005
  133.  
  134. net x-index-enable <=> pid.x.index-enable
  135. net x-enable => pid.x.enable
  136. net x-pos-cmd => pid.x.command
  137. net x-vel-cmd => pid.x.command-deriv
  138. net x-pos-fb => pid.x.feedback
  139. net x-output => pid.x.output
  140.  
  141. # Step Gen signals/setup
  142.  
  143. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  144. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  145. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  146. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  147. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  148. setp hm2_7i92.0.stepgen.00.step_type 0
  149. setp hm2_7i92.0.stepgen.00.control-type 1
  150. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  151. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  152.  
  153. # ---closedloop stepper signals---
  154.  
  155. net x-pos-cmd <= axis.0.motor-pos-cmd
  156. net x-vel-cmd <= axis.0.joint-vel-cmd
  157. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  158. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  159. net x-pos-fb => axis.0.motor-pos-fb
  160. net x-enable <= axis.0.amp-enable-out
  161. net x-enable => hm2_7i92.0.stepgen.00.enable
  162.  
  163. # ---Encoder feedback signals/setup---
  164.  
  165. setp hm2_7i92.0.encoder.01.counter-mode 0
  166. setp hm2_7i92.0.encoder.01.filter 1
  167. setp hm2_7i92.0.encoder.01.index-invert 0
  168. setp hm2_7i92.0.encoder.01.index-mask 0
  169. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  170. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  171.  
  172. net x-encpos-fb <= hm2_7i92.0.encoder.01.position
  173. ##net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  174. ##net x-encpos-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 min-x => axis.0.neg-lim-sw-in
  182. net max-x => axis.0.pos-lim-sw-in
  183.  
  184. #*******************
  185. # AXIS Y
  186. #*******************
  187.  
  188. setp pid.y.Pgain [AXIS_1]P
  189. setp pid.y.Igain [AXIS_1]I
  190. setp pid.y.Dgain [AXIS_1]D
  191. setp pid.y.bias [AXIS_1]BIAS
  192. setp pid.y.FF0 [AXIS_1]FF0
  193. setp pid.y.FF1 [AXIS_1]FF1
  194. setp pid.y.FF2 [AXIS_1]FF2
  195. setp pid.y.deadband [AXIS_1]DEADBAND
  196. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  197. setp pid.y.error-previous-target true
  198. setp pid.y.maxerror .0005
  199.  
  200. net y-index-enable <=> pid.y.index-enable
  201. net y-enable => pid.y.enable
  202. net y-pos-cmd => pid.y.command
  203. net y-vel-cmd => pid.y.command-deriv
  204. net y-pos-fb => pid.y.feedback
  205. net y-output => pid.y.output
  206.  
  207. # Step Gen signals/setup
  208.  
  209. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  210. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  211. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  212. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  213. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  214. setp hm2_7i92.0.stepgen.01.step_type 0
  215. setp hm2_7i92.0.stepgen.01.control-type 1
  216. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  217. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  218.  
  219. # ---closedloop stepper signals---
  220.  
  221. net y-pos-cmd <= axis.1.motor-pos-cmd
  222. net y-vel-cmd <= axis.1.joint-vel-cmd
  223. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  224. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  225. net y-pos-fb => axis.1.motor-pos-fb
  226. net y-enable <= axis.1.amp-enable-out
  227. net y-enable => hm2_7i92.0.stepgen.01.enable
  228.  
  229. # ---Encoder feedback signals/setup---
  230.  
  231. setp hm2_7i92.0.encoder.02.counter-mode 0
  232. setp hm2_7i92.0.encoder.02.filter 1
  233. setp hm2_7i92.0.encoder.02.index-invert 0
  234. setp hm2_7i92.0.encoder.02.index-mask 0
  235. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  236. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  237.  
  238. net y-encpos-fb <= hm2_7i92.0.encoder.02.position
  239. ##net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  240. ##net y-pos-fb => axis.1.motor-pos-fb
  241. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  242. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  243.  
