Inverse spindle speed at Mesa 5i20 + 7i47S?
13 Dec 2012 02:35 - 13 Dec 2012 02:38 #27642
by machete
Inverse spindle speed at Mesa 5i20 + 7i47S? was created by machete
Hello!
I am trying to setup Mesa 5i20 + 7i47S + VFD (0-10V) for 2.2Kw spindle 2000rpm.
(with my personal firmware )
on LinuxCNC 2.5.1.
It working fine except spindle speed - it is "inverted":
when i execute in MDI: M3 S300 i recive aproximately 1700rpm
when M3 S1700 it is about 300rpm.
Here is full table:
hal:
.ini
I am trying to setup Mesa 5i20 + 7i47S + VFD (0-10V) for 2.2Kw spindle 2000rpm.
(with my personal firmware )
on LinuxCNC 2.5.1.
It working fine except spindle speed - it is "inverted":
when i execute in MDI: M3 S300 i recive aproximately 1700rpm
when M3 S1700 it is about 300rpm.
Here is full table:
| MDI comand | hm2_5i20.0.pwmgen.04.value | LED on 7i47S | Volgage on VFD from 7i47S | Approximately spindle speed shown by VFD |
| M3S1500 | 1500 | dim | 3.35 | 680 |
| M3S500 | 500 | bright | 8.49 | 1753 |
| M3S1800 | 1800 | dim | 1.74 | 340 |
| M3S300 | 300 | bright | 9.52 | 1966 |
hal:
Warning: Spoiler!
# Generated by PNCconf at Fri Mar 2 21:42:32 2012
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4_7I47.BIT num_encoders=5 num_pwmgens=5 num_stepgens=0"
setp hm2_5i20.0.pwmgen.pwm_frequency 100000
setp hm2_5i20.0.pwmgen.pdm_frequency 100000
setp hm2_5i20.0.watchdog.timeout_ns 10000000
loadrt hal_parport cfg="0x0278 in"
loadrt abs
loadrt lowpass
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10
loadrt mux8 names=mux8.jogincr
addf parport.0.read servo-thread
addf parport.0.write servo-thread
addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
loadrt pid num_chan=4
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
alias pin pid.0.Pgain pid.x.Pgain
alias pin pid.0.Igain pid.x.Igain
alias pin pid.0.Dgain pid.x.Dgain
alias pin pid.0.bias pid.x.bias
alias pin pid.0.FF0 pid.x.FF0
alias pin pid.0.FF1 pid.x.FF1
alias pin pid.0.FF2 pid.x.FF2
alias pin pid.0.deadband pid.x.deadband
alias pin pid.0.maxoutput pid.x.maxoutput
alias pin pid.0.enable pid.x.enable
alias pin pid.0.command pid.x.command
alias pin pid.0.feedback pid.x.feedback
alias pin pid.0.output pid.x.output
alias pin pid.0.index-enable pid.x.index-enable
alias pin pid.1.Pgain pid.y.Pgain
alias pin pid.1.Igain pid.y.Igain
alias pin pid.1.Dgain pid.y.Dgain
alias pin pid.1.bias pid.y.bias
alias pin pid.1.FF0 pid.y.FF0
alias pin pid.1.FF1 pid.y.FF1
alias pin pid.1.FF2 pid.y.FF2
alias pin pid.1.deadband pid.y.deadband
alias pin pid.1.maxoutput pid.y.maxoutput
alias pin pid.1.enable pid.y.enable
alias pin pid.1.command pid.y.command
alias pin pid.1.feedback pid.y.feedback
alias pin pid.1.output pid.y.output
alias pin pid.1.index-enable pid.y.index-enable
alias pin pid.2.Pgain pid.z.Pgain
alias pin pid.2.Igain pid.z.Igain
alias pin pid.2.Dgain pid.z.Dgain
alias pin pid.2.bias pid.z.bias
alias pin pid.2.FF0 pid.z.FF0
alias pin pid.2.FF1 pid.z.FF1
alias pin pid.2.FF2 pid.z.FF2
alias pin pid.2.deadband pid.z.deadband
alias pin pid.2.maxoutput pid.z.maxoutput
alias pin pid.2.enable pid.z.enable
alias pin pid.2.command pid.z.command
alias pin pid.2.feedback pid.z.feedback
alias pin pid.2.output pid.z.output
alias pin pid.2.index-enable pid.z.index-enable
alias pin pid.3.Pgain pid.a.Pgain
alias pin pid.3.Igain pid.a.Igain
alias pin pid.3.Dgain pid.a.Dgain
alias pin pid.3.bias pid.a.bias
alias pin pid.3.FF0 pid.a.FF0
alias pin pid.3.FF1 pid.a.FF1
alias pin pid.3.FF2 pid.a.FF2
alias pin pid.3.deadband pid.a.deadband
alias pin pid.3.maxoutput pid.a.maxoutput
alias pin pid.3.enable pid.a.enable
alias pin pid.3.command pid.a.command
