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xk7130 pythonplugin error hal

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May 12th, 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. # external output signals
  34.  
  35. # --- DIGITAL OUTPUT ---
  36. net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00
  37.  
  38. net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01
  39.  
  40. # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
  41. net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
  42. net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
  43. net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out
  44.  
  45. net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03
  46.  
  47. net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04
  48.  
  49. # --- SPINDLE OREINT BEGIN ---
  50. net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08
  51.  
  52. # --- X-ENABLE ---
  53. net x-enable hm2_7i92.0.7i76.0.3.output-12
  54.  
  55. # --- Y-ENABLE ---
  56. net y-enable hm2_7i92.0.7i76.0.3.output-13
  57.  
  58. # --- Z-ENABLE ---
  59. net z-enable hm2_7i92.0.7i76.0.3.output-14
  60.  
  61. # --- Z-ENABLE ---
  62. net z-enable hm2_7i92.0.7i76.0.3.output-01
  63.  
  64. # --- A-ENABLE ---
  65. net a-enable hm2_7i92.0.7i76.0.3.output-15
  66.  
  67. # --- FLOOD COOLANT ---
  68. net coolant-flood hm2_7i92.0.7i76.0.3.output-04 <= xor2.1.out
  69.  
  70. # external input signals
  71.  
  72. # --- SPINDLE ORIENT ENDED ---
  73. net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31
  74.  
  75. # --- ESTOP-EXT ---
  76. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  77.  
  78. # --- PROBE-IN ---
  79. net probe-in <= hm2_7i92.0.7i77.0.0.input-15
  80.  
  81. # --- DIGITAL INPUTS ---
  82. net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-00
  83.  
  84. net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-01
  85.  
  86. net Tool-Released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02
  87.  
  88. net Atc-Zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03
  89.  
  90. net Atc-Index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04
  91.  
  92. net Tool-Clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05
  93.  
  94. # --- MIN-Z ---
  95. net min-z <= hm2_7i92.0.7i77.0.0.input-06-not
  96.  
  97. # --- HOME-Z ---
  98. net home-z <= hm2_7i92.0.7i77.0.0.input-07-not
  99.  
  100. # --- MAX-Z ---
  101. net max-z <= hm2_7i92.0.7i77.0.0.input-08-not
  102.  
  103. # --- HOME-Y ---
  104. net home-y <= hm2_7i92.0.7i77.0.0.input-04-not
  105.  
  106. # --- MIN-Y ---
  107. net min-y <= hm2_7i92.0.7i77.0.0.input-03-not
  108.  
  109. # --- MAX-Y ---
  110. net max-y <= hm2_7i92.0.7i77.0.0.input-05-not
  111.  
  112. # --- HOME-X ---
  113. net home-x <= hm2_7i92.0.7i77.0.0.input-01-not
  114.  
  115. # --- MAX-X ---
  116. net max-x <= hm2_7i92.0.7i77.0.0.input-02-not
  117.  
  118. # --- MIN-X ---
  119. net min-x <= hm2_7i92.0.7i77.0.0.input-00-not
  120.  
  121. #*******************
  122. # AXIS X
  123. #*******************
  124.  
  125. setp pid.x.Pgain [AXIS_0]P
  126. setp pid.x.Igain [AXIS_0]I
  127. setp pid.x.Dgain [AXIS_0]D
  128. setp pid.x.bias [AXIS_0]BIAS
  129. setp pid.x.FF0 [AXIS_0]FF0
  130. setp pid.x.FF1 [AXIS_0]FF1
  131. setp pid.x.FF2 [AXIS_0]FF2
  132. setp pid.x.deadband [AXIS_0]DEADBAND
  133. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  134. setp pid.x.error-previous-target true
  135. setp pid.x.maxerror .0005
  136.  
  137. net x-index-enable <=> pid.x.index-enable
  138. net x-enable => pid.x.enable
  139. net x-pos-cmd => pid.x.command
  140. net x-vel-cmd => pid.x.command-deriv
  141. net x-pos-fb => pid.x.feedback
  142. net x-output => pid.x.output
  143.  
  144. # Step Gen signals/setup
  145.  
  146. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  147. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  148. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  149. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  150. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  151. setp hm2_7i92.0.stepgen.00.step_type 0
  152. setp hm2_7i92.0.stepgen.00.control-type 1
  153. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  154. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  155.  
  156. # ---closedloop stepper signals---
  157.  
