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  1. # Generated by PNCconf at Sat Jul 21 16:59:40 2018
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. loadrt [KINS]KINEMATICS
  6. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  7. loadrt hostmot2
  8. loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
  9. setp hm2_5i25.0.watchdog.timeout_ns 5000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  11.  
  12. addf hm2_5i25.0.read servo-thread
  13. addf motion-command-handler servo-thread
  14. addf motion-controller servo-thread
  15. addf pid.x.do-pid-calcs servo-thread
  16. addf pid.y.do-pid-calcs servo-thread
  17. addf pid.z.do-pid-calcs servo-thread
  18. addf pid.s.do-pid-calcs servo-thread
  19. addf hm2_5i25.0.write servo-thread
  20.  
  21. # external output signals
  22.  
  23.  
  24. # external input signals
  25.  
  26.  
  27. #*******************
  28. # AXIS X JOINT 0
  29. #*******************
  30.  
  31. setp pid.x.Pgain [JOINT_0]P
  32. setp pid.x.Igain [JOINT_0]I
  33. setp pid.x.Dgain [JOINT_0]D
  34. setp pid.x.bias [JOINT_0]BIAS
  35. setp pid.x.FF0 [JOINT_0]FF0
  36. setp pid.x.FF1 [JOINT_0]FF1
  37. setp pid.x.FF2 [JOINT_0]FF2
  38. setp pid.x.deadband [JOINT_0]DEADBAND
  39. setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
  40. setp pid.x.error-previous-target true
  41. setp pid.x.maxerror .0005
  42.  
  43. net x-index-enable <=> pid.x.index-enable
  44. net x-enable => pid.x.enable
  45. net x-pos-cmd => pid.x.command
  46. net x-vel-cmd => pid.x.command-deriv
  47. net x-pos-fb => pid.x.feedback
  48. net x-output <= pid.x.output
  49.  
  50. # Step Gen signals/setup
  51.  
  52. setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
  53. setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
  54. setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN
  55. setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
  56. setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
  57. setp hm2_5i25.0.stepgen.00.step_type 0
  58. setp hm2_5i25.0.stepgen.00.control-type 1
  59. setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  60. setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
  61.  
  62. # ---closedloop stepper signals---
  63.  
  64. net x-pos-cmd <= joint.0.motor-pos-cmd
  65. net x-vel-cmd <= joint.0.vel-cmd
  66. net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
  67. net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
  68. net x-pos-fb => joint.0.motor-pos-fb
  69. net x-enable <= joint.0.amp-enable-out
  70. net x-enable => hm2_5i25.0.stepgen.00.enable
  71.  
  72. # ---setup home / limit switch signals---
  73.  
  74. net x-home-sw => joint.0.home-sw-in
  75. net x-neg-limit => joint.0.neg-lim-sw-in
  76. net x-pos-limit => joint.0.pos-lim-sw-in
  77.  
  78. #*******************
  79. # AXIS Y JOINT 1
  80. #*******************
  81.  
  82. setp pid.y.Pgain [JOINT_1]P
  83. setp pid.y.Igain [JOINT_1]I
  84. setp pid.y.Dgain [JOINT_1]D
  85. setp pid.y.bias [JOINT_1]BIAS
  86. setp pid.y.FF0 [JOINT_1]FF0
  87. setp pid.y.FF1 [JOINT_1]FF1
  88. setp pid.y.FF2 [JOINT_1]FF2
  89. setp pid.y.deadband [JOINT_1]DEADBAND
  90. setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
  91. setp pid.y.error-previous-target true
  92. setp pid.y.maxerror .0005
  93.  
  94. net y-index-enable <=> pid.y.index-enable
  95. net y-enable => pid.y.enable
  96. net y-pos-cmd => pid.y.command
  97. net y-vel-cmd => pid.y.command-deriv
  98. net y-pos-fb => pid.y.feedback
  99. net y-output <= pid.y.output
  100.  
  101. # Step Gen signals/setup
  102.  
  103. setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
  104. setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
  105. setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
  106. setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
  107. setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
  108. setp hm2_5i25.0.stepgen.01.step_type 0
  109. setp hm2_5i25.0.stepgen.01.control-type 1
  110. setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  111. setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
  112.  
  113. # ---closedloop stepper signals---
  114.  
  115. net y-pos-cmd <= joint.1.motor-pos-cmd
  116. net y-vel-cmd <= joint.1.vel-cmd
  117. net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
  118. net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
  119. net y-pos-fb => joint.1.motor-pos-fb
  120. net y-enable <= joint.1.amp-enable-out
  121. net y-enable => hm2_5i25.0.stepgen.01.enable
  122.  
  123. # ---setup home / limit switch signals---
  124.  
  125. net y-home-sw hm2_5i25.0.7i76.0.0.input-01-not
  126.  
  127. net y-home-sw => joint.1.home-sw-in
  128. net y-home-sw => joint.1.neg-lim-sw-in
  129. #net y-neg-limit => joint.1.neg-lim-sw-in
  130. net y-pos-limit => joint.1.pos-lim-sw-in
  131.  
  132. #*******************
  133. # AXIS Z JOINT 2
  134. #*******************
  135.  
  136. setp pid.z.Pgain [JOINT_2]P
  137. setp pid.z.Igain [JOINT_2]I
  138. setp pid.z.Dgain [JOINT_2]D
  139. setp pid.z.bias [JOINT_2]BIAS
  140. setp pid.z.FF0 [JOINT_2]FF0
  141. setp pid.z.FF1 [JOINT_2]FF1
  142. setp pid.z.FF2 [JOINT_2]FF2
  143. setp pid.z.deadband [JOINT_2]DEADBAND
  144. setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
  145. setp pid.z.error-previous-target true
  146. setp pid.z.maxerror .0005
  147.  