  244. # ---setup home / limit switch signals---
  245.  
  246. net home-y => axis.1.home-sw-in
  247. net min-y => axis.1.neg-lim-sw-in
  248. net max-y => axis.1.pos-lim-sw-in
  249.  
  250. #*******************
  251. # AXIS Z
  252. #*******************
  253.  
  254. setp pid.z.Pgain [AXIS_2]P
  255. setp pid.z.Igain [AXIS_2]I
  256. setp pid.z.Dgain [AXIS_2]D
  257. setp pid.z.bias [AXIS_2]BIAS
  258. setp pid.z.FF0 [AXIS_2]FF0
  259. setp pid.z.FF1 [AXIS_2]FF1
  260. setp pid.z.FF2 [AXIS_2]FF2
  261. setp pid.z.deadband [AXIS_2]DEADBAND
  262. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  263. setp pid.z.error-previous-target true
  264. setp pid.z.maxerror .0005
  265.  
  266. net z-index-enable <=> pid.z.index-enable
  267. net z-enable => pid.z.enable
  268. net z-pos-cmd => pid.z.command
  269. net z-vel-cmd => pid.z.command-deriv
  270. net z-pos-fb => pid.z.feedback
  271. net z-output => pid.z.output
  272.  
  273. # Step Gen signals/setup
  274.  
  275. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  276. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  277. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  278. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  279. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  280. setp hm2_7i92.0.stepgen.02.step_type 0
  281. setp hm2_7i92.0.stepgen.02.control-type 1
  282. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  283. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  284.  
  285. # ---closedloop stepper signals---
  286.  
  287. net z-pos-cmd <= axis.2.motor-pos-cmd
  288. net z-vel-cmd <= axis.2.joint-vel-cmd
  289. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  290. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  291. net z-pos-fb => axis.2.motor-pos-fb
  292. net z-enable <= axis.2.amp-enable-out
  293. net z-enable => hm2_7i92.0.stepgen.02.enable
  294.  
  295. # ---Encoder feedback signals/setup---
  296.  
  297. setp hm2_7i92.0.encoder.04.counter-mode 0
  298. setp hm2_7i92.0.encoder.04.filter 1
  299. setp hm2_7i92.0.encoder.04.index-invert 0
  300. setp hm2_7i92.0.encoder.04.index-mask 0
  301. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  302. setp hm2_7i92.0.encoder.04.scale [AXIS_2]ENCODER_SCALE
  303.  
  304. net z-encpos-fb <= hm2_7i92.0.encoder.04.position
  305. ##net z-vel-fb <= hm2_7i92.0.encoder.04.velocity
  306. ##net z-pos-fb => axis.2.motor-pos-fb
  307. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  308. net z-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  309.  
  310. # ---setup home / limit switch signals---
  311.  
  312. net home-z => axis.2.home-sw-in
  313. net min-z => axis.2.neg-lim-sw-in
  314. net max-z => axis.2.pos-lim-sw-in
  315.  
  316. #*******************
  317. # AXIS A
  318. #*******************
  319.  
  320. setp pid.a.Pgain [AXIS_3]P
  321. setp pid.a.Igain [AXIS_3]I
  322. setp pid.a.Dgain [AXIS_3]D
  323. setp pid.a.bias [AXIS_3]BIAS
  324. setp pid.a.FF0 [AXIS_3]FF0
  325. setp pid.a.FF1 [AXIS_3]FF1
  326. setp pid.a.FF2 [AXIS_3]FF2
  327. setp pid.a.deadband [AXIS_3]DEADBAND
  328. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  329. setp pid.a.error-previous-target true
  330. setp pid.a.maxerror .0005
  331.  
  332. net a-index-enable <=> pid.a.index-enable
  333. net a-enable => pid.a.enable
  334. net a-pos-cmd => pid.a.command
  335. net a-vel-cmd => pid.a.command-deriv
  336. net a-pos-fb => pid.a.feedback
  337. net a-output => pid.a.output
  338.  