  158. net x-pos-cmd <= axis.0.motor-pos-cmd
  159. net x-vel-cmd <= axis.0.joint-vel-cmd
  160. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  161. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  162. net x-pos-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. net x-encpos-fb <= hm2_7i92.0.encoder.01.position
  176. ##net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  177. ##net x-encpos-fb => axis.0.motor-pos-fb
  178. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  179. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  180.  
  181. # ---setup home / limit switch signals---
  182.  
  183. net home-x => axis.0.home-sw-in
  184. net min-x => axis.0.neg-lim-sw-in
  185. net max-x => axis.0.pos-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 .0005
  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 => axis.1.motor-pos-fb
  229. net y-enable <= axis.1.amp-enable-out
  230. net y-enable => hm2_7i92.0.stepgen.01.enable
  231.  
  232. # ---Encoder feedback signals/setup---
  233.  
  234. setp hm2_7i92.0.encoder.02.counter-mode 0
  235. setp hm2_7i92.0.encoder.02.filter 1
  236. setp hm2_7i92.0.encoder.02.index-invert 0
  237. setp hm2_7i92.0.encoder.02.index-mask 0
  238. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  239. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  240.  
  241. net y-encpos-fb <= hm2_7i92.0.encoder.02.position
  242. ##net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  243. ##net y-pos-fb => axis.1.motor-pos-fb
  244. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  245. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  246.  
  247. # ---setup home / limit switch signals---
  248.  
  249. net home-y => axis.1.home-sw-in
  250. net min-y => axis.1.neg-lim-sw-in
  251. net max-y => axis.1.pos-lim-sw-in
  252.  
  253. #*******************
  254. # AXIS Z
  255. #*******************
  256.  
  257. setp pid.z.Pgain [AXIS_2]P
  258. setp pid.z.Igain [AXIS_2]I
  259. setp pid.z.Dgain [AXIS_2]D
  260. setp pid.z.bias [AXIS_2]BIAS
  261. setp pid.z.FF0 [AXIS_2]FF0
  262. setp pid.z.FF1 [AXIS_2]FF1
  263. setp pid.z.FF2 [AXIS_2]FF2
  264. setp pid.z.deadband [AXIS_2]DEADBAND
  265. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  266. setp pid.z.error-previous-target true
  267. setp pid.z.maxerror .0005
  268.  
  269. net z-index-enable <=> pid.z.index-enable
  270. net z-enable => pid.z.enable
  271. net z-pos-cmd => pid.z.command
  272. net z-vel-cmd => pid.z.command-deriv
  273. net z-pos-fb => pid.z.feedback
  274. net z-output => pid.z.output
  275.  
  276. # Step Gen signals/setup
  277.  
  278. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  279. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  280. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  281. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  282. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  283. setp hm2_7i92.0.stepgen.02.step_type 0
  284. setp hm2_7i92.0.stepgen.02.control-type 1
  285. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  286. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  287.  
  288. # ---closedloop stepper signals---
  289.  
  290. net z-pos-cmd <= axis.2.motor-pos-cmd
  291. net z-vel-cmd <= axis.2.joint-vel-cmd
  292. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  293. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  294. net z-pos-fb => axis.2.motor-pos-fb
  295. net z-enable <= axis.2.amp-enable-out
  296. net z-enable => hm2_7i92.0.stepgen.02.enable
  297.  
  298. # ---Encoder feedback signals/setup---
  299.  
  300. setp hm2_7i92.0.encoder.04.counter-mode 0
  301. setp hm2_7i92.0.encoder.04.filter 1
  302. setp hm2_7i92.0.encoder.04.index-invert 0
  303. setp hm2_7i92.0.encoder.04.index-mask 0
  304. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  305. setp hm2_7i92.0.encoder.04.scale [AXIS_2]ENCODER_SCALE
  306.  
  307. net z-encpos-fb <= hm2_7i92.0.encoder.04.position
  308. ##net z-vel-fb <= hm2_7i92.0.encoder.04.velocity
  309. ##net z-pos-fb => axis.2.motor-pos-fb
  310. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  311. net z-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  312.  
  313. # ---setup home / limit switch signals---
  314.  
  315. net home-z => axis.2.home-sw-in
  316. net min-z => axis.2.neg-lim-sw-in
  317. net max-z => axis.2.pos-lim-sw-in
  318.  
  319. #*******************
  320. # AXIS A
  321. #*******************
  322.  
