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  1. # Generated by PNCconf at Tue Sep 6 13:03:09 2011
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. #----See kinematics.hal file-----
  6. #loadrt trivkins
  7. #loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  8.  
  9. loadrt probe_parport
  10. loadrt hostmot2
  11. loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVST4_4t.BIT num_encoders=4 num_pwmgens=1 num_stepgens=4"
  12. #---PWMGEN is our charge pump waveform---
  13. setp hm2_7i43.0.pwmgen.pwm_frequency 5000
  14. setp hm2_7i43.0.watchdog.timeout_ns 10000000
  15. loadrt abs names=abs.spindle
  16. loadrt near
  17. #loadrt lowpass names=
  18. #
  19. # ---The (two) and2 and (one) or2 are used for Estop button operation---
  20. loadrt and2 count=2
  21. loadrt or2 count=1
  22.  
  23. addf hm2_7i43.0.read servo-thread
  24. addf motion-command-handler servo-thread
  25. addf motion-controller servo-thread
  26. #---Must add the (two) and2's and (one) or2 to the servo thread
  27. addf and2.0 servo-thread
  28. addf and2.1 servo-thread
  29. addf or2.0 servo-thread
  30.  
  31. loadrt pid num_chan=4
  32. addf pid.0.do-pid-calcs servo-thread
  33. addf pid.1.do-pid-calcs servo-thread
  34. addf pid.2.do-pid-calcs servo-thread
  35. addf pid.3.do-pid-calcs servo-thread
  36.  
  37. alias pin pid.0.Pgain pid.x.Pgain
  38. alias pin pid.0.Igain pid.x.Igain
  39. alias pin pid.0.Dgain pid.x.Dgain
  40. alias pin pid.0.bias pid.x.bias
  41. alias pin pid.0.FF0 pid.x.FF0
  42. alias pin pid.0.FF1 pid.x.FF1
  43. alias pin pid.0.FF2 pid.x.FF2
  44. alias pin pid.0.deadband pid.x.deadband
  45. alias pin pid.0.maxoutput pid.x.maxoutput
  46. alias pin pid.0.enable pid.x.enable
  47. alias pin pid.0.command pid.x.command
  48. alias pin pid.0.feedback pid.x.feedback
  49. alias pin pid.0.output pid.x.output
  50. alias pin pid.0.index-enable pid.x.index-enable
  51.  
  52. alias pin pid.1.Pgain pid.y.Pgain
  53. alias pin pid.1.Igain pid.y.Igain
  54. alias pin pid.1.Dgain pid.y.Dgain
  55. alias pin pid.1.bias pid.y.bias
  56. alias pin pid.1.FF0 pid.y.FF0
  57. alias pin pid.1.FF1 pid.y.FF1
  58. alias pin pid.1.FF2 pid.y.FF2
  59. alias pin pid.1.deadband pid.y.deadband
  60. alias pin pid.1.maxoutput pid.y.maxoutput
  61. alias pin pid.1.enable pid.y.enable
  62. alias pin pid.1.command pid.y.command
  63. alias pin pid.1.feedback pid.y.feedback
  64. alias pin pid.1.output pid.y.output
  65. alias pin pid.1.index-enable pid.y.index-enable
  66.  
  67. alias pin pid.2.Pgain pid.z.Pgain
  68. alias pin pid.2.Igain pid.z.Igain
  69. alias pin pid.2.Dgain pid.z.Dgain
  70. alias pin pid.2.bias pid.z.bias
  71. alias pin pid.2.FF0 pid.z.FF0
  72. alias pin pid.2.FF1 pid.z.FF1
  73. alias pin pid.2.FF2 pid.z.FF2
  74. alias pin pid.2.deadband pid.z.deadband
  75. alias pin pid.2.maxoutput pid.z.maxoutput
  76. alias pin pid.2.enable pid.z.enable
  77. alias pin pid.2.command pid.z.command
  78. alias pin pid.2.feedback pid.z.feedback
  79. alias pin pid.2.output pid.z.output
  80. alias pin pid.2.index-enable pid.z.index-enable
  81.  