alias pin pid.3.feedback pid.a.feedback
alias pin pid.3.output pid.a.output
alias pin pid.3.index-enable pid.a.index-enable
addf classicladder.0.refresh servo-thread
addf mux8.jogincr servo-thread
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread
# external output signals
# --- COOLANT-MIST ---
#setp hm2_5i20.0.gpio.028.is_output true
#net coolant-mist => hm2_5i20.0.gpio.028.out
############### ШПИНДЕЛЬ #################################
# --- SPINDLE-CW ---
#setp hm2_5i20.0.gpio.032.is_output true
#net spindle-cw => hm2_5i20.0.gpio.032.out
# --- SPINDLE-CCW ---
#setp hm2_5i20.0.gpio.034.is_output true
#net spindle-ccw => hm2_5i20.0.gpio.0.out
#АЙК
#net spindle-ccw-not => hm2_5i20.0.gpio.045.out
#setp hm2_5i20.0.gpio.045.is_output true
#net spindle-enable-not => hm2_5i20.0.gpio.047.out
#setp hm2_5i20.0.gpio.047.is_output true
#############################################################
# --- COOLANT-FLOOD ---
#setp hm2_5i20.0.gpio.064.is_output true
#net coolant-flood => hm2_5i20.0.gpio.064.out
# --- ESTOP-OUT ---
#setp hm2_5i20.0.gpio.070.is_output true
#net estop-out => hm2_5i20.0.gpio.070.out
# external input signals
net cycle-start <= parport.0.pin-02-in
net abort <= parport.0.pin-03-in
#net estop-ext <= parport.0.pin-04-in
net jog-incr-a <= parport.0.pin-05-in
net jog-incr-b <= parport.0.pin-06-in
net jog-incr-c <= parport.0.pin-07-in
net joint-select-d <= parport.0.pin-08-in
net jog-x-pos <= parport.0.pin-09-in
net jog-x-neg <= parport.0.pin-10-in
net jog-selected-pos <= parport.0.pin-11-in
#net jog-selected-pos <= parport.0.pin-12-in
net spindle-manual-cw <= parport.0.pin-13-in
net spindle-manual-stop <= parport.0.pin-15-in
# --- SPINDLE-AT-SPEED ---
net spindle-at-speed <= hm2_5i20.0.gpio.036.in
# --- PROBE-IN ---
net probe-in <= hm2_5i20.0.gpio.037.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_5i20.0.gpio.048.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_5i20.0.gpio.048.in
# --- MAX-HOME-X ---
net max-home-x <= hm2_5i20.0.gpio.007.in
# --- MIN-HOME-X ---
net min-home-x <= hm2_5i20.0.gpio.006.in
# --- MAX-HOME-Y ---
net max-home-y <= hm2_5i20.0.gpio.005.in
# --- MIN-HOME-Y ---
net min-home-y <= hm2_5i20.0.gpio.004.in
# --- MAX-HOME-Z ---
net max-home-z <= hm2_5i20.0.gpio.003.in
# --- MIN-HOME-Z ---
net min-home-z <= hm2_5i20.0.gpio.002.in
# --- BOTH-HOME-A ---
net both-home-a <= hm2_5i20.0.gpio.001.in_not
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-index-enable <=> pid.x.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.01.output-type 1
setp hm2_5i20.0.pwmgen.01.scale [AXIS_0]OUTPUT_SCALE
net xenable => pid.x.enable
net xoutput pid.x.output => hm2_5i20.0.pwmgen.01.value
net xpos-cmd axis.0.motor-pos-cmd => pid.x.command
net xenable axis.0.amp-enable-out => hm2_5i20.0.pwmgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.01.counter-mode 0
setp hm2_5i20.0.encoder.01.filter 1
setp hm2_5i20.0.encoder.01.index-invert 0
setp hm2_5i20.0.encoder.01.index-mask 0
setp hm2_5i20.0.encoder.01.index-mask-invert 0
setp hm2_5i20.0.encoder.01.scale [AXIS_0]INPUT_SCALE
net xpos-fb <= hm2_5i20.0.encoder.01.position
net xpos-fb => pid.x.feedback
net xpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i20.0.encoder.01.index-enable
# ---setup home / limit switch signals---
net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in
net max-home-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-index-enable <=> pid.y.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.00.scale [AXIS_1]OUTPUT_SCALE
net yenable => pid.y.enable
net youtput pid.y.output => hm2_5i20.0.pwmgen.00.value
net ypos-cmd axis.1.motor-pos-cmd => pid.y.command