  323. setp pid.a.Pgain [AXIS_3]P
  324. setp pid.a.Igain [AXIS_3]I
  325. setp pid.a.Dgain [AXIS_3]D
  326. setp pid.a.bias [AXIS_3]BIAS
  327. setp pid.a.FF0 [AXIS_3]FF0
  328. setp pid.a.FF1 [AXIS_3]FF1
  329. setp pid.a.FF2 [AXIS_3]FF2
  330. setp pid.a.deadband [AXIS_3]DEADBAND
  331. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  332. setp pid.a.error-previous-target true
  333. setp pid.a.maxerror .0005
  334.  
  335. net a-index-enable <=> pid.a.index-enable
  336. net a-enable => pid.a.enable
  337. net a-pos-cmd => pid.a.command
  338. net a-vel-cmd => pid.a.command-deriv
  339. net a-pos-fb => pid.a.feedback
  340. net a-output => pid.a.output
  341.  
  342. # Step Gen signals/setup
  343.  
  344. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  345. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  346. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  347. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  348. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  349. setp hm2_7i92.0.stepgen.03.step_type 0
  350. setp hm2_7i92.0.stepgen.03.control-type 1
  351. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  352. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  353.  
  354. # ---closedloop stepper signals---
  355.  
  356. net a-pos-cmd <= axis.3.motor-pos-cmd
  357. net a-vel-cmd <= axis.3.joint-vel-cmd
  358. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  359. net a-pos-fb <= hm2_7i92.0.stepgen.03.position-fb
  360. net a-pos-fb => axis.3.motor-pos-fb
  361. net a-enable <= axis.3.amp-enable-out
  362. net a-enable => hm2_7i92.0.stepgen.03.enable
  363.  
  364. # ---Encoder feedback signals/setup---
  365.  
  366. setp hm2_7i92.0.encoder.05.counter-mode 0
  367. setp hm2_7i92.0.encoder.05.filter 1
  368. setp hm2_7i92.0.encoder.05.index-invert 0
  369. setp hm2_7i92.0.encoder.05.index-mask 0
  370. setp hm2_7i92.0.encoder.05.index-mask-invert 0
  371. setp hm2_7i92.0.encoder.05.scale [AXIS_3]ENCODER_SCALE
  372.  
  373. net a-encpos-fb <= hm2_7i92.0.encoder.05.position
  374. ##net a-vel-fb <= hm2_7i92.0.encoder.05.velocity
  375. ##net a-pos-fb => axis.3.motor-pos-fb
  376. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.05.index-enable
  377. net a-pos-rawcounts <= hm2_7i92.0.encoder.05.rawcounts
  378.  
  379. # ---setup home / limit switch signals---
  380.  
  381. net a-home-sw => axis.3.home-sw-in
  382. net a-neg-limit => axis.3.neg-lim-sw-in
  383. net a-pos-limit => axis.3.pos-lim-sw-in
  384.  
  385. #*******************
  386. # SPINDLE S
  387. #*******************
  388.  
  389. setp pid.s.Pgain [SPINDLE_9]P
  390. setp pid.s.Igain [SPINDLE_9]I
  391. setp pid.s.Dgain [SPINDLE_9]D
  392. setp pid.s.bias [SPINDLE_9]BIAS
  393. setp pid.s.FF0 [SPINDLE_9]FF0
  394. setp pid.s.FF1 [SPINDLE_9]FF1
  395. setp pid.s.FF2 [SPINDLE_9]FF2
  396. setp pid.s.deadband [SPINDLE_9]DEADBAND
  397. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  398. setp pid.s.error-previous-target true
  399.  
  400. net spindle-index-enable <=> pid.s.index-enable
  401. net spindle-enable => pid.s.enable
  402. net spindle-vel-cmd-rpm-abs => pid.s.command
  403. net spindle-vel-fb-rpm-abs => pid.s.feedback
  404. net spindle-output <= pid.s.output
  405.  
  406. # ---PWM Generator signals/setup---
  407.  
  408. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  409. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  410. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  411.  
  412. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  413. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  414.  
  415. # ---Encoder feedback signals/setup---
  416.  
  417. setp hm2_7i92.0.encoder.00.counter-mode 0
  418. setp hm2_7i92.0.encoder.00.filter 1
  419. setp hm2_7i92.0.encoder.00.index-invert 0
  420. setp hm2_7i92.0.encoder.00.index-mask 0
  421. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  422. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  423.  