  82. alias pin pid.3.Pgain pid.a.Pgain
  83. alias pin pid.3.Igain pid.a.Igain
  84. alias pin pid.3.Dgain pid.a.Dgain
  85. alias pin pid.3.bias pid.a.bias
  86. alias pin pid.3.FF0 pid.a.FF0
  87. alias pin pid.3.FF1 pid.a.FF1
  88. alias pin pid.3.FF2 pid.a.FF2
  89. alias pin pid.3.deadband pid.a.deadband
  90. alias pin pid.3.maxoutput pid.a.maxoutput
  91. alias pin pid.3.enable pid.a.enable
  92. alias pin pid.3.command pid.a.command
  93. alias pin pid.3.feedback pid.a.feedback
  94. alias pin pid.3.output pid.a.output
  95. alias pin pid.3.index-enable pid.a.index-enable
  96.  
  97. addf near.0 servo-thread
  98. addf hm2_7i43.0.write servo-thread
  99. addf hm2_7i43.0.pet_watchdog servo-thread
  100.  
  101. # external output signals
  102.  
  103. # --- SPINDLE-ENABLE ---
  104. #setp hm2_7i43.0.gpio.021.is_output true
  105. #net spindle-enable => hm2_7i43.0.gpio.021.out
  106. # --- COOLANT-FLOOD ---
  107. setp hm2_7i43.0.gpio.022.is_output true
  108. net coolant-flood => hm2_7i43.0.gpio.022.out
  109.  
  110. #Set Step and Dir pins to Grainte drive to open drain mode
  111.  
  112. #Stepgen 0 Step/Dir
  113. #This is X-axis step/dir - still going to Gecko, NOT in open drain
  114. #setp hm2_7i43.0.gpio.012.is_opendrain true
  115. #setp hm2_7i43.0.gpio.013.is_opendrain true
  116.  
  117. #Stepgen 1 Step/Dir
  118. #This is Y1-axis step/dir - Connected to Granite drive in open drain
  119. setp hm2_7i43.0.gpio.014.is_opendrain true
  120. setp hm2_7i43.0.gpio.014.invert_output true
  121. setp hm2_7i43.0.gpio.015.is_opendrain true
  122.  
  123. #Stepgen 2 Step/Dir
  124. #This is Z-axis step/dir - still going to Gecko, NOT in open drain
  125. #setp hm2_7i43.0.gpio.016.is_opendrain true
  126. #setp hm2_7i43.0.gpio.017.is_opendrain true
  127.  
  128. #Stepgen 3 Step/Dir
  129. #This is Y2-axis step/dir - Connected to Granite drive in open drain
  130. setp hm2_7i43.0.gpio.018.is_opendrain true
  131. setp hm2_7i43.0.gpio.018.invert_output true
  132. setp hm2_7i43.0.gpio.019.is_opendrain true
  133.  
  134.  
  135. # external input signals
  136.  
  137.  
  138. #GPIO Output 41 on Mesa -> Granite drive X & Y1 IN3 (Disable In/Clear fault)
  139. #Physical Mesa 7i42: Bottom card, pin 17
  140. setp hm2_7i43.0.gpio.041.is_output true
  141. setp hm2_7i43.0.gpio.041.is_opendrain true
  142. #If invert is true, output will be high when Axis is brought out of estop.
  143. setp hm2_7i43.0.gpio.041.invert_output true
  144.  
  145. #GPIO Output 42 on Mesa -> Granite drive Z & Y2 IN3 (Disable In/Clear fault)
  146. #Physical Mesa 7i42: Bottom card, pin 18
  147. setp hm2_7i43.0.gpio.042.is_output true
  148. setp hm2_7i43.0.gpio.042.is_opendrain true
  149. #If invert is true, output will be high when Axis is brought out of estop.
  150. setp hm2_7i43.0.gpio.042.invert_output true
  151.  
  152. #GPIO Output 43 on Mesa -> Granite drive X & Y1 IN4 (Start Homing)
  153. #Physical Mesa 7i42: Bottom card, pin 19
  154. setp hm2_7i43.0.gpio.043.is_output true
  155. #setp hm2_7i43.0.gpio.043.is_opendrain true
  156. #setp hm2_7i43.0.gpio.043.invert_output true
  157.  
