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xk7130 hal servo drive tuning 6-21-18

lcvette
Jun 21st, 2018
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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. setp hm2_7i92.0.dpll.01.timer-us -100
  34. setp hm2_7i92.0.stepgen.timer-number 1
  35. setp hm2_7i92.0.encoder.timer-number 1
  36.  
  37. # external output signals
  38.  
  39. # --- DIGITAL OUTPUT ---
  40. net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00
  41. net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01
  42.  
  43. # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
  44. net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
  45. net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
  46. net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out
  47. net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03
  48. net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04
  49.  
  50. # --- SPINDLE ORIENT BEGIN ---
  51. net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08
  52.  
  53. # --- SPINDLE-ENABLE ---
  54. net spindle-enable hm2_7i92.0.7i77.0.0.output-09
  55.  
  56. # --- SPINDLE lOCKED ---
  57. net spindle-locked motion.spindle-locked hm2_7i92.0.7i77.0.0.output-11
  58.  
  59. # --- X-ENABLE ---
  60. net x-enable hm2_7i92.0.7i76.0.3.output-12
  61.  
  62. # --- Y-ENABLE ---
  63. net y-enable hm2_7i92.0.7i76.0.3.output-13
  64.  
  65. # --- Z-ENABLE ---
  66. net z-enable hm2_7i92.0.7i76.0.3.output-14
  67.  
  68. # --- A-ENABLE ---
  69. net a-enable hm2_7i92.0.7i76.0.3.output-15
  70.  
  71. # --- Z-ENABLE ---
  72. net z-enable hm2_7i92.0.7i76.0.3.output-01
  73.  
  74. # --- COOLANT-FLOOD ---
  75. net coolant-flood hm2_7i92.0.7i76.0.3.output-04
  76.  
  77. # external input signals
  78.  
  79. # --- SPINDLE ORIENT ENDED ---
  80. net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31
  81.  
  82. # --- ESTOP-EXT ---
  83. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  84.  
  85. # --- PROBE-IN ---
  86. net probe-in <= hm2_7i92.0.7i77.0.0.input-15
  87.  
  88. # --- DIGITAL INPUTS ---
  89. net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-00
  90.  
  91. net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-01
  92.  
  93. net atc-zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03
  94.  
  95. net atc-index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04
  96.  
  97. net tool-released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02
  98.  
  99. net tool-clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05
  100.  
  101. # --- HOME-Z ---
  102. net home-z <= hm2_7i92.0.7i77.0.0.input-05-not
  103.  
  104. # --- LIMIT-Z ---
  105. net limit-z <= hm2_7i92.0.7i77.0.0.input-04-not
  106.  
  107. # --- HOME-Y ---
  108. net home-y <= hm2_7i92.0.7i77.0.0.input-03-not
  109.  
  110. # --- LIMIT-Y ---
  111. net limit-y <= hm2_7i92.0.7i77.0.0.input-02-not
  112.  
  113. # --- HOME-X ---
  114. net home-x <= hm2_7i92.0.7i77.0.0.input-01-not
  115.  
  116. # --- LIMIT-X ---
  117. net limit-x <= hm2_7i92.0.7i77.0.0.input-00-not
  118.  
  119. #*******************
  120. # AXIS X
  121. #*******************
  122.  
  123. setp pid.x.Pgain [AXIS_0]P
  124. setp pid.x.Igain [AXIS_0]I
  125. setp pid.x.Dgain [AXIS_0]D
  126. setp pid.x.bias [AXIS_0]BIAS
  127. setp pid.x.FF0 [AXIS_0]FF0
  128. setp pid.x.FF1 [AXIS_0]FF1
  129. setp pid.x.FF2 [AXIS_0]FF2
  130. setp pid.x.deadband [AXIS_0]DEADBAND
  131. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  132. setp pid.x.error-previous-target true
  133. setp pid.x.maxerror 0
  134.  
  135. net x-index-enable <=> pid.x.index-enable
  136. net x-enable => pid.x.enable
  137. net x-pos-cmd => pid.x.command
  138. net x-vel-cmd => pid.x.command-deriv
  139. net x-pos-fb => pid.x.feedback
  140. net x-output => pid.x.output
  141.  
  142. # Step Gen signals/setup
  143.  
  144. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  145. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  146. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  147. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  148. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  149. setp hm2_7i92.0.stepgen.00.step_type 0
  150. setp hm2_7i92.0.stepgen.00.control-type 1
  151. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  152. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  153.  
