API tools faq
paste
Advertisement
lcvette

xk7130 f-error overlay debug

lcvette
Jun 21st, 2018
109
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 18.23 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. 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. # ***below line for tuning servo drive only***
  163. net x-encpos-fb => axis.0.encoder.01.position
  164. net x-enable <= axis.0.amp-enable-out
  165. net x-enable => hm2_7i92.0.stepgen.00.enable
  166.  
  167. # ---Encoder feedback signals/setup---
  168.  
  169. setp hm2_7i92.0.encoder.01.counter-mode 0
  170. setp hm2_7i92.0.encoder.01.filter 1
  171. setp hm2_7i92.0.encoder.01.index-invert 0
  172. setp hm2_7i92.0.encoder.01.index-mask 0
  173. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  174. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  175.  
  176. # ****the following line is for drive tuning purposes only****
  177. net x-encpos-fb <= hm2_7i92.0.encoder.01.position
  178. net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  179. net x-pos-fb => axis.0.motor-pos-fb
  180. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  181. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  182.  
  183. # ---setup home / limit switch signals---
  184.  
  185. net home-x => axis.0.home-sw-in
  186. net limit-x => axis.0.neg-lim-sw-in
  187.  
  188. #*******************
  189. # AXIS Y
  190. #*******************
  191.  
  192. setp pid.y.Pgain [AXIS_1]P
  193. setp pid.y.Igain [AXIS_1]I
  194. setp pid.y.Dgain [AXIS_1]D
  195. setp pid.y.bias [AXIS_1]BIAS
  196. setp pid.y.FF0 [AXIS_1]FF0
  197. setp pid.y.FF1 [AXIS_1]FF1
  198. setp pid.y.FF2 [AXIS_1]FF2
  199. setp pid.y.deadband [AXIS_1]DEADBAND
  200. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  201. setp pid.y.error-previous-target true
  202. setp pid.y.maxerror 0
  203.  
  204. net y-index-enable <=> pid.y.index-enable
  205. net y-enable => pid.y.enable
  206. net y-pos-cmd => pid.y.command
  207. net y-vel-cmd => pid.y.command-deriv
  208. net y-pos-fb => pid.y.feedback
  209. net y-output => pid.y.output
  210.  
  211. # Step Gen signals/setup
  212.  
  213. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  214. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  215. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  216. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  217. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  218. setp hm2_7i92.0.stepgen.01.step_type 0
  219. setp hm2_7i92.0.stepgen.01.control-type 1
  220. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  221. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  222.  
  223. # ---closedloop stepper signals---
  224.  
  225. net y-pos-cmd <= axis.1.motor-pos-cmd
  226. net y-vel-cmd <= axis.1.joint-vel-cmd
  227. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  228. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  229. ##net y-pos-fb <= hm2_7i92.0.encoder.02.position
  230. net y-pos-fb => axis.1.motor-pos-fb
  231. # ***below line for tuning servo drive only***
  232. net y-encpos-fb => axis.1.encoder.02.position
  233. net y-enable <= axis.1.amp-enable-out
  234. net y-enable => hm2_7i92.0.stepgen.01.enable
  235.  
  236. # ---Encoder feedback signals/setup---
  237.  
  238. setp hm2_7i92.0.encoder.02.counter-mode 0
  239. setp hm2_7i92.0.encoder.02.filter 1
  240. setp hm2_7i92.0.encoder.02.index-invert 0
  241. setp hm2_7i92.0.encoder.02.index-mask 0
  242. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  243. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  244.  
  245. # ****the following line is for drive tuning purposes only****
  246. net y-encpos-fb <= hm2_7i92.0.encoder.02.position
  247. net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  248. net y-pos-fb => axis.1.motor-pos-fb
  249. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  250. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  251.  
  252. # ---setup home / limit switch signals---
  253.  
  254. net home-y => axis.1.home-sw-in
  255. net limit-y => axis.1.neg-lim-sw-in
  256.  
  257.  
  258. #*******************
  259. # AXIS Z
  260. #*******************
  261.  
  262. setp pid.z.Pgain [AXIS_2]P
  263. setp pid.z.Igain [AXIS_2]I
  264. setp pid.z.Dgain [AXIS_2]D
  265. setp pid.z.bias [AXIS_2]BIAS
  266. setp pid.z.FF0 [AXIS_2]FF0
  267. setp pid.z.FF1 [AXIS_2]FF1
  268. setp pid.z.FF2 [AXIS_2]FF2
  269. setp pid.z.deadband [AXIS_2]DEADBAND
  270. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  271. setp pid.z.error-previous-target true
  272. setp pid.z.maxerror 0
  273.  
