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  1. # Generated by PNCconf at Tue Feb 2 19:42:56 2021
  2. # Using LinuxCNC version: 2.8
  3. # If you make changes to this file, they will be
  4. # overwritten when you run PNCconf again
  5.  
  6. loadrt [KINS]KINEMATICS
  7. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  8. loadrt hostmot2
  9. loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=1 num_stepgens=4 sserial_port_0=00xxxx"
  10. setp hm2_7i96.0.watchdog.timeout_ns 5000000
  11. loadrt pid names=pid.x,pid.z,pid.s
  12. loadrt abs names=abs.spindle
  13. loadrt lowpass names=lowpass.spindle
  14. loadrt scale names=scale.spindle
  15.  
  16. addf hm2_7i96.0.read servo-thread
  17. addf motion-command-handler servo-thread
  18. addf motion-controller servo-thread
  19. addf pid.x.do-pid-calcs servo-thread
  20. addf pid.z.do-pid-calcs servo-thread
  21. addf pid.s.do-pid-calcs servo-thread
  22. addf scale.spindle servo-thread
  23. addf abs.spindle servo-thread
  24. addf lowpass.spindle servo-thread
  25. addf hm2_7i96.0.write servo-thread
  26.  
  27. # external output signals
  28.  
  29. # --- SPINDLE-ENABLE ---
  30. net spindle-enable => hm2_7i96.0.ssr.00.out-01
  31.  
  32.  
  33. # external input signals
  34.  
  35. # --- ESTOP-EXT ---
  36. net estop-ext <= hm2_7i96.0.gpio.000.in
  37.  
  38. # --- BOTH-HOME-X ---
  39. net both-home-x <= hm2_7i96.0.gpio.001.in_not
  40.  
  41. # --- BOTH-HOME-Z ---
  42. net both-home-z <= hm2_7i96.0.gpio.002.in_not
  43.  
  44.  
  45. #*******************
  46. # AXIS X JOINT 0
  47. #*******************
  48.  
  49. setp pid.x.Pgain [JOINT_0]P
  50. setp pid.x.Igain [JOINT_0]I
  51. setp pid.x.Dgain [JOINT_0]D
  52. setp pid.x.bias [JOINT_0]BIAS
  53. setp pid.x.FF0 [JOINT_0]FF0
  54. setp pid.x.FF1 [JOINT_0]FF1
  55. setp pid.x.FF2 [JOINT_0]FF2
  56. setp pid.x.deadband [JOINT_0]DEADBAND
  57. setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
  58. setp pid.x.error-previous-target true
  59. # This setting is to limit bogus stepgen
  60. # velocity corrections caused by position
  61. # feedback sample time jitter.
  62. setp pid.x.maxerror 0.012700
  63.  
  64. net x-index-enable <=> pid.x.index-enable
  65. net x-enable => pid.x.enable
  66. net x-pos-cmd => pid.x.command
  67. net x-pos-fb => pid.x.feedback
  68. net x-output <= pid.x.output
  69.  
  70. # Step Gen signals/setup
  71.  
  72. setp hm2_7i96.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
  73. setp hm2_7i96.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
  74. setp hm2_7i96.0.stepgen.00.steplen [JOINT_0]STEPLEN
  75. setp hm2_7i96.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
  76. setp hm2_7i96.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
  77. setp hm2_7i96.0.stepgen.00.step_type 0
  78. setp hm2_7i96.0.stepgen.00.control-type 1
  79. setp hm2_7i96.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  80. setp hm2_7i96.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
  81.  
  82. # ---closedloop stepper signals---
  83.  
  84. net x-pos-cmd <= joint.0.motor-pos-cmd
  85. net x-vel-cmd <= joint.0.vel-cmd
  86. net x-output <= hm2_7i96.0.stepgen.00.velocity-cmd
  87. net x-pos-fb <= hm2_7i96.0.stepgen.00.position-fb
  88. net x-pos-fb => joint.0.motor-pos-fb
  89. net x-enable <= joint.0.amp-enable-out
  90. net x-enable => hm2_7i96.0.stepgen.00.enable
  91.  
  92. # ---setup home / limit switch signals---
  93.  