net yenable axis.1.amp-enable-out => hm2_5i20.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.00.counter-mode 0
setp hm2_5i20.0.encoder.00.filter 1
setp hm2_5i20.0.encoder.00.index-invert 0
setp hm2_5i20.0.encoder.00.index-mask 0
setp hm2_5i20.0.encoder.00.index-mask-invert 0
setp hm2_5i20.0.encoder.00.scale [AXIS_1]INPUT_SCALE
net ypos-fb <= hm2_5i20.0.encoder.00.position
net ypos-fb => pid.y.feedback
net ypos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i20.0.encoder.00.index-enable
# ---setup home / limit switch signals---
net max-home-y => axis.1.home-sw-in
net max-home-y => axis.1.pos-lim-sw-in
net min-home-y => axis.1.neg-lim-sw-in
#БЫЛО:
#net y-neg-limit => axis.1.neg-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-index-enable <=> pid.z.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.03.output-type 1
setp hm2_5i20.0.pwmgen.03.scale [AXIS_2]OUTPUT_SCALE
net zenable => pid.z.enable
net zoutput pid.z.output => hm2_5i20.0.pwmgen.03.value
net zpos-cmd axis.2.motor-pos-cmd => pid.z.command
net zenable axis.2.amp-enable-out => hm2_5i20.0.pwmgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.03.counter-mode 0
setp hm2_5i20.0.encoder.03.filter 1
setp hm2_5i20.0.encoder.03.index-invert 0
setp hm2_5i20.0.encoder.03.index-mask 0
setp hm2_5i20.0.encoder.03.index-mask-invert 0
setp hm2_5i20.0.encoder.03.scale [AXIS_2]INPUT_SCALE
net zpos-fb <= hm2_5i20.0.encoder.03.position
net zpos-fb => pid.z.feedback
net zpos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i20.0.encoder.03.index-enable
# ---setup home / limit switch signals---
net min-home-z => axis.2.home-sw-in
net min-home-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
net a-index-enable <=> pid.a.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.02.output-type 1
setp hm2_5i20.0.pwmgen.02.scale [AXIS_3]OUTPUT_SCALE
net aenable => pid.a.enable
net aoutput pid.a.output => hm2_5i20.0.pwmgen.02.value
net apos-cmd axis.3.motor-pos-cmd => pid.a.command
net aenable axis.3.amp-enable-out => hm2_5i20.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 0
setp hm2_5i20.0.encoder.02.filter 1
setp hm2_5i20.0.encoder.02.index-invert 0
setp hm2_5i20.0.encoder.02.index-mask 0
setp hm2_5i20.0.encoder.02.index-mask-invert 0
setp hm2_5i20.0.encoder.02.scale [AXIS_3]INPUT_SCALE
net apos-fb <= hm2_5i20.0.encoder.02.position
net apos-fb => pid.a.feedback
net apos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i20.0.encoder.02.index-enable
# ---setup home / limit switch signals---
net both-home-a => axis.3.home-sw-in
#net both-home-a => axis.3.neg-lim-sw-in
#net both-home-a => axis.3.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.04.output-type 1
setp hm2_5i20.0.pwmgen.04.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd => hm2_5i20.0.pwmgen.04.value
net spindle-enable => hm2_5i20.0.pwmgen.04.enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---jog button signals---
net jog-speed halui.jog-speed
sets jog-speed 1.000000
net joint-select-a halui.joint.0.select
net joint-select-b halui.joint.1.select
net joint-select-c halui.joint.2.select
net joint-select-d halui.joint.3.select
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
# ---jogwheel signals to mesa encoder - shared MPG---
net joint-selected-count <= hm2_5i20.0.encoder.04.count
setp hm2_5i20.0.encoder.04.filter true
setp hm2_5i20.0.encoder.04.counter-mode true
# ---mpg signals---
# for axis x MPG
setp axis.0.jog-vel-mode 0
net selected-jog-incr => axis.0.jog-scale
net joint-select-a => axis.0.jog-enable
net joint-selected-count => axis.0.jog-counts
# for axis y MPG
setp axis.1.jog-vel-mode 0
net selected-jog-incr => axis.1.jog-scale
