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RYU_cz
Jun 24th, 2020
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  1. # Generated by PNCconf at Sat May 30 22:59:47 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_eth board_ip="192.168.1.121" config="num_encoders=4 num_pwmgens=0 num_stepgens=4"
  9. setp hm2_7i93.0.watchdog.timeout_ns 10000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  11.  
  12. addf hm2_7i93.0.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_7i93.0.write servo-thread
  20.  
  21. # external output signals
  22.  
  23. # --- DOUT-01 ---
  24. setp hm2_7i93.0.gpio.021.is_output true
  25. net dout-01 hm2_7i93.0.gpio.021.out
  26.  
  27. # --- COOLANT-FLOOD ---
  28. setp hm2_7i93.0.gpio.022.is_output true
  29. net coolant-flood hm2_7i93.0.gpio.022.out
  30.  
  31. # --- ESTOP-OUT ---
  32. setp hm2_7i93.0.gpio.023.is_output true
  33. net estop-out hm2_7i93.0.gpio.023.out
  34.  
  35. # --- MACHINE-IS-ENABLED ---
  36. setp hm2_7i93.0.gpio.029.is_output true
  37. net machine-is-enabled hm2_7i93.0.gpio.029.out
  38. setp hm2_7i93.0.gpio.029.invert_output true
  39.  
  40. # --- MACHINE-IS-ENABLED ---
  41. setp hm2_7i93.0.gpio.035.is_output true
  42. net machine-is-enabled hm2_7i93.0.gpio.035.out
  43.  
  44. # --- DOUT-03 ---
  45. setp hm2_7i93.0.gpio.044.is_output true
  46. net dout-03 hm2_7i93.0.gpio.044.out
  47.  
  48. # --- DOUT-02 ---
  49. setp hm2_7i93.0.gpio.045.is_output true
  50. net dout-02 hm2_7i93.0.gpio.045.out
  51.  
  52. # --- DOUT-00 ---
  53. setp hm2_7i93.0.gpio.046.is_output true
  54. net dout-00 hm2_7i93.0.gpio.046.out
  55.  
  56. # --- COOLANT-MIST ---
  57. setp hm2_7i93.0.gpio.047.is_output true
  58. net coolant-mist hm2_7i93.0.gpio.047.out
  59.  
  60. # external input signals
  61.  
  62. # --- ESTOP-EXT ---
  63. net estop-ext <= hm2_7i93.0.gpio.010.in
  64.  
  65. # --- DIN-00 ---
  66. net din-00 <= hm2_7i93.0.gpio.038.in
  67.  
  68. #*******************
  69. # AXIS X
  70. #*******************
  71.  
  72. setp pid.x.Pgain [AXIS_0]P
  73. setp pid.x.Igain [AXIS_0]I
  74. setp pid.x.Dgain [AXIS_0]D
  75. setp pid.x.bias [AXIS_0]BIAS
  76. setp pid.x.FF0 [AXIS_0]FF0
  77. setp pid.x.FF1 [AXIS_0]FF1
  78. setp pid.x.FF2 [AXIS_0]FF2
  79. setp pid.x.deadband [AXIS_0]DEADBAND
  80. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  81. setp pid.x.error-previous-target true
  82. setp pid.x.maxerror .0005
  83.  
  84. net x-index-enable <=> pid.x.index-enable
  85. net x-enable => pid.x.enable
  86. net x-pos-cmd => pid.x.command
  87. net x-vel-cmd => pid.x.command-deriv
  88. net x-pos-fb => pid.x.feedback
  89. #net x-output => pid.x.output
  90.  
  91. # Step Gen signals/setup
  92.  