  94. net both-home-x => joint.0.home-sw-in
  95. net both-home-x => joint.0.neg-lim-sw-in
  96. net both-home-x => joint.0.pos-lim-sw-in
  97.  
  98. #*******************
  99. # AXIS Z JOINT 1
  100. #*******************
  101.  
  102. setp pid.z.Pgain [JOINT_1]P
  103. setp pid.z.Igain [JOINT_1]I
  104. setp pid.z.Dgain [JOINT_1]D
  105. setp pid.z.bias [JOINT_1]BIAS
  106. setp pid.z.FF0 [JOINT_1]FF0
  107. setp pid.z.FF1 [JOINT_1]FF1
  108. setp pid.z.FF2 [JOINT_1]FF2
  109. setp pid.z.deadband [JOINT_1]DEADBAND
  110. setp pid.z.maxoutput [JOINT_1]MAX_OUTPUT
  111. setp pid.z.error-previous-target true
  112. # This setting is to limit bogus stepgen
  113. # velocity corrections caused by position
  114. # feedback sample time jitter.
  115. setp pid.z.maxerror 0.012700
  116.  
  117. net z-index-enable <=> pid.z.index-enable
  118. net z-enable => pid.z.enable
  119. net z-pos-cmd => pid.z.command
  120. net z-pos-fb => pid.z.feedback
  121. net z-output <= pid.z.output
  122.  
  123. # Step Gen signals/setup
  124.  
  125. setp hm2_7i96.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
  126. setp hm2_7i96.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
  127. setp hm2_7i96.0.stepgen.01.steplen [JOINT_1]STEPLEN
  128. setp hm2_7i96.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
  129. setp hm2_7i96.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
  130. setp hm2_7i96.0.stepgen.01.step_type 0
  131. setp hm2_7i96.0.stepgen.01.control-type 1
  132. setp hm2_7i96.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  133. setp hm2_7i96.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
  134.  
  135. # ---closedloop stepper signals---
  136.  
  137. net z-pos-cmd <= joint.1.motor-pos-cmd
  138. net z-vel-cmd <= joint.1.vel-cmd
  139. net z-output <= hm2_7i96.0.stepgen.01.velocity-cmd
  140. net z-pos-fb <= hm2_7i96.0.stepgen.01.position-fb
  141. net z-pos-fb => joint.1.motor-pos-fb
  142. net z-enable <= joint.1.amp-enable-out
  143. net z-enable => hm2_7i96.0.stepgen.01.enable
  144.  
  145. # ---setup home / limit switch signals---
  146.  
  147. net both-home-z => joint.1.home-sw-in
  148. net both-home-z => joint.1.neg-lim-sw-in
  149. net both-home-z => joint.1.pos-lim-sw-in
  150.  
  151. #*******************
  152. # SPINDLE
  153. #*******************
  154.  
  155. setp pid.s.Pgain [SPINDLE_0]P
  156. setp pid.s.Igain [SPINDLE_0]I
  157. setp pid.s.Dgain [SPINDLE_0]D
  158. setp pid.s.bias [SPINDLE_0]BIAS
  159. setp pid.s.FF0 [SPINDLE_0]FF0
  160. setp pid.s.FF1 [SPINDLE_0]FF1
  161. setp pid.s.FF2 [SPINDLE_0]FF2
  162. setp pid.s.deadband [SPINDLE_0]DEADBAND
  163. setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
  164. setp pid.s.error-previous-target true
  165.  
  166. net spindle-index-enable <=> pid.s.index-enable
  167. net spindle-enable => pid.s.enable
  168. net spindle-vel-cmd-rpm => pid.s.command
  169. net spindle-vel-fb-rpm => pid.s.feedback
  170. net spindle-output <= pid.s.output
  171.  
  172. # ---Encoder feedback signals/setup---
  173.  
  174. setp hm2_7i96.0.encoder.00.counter-mode 0
  175. setp hm2_7i96.0.encoder.00.filter 1
  176. setp hm2_7i96.0.encoder.00.index-invert 1
  177. setp hm2_7i96.0.encoder.00.index-mask 0
  178. setp hm2_7i96.0.encoder.00.index-mask-invert 0
  179. setp hm2_7i96.0.encoder.00.scale [SPINDLE_0]ENCODER_SCALE
  180.  