net joint-select-b => axis.1.jog-enable
net joint-selected-count => axis.1.jog-counts
# for axis z MPG
setp axis.2.jog-vel-mode 0
net selected-jog-incr => axis.2.jog-scale
net joint-select-c => axis.2.jog-enable
net joint-selected-count => axis.2.jog-counts
# for axis a MPG
setp axis.3.jog-vel-mode 0
net selected-jog-incr => axis.3.jog-scale
net joint-select-d => axis.3.jog-enable
net joint-selected-count => axis.3.jog-counts
# connect selectable mpg jog increments
net jog-incr-a => mux8.jogincr.sel0
net jog-incr-b => mux8.jogincr.sel1
net jog-incr-c => mux8.jogincr.sel2
net selected-jog-incr <= mux8.jogincr.out
setp mux8.jogincr.in0 0.000000
setp mux8.jogincr.in1 0.000100
setp mux8.jogincr.in2 0.000500
setp mux8.jogincr.in3 0.001000
setp mux8.jogincr.in4 0.005000
setp mux8.jogincr.in5 0.010000
setp mux8.jogincr.in6 0.050000
setp mux8.jogincr.in7 0.100000
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
# ****Установки для программы внешнего АВОСТ -START ****
net estop-out => classicladder.0.in-00
net estop-ext => classicladder.0.in-01
net estop-strobe classicladder.0.in-02 <= iocontrol.0.user-request-enable
net estop-outcl classicladder.0.out-00 => iocontrol.0.emc-enable-in
# ****Установки для программы внешнего АВОСТ -END ****
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Load Classicladder with modbus master included (GUI must run for Modbus)
loadusr classicladder --modmaster custom.clp
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4_7I47.BIT num_encoders=5 num_pwmgens=5 num_stepgens=0"
setp hm2_5i20.0.pwmgen.pwm_frequency 100000
setp hm2_5i20.0.pwmgen.pdm_frequency 100000
setp hm2_5i20.0.watchdog.timeout_ns 10000000
loadrt hal_parport cfg="0x0278 in"
loadrt abs
loadrt lowpass
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10
loadrt mux8 names=mux8.jogincr
addf parport.0.read servo-thread
addf parport.0.write servo-thread
addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
loadrt pid num_chan=4
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
alias pin pid.0.Pgain pid.x.Pgain
alias pin pid.0.Igain pid.x.Igain
alias pin pid.0.Dgain pid.x.Dgain
alias pin pid.0.bias pid.x.bias
alias pin pid.0.FF0 pid.x.FF0
alias pin pid.0.FF1 pid.x.FF1
alias pin pid.0.FF2 pid.x.FF2
alias pin pid.0.deadband pid.x.deadband
alias pin pid.0.maxoutput pid.x.maxoutput
alias pin pid.0.enable pid.x.enable
alias pin pid.0.command pid.x.command
alias pin pid.0.feedback pid.x.feedback
alias pin pid.0.output pid.x.output
alias pin pid.0.index-enable pid.x.index-enable
alias pin pid.1.Pgain pid.y.Pgain
alias pin pid.1.Igain pid.y.Igain
alias pin pid.1.Dgain pid.y.Dgain
alias pin pid.1.bias pid.y.bias
alias pin pid.1.FF0 pid.y.FF0
alias pin pid.1.FF1 pid.y.FF1
alias pin pid.1.FF2 pid.y.FF2
alias pin pid.1.deadband pid.y.deadband
alias pin pid.1.maxoutput pid.y.maxoutput
alias pin pid.1.enable pid.y.enable
alias pin pid.1.command pid.y.command
alias pin pid.1.feedback pid.y.feedback
alias pin pid.1.output pid.y.output
alias pin pid.1.index-enable pid.y.index-enable
alias pin pid.2.Pgain pid.z.Pgain
alias pin pid.2.Igain pid.z.Igain
alias pin pid.2.Dgain pid.z.Dgain
alias pin pid.2.bias pid.z.bias
alias pin pid.2.FF0 pid.z.FF0
alias pin pid.2.FF1 pid.z.FF1
alias pin pid.2.FF2 pid.z.FF2
alias pin pid.2.deadband pid.z.deadband
alias pin pid.2.maxoutput pid.z.maxoutput
alias pin pid.2.enable pid.z.enable
alias pin pid.2.command pid.z.command
alias pin pid.2.feedback pid.z.feedback
alias pin pid.2.output pid.z.output
alias pin pid.2.index-enable pid.z.index-enable
alias pin pid.3.Pgain pid.a.Pgain
alias pin pid.3.Igain pid.a.Igain
alias pin pid.3.Dgain pid.a.Dgain
