API tools faq
paste
Advertisement
lcvette

spindle config for +/-10vanalog testing xk7130

lcvette
Jun 14th, 2018
121
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 17.64 KB | None | 0 0
raw download clone embed print report
  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. net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01
  38.  
  39. # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
  40. net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
  41. net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
  42. net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out
  43. net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03
  44. net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04
  45.  
  46. # --- SPINDLE ORIENT BEGIN ---
  47. net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08
  48.  
  49. # --- SPINDLE-CW ---
  50. #net spindle-cw hm2_7i92.0.7i77.0.0.output-09
  51.  
  52. # --- SPINDLE-CCW ---
  53. #net spindle-ccw hm2_7i92.0.7i77.0.0.output-10
  54.  
  55. # --- X-ENABLE ---
  56. net x-enable hm2_7i92.0.7i76.0.3.output-12
  57.  
  58. # --- Y-ENABLE ---
  59. net y-enable hm2_7i92.0.7i76.0.3.output-13
  60.  
  61. # --- Z-ENABLE ---
  62. net z-enable hm2_7i92.0.7i76.0.3.output-14
  63.  
  64. # --- A-ENABLE ---
  65. net a-enable hm2_7i92.0.7i76.0.3.output-15
  66.  
  67. # --- Z-ENABLE ---
  68. net z-enable hm2_7i92.0.7i76.0.3.output-01
  69.  
  70. # --- COOLANT-FLOOD ---
  71. net coolant-flood hm2_7i92.0.7i76.0.3.output-04
  72.  
  73. # external input signals
  74.  
  75. # --- SPINDLE ORIENT ENDED ---
  76. net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31
  77.  
  78. # --- ESTOP-EXT ---
  79. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  80.  
  81. # --- PROBE-IN ---
  82. net probe-in <= hm2_7i92.0.7i77.0.0.input-15
  83.  
  84. # --- DIGITAL INPUTS ---
  85. net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-00
  86.  
  87. net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-01
  88.  
  89. net Tool-Released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02
  90.  
  91. net Atc-Zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03
  92.  
  93. net Atc-Index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04
  94.  
  95. net Tool-Clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05
  96.  
  97. # --- HOME-Z ---
  98. net home-z <= hm2_7i92.0.7i77.0.0.input-05-not
  99.  
  100. # --- LIMIT-Z ---
  101. net limit-z <= hm2_7i92.0.7i77.0.0.input-04-not
  102.  
  103. # --- HOME-Y ---
  104. net home-y <= hm2_7i92.0.7i77.0.0.input-03-not
  105.  
  106. # --- LIMIT-Y ---
  107. net limit-y <= hm2_7i92.0.7i77.0.0.input-02-not
  108.  
  109. # --- HOME-X ---
  110. net home-x <= hm2_7i92.0.7i77.0.0.input-01-not
  111.  
  112. # --- LIMIT-X ---
  113. net limit-x <= hm2_7i92.0.7i77.0.0.input-00-not
  114.  
  115. #*******************
  116. # AXIS X
  117. #*******************
  118.  
  119. setp pid.x.Pgain [AXIS_0]P
  120. setp pid.x.Igain [AXIS_0]I
  121. setp pid.x.Dgain [AXIS_0]D
  122. setp pid.x.bias [AXIS_0]BIAS
  123. setp pid.x.FF0 [AXIS_0]FF0
  124. setp pid.x.FF1 [AXIS_0]FF1
  125. setp pid.x.FF2 [AXIS_0]FF2
  126. setp pid.x.deadband [AXIS_0]DEADBAND
  127. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  128. setp pid.x.error-previous-target true
  129. setp pid.x.maxerror .0005
  130.  
  131. net x-index-enable <=> pid.x.index-enable
  132. net x-enable => pid.x.enable
  133. net x-pos-cmd => pid.x.command
  134. net x-vel-cmd => pid.x.command-deriv
  135. net x-pos-fb => pid.x.feedback
  136. net x-output => pid.x.output
  137.  
  138. # Step Gen signals/setup
  139.  
  140. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  141. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  142. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  143. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  144. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  145. setp hm2_7i92.0.stepgen.00.step_type 0
  146. setp hm2_7i92.0.stepgen.00.control-type 1
  147. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  148. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  149.  
  150. # ---closedloop stepper signals---
  151.  