  424. net spindle-revs <= hm2_7i92.0.encoder.00.position
  425. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  426. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  427.  
  428. # ---setup spindle control signals---
  429.  
  430. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  431. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  432. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  433. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  434. net spindle-enable <= motion.spindle-on
  435. net spindle-cw <= motion.spindle-forward
  436. net spindle-ccw <= motion.spindle-reverse
  437. net spindle-brake <= motion.spindle-brake
  438. net spindle-revs => motion.spindle-revs
  439. net spindle-at-speed => motion.spindle-at-speed
  440. net spindle-vel-fb-rps => motion.spindle-speed-in
  441. net spindle-index-enable <=> motion.spindle-index-enable
  442.  
  443. # ---Setup spindle at speed signals---
  444.  
  445. net spindle-vel-cmd-rps => near.0.in1
  446. net spindle-vel-fb-rps => near.0.in2
  447.  
  448. ##########################
  449. net spindle-at-speed <= near.0.out
  450. ##########################
  451. setp near.0.scale 1.000000
  452. ##########################
  453. setp near.0.difference 5
  454.  
  455. ##sets spindle-at-speed true
  456.  
  457. # Use ACTUAL spindle velocity from spindle encoder
  458. # spindle-velocity bounces around so we filter it with lowpass
  459. # spindle-velocity is signed so we use absolute component to remove sign
  460. # ACTUAL velocity is in RPS not RPM so we scale it.
  461.  
  462. setp scale.spindle.gain 60
  463. setp lowpass.spindle.gain 1.000000
  464. net spindle-vel-fb-rps => scale.spindle.in
  465. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  466. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  467. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  468.  
  469. #******************************
  470. # connect miscellaneous signals
  471. #******************************
  472.  
  473. # ---HALUI signals---
  474. ## BELOW COMMENTED OUT FOR PENDANT TO WORK
  475. net joint-select-a halui.joint.0.select
  476. net x-is-homed halui.joint.0.is-homed
  477. ##net jog-x-pos halui.jog.0.plus
  478. ##net jog-x-neg halui.jog.0.minus
  479. net jog-x-analog halui.jog.0.analog
  480. net joint-select-b halui.joint.1.select
  481. net y-is-homed halui.joint.1.is-homed
  482. ##net jog-y-pos halui.jog.1.plus
  483. ##net jog-y-neg halui.jog.1.minus
  484. net jog-y-analog halui.jog.1.analog
  485. net joint-select-c halui.joint.2.select
  486. net z-is-homed halui.joint.2.is-homed
  487. ##net jog-z-pos halui.jog.2.plus
  488. ##net jog-z-neg halui.jog.2.minus
  489. net jog-z-analog halui.jog.2.analog
  490. net joint-select-d halui.joint.3.select
  491. net a-is-homed halui.joint.3.is-homed
  492. ##net jog-a-pos halui.jog.3.plus
  493. ##net jog-a-neg halui.jog.3.minus
  494. net jog-a-analog halui.jog.3.analog
  495. net jog-selected-pos halui.jog.selected.plus
  496. net jog-selected-neg halui.jog.selected.minus
  497. net spindle-manual-cw halui.spindle.forward
  498. net spindle-manual-ccw halui.spindle.reverse
  499. net spindle-manual-stop halui.spindle.stop
  500.  
  501. ## BELOW COMMENTED OUT FOR PENDANT TO WORK
  502. ##net machine-is-on halui.machine.is-on
  503. net jog-speed halui.jog-speed
  504. net MDI-mode halui.mode.is-mdi
  505.  
  506. # ---tool release---
  507.  
  508. # ---coolant signals---
  509.  
  510. net coolant-mist <= iocontrol.0.coolant-mist
  511.  
  512. # ---probe signal---
  513.  
  514. net probe-in => motion.probe-input
  515.  
  516. # ---motion control signals---
  517.  
  518. ## BELOW COMMENTED OUT FOR PENDANT TO WORK
  519.  
  520. ##net in-position <= motion.in-position
  521. net machine-is-enabled <= motion.motion-enabled
  522.  
  523. # ---digital in / out signals---
  524.  
  525. # ---estop signals---
  526.  
  527. net estop-out <= iocontrol.0.user-enable-out
  528. net estop-ext => iocontrol.0.emc-enable-in
  529.  
  530. # ---manual tool change signals---
  531.  
  532. #loadusr -W hal_manualtoolchange
  533. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  534. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  535. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  536.  
  537. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  538.  
  539. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
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