alias pin pid.3.bias pid.a.bias
alias pin pid.3.FF0 pid.a.FF0
alias pin pid.3.FF1 pid.a.FF1
alias pin pid.3.FF2 pid.a.FF2
alias pin pid.3.deadband pid.a.deadband
alias pin pid.3.maxoutput pid.a.maxoutput
alias pin pid.3.enable pid.a.enable
alias pin pid.3.command pid.a.command
alias pin pid.3.feedback pid.a.feedback
alias pin pid.3.output pid.a.output
alias pin pid.3.index-enable pid.a.index-enable
addf classicladder.0.refresh servo-thread
addf mux8.jogincr servo-thread
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread
# external output signals
# --- COOLANT-MIST ---
#setp hm2_5i20.0.gpio.028.is_output true
#net coolant-mist => hm2_5i20.0.gpio.028.out
############### ШПИНДЕЛЬ #################################
# --- SPINDLE-CW ---
#setp hm2_5i20.0.gpio.032.is_output true
#net spindle-cw => hm2_5i20.0.gpio.032.out
# --- SPINDLE-CCW ---
#setp hm2_5i20.0.gpio.034.is_output true
#net spindle-ccw => hm2_5i20.0.gpio.0.out
#АЙК
#net spindle-ccw-not => hm2_5i20.0.gpio.045.out
#setp hm2_5i20.0.gpio.045.is_output true
#net spindle-enable-not => hm2_5i20.0.gpio.047.out
#setp hm2_5i20.0.gpio.047.is_output true
#############################################################
# --- COOLANT-FLOOD ---
#setp hm2_5i20.0.gpio.064.is_output true
#net coolant-flood => hm2_5i20.0.gpio.064.out
# --- ESTOP-OUT ---
#setp hm2_5i20.0.gpio.070.is_output true
#net estop-out => hm2_5i20.0.gpio.070.out
# external input signals
net cycle-start <= parport.0.pin-02-in
net abort <= parport.0.pin-03-in
#net estop-ext <= parport.0.pin-04-in
net jog-incr-a <= parport.0.pin-05-in
net jog-incr-b <= parport.0.pin-06-in
net jog-incr-c <= parport.0.pin-07-in
net joint-select-d <= parport.0.pin-08-in
net jog-x-pos <= parport.0.pin-09-in
net jog-x-neg <= parport.0.pin-10-in
net jog-selected-pos <= parport.0.pin-11-in
#net jog-selected-pos <= parport.0.pin-12-in
net spindle-manual-cw <= parport.0.pin-13-in
net spindle-manual-stop <= parport.0.pin-15-in
# --- SPINDLE-AT-SPEED ---
net spindle-at-speed <= hm2_5i20.0.gpio.036.in
# --- PROBE-IN ---
net probe-in <= hm2_5i20.0.gpio.037.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_5i20.0.gpio.048.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_5i20.0.gpio.048.in
# --- MAX-HOME-X ---
net max-home-x <= hm2_5i20.0.gpio.007.in
# --- MIN-HOME-X ---
net min-home-x <= hm2_5i20.0.gpio.006.in
# --- MAX-HOME-Y ---
net max-home-y <= hm2_5i20.0.gpio.005.in
# --- MIN-HOME-Y ---
net min-home-y <= hm2_5i20.0.gpio.004.in
# --- MAX-HOME-Z ---
net max-home-z <= hm2_5i20.0.gpio.003.in
# --- MIN-HOME-Z ---
net min-home-z <= hm2_5i20.0.gpio.002.in
# --- BOTH-HOME-A ---
net both-home-a <= hm2_5i20.0.gpio.001.in_not
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-index-enable <=> pid.x.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.01.output-type 1
setp hm2_5i20.0.pwmgen.01.scale [AXIS_0]OUTPUT_SCALE
net xenable => pid.x.enable
net xoutput pid.x.output => hm2_5i20.0.pwmgen.01.value
net xpos-cmd axis.0.motor-pos-cmd => pid.x.command
net xenable axis.0.amp-enable-out => hm2_5i20.0.pwmgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.01.counter-mode 0
setp hm2_5i20.0.encoder.01.filter 1
setp hm2_5i20.0.encoder.01.index-invert 0
setp hm2_5i20.0.encoder.01.index-mask 0
setp hm2_5i20.0.encoder.01.index-mask-invert 0
setp hm2_5i20.0.encoder.01.scale [AXIS_0]INPUT_SCALE
net xpos-fb <= hm2_5i20.0.encoder.01.position
net xpos-fb => pid.x.feedback
net xpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i20.0.encoder.01.index-enable
# ---setup home / limit switch signals---
net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in