  152. net x-pos-cmd <= axis.0.motor-pos-cmd
  153. net x-vel-cmd <= axis.0.joint-vel-cmd
  154. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  155. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  156. net x-pos-fb => axis.0.motor-pos-fb
  157. net x-enable <= axis.0.amp-enable-out
  158. net x-enable => hm2_7i92.0.stepgen.00.enable
  159. # ---Encoder feedback signals/setup---
  160.  
  161. setp hm2_7i92.0.encoder.01.counter-mode 0
  162. setp hm2_7i92.0.encoder.01.filter 1
  163. setp hm2_7i92.0.encoder.01.index-invert 0
  164. setp hm2_7i92.0.encoder.01.index-mask 0
  165. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  166. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  167.  
  168. net x-encpos-fb <= hm2_7i92.0.encoder.01.position
  169. ##net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  170. ##net x-encpos-fb => axis.0.motor-pos-fb
  171. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  172. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  173. # ---setup home / limit switch signals---
  174.  
  175. net home-x => axis.0.home-sw-in
  176. net min-x => axis.0.neg-lim-sw-in
  177. net max-x => axis.0.pos-lim-sw-in
  178.  
  179. #*******************
  180. # AXIS Y
  181. #*******************
  182.  
  183. setp pid.y.Pgain [AXIS_1]P
  184. setp pid.y.Igain [AXIS_1]I
  185. setp pid.y.Dgain [AXIS_1]D
  186. setp pid.y.bias [AXIS_1]BIAS
  187. setp pid.y.FF0 [AXIS_1]FF0
  188. setp pid.y.FF1 [AXIS_1]FF1
  189. setp pid.y.FF2 [AXIS_1]FF2
  190. setp pid.y.deadband [AXIS_1]DEADBAND
  191. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  192. setp pid.y.error-previous-target true
  193. setp pid.y.maxerror .0005
  194.  
  195. net y-index-enable <=> pid.y.index-enable
  196. net y-enable => pid.y.enable
  197. net y-pos-cmd => pid.y.command
  198. net y-vel-cmd => pid.y.command-deriv
  199. net y-pos-fb => pid.y.feedback
  200. net y-output => pid.y.output
  201.  
  202. # Step Gen signals/setup
  203.  
  204. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  205. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  206. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  207. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  208. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  209. setp hm2_7i92.0.stepgen.01.step_type 0
  210. setp hm2_7i92.0.stepgen.01.control-type 1
  211. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  212. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  213.  
  214. # ---closedloop stepper signals---
  215.  
  216. net y-pos-cmd <= axis.1.motor-pos-cmd
  217. net y-vel-cmd <= axis.1.joint-vel-cmd
  218. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  219. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  220. net y-pos-fb => axis.1.motor-pos-fb
  221. net y-enable <= axis.1.amp-enable-out
  222. net y-enable => hm2_7i92.0.stepgen.01.enable
  223.  
  224. # ---Encoder feedback signals/setup---
  225.  
  226. setp hm2_7i92.0.encoder.02.counter-mode 0
  227. setp hm2_7i92.0.encoder.02.filter 1
  228. setp hm2_7i92.0.encoder.02.index-invert 0
  229. setp hm2_7i92.0.encoder.02.index-mask 0
  230. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  231. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  232.  
  233. net y-encpos-fb <= hm2_7i92.0.encoder.02.position
  234. ##net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  235. ##net y-pos-fb => axis.1.motor-pos-fb
  236. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  237. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  238. # ---setup home / limit switch signals---
  239.  
  240. net home-y => axis.1.home-sw-in
  241. net min-y => axis.1.neg-lim-sw-in
  242. net max-y => axis.1.pos-lim-sw-in
  243.  
  244. #*******************
  245. # AXIS Z
  246. #*******************
  247.  
  248. setp pid.z.Pgain [AXIS_2]P
  249. setp pid.z.Igain [AXIS_2]I
  250. setp pid.z.Dgain [AXIS_2]D
  251. setp pid.z.bias [AXIS_2]BIAS
  252. setp pid.z.FF0 [AXIS_2]FF0
  253. setp pid.z.FF1 [AXIS_2]FF1
  254. setp pid.z.FF2 [AXIS_2]FF2
  255. setp pid.z.deadband [AXIS_2]DEADBAND
  256. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  257. setp pid.z.error-previous-target true
  258. setp pid.z.maxerror .0005
  259.  