  158. #GPIO Output 44 on Mesa -> Granite drive Z & Y2 IN4 (Start Homing)
  159. #Physical Mesa 7i42: Bottom card, pin 20
  160. setp hm2_7i43.0.gpio.044.is_output true
  161. #setp hm2_7i43.0.gpio.044.is_opendrain true
  162. #setp hm2_7i43.0.gpio.044.invert_output true
  163.  
  164. #***************************************************************
  165. # --- Estop Indication Section ---
  166. setp hm2_7i43.0.gpio.023.is_output false
  167.  
  168. net estop-sw-btn and2.0.in0 <= iocontrol.0.user-enable-out
  169. net estop-hw-btn and2.0.in1 <= hm2_7i43.0.gpio.023.in_not
  170.  
  171. # ---- emc-enable-in is enabling software to run ---
  172. # ---- user-request-enable is momentary press of software estop button----
  173. net system-enable or2.0.in0 <= iocontrol.0.emc-enable-in
  174. net var2 or2.0.in1 <= iocontrol.0.user-request-enable
  175. net var3 and2.1.in0 <= and2.0.out
  176. net var4 and2.1.in1 <= or2.0.out
  177.  
  178. net system-enable iocontrol.0.emc-enable-in <= and2.1.out
  179. # --- End of Estop Indication Section ---
  180. #***************************************************************
  181.  
  182.  
  183. #*******************
  184. # AXIS X
  185. #*******************
  186.  
  187. # Step Gen signals/setup
  188.  
  189. setp hm2_7i43.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  190. setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  191. setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
  192. setp hm2_7i43.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  193. setp hm2_7i43.0.stepgen.00.position-scale [AXIS_0]SCALE
  194. setp hm2_7i43.0.stepgen.00.maxaccel [AXIS_0]MAX_ACCELERATION
  195. setp hm2_7i43.0.stepgen.00.maxvel [AXIS_0]MAX_VELOCITY
  196. setp hm2_7i43.0.stepgen.00.step_type 0
  197. setp hm2_7i43.0.stepgen.00.control-type 1
  198.  
  199. #net xpos-fb axis.0.motor-pos-fb <= hm2_7i43.0.stepgen.00.position-fb
  200. #net xpos-cmd axis.0.motor-pos-cmd => hm2_7i43.0.stepgen.00.position-cmd
  201. #net xenable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable
  202.  
  203. # ---PID signals/setup---
  204. setp pid.0.Pgain [AXIS_0]P
  205. setp pid.0.Igain [AXIS_0]I
  206. setp pid.0.Dgain [AXIS_0]D
  207. setp pid.0.bias [AXIS_0]BIAS
  208. setp pid.0.FF0 [AXIS_0]FF0
  209. setp pid.0.FF1 [AXIS_0]FF1
  210. setp pid.0.FF2 [AXIS_0]FF2
  211. setp pid.0.deadband [AXIS_0]DEADBAND
  212. setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
  213.  
  214. # ---Encoder feedback signals/setup---
  215.  
  216. setp hm2_7i43.0.encoder.00.counter-mode 0
  217. setp hm2_7i43.0.encoder.00.filter 1
  218. setp hm2_7i43.0.encoder.00.index-invert 0
  219. setp hm2_7i43.0.encoder.00.index-mask 0
  220. setp hm2_7i43.0.encoder.00.index-mask-invert 0
  221. setp hm2_7i43.0.encoder.00.scale [AXIS_0]INPUT_SCALE
  222.  
  223. net X.pos-fb axis.0.motor-pos-fb <= hm2_7i43.0.encoder.00.position => pid.0.feedback
  224. net X.pos-cmd axis.0.motor-pos-cmd => pid.0.command
  225. net X.enable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable => pid.0.enable
  226. net X.pos-out pid.0.output => hm2_7i43.0.stepgen.00.velocity-cmd
  227.  
  228. net x-index-enable axis.0.index-enable <=> hm2_7i43.0.encoder.00.index-enable
  229.  
  230. # ---setup home / limit switch signals---
  231.  