  93. setp hm2_7i93.0.stepgen.02.dirsetup [AXIS_0]DIRSETUP
  94. setp hm2_7i93.0.stepgen.02.dirhold [AXIS_0]DIRHOLD
  95. setp hm2_7i93.0.stepgen.02.steplen [AXIS_0]STEPLEN
  96. setp hm2_7i93.0.stepgen.02.stepspace [AXIS_0]STEPSPACE
  97. setp hm2_7i93.0.stepgen.02.position-scale [AXIS_0]STEP_SCALE
  98. setp hm2_7i93.0.stepgen.02.step_type 1
  99. setp hm2_7i93.0.stepgen.02.control-type 1
  100. setp hm2_7i93.0.stepgen.02.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  101. setp hm2_7i93.0.stepgen.02.maxvel [AXIS_0]STEPGEN_MAXVEL
  102.  
  103. # ---closedloop stepper signals---
  104.  
  105. #net x-pos-cmd <= axis.0.motor-pos-cmd
  106. net x-output <= axis.0.motor-pos-cmd
  107.  
  108. net x-vel-cmd <= axis.0.joint-vel-cmd
  109. net x-output => hm2_7i93.0.stepgen.02.velocity-cmd
  110. net x-pos-fb <= hm2_7i93.0.stepgen.02.position-fb
  111. #net x-pos-fb => axis.0.motor-pos-fb
  112. net x-enable <= axis.0.amp-enable-out
  113. net x-enable => hm2_7i93.0.stepgen.02.enable
  114.  
  115. # ---Encoder feedback signals/setup---
  116.  
  117. setp hm2_7i93.0.encoder.02.counter-mode 0
  118. setp hm2_7i93.0.encoder.02.filter 1
  119. setp hm2_7i93.0.encoder.02.index-invert 0
  120. setp hm2_7i93.0.encoder.02.index-mask 0
  121. setp hm2_7i93.0.encoder.02.index-mask-invert 0
  122. setp hm2_7i93.0.encoder.02.scale [AXIS_0]ENCODER_SCALE
  123.  
  124. #net x-pos-fb <= hm2_7i93.0.encoder.02.position
  125. net x-vel-fb <= hm2_7i93.0.encoder.02.velocity
  126. net x-pos-fb => axis.0.motor-pos-fb
  127. net x-index-enable axis.0.index-enable <=> hm2_7i93.0.encoder.02.index-enable
  128. net x-pos-rawcounts <= hm2_7i93.0.encoder.02.rawcounts
  129.  
  130. # ---setup home / limit switch signals---
  131.  
  132. net x-home-sw => axis.0.home-sw-in
  133. net x-neg-limit => axis.0.neg-lim-sw-in
  134. net x-pos-limit => axis.0.pos-lim-sw-in
  135.  
  136. #*******************
  137. # AXIS Y
  138. #*******************
  139.  
  140. setp pid.y.Pgain [AXIS_1]P
  141. setp pid.y.Igain [AXIS_1]I
  142. setp pid.y.Dgain [AXIS_1]D
  143. setp pid.y.bias [AXIS_1]BIAS
  144. setp pid.y.FF0 [AXIS_1]FF0
  145. setp pid.y.FF1 [AXIS_1]FF1
  146. setp pid.y.FF2 [AXIS_1]FF2
  147. setp pid.y.deadband [AXIS_1]DEADBAND
  148. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  149. setp pid.y.error-previous-target true
  150. setp pid.y.maxerror .0005
  151.  
  152. net y-index-enable <=> pid.y.index-enable
  153. net y-enable => pid.y.enable
  154. net y-pos-cmd => pid.y.command
  155. net y-vel-cmd => pid.y.command-deriv
  156. net y-pos-fb => pid.y.feedback
  157. net y-output => pid.y.output
  158.  
  159. # Step Gen signals/setup
  160.  
  161. setp hm2_7i93.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  162. setp hm2_7i93.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  163. setp hm2_7i93.0.stepgen.01.steplen [AXIS_1]STEPLEN
  164. setp hm2_7i93.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  165. setp hm2_7i93.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  166. setp hm2_7i93.0.stepgen.01.step_type 1
  167. setp hm2_7i93.0.stepgen.01.control-type 1
  168. setp hm2_7i93.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  169. setp hm2_7i93.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  170.  
