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