# Generated by PNCconf at Fri Jul 26 13:18:08 2024 # Using LinuxCNC version: Master (2.9) # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_pci config="num_encoders=6 num_pwmgens=6" setp hm2_5i24.0.pwmgen.pwm_frequency 15500 setp hm2_5i24.0.pwmgen.pdm_frequency 15500 setp hm2_5i24.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s addf hm2_5i24.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_5i24.0.write servo-thread # setp hm2_5i24.0.dpll.01.timer-us -50 # stepgen setp hm2_5i24.0.stepgen.timer-number 1 # external output signals # external input signals #******************* # AXIS X JOINT 0 #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true # stepgen # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 0.000500 net x-index-enable => pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # ---PWM Generator signals/setup--- setp hm2_5i24.0.pwmgen.00.output-type 1 setp hm2_5i24.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE setp hm2_5i24.0.pwmgen.00.offset-mode 1 net x-output => hm2_5i24.0.pwmgen.00.value net x-pos-cmd joint.0.motor-pos-cmd net x-enable joint.0.amp-enable-out => hm2_5i24.0.pwmgen.00.enable # ---Encoder feedback signals/setup--- setp hm2_5i24.0.encoder.00.counter-mode 0 setp hm2_5i24.0.encoder.00.filter 1 setp hm2_5i24.0.encoder.00.index-invert 0 setp hm2_5i24.0.encoder.00.index-mask 0 setp hm2_5i24.0.encoder.00.index-mask-invert 0 setp hm2_5i24.0.encoder.00.scale [JOINT_0]ENCODER_SCALE net x-pos-fb <= hm2_5i24.0.encoder.00.position net x-vel-fb <= hm2_5i24.0.encoder.00.velocity net x-pos-fb => joint.0.motor-pos-fb net x-index-enable joint.0.index-enable <=> hm2_5i24.0.encoder.00.index-enable net x-pos-rawcounts <= hm2_5i24.0.encoder.00.rawcounts net x-pos-mtr hm2_5i24.0.encoder.03.position net x-vel-mtr hm2_5i24.0.encoder.03.velocity # ---setup home / limit switch signals--- net x-home-sw => joint.0.home-sw-in net x-neg-limit => joint.0.neg-lim-sw-in net x-pos-limit => joint.0.pos-lim-sw-in #******************* # AXIS Y JOINT 1 #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true # stepgen # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y.maxerror 0.000500 net y-index-enable => pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup # stepgen #setp hm2_5i24.0.stepgen.09.dirsetup [JOINT_1]DIRSETUP # stepgen #setp hm2_5i24.0.stepgen.09.dirhold [JOINT_1]DIRHOLD # stepgen #setp hm2_5i24.0.stepgen.09.steplen [JOINT_1]STEPLEN # stepgen #setp hm2_5i24.0.stepgen.09.stepspace [JOINT_1]STEPSPACE # stepgen #setp hm2_5i24.0.stepgen.09.position-scale [JOINT_1]STEP_SCALE # stepgen #setp hm2_5i24.0.stepgen.09.step_type 0 # stepgen #setp hm2_5i24.0.stepgen.09.control-type 1 # stepgen #setp hm2_5i24.0.stepgen.09.maxaccel [JOINT_1]STEPGEN_MAXACCEL # stepgen #setp hm2_5i24.0.stepgen.09.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd # stepgen net y-output => hm2_5i24.0.stepgen.09.velocity-cmd # stepgen net y-pos-fb <= hm2_5i24.0.stepgen.09.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out # stepgen net y-enable => hm2_5i24.0.stepgen.09.enable # ---Encoder feedback signals/setup--- setp hm2_5i24.0.encoder.01.counter-mode 0 setp hm2_5i24.0.encoder.01.filter 1 setp hm2_5i24.0.encoder.01.index-invert 0 setp hm2_5i24.0.encoder.01.index-mask 0 setp hm2_5i24.0.encoder.01.index-mask-invert 0 setp hm2_5i24.0.encoder.01.scale [JOINT_1]ENCODER_SCALE net y-pos-fb <= hm2_5i24.0.encoder.01.position net y-vel-fb <= hm2_5i24.0.encoder.01.velocity net y-pos-fb => joint.1.motor-pos-fb net y-index-enable joint.1.index-enable <=> hm2_5i24.0.encoder.01.index-enable net y-pos-rawcounts <= hm2_5i24.0.encoder.01.rawcounts net y-pos-mtr hm2_5i24.0.encoder.04.position net y-vel-mtr hm2_5i24.0.encoder.04.velocity # ---setup home / limit switch signals--- net y-home-sw => joint.1.home-sw-in net y-neg-limit => joint.1.neg-lim-sw-in net y-pos-limit => joint.1.pos-lim-sw-in #******************* # AXIS Z JOINT 2 #******************* setp pid.z.Pgain [JOINT_2]P setp pid.z.Igain [JOINT_2]I setp pid.z.Dgain [JOINT_2]D setp pid.z.bias [JOINT_2]BIAS setp pid.z.FF0 [JOINT_2]FF0 setp pid.z.FF1 [JOINT_2]FF1 setp pid.z.FF2 [JOINT_2]FF2 setp pid.z.deadband [JOINT_2]DEADBAND setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT setp pid.z.error-previous-target true # stepgen # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 0.000500 net z-index-enable => pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup # stepgen setp hm2_5i24.0.stepgen.06.dirsetup [JOINT_2]DIRSETUP # stepgen setp hm2_5i24.0.stepgen.06.dirhold [JOINT_2]DIRHOLD # stepgen setp hm2_5i24.0.stepgen.06.steplen [JOINT_2]STEPLEN # stepgen setp hm2_5i24.0.stepgen.06.stepspace [JOINT_2]STEPSPACE # stepgen setp hm2_5i24.0.stepgen.06.position-scale [JOINT_2]STEP_SCALE # stepgen setp hm2_5i24.0.stepgen.06.step_type 0 # stepgen setp hm2_5i24.0.stepgen.06.control-type 1 # stepgen setp hm2_5i24.0.stepgen.06.maxaccel [JOINT_2]STEPGEN_MAXACCEL # stepgen setp hm2_5i24.0.stepgen.06.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.2.motor-pos-cmd net z-vel-cmd <= joint.2.vel-cmd # stepgen net z-output => hm2_5i24.0.stepgen.06.velocity-cmd # stepgen net z-pos-fb <= hm2_5i24.0.stepgen.06.position-fb net z-pos-fb => joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out # stepgen net z-enable => hm2_5i24.0.stepgen.06.enable # ---Encoder feedback signals/setup--- setp hm2_5i24.0.encoder.02.counter-mode 0 setp hm2_5i24.0.encoder.02.filter 1 setp hm2_5i24.0.encoder.02.index-invert 0 setp hm2_5i24.0.encoder.02.index-mask 0 setp hm2_5i24.0.encoder.02.index-mask-invert 0 setp hm2_5i24.0.encoder.02.scale [JOINT_2]ENCODER_SCALE net z-pos-fb <= hm2_5i24.0.encoder.02.position net z-vel-fb <= hm2_5i24.0.encoder.02.velocity net z-pos-fb => joint.2.motor-pos-fb net z-index-enable joint.2.index-enable <=> hm2_5i24.0.encoder.02.index-enable net z-pos-rawcounts <= hm2_5i24.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net z-home-sw => joint.2.home-sw-in net z-neg-limit => joint.2.neg-lim-sw-in net z-pos-limit => joint.2.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable => pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm <= spindle.0.speed-out net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-enable <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net axis-select-x halui.axis.x.select net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog net x-is-homed halui.joint.0.is-homed net axis-select-y halui.axis.y.select net jog-y-pos halui.axis.y.plus net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog net y-is-homed halui.joint.1.is-homed net axis-select-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.2.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- net tool-change-request <= iocontrol.0.tool-change net tool-change-confirmed => iocontrol.0.tool-changed net tool-number <= iocontrol.0.tool-prep-number # ---Use external manual tool change dialog--- loadusr -W hal_manualtoolchange net tool-change-request => hal_manualtoolchange.change net tool-change-confirmed <= hal_manualtoolchange.changed net tool-number => hal_manualtoolchange.number # ---ignore tool prepare requests--- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared