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LCNC BOB TEST

RYU_cz
May 31st, 2020
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  1. # Generated by PNCconf at Sat May 30 22:59:47 2020
  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
  7. loadrt hostmot2
  8. loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=4 num_pwmgens=0 num_stepgens=4"
  9. setp hm2_7i93.0.watchdog.timeout_ns 10000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  11.  
  12. addf hm2_7i93.0.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_7i93.0.write servo-thread
  20.  
  21. # external output signals
  22.  
  23. # --- DOUT-01 ---
  24. setp hm2_7i93.0.gpio.021.is_output true
  25. net dout-01 hm2_7i93.0.gpio.021.out
  26.  
  27. # --- COOLANT-FLOOD ---
  28. setp hm2_7i93.0.gpio.022.is_output true
  29. net coolant-flood hm2_7i93.0.gpio.022.out
  30.  
  31. # --- ESTOP-OUT ---
  32. setp hm2_7i93.0.gpio.023.is_output true
  33. net estop-out hm2_7i93.0.gpio.023.out
  34.  
  35. # --- MACHINE-IS-ENABLED ---
  36. setp hm2_7i93.0.gpio.029.is_output true
  37. net machine-is-enabled hm2_7i93.0.gpio.029.out
  38. setp hm2_7i93.0.gpio.029.invert_output true
  39.  
  40. # --- MACHINE-IS-ENABLED ---
  41. setp hm2_7i93.0.gpio.035.is_output true
  42. net machine-is-enabled hm2_7i93.0.gpio.035.out
  43.  
  44. # --- DOUT-03 ---
  45. setp hm2_7i93.0.gpio.044.is_output true
  46. net dout-03 hm2_7i93.0.gpio.044.out
  47.  
  48. # --- DOUT-02 ---
  49. setp hm2_7i93.0.gpio.045.is_output true
  50. net dout-02 hm2_7i93.0.gpio.045.out
  51.  
  52. # --- DOUT-00 ---
  53. setp hm2_7i93.0.gpio.046.is_output true
  54. net dout-00 hm2_7i93.0.gpio.046.out
  55.  
  56. # --- COOLANT-MIST ---
  57. setp hm2_7i93.0.gpio.047.is_output true
  58. net coolant-mist hm2_7i93.0.gpio.047.out
  59.  
  60. # external input signals
  61.  
  62. # --- ESTOP-EXT ---
  63. net estop-ext <= hm2_7i93.0.gpio.010.in
  64.  
  65. # --- DIN-00 ---
  66. net din-00 <= hm2_7i93.0.gpio.038.in
  67.  
  68. #*******************
  69. # AXIS X
  70. #*******************
  71.  
  72. setp pid.x.Pgain [AXIS_0]P
  73. setp pid.x.Igain [AXIS_0]I
  74. setp pid.x.Dgain [AXIS_0]D
  75. setp pid.x.bias [AXIS_0]BIAS
  76. setp pid.x.FF0 [AXIS_0]FF0
  77. setp pid.x.FF1 [AXIS_0]FF1
  78. setp pid.x.FF2 [AXIS_0]FF2
  79. setp pid.x.deadband [AXIS_0]DEADBAND
  80. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  81. setp pid.x.error-previous-target true
  82. setp pid.x.maxerror .0005
  83.  
  84. net x-index-enable <=> pid.x.index-enable
  85. net x-enable => pid.x.enable
  86. net x-pos-cmd => pid.x.command
  87. net x-vel-cmd => pid.x.command-deriv
  88. net x-pos-fb => pid.x.feedback
  89. net x-output => pid.x.output
  90.  
  91. # Step Gen signals/setup
  92.  
  93. setp hm2_7i93.0.stepgen.02.dirsetup [AXIS_0]DIRSETUP
  94. setp hm2_7i93.0.stepgen.02.dirhold [AXIS_0]DIRHOLD
  95. setp hm2_7i93.0.stepgen.02.steplen [AXIS_0]STEPLEN
  96. setp hm2_7i93.0.stepgen.02.stepspace [AXIS_0]STEPSPACE
  97. setp hm2_7i93.0.stepgen.02.position-scale [AXIS_0]STEP_SCALE
  98. setp hm2_7i93.0.stepgen.02.step_type 1
  99. setp hm2_7i93.0.stepgen.02.control-type 1
  100. setp hm2_7i93.0.stepgen.02.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  101. setp hm2_7i93.0.stepgen.02.maxvel [AXIS_0]STEPGEN_MAXVEL
  102.  
  103. # ---closedloop stepper signals---
  104.  
  105. net x-pos-cmd <= axis.0.motor-pos-cmd
  106. net x-vel-cmd <= axis.0.joint-vel-cmd
  107. net x-output => hm2_7i93.0.stepgen.02.velocity-cmd
  108. net x-pos-fb <= hm2_7i93.0.stepgen.02.position-fb
  109. net x-pos-fb => axis.0.motor-pos-fb
  110. net x-enable <= axis.0.amp-enable-out
  111. net x-enable => hm2_7i93.0.stepgen.02.enable
  112.  
  113. # ---Encoder feedback signals/setup---
  114.  
  115. setp hm2_7i93.0.encoder.02.counter-mode 0
  116. setp hm2_7i93.0.encoder.02.filter 1
  117. setp hm2_7i93.0.encoder.02.index-invert 0
  118. setp hm2_7i93.0.encoder.02.index-mask 0
  119. setp hm2_7i93.0.encoder.02.index-mask-invert 0
  120. setp hm2_7i93.0.encoder.02.scale [AXIS_0]ENCODER_SCALE
  121.  
  122. #net x-pos-fb <= hm2_7i93.0.encoder.02.position
  123. net x-vel-fb <= hm2_7i93.0.encoder.02.velocity
  124. net x-pos-fb => axis.0.motor-pos-fb
  125. net x-index-enable axis.0.index-enable <=> hm2_7i93.0.encoder.02.index-enable
  126. net x-pos-rawcounts <= hm2_7i93.0.encoder.02.rawcounts
  127.  
  128. # ---setup home / limit switch signals---
  129.  
  130. net x-home-sw => axis.0.home-sw-in
  131. net x-neg-limit => axis.0.neg-lim-sw-in
  132. net x-pos-limit => axis.0.pos-lim-sw-in
  133.  
  134. #*******************
  135. # AXIS Y
  136. #*******************
  137.  
  138. setp pid.y.Pgain [AXIS_1]P
  139. setp pid.y.Igain [AXIS_1]I
  140. setp pid.y.Dgain [AXIS_1]D
  141. setp pid.y.bias [AXIS_1]BIAS
  142. setp pid.y.FF0 [AXIS_1]FF0
  143. setp pid.y.FF1 [AXIS_1]FF1
  144. setp pid.y.FF2 [AXIS_1]FF2
  145. setp pid.y.deadband [AXIS_1]DEADBAND
  146. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  147. setp pid.y.error-previous-target true
  148. setp pid.y.maxerror .0005
  149.  
  150. net y-index-enable <=> pid.y.index-enable
  151. net y-enable => pid.y.enable
  152. net y-pos-cmd => pid.y.command
  153. net y-vel-cmd => pid.y.command-deriv
  154. net y-pos-fb => pid.y.feedback
  155. net y-output => pid.y.output
  156.  
  157. # Step Gen signals/setup
  158.  
  159. setp hm2_7i93.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  160. setp hm2_7i93.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  161. setp hm2_7i93.0.stepgen.01.steplen [AXIS_1]STEPLEN
  162. setp hm2_7i93.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  163. setp hm2_7i93.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  164. setp hm2_7i93.0.stepgen.01.step_type 1
  165. setp hm2_7i93.0.stepgen.01.control-type 1
  166. setp hm2_7i93.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  167. setp hm2_7i93.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  168.  
  169. # ---closedloop stepper signals---
  170.  
  171. net y-pos-cmd <= axis.1.motor-pos-cmd
  172. net y-vel-cmd <= axis.1.joint-vel-cmd
  173. net y-output => hm2_7i93.0.stepgen.01.velocity-cmd
  174. net y-pos-fb <= hm2_7i93.0.stepgen.01.position-fb
  175. net y-pos-fb => axis.1.motor-pos-fb
  176. net y-enable <= axis.1.amp-enable-out
  177. net y-enable => hm2_7i93.0.stepgen.01.enable
  178.  
  179. # ---setup home / limit switch signals---
  180.  
  181. net y-home-sw => axis.1.home-sw-in
  182. net y-neg-limit => axis.1.neg-lim-sw-in
  183. net y-pos-limit => axis.1.pos-lim-sw-in
  184.  
  185. #*******************
  186. # AXIS Z
  187. #*******************
  188.  
  189. setp pid.z.Pgain [AXIS_2]P
  190. setp pid.z.Igain [AXIS_2]I
  191. setp pid.z.Dgain [AXIS_2]D
  192. setp pid.z.bias [AXIS_2]BIAS
  193. setp pid.z.FF0 [AXIS_2]FF0
  194. setp pid.z.FF1 [AXIS_2]FF1
  195. setp pid.z.FF2 [AXIS_2]FF2
  196. setp pid.z.deadband [AXIS_2]DEADBAND
  197. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  198. setp pid.z.error-previous-target true
  199. setp pid.z.maxerror .0005
  200.  
  201. net z-index-enable <=> pid.z.index-enable
  202. net z-enable => pid.z.enable
  203. net z-pos-cmd => pid.z.command
  204. net z-vel-cmd => pid.z.command-deriv
  205. net z-pos-fb => pid.z.feedback
  206. net z-output => pid.z.output
  207.  
  208. # Step Gen signals/setup
  209.  
  210. setp hm2_7i93.0.stepgen.00.dirsetup [AXIS_2]DIRSETUP
  211. setp hm2_7i93.0.stepgen.00.dirhold [AXIS_2]DIRHOLD
  212. setp hm2_7i93.0.stepgen.00.steplen [AXIS_2]STEPLEN
  213. setp hm2_7i93.0.stepgen.00.stepspace [AXIS_2]STEPSPACE
  214. setp hm2_7i93.0.stepgen.00.position-scale [AXIS_2]STEP_SCALE
  215. setp hm2_7i93.0.stepgen.00.step_type 0
  216. setp hm2_7i93.0.stepgen.00.control-type 1
  217. setp hm2_7i93.0.stepgen.00.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  218. setp hm2_7i93.0.stepgen.00.maxvel [AXIS_2]STEPGEN_MAXVEL
  219.  
  220. # ---closedloop stepper signals---
  221.  
  222. net z-pos-cmd <= axis.2.motor-pos-cmd
  223. net z-vel-cmd <= axis.2.joint-vel-cmd
  224. net z-output => hm2_7i93.0.stepgen.00.velocity-cmd
  225. net z-pos-fb <= hm2_7i93.0.stepgen.00.position-fb
  226. net z-pos-fb => axis.2.motor-pos-fb
  227. net z-enable <= axis.2.amp-enable-out
  228. net z-enable => hm2_7i93.0.stepgen.00.enable
  229.  
  230. # ---setup home / limit switch signals---
  231.  
  232. net z-home-sw => axis.2.home-sw-in
  233. net z-neg-limit => axis.2.neg-lim-sw-in
  234. net z-pos-limit => axis.2.pos-lim-sw-in
  235.  
  236. #*******************
  237. # SPINDLE S
  238. #*******************
  239.  