  339. # Step Gen signals/setup
  340.  
  341. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  342. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  343. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  344. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  345. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  346. setp hm2_7i92.0.stepgen.03.step_type 0
  347. setp hm2_7i92.0.stepgen.03.control-type 1
  348. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  349. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  350.  
  351. # ---closedloop stepper signals---
  352.  
  353. net a-pos-cmd <= axis.3.motor-pos-cmd
  354. net a-vel-cmd <= axis.3.joint-vel-cmd
  355. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  356. net a-pos-fb <= hm2_7i92.0.stepgen.03.position-fb
  357. net a-pos-fb => axis.3.motor-pos-fb
  358. net a-enable <= axis.3.amp-enable-out
  359. net a-enable => hm2_7i92.0.stepgen.03.enable
  360.  
  361. # ---Encoder feedback signals/setup---
  362.  
  363. setp hm2_7i92.0.encoder.05.counter-mode 0
  364. setp hm2_7i92.0.encoder.05.filter 1
  365. setp hm2_7i92.0.encoder.05.index-invert 0
  366. setp hm2_7i92.0.encoder.05.index-mask 0
  367. setp hm2_7i92.0.encoder.05.index-mask-invert 0
  368. setp hm2_7i92.0.encoder.05.scale [AXIS_3]ENCODER_SCALE
  369.  
  370. net a-encpos-fb <= hm2_7i92.0.encoder.05.position
  371. ##net a-vel-fb <= hm2_7i92.0.encoder.05.velocity
  372. ##net a-pos-fb => axis.3.motor-pos-fb
  373. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.05.index-enable
  374. net a-pos-rawcounts <= hm2_7i92.0.encoder.05.rawcounts
  375.  
  376. # ---setup home / limit switch signals---
  377.  
  378. net a-home-sw => axis.3.home-sw-in
  379. net a-neg-limit => axis.3.neg-lim-sw-in
  380. net a-pos-limit => axis.3.pos-lim-sw-in
  381.  
  382. #*******************
  383. # SPINDLE S
  384. #*******************
  385.  
  386. setp pid.s.Pgain [SPINDLE_9]P
  387. setp pid.s.Igain [SPINDLE_9]I
  388. setp pid.s.Dgain [SPINDLE_9]D
  389. setp pid.s.bias [SPINDLE_9]BIAS
  390. setp pid.s.FF0 [SPINDLE_9]FF0
  391. setp pid.s.FF1 [SPINDLE_9]FF1
  392. setp pid.s.FF2 [SPINDLE_9]FF2
  393. setp pid.s.deadband [SPINDLE_9]DEADBAND
  394. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  395. setp pid.s.error-previous-target true
  396.  
  397. net spindle-index-enable <=> pid.s.index-enable
  398. net spindle-enable => pid.s.enable
  399. net spindle-vel-cmd-rpm-abs => pid.s.command
  400. net spindle-vel-fb-rpm-abs => pid.s.feedback
  401. net spindle-output <= pid.s.output
  402.  
  403. # ---PWM Generator signals/setup---
  404.  
  405. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  406. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  407. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  408.  
  409. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  410. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  411.  
  412. # ---Encoder feedback signals/setup---
  413.  
  414. setp hm2_7i92.0.encoder.00.counter-mode 0
  415. setp hm2_7i92.0.encoder.00.filter 1
  416. setp hm2_7i92.0.encoder.00.index-invert 0
  417. setp hm2_7i92.0.encoder.00.index-mask 0
  418. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  419. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  420.  
  421. net spindle-revs <= hm2_7i92.0.encoder.00.position
  422. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  423. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  424.  
  425. # ---setup spindle control signals---
  426.  
  427. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  428. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  429. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  430. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  431. net spindle-enable <= motion.spindle-on
  432. net spindle-cw <= motion.spindle-forward
  433. net spindle-ccw <= motion.spindle-reverse
  434. net spindle-brake <= motion.spindle-brake
  435. net spindle-revs => motion.spindle-revs
  436. net spindle-at-speed => motion.spindle-at-speed
  437. net spindle-vel-fb-rps => motion.spindle-speed-in
  438. net spindle-index-enable <=> motion.spindle-index-enable
  439.  