  260. net z-index-enable <=> pid.z.index-enable
  261. net z-enable => pid.z.enable
  262. net z-pos-cmd => pid.z.command
  263. net z-vel-cmd => pid.z.command-deriv
  264. net z-pos-fb => pid.z.feedback
  265. net z-output => pid.z.output
  266.  
  267. # Step Gen signals/setup
  268.  
  269. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  270. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  271. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  272. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  273. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  274. setp hm2_7i92.0.stepgen.02.step_type 0
  275. setp hm2_7i92.0.stepgen.02.control-type 1
  276. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  277. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  278.  
  279. # ---closedloop stepper signals---
  280.  
  281. net z-pos-cmd <= axis.2.motor-pos-cmd
  282. net z-vel-cmd <= axis.2.joint-vel-cmd
  283. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  284. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  285. net z-pos-fb => axis.2.motor-pos-fb
  286. net z-enable <= axis.2.amp-enable-out
  287. net z-enable => hm2_7i92.0.stepgen.02.enable
  288.  
  289. # ---Encoder feedback signals/setup---
  290.  
  291. setp hm2_7i92.0.encoder.04.counter-mode 0
  292. setp hm2_7i92.0.encoder.04.filter 1
  293. setp hm2_7i92.0.encoder.04.index-invert 0
  294. setp hm2_7i92.0.encoder.04.index-mask 0
  295. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  296. setp hm2_7i92.0.encoder.04.scale [AXIS_2]ENCODER_SCALE
  297.  
  298. net z-encpos-fb <= hm2_7i92.0.encoder.04.position
  299. ##net z-vel-fb <= hm2_7i92.0.encoder.04.velocity
  300. ##net z-pos-fb => axis.2.motor-pos-fb
  301. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  302. net z-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  303. # ---setup home / limit switch signals---
  304.  
  305. net home-z => axis.2.home-sw-in
  306. net min-z => axis.2.neg-lim-sw-in
  307. net max-z => axis.2.pos-lim-sw-in
  308.  
  309. #*******************
  310. # AXIS A
  311. #*******************
  312.  
  313. setp pid.a.Pgain [AXIS_3]P
  314. setp pid.a.Igain [AXIS_3]I
  315. setp pid.a.Dgain [AXIS_3]D
  316. setp pid.a.bias [AXIS_3]BIAS
  317. setp pid.a.FF0 [AXIS_3]FF0
  318. setp pid.a.FF1 [AXIS_3]FF1
  319. setp pid.a.FF2 [AXIS_3]FF2
  320. setp pid.a.deadband [AXIS_3]DEADBAND
  321. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  322. setp pid.a.error-previous-target true
  323. setp pid.a.maxerror .0005
  324.  
  325. net a-index-enable <=> pid.a.index-enable
  326. net a-enable => pid.a.enable
  327. net a-pos-cmd => pid.a.command
  328. net a-vel-cmd => pid.a.command-deriv
  329. net a-pos-fb => pid.a.feedback
  330. net a-output => pid.a.output
  331.  
  332. # Step Gen signals/setup
  333.  
  334. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  335. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  336. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  337. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  338. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  339. setp hm2_7i92.0.stepgen.03.step_type 0
  340. setp hm2_7i92.0.stepgen.03.control-type 1
  341. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  342. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  343.  
  344. # ---closedloop stepper signals---
  345.  
  346. net a-pos-cmd <= axis.3.motor-pos-cmd
  347. net a-vel-cmd <= axis.3.joint-vel-cmd
  348. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  349. net a-pos-fb <= hm2_7i92.0.stepgen.03.position-fb
  350. net a-pos-fb => axis.3.motor-pos-fb
  351. net a-enable <= axis.3.amp-enable-out
  352. net a-enable => hm2_7i92.0.stepgen.03.enable
  353.  
  354. # ---Encoder feedback signals/setup---
  355.  
  356. setp hm2_7i92.0.encoder.05.counter-mode 0
  357. setp hm2_7i92.0.encoder.05.filter 1
  358. setp hm2_7i92.0.encoder.05.index-invert 0
  359. setp hm2_7i92.0.encoder.05.index-mask 0
  360. setp hm2_7i92.0.encoder.05.index-mask-invert 0
  361. setp hm2_7i92.0.encoder.05.scale [AXIS_3]ENCODER_SCALE
  362.  
  363. net a-encpos-fb <= hm2_7i92.0.encoder.05.position
  364. ##net a-vel-fb <= hm2_7i92.0.encoder.05.velocity
  365. ##net a-pos-fb => axis.3.motor-pos-fb
  366. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.05.index-enable
  367. net a-pos-rawcounts <= hm2_7i92.0.encoder.05.rawcounts
  368. # ---setup home / limit switch signals---
  369.  