  274. net z-index-enable <=> pid.z.index-enable
  275. net z-enable => pid.z.enable
  276. net z-pos-cmd => pid.z.command
  277. net z-vel-cmd => pid.z.command-deriv
  278. net z-pos-fb => pid.z.feedback
  279. net z-output => pid.z.output
  280.  
  281. # Step Gen signals/setup
  282.  
  283. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  284. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  285. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  286. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  287. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  288. setp hm2_7i92.0.stepgen.02.step_type 0
  289. setp hm2_7i92.0.stepgen.02.control-type 1
  290. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  291. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  292.  
  293. # ---closedloop stepper signals---
  294.  
  295. net z-pos-cmd <= axis.2.motor-pos-cmd
  296. net z-vel-cmd <= axis.2.joint-vel-cmd
  297. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  298. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  299. ##net z-pos-fb <= hm2_7i92.0.encoder.03.position
  300. net z-pos-fb => axis.2.motor-pos-fb
  301. # ***below line for tuning servo drive only***
  302. net z-encpos-fb => axis.2.encoder.03.position
  303. net z-enable <= axis.2.amp-enable-out
  304. net z-enable => hm2_7i92.0.stepgen.02.enable
  305.  
  306. # ---Encoder feedback signals/setup---
  307.  
  308. setp hm2_7i92.0.encoder.03.counter-mode 0
  309. setp hm2_7i92.0.encoder.03.filter 1
  310. setp hm2_7i92.0.encoder.03.index-invert 0
  311. setp hm2_7i92.0.encoder.03.index-mask 0
  312. setp hm2_7i92.0.encoder.03.index-mask-invert 0
  313. setp hm2_7i92.0.encoder.03.scale [AXIS_2]ENCODER_SCALE
  314.  
  315. # ****the following line is for drive tuning purposes only****
  316. net z-encpos-fb <= hm2_7i92.0.encoder.03.position
  317. net z-vel-fb <= hm2_7i92.0.encoder.03.velocity
  318. net z-pos-fb => axis.2.motor-pos-fb
  319. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.03.index-enable
  320. net z-pos-rawcounts <= hm2_7i92.0.encoder.03.rawcounts
  321.  
  322. # ---setup home / limit switch signals---
  323.  
  324. net home-z => axis.2.home-sw-in
  325. net limit-z => axis.2.neg-lim-sw-in
  326.  
  327.  
  328. #*******************
  329. # AXIS A
  330. #*******************
  331.  
  332. setp pid.a.Pgain [AXIS_3]P
  333. setp pid.a.Igain [AXIS_3]I
  334. setp pid.a.Dgain [AXIS_3]D
  335. setp pid.a.bias [AXIS_3]BIAS
  336. setp pid.a.FF0 [AXIS_3]FF0
  337. setp pid.a.FF1 [AXIS_3]FF1
  338. setp pid.a.FF2 [AXIS_3]FF2
  339. setp pid.a.deadband [AXIS_3]DEADBAND
  340. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  341. setp pid.a.error-previous-target true
  342. setp pid.a.maxerror 0
  343.  
  344. net a-index-enable <=> pid.a.index-enable
  345. net a-enable => pid.a.enable
  346. net a-pos-cmd => pid.a.command
  347. net a-vel-cmd => pid.a.command-deriv
  348. net a-pos-fb => pid.a.feedback
  349. net a-output => pid.a.output
  350.  
  351. # Step Gen signals/setup
  352.  
  353. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  354. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  355. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  356. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  357. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  358. setp hm2_7i92.0.stepgen.03.step_type 0
  359. setp hm2_7i92.0.stepgen.03.control-type 1
  360. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  361. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  362.  
  363. # ---closedloop stepper signals---
  364.  
  365. net a-pos-cmd <= axis.3.motor-pos-cmd
  366. net a-vel-cmd <= axis.3.joint-vel-cmd
  367. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  368. net a-pos-fb <= hm2_7i92.0.encoder.04.position
  369. net a-pos-fb => axis.3.motor-pos-fb
  370. net a-enable <= axis.3.amp-enable-out
  371. net a-enable => hm2_7i92.0.stepgen.03.enable
  372.  
  373. # ---Encoder feedback signals/setup---
  374.  
  375. setp hm2_7i92.0.encoder.04.counter-mode 0
  376. setp hm2_7i92.0.encoder.04.filter 1
  377. setp hm2_7i92.0.encoder.04.index-invert 0
  378. setp hm2_7i92.0.encoder.04.index-mask 0
  379. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  380. setp hm2_7i92.0.encoder.04.scale [AXIS_3]ENCODER_SCALE
  381.  