  232. #net x-home-sw => axis.0.home-sw-in
  233. #net x-neg-limit => axis.0.neg-lim-sw-in
  234. #net x-pos-limit => axis.0.pos-lim-sw-in
  235.  
  236. #*******************
  237. # AXIS Y
  238. #*******************
  239.  
  240. # Step Gen signals/setup
  241.  
  242. setp hm2_7i43.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  243. setp hm2_7i43.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  244. setp hm2_7i43.0.stepgen.01.steplen [AXIS_1]STEPLEN
  245. setp hm2_7i43.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  246. setp hm2_7i43.0.stepgen.01.position-scale [AXIS_1]SCALE
  247. setp hm2_7i43.0.stepgen.01.maxaccel [AXIS_1]MAX_ACCELERATION
  248. setp hm2_7i43.0.stepgen.01.maxvel [AXIS_1]MAX_VELOCITY
  249. setp hm2_7i43.0.stepgen.01.step_type 0
  250. setp hm2_7i43.0.stepgen.01.control-type 0
  251. #setp hm2_7i43.0.stepgen.01.control-type 1
  252.  
  253. net ypos-fb axis.1.motor-pos-fb <= hm2_7i43.0.stepgen.01.position-fb
  254. #test line below to feed encoder to pos fb
  255. #net ypos-fb axis.1.motor-pos-fb <= hm2_7i43.0.encoder.01.position
  256. net ypos-cmd axis.1.motor-pos-cmd => hm2_7i43.0.stepgen.01.position-cmd
  257. net yenable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable
  258.  
  259. # ---PID signals/setup---
  260. setp pid.1.Pgain [AXIS_1]P
  261. setp pid.1.Igain [AXIS_1]I
  262. setp pid.1.Dgain [AXIS_1]D
  263. setp pid.1.bias [AXIS_1]BIAS
  264. setp pid.1.FF0 [AXIS_1]FF0
  265. setp pid.1.FF1 [AXIS_1]FF1
  266. setp pid.1.FF2 [AXIS_1]FF2
  267. setp pid.1.deadband [AXIS_1]DEADBAND
  268. setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
  269.  
  270. # ---Encoder feedback signals/setup---
  271.  
  272. setp hm2_7i43.0.encoder.01.counter-mode 0
  273. setp hm2_7i43.0.encoder.01.filter 1
  274. setp hm2_7i43.0.encoder.01.index-invert 0
  275. setp hm2_7i43.0.encoder.01.index-mask 0
  276. setp hm2_7i43.0.encoder.01.index-mask-invert 0
  277. setp hm2_7i43.0.encoder.01.scale [AXIS_1]INPUT_SCALE
  278.  
  279. #Not used in either config
  280. #net ypos-fb <= hm2_7i43.0.encoder.01.position
  281. #net ypos-fb => pid.y.feedback
  282. #net ypos-fb => axis.1.motor-pos-fb
  283. #net y-index-enable axis.1.index-enable <=> hm2_7i43.0.encoder.01.index-enable
  284.  
  285. #net Y.pos-fb axis.1.motor-pos-fb <= hm2_7i43.0.encoder.01.position => pid.1.feedback
  286. #net Y.pos-cmd axis.1.motor-pos-cmd => pid.1.command
  287. #net Y.enable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable => pid.1.enable
  288. #net Y.pos-out pid.1.output => hm2_7i43.0.stepgen.01.velocity-cmd
  289.  
  290. #net y-index-enable axis.1.index-enable <=> hm2_7i43.0.encoder.01.index-enable
  291.  
  292.  
  293.  
  294. # ---setup home / limit switch signals---
  295.  
  296. #net y-home-sw => axis.1.home-sw-in
  297. #net y-neg-limit => axis.1.neg-lim-sw-in
  298. #net y-pos-limit => axis.1.pos-lim-sw-in
  299.  
  300. #*******************
  301. # AXIS Z
  302. #*******************
  303.  
  304. # Step Gen signals/setup
  305.  