  181. setp hm2_7i96.0.pwmgen.00.output-type 1
  182. setp hm2_7i96.0.pwmgen.00.scale 2000
  183. setp hm2_7i96.0.pwmgen.pwm_frequency 2000
  184. net spindle-on spindle.0.on => hm2_7i96.0.pwmgen.00.enable
  185. net spindle-speed spindle.0.speed-out => hm2_7i96.0.pwmgen.00.value
  186.  
  187. net spindle-revs <= hm2_7i96.0.encoder.00.position
  188. net spindle-vel-fb-rps <= hm2_7i96.0.encoder.00.velocity
  189. net spindle-index-enable <=> hm2_7i96.0.encoder.00.index-enable
  190.  
  191. # ---setup spindle control signals---
  192. net velocity-rpm => hm2_7i96.0.encoder.00.velocity-rpm
  193.  
  194. net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
  195. net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
  196. #net spindle-vel-cmd-rpm <= spindle.0.speed-out
  197. net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
  198. #net spindle-enable <= spindle.0.on
  199. net spindle-cw <= spindle.0.forward
  200. net spindle-ccw <= spindle.0.reverse
  201. net spindle-brake <= spindle.0.brake
  202. net spindle-revs => spindle.0.revs
  203. net spindle-at-speed => spindle.0.at-speed
  204. net spindle-vel-fb-rps => spindle.0.speed-in
  205. net spindle-index-enable <=> spindle.0.index-enable
  206.  
  207. # ---Setup spindle at speed signals---
  208.  
  209. sets spindle-at-speed true
  210.  
  211. # Use ACTUAL spindle velocity from spindle encoder
  212. # spindle-velocity bounces around so we filter it with lowpass
  213. # spindle-velocity is signed so we use absolute component to remove sign
  214. # ACTUAL velocity is in RPS not RPM so we scale it.
  215.  
  216. setp scale.spindle.gain 60
  217. setp lowpass.spindle.gain 1.000000
  218. net spindle-vel-fb-rps => scale.spindle.in
  219. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  220. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  221. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  222.  
  223. #******************************
  224. # connect miscellaneous signals
  225. #******************************
  226.  
  227. # ---HALUI signals---
  228.  
  229. net axis-select-x halui.axis.x.select
  230. net jog-x-pos halui.axis.x.plus
  231. net jog-x-neg halui.axis.x.minus
  232. net jog-x-analog halui.axis.x.analog
  233. net x-is-homed halui.joint.0.is-homed
  234. net axis-select-z halui.axis.z.select
  235. net jog-z-pos halui.axis.z.plus
  236. net jog-z-neg halui.axis.z.minus
  237. net jog-z-analog halui.axis.z.analog
  238. net z-is-homed halui.joint.1.is-homed
  239. net jog-selected-pos halui.axis.selected.plus
  240. net jog-selected-neg halui.axis.selected.minus
  241. net spindle-manual-cw halui.spindle.0.forward
  242. net spindle-manual-ccw halui.spindle.0.reverse
  243. net spindle-manual-stop halui.spindle.0.stop
  244. net machine-is-on halui.machine.is-on
  245. net jog-speed halui.axis.jog-speed
  246. net MDI-mode halui.mode.is-mdi
  247.  
  248. # ---coolant signals---
  249.  
  250. net coolant-mist <= iocontrol.0.coolant-mist
  251. net coolant-flood <= iocontrol.0.coolant-flood
  252.  
  253. # ---probe signal---
  254.  
  255. net probe-in => motion.probe-input
  256.  
  257. # ---motion control signals---
  258.  
  259. net in-position <= motion.in-position
  260. net machine-is-enabled <= motion.motion-enabled
  261.  
  262. # ---digital in / out signals---
  263.  
  264. # ---estop signals---
  265.  
  266. net estop-out <= iocontrol.0.user-enable-out
  267. net estop-ext => iocontrol.0.emc-enable-in
  268.  
  269. # ---manual tool change signals---
  270.  
  271. loadusr -W hal_manualtoolchange
  272. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  273. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  274. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  275. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  276.  
  277.  
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