  154. # ---closedloop stepper signals---
  155.  
  156. net x-pos-cmd <= axis.0.motor-pos-cmd
  157. net x-vel-cmd <= axis.0.joint-vel-cmd
  158. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  159. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  160. ##net x-pos-fb <= hm2_7i92.0.encoder.01.position
  161. ##net x-pos-fb => axis.0.motor-pos-fb
  162. net x-encpos-fb => axis.0.motor-pos-fb
  163. net x-enable <= axis.0.amp-enable-out
  164. net x-enable => hm2_7i92.0.stepgen.00.enable
  165.  
  166. # ---Encoder feedback signals/setup---
  167.  
  168. setp hm2_7i92.0.encoder.01.counter-mode 0
  169. setp hm2_7i92.0.encoder.01.filter 1
  170. setp hm2_7i92.0.encoder.01.index-invert 0
  171. setp hm2_7i92.0.encoder.01.index-mask 0
  172. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  173. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  174.  
  175. # ****the following line is for drive tuning purposes only****
  176. net x-encpos-fb <= hm2_7i92.0.encoder.01.position
  177. net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  178. net x-pos-fb => axis.0.motor-pos-fb
  179. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  180. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  181.  
  182. # ---setup home / limit switch signals---
  183.  
  184. net home-x => axis.0.home-sw-in
  185. net limit-x => axis.0.neg-lim-sw-in
  186.  
  187. #*******************
  188. # AXIS Y
  189. #*******************
  190.  
  191. setp pid.y.Pgain [AXIS_1]P
  192. setp pid.y.Igain [AXIS_1]I
  193. setp pid.y.Dgain [AXIS_1]D
  194. setp pid.y.bias [AXIS_1]BIAS
  195. setp pid.y.FF0 [AXIS_1]FF0
  196. setp pid.y.FF1 [AXIS_1]FF1
  197. setp pid.y.FF2 [AXIS_1]FF2
  198. setp pid.y.deadband [AXIS_1]DEADBAND
  199. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  200. setp pid.y.error-previous-target true
  201. setp pid.y.maxerror 0
  202.  
  203. net y-index-enable <=> pid.y.index-enable
  204. net y-enable => pid.y.enable
  205. net y-pos-cmd => pid.y.command
  206. net y-vel-cmd => pid.y.command-deriv
  207. net y-pos-fb => pid.y.feedback
  208. net y-output => pid.y.output
  209.  
  210. # Step Gen signals/setup
  211.  
  212. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  213. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  214. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  215. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  216. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  217. setp hm2_7i92.0.stepgen.01.step_type 0
  218. setp hm2_7i92.0.stepgen.01.control-type 1
  219. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  220. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  221.  
  222. # ---closedloop stepper signals---
  223.  
  224. net y-pos-cmd <= axis.1.motor-pos-cmd
  225. net y-vel-cmd <= axis.1.joint-vel-cmd
  226. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  227. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  228. ##net y-pos-fb <= hm2_7i92.0.encoder.02.position
  229. ##net y-pos-fb => axis.1.motor-pos-fb
  230. net y-encpos-fb => axis.1.motor-pos-fb
  231. net y-enable <= axis.1.amp-enable-out
  232. net y-enable => hm2_7i92.0.stepgen.01.enable
  233.  
  234. # ---Encoder feedback signals/setup---
  235.  
  236. setp hm2_7i92.0.encoder.02.counter-mode 0
  237. setp hm2_7i92.0.encoder.02.filter 1
  238. setp hm2_7i92.0.encoder.02.index-invert 0
  239. setp hm2_7i92.0.encoder.02.index-mask 0
  240. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  241. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  242.  
  243. # ****the following line is for drive tuning purposes only****
  244. net y-encpos-fb <= hm2_7i92.0.encoder.02.position
  245. net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  246. net y-pos-fb => axis.1.motor-pos-fb
  247. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  248. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  249.  
  250. # ---setup home / limit switch signals---
  251.  
  252. net home-y => axis.1.home-sw-in
  253. net limit-y => axis.1.neg-lim-sw-in
  254.  
  255.  
  256. #*******************
  257. # AXIS Z
  258. #*******************
  259.  
  260. setp pid.z.Pgain [AXIS_2]P
  261. setp pid.z.Igain [AXIS_2]I
  262. setp pid.z.Dgain [AXIS_2]D
  263. setp pid.z.bias [AXIS_2]BIAS
  264. setp pid.z.FF0 [AXIS_2]FF0
  265. setp pid.z.FF1 [AXIS_2]FF1
  266. setp pid.z.FF2 [AXIS_2]FF2
  267. setp pid.z.deadband [AXIS_2]DEADBAND
  268. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  269. setp pid.z.error-previous-target true
  270. setp pid.z.maxerror 0
  271.  