  370. net a-home-sw => axis.3.home-sw-in
  371. net a-neg-limit => axis.3.neg-lim-sw-in
  372. net a-pos-limit => axis.3.pos-lim-sw-in
  373.  
  374. #*******************
  375. # SPINDLE S
  376. #*******************
  377.  
  378. setp pid.s.Pgain [SPINDLE_9]P
  379. setp pid.s.Igain [SPINDLE_9]I
  380. setp pid.s.Dgain [SPINDLE_9]D
  381. setp pid.s.bias [SPINDLE_9]BIAS
  382. setp pid.s.FF0 [SPINDLE_9]FF0
  383. setp pid.s.FF1 [SPINDLE_9]FF1
  384. setp pid.s.FF2 [SPINDLE_9]FF2
  385. setp pid.s.deadband [SPINDLE_9]DEADBAND
  386. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  387. setp pid.s.error-previous-target true
  388.  
  389. net spindle-index-enable <=> pid.s.index-enable
  390. net spindle-enable => pid.s.enable
  391. net spindle-vel-cmd-rpm-abs => pid.s.command
  392. net spindle-vel-fb-rpm-abs => pid.s.feedback
  393. net spindle-output <= pid.s.output
  394.  
  395. # ---PWM Generator signals/setup---
  396.  
  397. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  398. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  399. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  400.  
  401. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  402. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  403.  
  404. # ---Encoder feedback signals/setup---
  405.  
  406. setp hm2_7i92.0.encoder.00.counter-mode 0
  407. setp hm2_7i92.0.encoder.00.filter 1
  408. setp hm2_7i92.0.encoder.00.index-invert 0
  409. setp hm2_7i92.0.encoder.00.index-mask 0
  410. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  411. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  412.  
  413. net spindle-revs <= hm2_7i92.0.encoder.00.position
  414. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  415. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  416.  
  417. # ---setup spindle control signals---
  418.  
  419. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  420. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  421. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  422. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  423. net spindle-enable <= motion.spindle-on
  424. net spindle-cw <= motion.spindle-forward
  425. net spindle-ccw <= motion.spindle-reverse
  426. net spindle-brake <= motion.spindle-brake
  427. net spindle-revs => motion.spindle-revs
  428. net spindle-at-speed => motion.spindle-at-speed
  429. net spindle-vel-fb-rps => motion.spindle-speed-in
  430. net spindle-index-enable <=> motion.spindle-index-enable
  431.  
  432. # ---Setup spindle at speed signals---
  433.  
  434. net spindle-vel-cmd-rps => near.0.in1
  435. net spindle-vel-fb-rps => near.0.in2
  436.  
  437. ##########################
  438. net spindle-at-speed <= near.0.out
  439. ##########################
  440. setp near.0.scale 1.000000
  441. ##########################
  442. setp near.0.difference 5
  443.  
  444. ##sets spindle-at-speed true
  445.  
  446. # Use ACTUAL spindle velocity from spindle encoder
  447. # spindle-velocity bounces around so we filter it with lowpass
  448. # spindle-velocity is signed so we use absolute component to remove sign
  449. # ACTUAL velocity is in RPS not RPM so we scale it.
  450.  
  451. setp scale.spindle.gain 60
  452. setp lowpass.spindle.gain 1.000000
  453. net spindle-vel-fb-rps => scale.spindle.in
  454. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  455. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  456. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  457.  
  458. # ---coolant signals---
  459. net coolant-mist <= iocontrol.0.coolant-mist
  460. net coolant-flood <= iocontrol.0.coolant-flood
  461.  
  462. # ---probe signal---
  463.  
  464. net probe-in => motion.probe-input
  465.  
  466. # ---motion control signals---
  467.  
  468. net in-position <= motion.in-position
  469. net machine-is-enabled <= motion.motion-enabled
  470.  
  471. # ---digital in / out signals---
  472.  
  473. # ---estop signals---
  474.  
  475. net estop-out <= iocontrol.0.user-enable-out
  476. net estop-ext => iocontrol.0.emc-enable-in
  477.  
  478. # ---manual tool change signals---
  479.  
  480. #loadusr -W hal_manualtoolchange
  481. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  482. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  483. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  484. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  485. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
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!