  382.  
  383. net a-vel-fb <= hm2_7i92.0.encoder.04.velocity
  384. net a-pos-fb => axis.3.motor-pos-fb
  385. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  386. net a-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  387.  
  388. # ---setup home / limit switch signals---
  389.  
  390. net a-home-sw => axis.3.home-sw-in
  391. net a-neg-limit => axis.3.neg-lim-sw-in
  392. net a-pos-limit => axis.3.pos-lim-sw-in
  393.  
  394. #*******************
  395. # SPINDLE S
  396. #*******************
  397.  
  398. setp pid.s.Pgain [SPINDLE_9]P
  399. setp pid.s.Igain [SPINDLE_9]I
  400. setp pid.s.Dgain [SPINDLE_9]D
  401. setp pid.s.bias [SPINDLE_9]BIAS
  402. setp pid.s.FF0 [SPINDLE_9]FF0
  403. setp pid.s.FF1 [SPINDLE_9]FF1
  404. setp pid.s.FF2 [SPINDLE_9]FF2
  405. setp pid.s.deadband [SPINDLE_9]DEADBAND
  406. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  407. setp pid.s.error-previous-target true
  408.  
  409. net spindle-index-enable <=> pid.s.index-enable
  410. net spindle-enable => pid.s.enable
  411. net spindle-vel-cmd-rpm => pid.s.command
  412. net spindle-vel-fb-rpm-abs => pid.s.feedback
  413. net spindle-output <= pid.s.output
  414.  
  415. # ---PWM Generator signals/setup---
  416.  
  417. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  418. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  419. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  420.  
  421. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  422. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  423.  
  424. # ---Encoder feedback signals/setup---
  425.  
  426. setp hm2_7i92.0.encoder.00.counter-mode 0
  427. setp hm2_7i92.0.encoder.00.filter 1
  428. setp hm2_7i92.0.encoder.00.index-invert 0
  429. setp hm2_7i92.0.encoder.00.index-mask 0
  430. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  431. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  432.  
  433. net spindle-revs <= hm2_7i92.0.encoder.00.position
  434. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  435. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  436.  
  437. # ---setup spindle control signals---
  438.  
  439. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  440. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  441. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  442. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  443. net spindle-enable <= motion.spindle-on
  444. net spindle-cw <= motion.spindle-forward
  445. net spindle-ccw <= motion.spindle-reverse
  446. net spindle-brake <= motion.spindle-brake
  447. net spindle-revs => motion.spindle-revs
  448. net spindle-at-speed => motion.spindle-at-speed
  449. net spindle-vel-fb-rps => motion.spindle-speed-in
  450. net spindle-index-enable <=> motion.spindle-index-enable
  451.  
  452. # ---Setup spindle at speed signals---
  453.  
  454. net spindle-vel-cmd-rps => near.0.in1
  455. net spindle-vel-fb-rps => near.0.in2
  456.  
  457. ##########################
  458. net spindle-at-speed <= near.0.out
  459. ##########################
  460. setp near.0.scale 1.000000
  461. ##########################
  462. setp near.0.difference 5
  463.  
  464. ##sets spindle-at-speed true
  465.  
  466. # Use ACTUAL spindle velocity from spindle encoder
  467. # spindle-velocity bounces around so we filter it with lowpass
  468. # spindle-velocity is signed so we use absolute component to remove sign
  469. # ACTUAL velocity is in RPS not RPM so we scale it.
  470.  
  471. setp scale.spindle.gain 60
  472. setp lowpass.spindle.gain 1.000000
  473. net spindle-vel-fb-rps => scale.spindle.in
  474. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  475. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  476. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  477.  
  478. # ---coolant signals---
  479. net coolant-mist <= iocontrol.0.coolant-mist
  480. net coolant-flood <= iocontrol.0.coolant-flood
  481.  
  482. # ---probe signal---
  483.  
  484. net probe-in => motion.probe-input
  485.  
  486. # ---motion control signals---
  487.  
  488. net in-position <= motion.in-position
  489. net machine-is-enabled <= motion.motion-enabled
  490.  
  491. # ---digital in / out signals---
  492.  
  493. # ---estop signals---
  494.  
  495. net estop-out <= iocontrol.0.user-enable-out
  496. net estop-ext => iocontrol.0.emc-enable-in
  497.  
  498. # ---manual tool change signals---
  499.  
  500. #loadusr -W hal_manualtoolchange
  501. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  502. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  503. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  504. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  505. 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!