175 lines
6.8 KiB
Plaintext
Executable File
175 lines
6.8 KiB
Plaintext
Executable File
# Mon Jul 08 16:50:37 CDT 2024
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#
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# This file: ./minimal_xyz_cmds.hal
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# Created by: /usr/share/linuxcnc/hallib/basic_sim.tcl
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# With options:
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# From inifile: /home/linuxcnc/linuxcnc/configs/sim.axis/minimal_xyz.ini
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# Halfiles: LIB:basic_sim.tcl
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#
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# This file contains the hal commands produced by basic_sim.tcl
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# (and any hal commands executed prior to its execution).
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# ------------------------------------------------------------------
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# To use ./minimal_xyz_cmds.hal in the original inifile (or a copy of it),
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# edit to change:
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# [HAL]
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# HALFILE = LIB:basic_sim.tcl parameters
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# to:
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# [HAL]
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# HALFILE = ./minimal_xyz_cmds.hal
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#
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# Notes:
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# 1) Inifile Variables substitutions specified in the inifile
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# and interpreted by halcmd are automatically substituted
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# in the created halfile (./minimal_xyz_cmds.hal).
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# 2) Input pins connected to a signal with no writer are
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# not included in the setp listings herein so must be added
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# manually
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#
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# user space components
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loadusr -W hal_manualtoolchange
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# components
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#preloaded module: loadrt tpmod
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#preloaded module: loadrt homemod
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loadrt trivkins coordinates=XYZ
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loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=3
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#loadrt __servo-thread (not loaded by loadrt, no args saved)
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loadrt pid names=J0_pid,J1_pid,J2_pid
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loadrt mux2 names=J0_mux,J1_mux,J2_mux
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loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel
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loadrt hypot names=hyp_xy,hyp_xyz
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loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch
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loadrt sim_spindle names=sim_spindle
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loadrt limit2 names=limit_speed
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loadrt lowpass names=spindle_mass
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loadrt near names=near_speed
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loadrt scale names=rpm_rps
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# pin aliases
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# param aliases
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# signals
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# nets
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net J0:acc J0_accel.out
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net J0:enable joint.0.amp-enable-out => J0_pid.enable
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net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
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net J0:on-pos J0_pid.output => J0_mux.in1
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net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
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net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
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net J0:vel J0_vel.out => J0_accel.in hyp_xy.in0 hyp_xyz.in0
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net J1:acc J1_accel.out
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net J1:enable joint.1.amp-enable-out => J1_pid.enable
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net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
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net J1:on-pos J1_pid.output => J1_mux.in1
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net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
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net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
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net J1:vel J1_vel.out => J1_accel.in hyp_xy.in1 hyp_xyz.in1
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net J2:acc J2_accel.out
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net J2:enable joint.2.amp-enable-out => J2_pid.enable
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net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
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net J2:on-pos J2_pid.output => J2_mux.in1
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net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
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net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
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net J2:vel J2_vel.out => J2_accel.in hyp_xyz.in2
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net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
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net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel
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net spindle-at-speed near_speed.out => spindle.0.at-speed
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net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
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net spindle-orient spindle.0.orient => spindle.0.is-oriented
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net spindle-pos sim_spindle.position-fb => spindle.0.revs
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net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
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net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
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net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
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net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
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net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
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net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
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net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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net xy:vel hyp_xy.out
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net xyz:vel hyp_xyz.out
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# parameter values
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setp J0_accel.tmax 0
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setp J0_mux.tmax 0
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setp J0_pid.do-pid-calcs.tmax 0
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setp J0_switch.tmax 0
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setp J0_vel.tmax 0
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setp J1_accel.tmax 0
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setp J1_mux.tmax 0
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setp J1_pid.do-pid-calcs.tmax 0
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setp J1_switch.tmax 0
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setp J1_vel.tmax 0
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setp J2_accel.tmax 0
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setp J2_mux.tmax 0
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setp J2_pid.do-pid-calcs.tmax 0
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setp J2_switch.tmax 0
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setp J2_vel.tmax 0
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setp hyp_xy.tmax 0
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setp hyp_xyz.tmax 0
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setp limit_speed.tmax 0
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setp motion-command-handler.tmax 0
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setp motion-controller.tmax 0
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setp near_speed.difference 10
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setp near_speed.scale 1.1
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setp near_speed.tmax 0
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setp rpm_rps.tmax 0
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setp servo-thread.tmax 0
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setp sim_spindle.scale 0.01666667
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setp sim_spindle.tmax 0
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setp spindle_mass.gain 0.07
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setp spindle_mass.tmax 0
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# realtime thread/function links
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf J0_pid.do-pid-calcs servo-thread
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addf J1_pid.do-pid-calcs servo-thread
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addf J2_pid.do-pid-calcs servo-thread
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addf J0_mux servo-thread
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addf J1_mux servo-thread
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addf J2_mux servo-thread
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addf J0_vel servo-thread
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addf J0_accel servo-thread
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addf J1_vel servo-thread
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addf J1_accel servo-thread
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addf J2_vel servo-thread
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addf J2_accel servo-thread
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addf hyp_xy servo-thread
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addf hyp_xyz servo-thread
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addf J0_switch servo-thread
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addf J1_switch servo-thread
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addf J2_switch servo-thread
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addf limit_speed servo-thread
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addf spindle_mass servo-thread
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addf rpm_rps servo-thread
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addf near_speed servo-thread
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addf sim_spindle servo-thread
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# setp commands for unconnected input pins
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setp J0_pid.FF0 1.0
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setp J0_pid.Pgain 0
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setp J0_pid.Dgain 0
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setp J0_pid.Igain 0
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setp J0_pid.FF1 0
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setp J0_pid.FF2 0
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setp J1_pid.FF0 1.0
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setp J1_pid.Pgain 0
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setp J1_pid.Dgain 0
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setp J1_pid.Igain 0
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setp J1_pid.FF1 0
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setp J1_pid.FF2 0
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setp J2_pid.FF0 1.0
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setp J2_pid.Pgain 0
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setp J2_pid.Dgain 0
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setp J2_pid.Igain 0
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setp J2_pid.FF1 0
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setp J2_pid.FF2 0
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setp J0_switch.hysteresis 0.05
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setp J0_switch.home-pos 0.10
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setp J1_switch.hysteresis 0.05
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setp J1_switch.home-pos 0.10
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setp J2_switch.hysteresis 0.05
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setp J2_switch.home-pos 0.10
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setp sim_spindle.scale 0.01666667
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setp limit_speed.maxv 5000.0
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setp spindle_mass.gain .07
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setp near_speed.scale 1.1
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setp near_speed.difference 10
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