  171. # ---closedloop stepper signals---
  172.  
  173. net y-pos-cmd <= axis.1.motor-pos-cmd
  174. net y-vel-cmd <= axis.1.joint-vel-cmd
  175. net y-output => hm2_7i93.0.stepgen.01.velocity-cmd
  176. net y-pos-fb <= hm2_7i93.0.stepgen.01.position-fb
  177. net y-pos-fb => axis.1.motor-pos-fb
  178. net y-enable <= axis.1.amp-enable-out
  179. net y-enable => hm2_7i93.0.stepgen.01.enable
  180.  
  181. # ---setup home / limit switch signals---
  182.  
  183. net y-home-sw => axis.1.home-sw-in
  184. net y-neg-limit => axis.1.neg-lim-sw-in
  185. net y-pos-limit => axis.1.pos-lim-sw-in
  186.  
  187. #*******************
  188. # AXIS Z
  189. #*******************
  190.  
  191. setp pid.z.Pgain [AXIS_2]P
  192. setp pid.z.Igain [AXIS_2]I
  193. setp pid.z.Dgain [AXIS_2]D
  194. setp pid.z.bias [AXIS_2]BIAS
  195. setp pid.z.FF0 [AXIS_2]FF0
  196. setp pid.z.FF1 [AXIS_2]FF1
  197. setp pid.z.FF2 [AXIS_2]FF2
  198. setp pid.z.deadband [AXIS_2]DEADBAND
  199. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  200. setp pid.z.error-previous-target true
  201. setp pid.z.maxerror .0005
  202.  
  203. net z-index-enable <=> pid.z.index-enable
  204. net z-enable => pid.z.enable
  205. net z-pos-cmd => pid.z.command
  206. net z-vel-cmd => pid.z.command-deriv
  207. net z-pos-fb => pid.z.feedback
  208. net z-output => pid.z.output
  209.  
  210. # Step Gen signals/setup
  211.  
  212. setp hm2_7i93.0.stepgen.00.dirsetup [AXIS_2]DIRSETUP
  213. setp hm2_7i93.0.stepgen.00.dirhold [AXIS_2]DIRHOLD
  214. setp hm2_7i93.0.stepgen.00.steplen [AXIS_2]STEPLEN
  215. setp hm2_7i93.0.stepgen.00.stepspace [AXIS_2]STEPSPACE
  216. setp hm2_7i93.0.stepgen.00.position-scale [AXIS_2]STEP_SCALE
  217. setp hm2_7i93.0.stepgen.00.step_type 0
  218. setp hm2_7i93.0.stepgen.00.control-type 1
  219. setp hm2_7i93.0.stepgen.00.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  220. setp hm2_7i93.0.stepgen.00.maxvel [AXIS_2]STEPGEN_MAXVEL
  221.  
  222. # ---closedloop stepper signals---
  223.  
  224. net z-pos-cmd <= axis.2.motor-pos-cmd
  225. net z-vel-cmd <= axis.2.joint-vel-cmd
  226. net z-output => hm2_7i93.0.stepgen.00.velocity-cmd
  227. net z-pos-fb <= hm2_7i93.0.stepgen.00.position-fb
  228. net z-pos-fb => axis.2.motor-pos-fb
  229. net z-enable <= axis.2.amp-enable-out
  230. net z-enable => hm2_7i93.0.stepgen.00.enable
  231.  
  232. # ---setup home / limit switch signals---
  233.  
  234. net z-home-sw => axis.2.home-sw-in
  235. net z-neg-limit => axis.2.neg-lim-sw-in
  236. net z-pos-limit => axis.2.pos-lim-sw-in
  237.  
  238. #*******************
  239. # SPINDLE S
  240. #*******************
  241.  