  306. setp hm2_7i43.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  307. setp hm2_7i43.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  308. setp hm2_7i43.0.stepgen.02.steplen [AXIS_2]STEPLEN
  309. setp hm2_7i43.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  310. setp hm2_7i43.0.stepgen.02.position-scale [AXIS_2]SCALE
  311. setp hm2_7i43.0.stepgen.02.maxaccel [AXIS_2]MAX_ACCELERATION
  312. setp hm2_7i43.0.stepgen.02.maxvel [AXIS_2]MAX_VELOCITY
  313. setp hm2_7i43.0.stepgen.02.step_type 0
  314. setp hm2_7i43.0.stepgen.02.control-type 1
  315.  
  316. #net zpos-fb axis.2.motor-pos-fb <= hm2_7i43.0.stepgen.02.position-fb
  317. #net zpos-cmd axis.2.motor-pos-cmd => hm2_7i43.0.stepgen.02.position-cmd
  318. #net zenable axis.2.amp-enable-out => hm2_7i43.0.stepgen.02.enable
  319.  
  320. # ---PID signals/setup---
  321. setp pid.2.Pgain [AXIS_2]P
  322. setp pid.2.Igain [AXIS_2]I
  323. setp pid.2.Dgain [AXIS_2]D
  324. setp pid.2.bias [AXIS_2]BIAS
  325. setp pid.2.FF0 [AXIS_2]FF0
  326. setp pid.2.FF1 [AXIS_2]FF1
  327. setp pid.2.FF2 [AXIS_2]FF2
  328. setp pid.2.deadband [AXIS_2]DEADBAND
  329. setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
  330.  
  331. # ---Encoder feedback signals/setup---
  332.  
  333. setp hm2_7i43.0.encoder.02.counter-mode 0
  334. setp hm2_7i43.0.encoder.02.filter 1
  335. setp hm2_7i43.0.encoder.02.index-invert 0
  336. setp hm2_7i43.0.encoder.02.index-mask 0
  337. setp hm2_7i43.0.encoder.02.index-mask-invert 0
  338. setp hm2_7i43.0.encoder.02.scale [AXIS_2]INPUT_SCALE
  339.  
  340. #net zpos-fb <= hm2_7i43.0.encoder.02.position
  341. #net zpos-fb => pid.z.feedback
  342. #net zpos-fb => axis.2.motor-pos-fb
  343. #net z-index-enable axis.2.index-enable <=> hm2_7i43.0.encoder.02.index-enable
  344.  
  345. net Z.pos-fb axis.2.motor-pos-fb <= hm2_7i43.0.encoder.02.position => pid.2.feedback
  346. net Z.pos-cmd axis.2.motor-pos-cmd => pid.2.command
  347. net Z.enable axis.2.amp-enable-out => hm2_7i43.0.stepgen.02.enable => pid.2.enable
  348. net Z.pos-out pid.2.output => hm2_7i43.0.stepgen.02.velocity-cmd
  349.  
  350. net z-index-enable axis.2.index-enable <=> hm2_7i43.0.encoder.02.index-enable
  351.  
  352.  
  353. # ---setup home / limit switch signals---
  354.  
  355. #net z-home-sw => axis.2.home-sw-in
  356. #net z-neg-limit => axis.2.neg-lim-sw-in
  357. #net z-pos-limit => axis.2.pos-lim-sw-in
  358.  
  359. #*******************
  360. # AXIS Y2
  361. #*******************
  362.  
  363. # Step Gen signals/setup
  364.  
  365. setp hm2_7i43.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  366. setp hm2_7i43.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  367. setp hm2_7i43.0.stepgen.03.steplen [AXIS_3]STEPLEN
  368. setp hm2_7i43.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  369. setp hm2_7i43.0.stepgen.03.position-scale [AXIS_3]SCALE
  370. setp hm2_7i43.0.stepgen.03.maxaccel [AXIS_3]MAX_ACCELERATION
  371. setp hm2_7i43.0.stepgen.03.maxvel [AXIS_3]MAX_VELOCITY
  372. setp hm2_7i43.0.stepgen.03.step_type 0
  373. setp hm2_7i43.0.stepgen.03.control-type 1
  374.  
  375. #net vpos-fb axis.3.motor-pos-fb <= hm2_7i43.0.stepgen.03.position-fb
  376. #net vpos-cmd axis.3.motor-pos-cmd => hm2_7i43.0.stepgen.03.position-cmd
  377. #net venable axis.3.amp-enable-out => hm2_7i43.0.stepgen.03.enable
  378.  