  240. setp pid.s.Pgain [SPINDLE_9]P
  241. setp pid.s.Igain [SPINDLE_9]I
  242. setp pid.s.Dgain [SPINDLE_9]D
  243. setp pid.s.bias [SPINDLE_9]BIAS
  244. setp pid.s.FF0 [SPINDLE_9]FF0
  245. setp pid.s.FF1 [SPINDLE_9]FF1
  246. setp pid.s.FF2 [SPINDLE_9]FF2
  247. setp pid.s.deadband [SPINDLE_9]DEADBAND
  248. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  249. setp pid.s.error-previous-target true
  250.  
  251. net spindle-index-enable <=> pid.s.index-enable
  252. net spindle-enable => pid.s.enable
  253. net spindle-vel-cmd-rpm => pid.s.command
  254. net spindle-vel-fb-rpm => pid.s.feedback
  255. net spindle-output <= pid.s.output
  256.  
  257. # ---setup spindle control signals---
  258.  
  259. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  260. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  261. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  262. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  263. net spindle-enable <= motion.spindle-on
  264. net spindle-cw <= motion.spindle-forward
  265. net spindle-ccw <= motion.spindle-reverse
  266. net spindle-brake <= motion.spindle-brake
  267. net spindle-revs => motion.spindle-revs
  268. net spindle-at-speed => motion.spindle-at-speed
  269. net spindle-vel-fb-rps => motion.spindle-speed-in
  270. net spindle-index-enable <=> motion.spindle-index-enable
  271.  
  272. # ---Setup spindle at speed signals---
  273.  
  274. sets spindle-at-speed true
  275.  
  276.  
  277. #******************************
  278. # connect miscellaneous signals
  279. #******************************
  280.  
  281. # ---HALUI signals---
  282.  
  283. net joint-select-a halui.joint.0.select
  284. net x-is-homed halui.joint.0.is-homed
  285. net jog-x-pos halui.jog.0.plus
  286. net jog-x-neg halui.jog.0.minus
  287. net jog-x-analog halui.jog.0.analog
  288. net joint-select-b halui.joint.1.select
  289. net y-is-homed halui.joint.1.is-homed
  290. net jog-y-pos halui.jog.1.plus
  291. net jog-y-neg halui.jog.1.minus
  292. net jog-y-analog halui.jog.1.analog
  293. net joint-select-c halui.joint.2.select
  294. net z-is-homed halui.joint.2.is-homed
  295. net jog-z-pos halui.jog.2.plus
  296. net jog-z-neg halui.jog.2.minus
  297. net jog-z-analog halui.jog.2.analog
  298. net jog-selected-pos halui.jog.selected.plus
  299. net jog-selected-neg halui.jog.selected.minus
  300. net spindle-manual-cw halui.spindle.forward
  301. net spindle-manual-ccw halui.spindle.reverse
  302. net spindle-manual-stop halui.spindle.stop
  303. net machine-is-on halui.machine.is-on
  304. net jog-speed halui.jog-speed
  305. net MDI-mode halui.mode.is-mdi
  306.  
  307. # ---coolant signals---
  308.  
  309. net coolant-mist <= iocontrol.0.coolant-mist
  310. net coolant-flood <= iocontrol.0.coolant-flood
  311.  
  312. # ---probe signal---
  313.  
  314. net probe-in => motion.probe-input
  315.  
  316. # ---motion control signals---
  317.  
  318. net in-position <= motion.in-position
  319. net machine-is-enabled <= motion.motion-enabled
  320.  
  321. # ---digital in / out signals---
  322.  
  323. net dout-00 <= motion.digital-out-00
  324. net dout-01 <= motion.digital-out-01
  325. net dout-02 <= motion.digital-out-02
  326. net dout-03 <= motion.digital-out-03
  327. net din-00 => motion.digital-in-00
  328. # ---estop signals---
  329.  
  330. net estop-out <= iocontrol.0.user-enable-out
  331. net estop-ext => iocontrol.0.emc-enable-in
  332.  
  333. # ---manual tool change signals---
  334.  
  335. loadusr -W hal_manualtoolchange
  336. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  337. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  338. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  339. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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