net max-home-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-index-enable <=> pid.y.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.00.scale [AXIS_1]OUTPUT_SCALE
net yenable => pid.y.enable
net youtput pid.y.output => hm2_5i20.0.pwmgen.00.value
net ypos-cmd axis.1.motor-pos-cmd => pid.y.command
net yenable axis.1.amp-enable-out => hm2_5i20.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.00.counter-mode 0
setp hm2_5i20.0.encoder.00.filter 1
setp hm2_5i20.0.encoder.00.index-invert 0
setp hm2_5i20.0.encoder.00.index-mask 0
setp hm2_5i20.0.encoder.00.index-mask-invert 0
setp hm2_5i20.0.encoder.00.scale [AXIS_1]INPUT_SCALE
net ypos-fb <= hm2_5i20.0.encoder.00.position
net ypos-fb => pid.y.feedback
net ypos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i20.0.encoder.00.index-enable
# ---setup home / limit switch signals---
net max-home-y => axis.1.home-sw-in
net max-home-y => axis.1.pos-lim-sw-in
net min-home-y => axis.1.neg-lim-sw-in
#БЫЛО:
#net y-neg-limit => axis.1.neg-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-index-enable <=> pid.z.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.03.output-type 1
setp hm2_5i20.0.pwmgen.03.scale [AXIS_2]OUTPUT_SCALE
net zenable => pid.z.enable
net zoutput pid.z.output => hm2_5i20.0.pwmgen.03.value
net zpos-cmd axis.2.motor-pos-cmd => pid.z.command
net zenable axis.2.amp-enable-out => hm2_5i20.0.pwmgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.03.counter-mode 0
setp hm2_5i20.0.encoder.03.filter 1
setp hm2_5i20.0.encoder.03.index-invert 0
setp hm2_5i20.0.encoder.03.index-mask 0
setp hm2_5i20.0.encoder.03.index-mask-invert 0
setp hm2_5i20.0.encoder.03.scale [AXIS_2]INPUT_SCALE
net zpos-fb <= hm2_5i20.0.encoder.03.position
net zpos-fb => pid.z.feedback
net zpos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i20.0.encoder.03.index-enable
# ---setup home / limit switch signals---
net min-home-z => axis.2.home-sw-in
net min-home-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
net a-index-enable <=> pid.a.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.02.output-type 1
setp hm2_5i20.0.pwmgen.02.scale [AXIS_3]OUTPUT_SCALE
net aenable => pid.a.enable
net aoutput pid.a.output => hm2_5i20.0.pwmgen.02.value
net apos-cmd axis.3.motor-pos-cmd => pid.a.command
net aenable axis.3.amp-enable-out => hm2_5i20.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 0
setp hm2_5i20.0.encoder.02.filter 1
setp hm2_5i20.0.encoder.02.index-invert 0
setp hm2_5i20.0.encoder.02.index-mask 0
setp hm2_5i20.0.encoder.02.index-mask-invert 0
setp hm2_5i20.0.encoder.02.scale [AXIS_3]INPUT_SCALE
net apos-fb <= hm2_5i20.0.encoder.02.position
net apos-fb => pid.a.feedback
net apos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i20.0.encoder.02.index-enable
# ---setup home / limit switch signals---
net both-home-a => axis.3.home-sw-in
#net both-home-a => axis.3.neg-lim-sw-in
#net both-home-a => axis.3.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.04.output-type 1
setp hm2_5i20.0.pwmgen.04.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd => hm2_5i20.0.pwmgen.04.value
net spindle-enable => hm2_5i20.0.pwmgen.04.enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---jog button signals---
net jog-speed halui.jog-speed
sets jog-speed 1.000000
net joint-select-a halui.joint.0.select
net joint-select-b halui.joint.1.select
net joint-select-c halui.joint.2.select
net joint-select-d halui.joint.3.select
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
# ---jogwheel signals to mesa encoder - shared MPG---
net joint-selected-count <= hm2_5i20.0.encoder.04.count
setp hm2_5i20.0.encoder.04.filter true