  379. # ---PID signals/setup---
  380. setp pid.3.Pgain [AXIS_3]P
  381. setp pid.3.Igain [AXIS_3]I
  382. setp pid.3.Dgain [AXIS_3]D
  383. setp pid.3.bias [AXIS_3]BIAS
  384. setp pid.3.FF0 [AXIS_3]FF0
  385. setp pid.3.FF1 [AXIS_3]FF1
  386. setp pid.3.FF2 [AXIS_3]FF2
  387. setp pid.3.deadband [AXIS_3]DEADBAND
  388. setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT
  389.  
  390.  
  391. # ---Encoder feedback signals/setup---
  392.  
  393. setp hm2_7i43.0.encoder.03.counter-mode 0
  394. setp hm2_7i43.0.encoder.03.filter 1
  395. setp hm2_7i43.0.encoder.03.index-invert 0
  396. setp hm2_7i43.0.encoder.03.index-mask 0
  397. setp hm2_7i43.0.encoder.03.index-mask-invert 0
  398. setp hm2_7i43.0.encoder.03.scale [AXIS_3]INPUT_SCALE
  399.  
  400. #net apos-fb <= hm2_7i43.0.encoder.03.position
  401. #net apos-fb => pid.a.feedback
  402. #net apos-fb => axis.3.motor-pos-fb
  403. #net a-index-enable axis.3.index-enable <=> hm2_7i43.0.encoder.03.index-enable
  404.  
  405. net A.pos-fb axis.3.motor-pos-fb <= hm2_7i43.0.encoder.03.position => pid.3.feedback
  406. net A.pos-cmd axis.3.motor-pos-cmd => pid.3.command
  407. net A.enable axis.3.amp-enable-out => hm2_7i43.0.stepgen.03.enable => pid.3.enable
  408. net A.pos-out pid.3.output => hm2_7i43.0.stepgen.03.velocity-cmd
  409.  
  410. net a-index-enable axis.3.index-enable <=> hm2_7i43.0.encoder.03.index-enable
  411.  
  412.  
  413. # ---setup home / limit switch signals---
  414.  
  415. #net a-home-sw => axis.3.home-sw-in
  416. #net a-neg-limit => axis.3.neg-lim-sw-in
  417. #net a-pos-limit => axis.3.pos-lim-sw-in
  418.  
  419. #*******************
  420. # SPINDLE S
  421. #*******************
  422.  
  423. #***********************
  424. # CHARGE PUMP SIGNAL
  425. #***********************
  426.  
  427. # ---PWM Generator signals/setup---
  428.  
  429. setp hm2_7i43.0.pwmgen.00.output-type 1
  430. setp hm2_7i43.0.pwmgen.00.scale [CHARGEPUMP_0]OUTPUT_SCALE
  431. setp hm2_7i43.0.pwmgen.00.value [CHARGEPUMP_0]VALUE
  432.  
  433. net system-enable => hm2_7i43.0.pwmgen.00.enable
  434.  
  435.  
  436. # ---setup spindle control signals---
  437.  
  438. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  439. net spindle-vel-cmd <= motion.spindle-speed-out
  440. net spindle-enable <= motion.spindle-on
  441. net spindle-cw <= motion.spindle-forward
  442. net spindle-ccw <= motion.spindle-reverse
  443. net spindle-brake <= motion.spindle-brake
  444. net spindle-revs => motion.spindle-revs
  445. net spindle-at-speed => motion.spindle-at-speed
  446. net spindle-vel-fb => motion.spindle-speed-in
  447. net spindle-index-enable <=> motion.spindle-index-enable
  448.  
  449. # ---Setup spindle at speed signals---
  450.  
  451. sets spindle-at-speed true
  452.  
  453. #******************************
  454. # connect miscellaneous signals
  455. #******************************
  456.  
  457. # ---coolant signals---
  458.  
  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. # ---digital in / out signals---
  467.  
  468.  
  469. # ---manual tool change signals---
  470.  
  471. loadusr -W hal_manualtoolchange
  472. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  473. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  474. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  475. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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