  148. net z-index-enable <=> pid.z.index-enable
  149. net z-enable => pid.z.enable
  150. net z-pos-cmd => pid.z.command
  151. net z-vel-cmd => pid.z.command-deriv
  152. net z-pos-fb => pid.z.feedback
  153. net z-output <= pid.z.output
  154.  
  155. # Step Gen signals/setup
  156.  
  157. setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
  158. setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
  159. setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN
  160. setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
  161. setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
  162. setp hm2_5i25.0.stepgen.02.step_type 0
  163. setp hm2_5i25.0.stepgen.02.control-type 1
  164. setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  165. setp hm2_5i25.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
  166.  
  167. # ---closedloop stepper signals---
  168.  
  169. net z-pos-cmd <= joint.2.motor-pos-cmd
  170. net z-vel-cmd <= joint.2.vel-cmd
  171. net z-output <= hm2_5i25.0.stepgen.02.velocity-cmd
  172. net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
  173. net z-pos-fb => joint.2.motor-pos-fb
  174. net z-enable <= joint.2.amp-enable-out
  175. net z-enable => hm2_5i25.0.stepgen.02.enable
  176.  
  177. # ---setup home / limit switch signals---
  178.  
  179. net z-home-sw => joint.2.home-sw-in
  180. net z-neg-limit => joint.2.neg-lim-sw-in
  181. net z-pos-limit => joint.2.pos-lim-sw-in
  182.  
  183. #*******************
  184. # SPINDLE
  185. #*******************
  186.  
  187. setp pid.s.Pgain [SPINDLE_9]P
  188. setp pid.s.Igain [SPINDLE_9]I
  189. setp pid.s.Dgain [SPINDLE_9]D
  190. setp pid.s.bias [SPINDLE_9]BIAS
  191. setp pid.s.FF0 [SPINDLE_9]FF0
  192. setp pid.s.FF1 [SPINDLE_9]FF1
  193. setp pid.s.FF2 [SPINDLE_9]FF2
  194. setp pid.s.deadband [SPINDLE_9]DEADBAND
  195. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  196. setp pid.s.error-previous-target true
  197.  
  198. net spindle-index-enable <=> pid.s.index-enable
  199. net spindle-enable => pid.s.enable
  200. net spindle-vel-cmd-rpm => pid.s.command
  201. net spindle-vel-fb-rpm => pid.s.feedback
  202. net spindle-output <= pid.s.output
  203.  
  204. # ---setup spindle control signals---
  205.  
  206. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  207. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  208. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  209. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  210. net spindle-enable <= motion.spindle-on
  211. net spindle-cw <= motion.spindle-forward
  212. net spindle-ccw <= motion.spindle-reverse
  213. net spindle-brake <= motion.spindle-brake
  214. net spindle-revs => motion.spindle-revs
  215. net spindle-at-speed => motion.spindle-at-speed
  216. net spindle-vel-fb-rps => motion.spindle-speed-in
  217. net spindle-index-enable <=> motion.spindle-index-enable
  218.  
  219. # ---Setup spindle at speed signals---
  220.  
  221. sets spindle-at-speed true
  222.  
  223.  
  224. #******************************
  225. # connect miscellaneous signals
  226. #******************************
  227.  
  228. # ---HALUI signals---
  229.  
  230. net axis-select-x halui.axis.x.select
  231. net jog-x-pos halui.axis.x.plus
  232. net jog-x-neg halui.axis.x.minus
  233. net jog-x-analog halui.axis.x.analog
  234. net x-is-homed halui.joint.0.is-homed
  235. net axis-select-y halui.axis.y.select
  236. net jog-y-pos halui.axis.y.plus
  237. net jog-y-neg halui.axis.y.minus
  238. net jog-y-analog halui.axis.y.analog
  239. net y-is-homed halui.joint.1.is-homed
  240. net axis-select-z halui.axis.z.select
  241. net jog-z-pos halui.axis.z.plus
  242. net jog-z-neg halui.axis.z.minus
  243. net jog-z-analog halui.axis.z.analog
  244. net z-is-homed halui.joint.2.is-homed
  245. net jog-selected-pos halui.axis.selected.plus
  246. net jog-selected-neg halui.axis.selected.minus
  247. net spindle-manual-cw halui.spindle.forward
  248. net spindle-manual-ccw halui.spindle.reverse
  249. net spindle-manual-stop halui.spindle.stop
  250. net machine-is-on halui.machine.is-on
  251. net jog-speed halui.axis.jog-speed
  252. net MDI-mode halui.mode.is-mdi
  253.  
  254. # ---coolant signals---
  255.  
  256. net coolant-mist <= iocontrol.0.coolant-mist
  257. net coolant-flood <= iocontrol.0.coolant-flood
  258.  
  259. # ---probe signal---
  260.  
  261. net probe-in => motion.probe-input
  262.  
  263. # ---motion control signals---
  264.  
  265. net in-position <= motion.in-position
  266. net machine-is-enabled <= motion.motion-enabled
  267.  
  268. # ---digital in / out signals---
  269.  
  270. # ---estop signals---
  271.  
  272. # estop
  273. #loadrt estop_latch
  274. #addf estop-latch.0 servo-thread
  275. #net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
  276. #net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
  277. #net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
  278. #net remote-estop estop-latch.0.fault-in <= hm2_5i25.0.7i76.0.0.input-00-not
  279.  
  280. net estop-out <= iocontrol.0.user-enable-out
  281. net estop-out => iocontrol.0.emc-enable-in
  282.  
  283. # ---manual tool change signals---
  284.  
  285. loadusr -W hal_manualtoolchange
  286. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  287. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  288. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  289. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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