setp hm2_5i20.0.encoder.04.counter-mode true
# ---mpg signals---
# for axis x MPG
setp axis.0.jog-vel-mode 0
net selected-jog-incr => axis.0.jog-scale
net joint-select-a => axis.0.jog-enable
net joint-selected-count => axis.0.jog-counts
# for axis y MPG
setp axis.1.jog-vel-mode 0
net selected-jog-incr => axis.1.jog-scale
net joint-select-b => axis.1.jog-enable
net joint-selected-count => axis.1.jog-counts
# for axis z MPG
setp axis.2.jog-vel-mode 0
net selected-jog-incr => axis.2.jog-scale
net joint-select-c => axis.2.jog-enable
net joint-selected-count => axis.2.jog-counts
# for axis a MPG
setp axis.3.jog-vel-mode 0
net selected-jog-incr => axis.3.jog-scale
net joint-select-d => axis.3.jog-enable
net joint-selected-count => axis.3.jog-counts
# connect selectable mpg jog increments
net jog-incr-a => mux8.jogincr.sel0
net jog-incr-b => mux8.jogincr.sel1
net jog-incr-c => mux8.jogincr.sel2
net selected-jog-incr <= mux8.jogincr.out
setp mux8.jogincr.in0 0.000000
setp mux8.jogincr.in1 0.000100
setp mux8.jogincr.in2 0.000500
setp mux8.jogincr.in3 0.001000
setp mux8.jogincr.in4 0.005000
setp mux8.jogincr.in5 0.010000
setp mux8.jogincr.in6 0.050000
setp mux8.jogincr.in7 0.100000
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
# ****Установки для программы внешнего АВОСТ -START ****
net estop-out => classicladder.0.in-00
net estop-ext => classicladder.0.in-01
net estop-strobe classicladder.0.in-02 <= iocontrol.0.user-request-enable
net estop-outcl classicladder.0.out-00 => iocontrol.0.emc-enable-in
# ****Установки для программы внешнего АВОСТ -END ****
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Load Classicladder with modbus master included (GUI must run for Modbus)
loadusr classicladder --modmaster custom.clp
.ini
Warning: Spoiler!
# Generated by PNCconf at Fri Mar 2 21:42:32 2012
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
[EMC]
MACHINE = VM501
DEBUG = 0
[DISPLAY]
#axis, touchy, keystick, mini, tklinuxcnc,xemc
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/vm501/emc2/nc_files
PYVCP = custompanel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
#133.3333/10
DEFAULT_LINEAR_VELOCITY = 26
#133.3333/5
MAX_LINEAR_VELOCITY = 133.333333333333
MIN_LINEAR_VELOCITY = 0.010000
#116.4 /10
DEFAULT_ANGULAR_VELOCITY = 23
# 116.4/5
MAX_ANGULAR_VELOCITY = 116.4
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
#GEOMETRY = yzx
GEOMETRY = XYZA
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
# [HOSTMOT2]
# This is for info only
# DRIVER0=hm2_pci
# BOARD0=5i20
# CONFIG0="firmware=hm2/5i20/SVST8_4.BIT num_encoders=5 num_pwmgens=5 num_stepgens=0"
[HAL]
HALUI = halui
HALFILE = VM501.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
MDI_COMMAND = G0 G53 Z0
MDI_COMMAND = G28
MDI_COMMAND = G92 X0
MDI_COMMAND = G92 Y0
MDI_COMMAND = G92 Z0
MDI_COMMAND = G92.1
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
# 19.4об/мин = 360*19.4= 6984град/мин = 116.4 град\сек
MAX_ANGULAR_VELOCITY = 116.4
#116.4/5 =23 град/сек
DEFAULT_ANGULAR_VELOCITY = 23
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
#133mm/sec/5=26
DEFAULT_VELOCITY = 26
# 8000mm/min = 133.3333mm/sec
MAX_LINEAR_VELOCITY = 133.3333
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOLCHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
#0.005
FERROR = 1
#0.0005
MIN_FERROR = 1
#133.3333 #
MAX_VELOCITY = 133.333333333
MAX_ACCELERATION = 200
P = 2
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = -2000
MIN_LIMIT = -260
MAX_LIMIT = 260
HOME_OFFSET = -10
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -2
HOME_FINAL_VEL = 20
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