  242. setp pid.s.Pgain [SPINDLE_9]P
  243. setp pid.s.Igain [SPINDLE_9]I
  244. setp pid.s.Dgain [SPINDLE_9]D
  245. setp pid.s.bias [SPINDLE_9]BIAS
  246. setp pid.s.FF0 [SPINDLE_9]FF0
  247. setp pid.s.FF1 [SPINDLE_9]FF1
  248. setp pid.s.FF2 [SPINDLE_9]FF2
  249. setp pid.s.deadband [SPINDLE_9]DEADBAND
  250. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  251. setp pid.s.error-previous-target true
  252.  
  253. net spindle-index-enable <=> pid.s.index-enable
  254. net spindle-enable => pid.s.enable
  255. net spindle-vel-cmd-rpm => pid.s.command
  256. net spindle-vel-fb-rpm => pid.s.feedback
  257. net spindle-output <= pid.s.output
  258.  
  259. # ---setup spindle control signals---
  260.  
  261. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  262. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  263. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  264. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  265. net spindle-enable <= motion.spindle-on
  266. net spindle-cw <= motion.spindle-forward
  267. net spindle-ccw <= motion.spindle-reverse
  268. net spindle-brake <= motion.spindle-brake
  269. net spindle-revs => motion.spindle-revs
  270. net spindle-at-speed => motion.spindle-at-speed
  271. net spindle-vel-fb-rps => motion.spindle-speed-in
  272. net spindle-index-enable <=> motion.spindle-index-enable
  273.  
  274. # ---Setup spindle at speed signals---
  275.  
  276. sets spindle-at-speed true
  277.  
  278.  
  279. #******************************
  280. # connect miscellaneous signals
  281. #******************************
  282.  
  283. # ---HALUI signals---
  284.  
  285. net joint-select-a halui.joint.0.select
  286. net x-is-homed halui.joint.0.is-homed
  287. net jog-x-pos halui.jog.0.plus
  288. net jog-x-neg halui.jog.0.minus
  289. net jog-x-analog halui.jog.0.analog
  290. net joint-select-b halui.joint.1.select
  291. net y-is-homed halui.joint.1.is-homed
  292. net jog-y-pos halui.jog.1.plus
  293. net jog-y-neg halui.jog.1.minus
  294. net jog-y-analog halui.jog.1.analog
  295. net joint-select-c halui.joint.2.select
  296. net z-is-homed halui.joint.2.is-homed
  297. net jog-z-pos halui.jog.2.plus
  298. net jog-z-neg halui.jog.2.minus
  299. net jog-z-analog halui.jog.2.analog
  300. net jog-selected-pos halui.jog.selected.plus
  301. net jog-selected-neg halui.jog.selected.minus
  302. net spindle-manual-cw halui.spindle.forward
  303. net spindle-manual-ccw halui.spindle.reverse
  304. net spindle-manual-stop halui.spindle.stop
  305. net machine-is-on halui.machine.is-on
  306. net jog-speed halui.jog-speed
  307. net MDI-mode halui.mode.is-mdi
  308.  
  309. # ---coolant signals---
  310.  
  311. net coolant-mist <= iocontrol.0.coolant-mist
  312. net coolant-flood <= iocontrol.0.coolant-flood
  313.  
  314. # ---probe signal---
  315.  
  316. net probe-in => motion.probe-input
  317.  
  318. # ---motion control signals---
  319.  
  320. net in-position <= motion.in-position
  321. net machine-is-enabled <= motion.motion-enabled
  322.  
  323. # ---digital in / out signals---
  324.  
  325. net dout-00 <= motion.digital-out-00
  326. net dout-01 <= motion.digital-out-01
  327. net dout-02 <= motion.digital-out-02
  328. net dout-03 <= motion.digital-out-03
  329. net din-00 => motion.digital-in-00
  330. # ---estop signals---
  331.  
  332. net estop-out <= iocontrol.0.user-enable-out
  333. net estop-ext => iocontrol.0.emc-enable-in
  334.  
  335. # ---manual tool change signals---
  336.  
  337. loadusr -W hal_manualtoolchange
  338. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  339. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  340. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  341. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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