  440. # ---Setup spindle at speed signals---
  441.  
  442. net spindle-vel-cmd-rps => near.0.in1
  443. net spindle-vel-fb-rps => near.0.in2
  444.  
  445. ##########################
  446. net spindle-at-speed <= near.0.out
  447. ##########################
  448. setp near.0.scale 1.000000
  449. ##########################
  450. setp near.0.difference 5
  451.  
  452. ##sets spindle-at-speed true
  453.  
  454. # Use ACTUAL spindle velocity from spindle encoder
  455. # spindle-velocity bounces around so we filter it with lowpass
  456. # spindle-velocity is signed so we use absolute component to remove sign
  457. # ACTUAL velocity is in RPS not RPM so we scale it.
  458.  
  459. setp scale.spindle.gain 60
  460. setp lowpass.spindle.gain 1.000000
  461. net spindle-vel-fb-rps => scale.spindle.in
  462. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  463. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  464. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  465.  
  466. #******************************
  467. # connect miscellaneous signals
  468. #******************************
  469.  
  470. # ---HALUI signals---
  471. ## BELOW COMMENTED OUT FOR PENDANT TO WORK
  472. net joint-select-a halui.joint.0.select
  473. net x-is-homed halui.joint.0.is-homed
  474. ##net jog-x-pos halui.jog.0.plus
  475. ##net jog-x-neg halui.jog.0.minus
  476. net jog-x-analog halui.jog.0.analog
  477. net joint-select-b halui.joint.1.select
  478. net y-is-homed halui.joint.1.is-homed
  479. ##net jog-y-pos halui.jog.1.plus
  480. ##net jog-y-neg halui.jog.1.minus
  481. net jog-y-analog halui.jog.1.analog
  482. net joint-select-c halui.joint.2.select
  483. net z-is-homed halui.joint.2.is-homed
  484. ##net jog-z-pos halui.jog.2.plus
  485. ##net jog-z-neg halui.jog.2.minus
  486. net jog-z-analog halui.jog.2.analog
  487. net joint-select-d halui.joint.3.select
  488. net a-is-homed halui.joint.3.is-homed
  489. ##net jog-a-pos halui.jog.3.plus
  490. ##net jog-a-neg halui.jog.3.minus
  491. net jog-a-analog halui.jog.3.analog
  492. net jog-selected-pos halui.jog.selected.plus
  493. net jog-selected-neg halui.jog.selected.minus
  494. net spindle-manual-cw halui.spindle.forward
  495. net spindle-manual-ccw halui.spindle.reverse
  496. net spindle-manual-stop halui.spindle.stop
  497.  
  498. ## BELOW COMMENTED OUT FOR PENDANT TO WORK
  499. ##net machine-is-on halui.machine.is-on
  500. net jog-speed halui.jog-speed
  501. net MDI-mode halui.mode.is-mdi
  502.  
  503. # ---tool release---
  504.  
  505. # ---coolant signals---
  506.  
  507. net coolant-mist <= iocontrol.0.coolant-mist
  508.  
  509. # ---probe signal---
  510.  
  511. net probe-in => motion.probe-input
  512.  
  513. # ---motion control signals---
  514.  
  515. ## BELOW COMMENTED OUT FOR PENDANT TO WORK
  516.  
  517. ##net in-position <= motion.in-position
  518. net machine-is-enabled <= motion.motion-enabled
  519.  
  520. # ---digital in / out signals---
  521.  
  522. # ---estop signals---
  523.  
  524. net estop-out <= iocontrol.0.user-enable-out
  525. net estop-ext => iocontrol.0.emc-enable-in
  526.  
  527. # ---manual tool change signals---
  528.  
  529. #loadusr -W hal_manualtoolchange
  530. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  531. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  532. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  533.  
  534. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  535.  
  536. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
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