  272. net z-index-enable <=> pid.z.index-enable
  273. net z-enable => pid.z.enable
  274. net z-pos-cmd => pid.z.command
  275. net z-vel-cmd => pid.z.command-deriv
  276. net z-pos-fb => pid.z.feedback
  277. net z-output => pid.z.output
  278.  
  279. # Step Gen signals/setup
  280.  
  281. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  282. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  283. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  284. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  285. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  286. setp hm2_7i92.0.stepgen.02.step_type 0
  287. setp hm2_7i92.0.stepgen.02.control-type 1
  288. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  289. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  290.  
  291. # ---closedloop stepper signals---
  292.  
  293. net z-pos-cmd <= axis.2.motor-pos-cmd
  294. net z-vel-cmd <= axis.2.joint-vel-cmd
  295. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  296. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  297. ##net z-pos-fb <= hm2_7i92.0.encoder.03.position
  298. ##net z-pos-fb => axis.2.motor-pos-fb
  299. net z-encpos-fb => axis.2.motor-pos-fb
  300. net z-enable <= axis.2.amp-enable-out
  301. net z-enable => hm2_7i92.0.stepgen.02.enable
  302.  
  303. # ---Encoder feedback signals/setup---
  304.  
  305. setp hm2_7i92.0.encoder.03.counter-mode 0
  306. setp hm2_7i92.0.encoder.03.filter 1
  307. setp hm2_7i92.0.encoder.03.index-invert 0
  308. setp hm2_7i92.0.encoder.03.index-mask 0
  309. setp hm2_7i92.0.encoder.03.index-mask-invert 0
  310. setp hm2_7i92.0.encoder.03.scale [AXIS_2]ENCODER_SCALE
  311.  
  312. # ****the following line is for drive tuning purposes only****
  313. net z-encpos-fb <= hm2_7i92.0.encoder.03.position
  314. net z-vel-fb <= hm2_7i92.0.encoder.03.velocity
  315. net z-pos-fb => axis.2.motor-pos-fb
  316. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.03.index-enable
  317. net z-pos-rawcounts <= hm2_7i92.0.encoder.03.rawcounts
  318.  
  319. # ---setup home / limit switch signals---
  320.  
  321. net home-z => axis.2.home-sw-in
  322. net limit-z => axis.2.neg-lim-sw-in
  323.  
  324.  
  325. #*******************
  326. # AXIS A
  327. #*******************
  328.  
  329. setp pid.a.Pgain [AXIS_3]P
  330. setp pid.a.Igain [AXIS_3]I
  331. setp pid.a.Dgain [AXIS_3]D
  332. setp pid.a.bias [AXIS_3]BIAS
  333. setp pid.a.FF0 [AXIS_3]FF0
  334. setp pid.a.FF1 [AXIS_3]FF1
  335. setp pid.a.FF2 [AXIS_3]FF2
  336. setp pid.a.deadband [AXIS_3]DEADBAND
  337. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  338. setp pid.a.error-previous-target true
  339. setp pid.a.maxerror 0
  340.  
  341. net a-index-enable <=> pid.a.index-enable
  342. net a-enable => pid.a.enable
  343. net a-pos-cmd => pid.a.command
  344. net a-vel-cmd => pid.a.command-deriv
  345. net a-pos-fb => pid.a.feedback
  346. net a-output => pid.a.output
  347.  
  348. # Step Gen signals/setup
  349.  
  350. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  351. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  352. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  353. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  354. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  355. setp hm2_7i92.0.stepgen.03.step_type 0
  356. setp hm2_7i92.0.stepgen.03.control-type 1
  357. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  358. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  359.  
  360. # ---closedloop stepper signals---
  361.  
  362. net a-pos-cmd <= axis.3.motor-pos-cmd
  363. net a-vel-cmd <= axis.3.joint-vel-cmd
  364. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  365. net a-pos-fb <= hm2_7i92.0.encoder.04.position
  366. net a-pos-fb => axis.3.motor-pos-fb
  367. net a-enable <= axis.3.amp-enable-out
  368. net a-enable => hm2_7i92.0.stepgen.03.enable
  369.  
  370. # ---Encoder feedback signals/setup---
  371.  
  372. setp hm2_7i92.0.encoder.04.counter-mode 0
  373. setp hm2_7i92.0.encoder.04.filter 1
  374. setp hm2_7i92.0.encoder.04.index-invert 0
  375. setp hm2_7i92.0.encoder.04.index-mask 0
  376. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  377. setp hm2_7i92.0.encoder.04.scale [AXIS_3]ENCODER_SCALE
  378.  
  379.  
  380. net a-vel-fb <= hm2_7i92.0.encoder.04.velocity
  381. net a-pos-fb => axis.3.motor-pos-fb
  382. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  383. net a-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  384.  
  385. # ---setup home / limit switch signals---
  386.  
  387. net a-home-sw => axis.3.home-sw-in
  388. net a-neg-limit => axis.3.neg-lim-sw-in
  389. net a-pos-limit => axis.3.pos-lim-sw-in
  390.  
  391. #*******************
  392. # SPINDLE S
  393. #*******************
  394.  
  395. setp pid.s.Pgain [SPINDLE_9]P
  396. setp pid.s.Igain [SPINDLE_9]I
  397. setp pid.s.Dgain [SPINDLE_9]D
  398. setp pid.s.bias [SPINDLE_9]BIAS
  399. setp pid.s.FF0 [SPINDLE_9]FF0
  400. setp pid.s.FF1 [SPINDLE_9]FF1
  401. setp pid.s.FF2 [SPINDLE_9]FF2
  402. setp pid.s.deadband [SPINDLE_9]DEADBAND
  403. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  404. setp pid.s.error-previous-target true
  405.  
  406. net spindle-index-enable <=> pid.s.index-enable
  407. net spindle-enable => pid.s.enable
  408. net spindle-vel-cmd-rpm => pid.s.command
  409. net spindle-vel-fb-rpm-abs => pid.s.feedback
  410. net spindle-output <= pid.s.output
  411.  
  412. # ---PWM Generator signals/setup---
  413.  
  414. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  415. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  416. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  417.  
  418. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  419. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  420.  
  421. # ---Encoder feedback signals/setup---
  422.  
  423. setp hm2_7i92.0.encoder.00.counter-mode 0
  424. setp hm2_7i92.0.encoder.00.filter 1
  425. setp hm2_7i92.0.encoder.00.index-invert 0
  426. setp hm2_7i92.0.encoder.00.index-mask 0
  427. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  428. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  429.  
  430. net spindle-revs <= hm2_7i92.0.encoder.00.position
  431. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  432. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  433.  
  434. # ---setup spindle control signals---
  435.  
  436. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  437. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  438. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  439. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  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-rps => motion.spindle-speed-in
  447. net spindle-index-enable <=> motion.spindle-index-enable
  448.  
  449. # ---Setup spindle at speed signals---
  450.  
  451. net spindle-vel-cmd-rps => near.0.in1
  452. net spindle-vel-fb-rps => near.0.in2
  453.  
  454. ##########################
  455. net spindle-at-speed <= near.0.out
  456. ##########################
  457. setp near.0.scale 1.000000
  458. ##########################
  459. setp near.0.difference 5
  460.  
  461. ##sets spindle-at-speed true
  462.  
  463. # Use ACTUAL spindle velocity from spindle encoder
  464. # spindle-velocity bounces around so we filter it with lowpass
  465. # spindle-velocity is signed so we use absolute component to remove sign
  466. # ACTUAL velocity is in RPS not RPM so we scale it.
  467.  
  468. setp scale.spindle.gain 60
  469. setp lowpass.spindle.gain 1.000000
  470. net spindle-vel-fb-rps => scale.spindle.in
  471. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  472. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  473. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  474.  
  475. # ---coolant signals---
  476. net coolant-mist <= iocontrol.0.coolant-mist
  477. net coolant-flood <= iocontrol.0.coolant-flood
  478.  
  479. # ---probe signal---
  480.  
  481. net probe-in => motion.probe-input
  482.  
  483. # ---motion control signals---
  484.  
  485. net in-position <= motion.in-position
  486. net machine-is-enabled <= motion.motion-enabled
  487.  
  488. # ---digital in / out signals---
  489.  
  490. # ---estop signals---
  491.  
  492. net estop-out <= iocontrol.0.user-enable-out
  493. net estop-ext => iocontrol.0.emc-enable-in
  494.  
  495. # ---manual tool change signals---
  496.  
  497. #loadusr -W hal_manualtoolchange
  498. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  499. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  500. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  501. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  502. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
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