# 0.25
FERROR = 1
# 0.125
MIN_FERROR = 1
#133.3333
MAX_VELOCITY = 133.333333333
MAX_ACCELERATION = 200
P = 1
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = -1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = 2000
MIN_LIMIT = -260
MAX_LIMIT = 260
HOME_OFFSET = 10
HOME_SEARCH_VEL = 5
HOME_LATCH_VEL = 2
HOME_FINAL_VEL = 20
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
#2
HOME_SEQUENCE = 0
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
#0.005
FERROR = 1
#0.0005
MIN_FERROR = 1
#133.3333
MAX_VELOCITY = 133.333333333
MAX_ACCELERATION = 100
P = 1
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = -2000
MIN_LIMIT = -260
MAX_LIMIT = 260
HOME_OFFSET = -10
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -2
HOME_FINAL_VEL = 20
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
#0.005
FERROR = 2
#0.0005
MIN_FERROR = 2
#116.4
MAX_VELOCITY = 116.4
MAX_ACCELERATION = 200
P = 1
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = -2083.333
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.6
HOME_SEARCH_VEL = -23
HOME_LATCH_VEL = -13
HOME_FINAL_VEL = 40
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
MAX_VELOCITY = 1
MAX_ACCELERATION = 10
OUTPUT_SCALE = 2000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
INPUT_SCALE = 200
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
[EMC]
MACHINE = VM501
DEBUG = 0
[DISPLAY]
#axis, touchy, keystick, mini, tklinuxcnc,xemc
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/vm501/emc2/nc_files
PYVCP = custompanel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
#133.3333/10
DEFAULT_LINEAR_VELOCITY = 26
#133.3333/5
MAX_LINEAR_VELOCITY = 133.333333333333
MIN_LINEAR_VELOCITY = 0.010000
#116.4 /10
DEFAULT_ANGULAR_VELOCITY = 23
# 116.4/5
MAX_ANGULAR_VELOCITY = 116.4
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
#GEOMETRY = yzx
GEOMETRY = XYZA
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
# [HOSTMOT2]
# This is for info only
# DRIVER0=hm2_pci
# BOARD0=5i20
# CONFIG0="firmware=hm2/5i20/SVST8_4.BIT num_encoders=5 num_pwmgens=5 num_stepgens=0"
[HAL]
HALUI = halui
HALFILE = VM501.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
MDI_COMMAND = G0 G53 Z0
MDI_COMMAND = G28
MDI_COMMAND = G92 X0
MDI_COMMAND = G92 Y0
MDI_COMMAND = G92 Z0
MDI_COMMAND = G92.1
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
# 19.4об/мин = 360*19.4= 6984град/мин = 116.4 град\сек
MAX_ANGULAR_VELOCITY = 116.4
#116.4/5 =23 град/сек
DEFAULT_ANGULAR_VELOCITY = 23
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
#133mm/sec/5=26
DEFAULT_VELOCITY = 26
# 8000mm/min = 133.3333mm/sec
MAX_LINEAR_VELOCITY = 133.3333
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOLCHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
#0.005
FERROR = 1
#0.0005
MIN_FERROR = 1
#133.3333 #
MAX_VELOCITY = 133.333333333
MAX_ACCELERATION = 200
P = 2
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = -2000
MIN_LIMIT = -260
MAX_LIMIT = 260
HOME_OFFSET = -10
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -2
HOME_FINAL_VEL = 20
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
# 0.25
FERROR = 1
# 0.125
MIN_FERROR = 1
#133.3333
MAX_VELOCITY = 133.333333333
MAX_ACCELERATION = 200
P = 1
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = -1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = 2000
MIN_LIMIT = -260
MAX_LIMIT = 260
HOME_OFFSET = 10
HOME_SEARCH_VEL = 5
HOME_LATCH_VEL = 2
HOME_FINAL_VEL = 20
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
#2
HOME_SEQUENCE = 0
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
#0.005
FERROR = 1
#0.0005
MIN_FERROR = 1
#133.3333
MAX_VELOCITY = 133.333333333
MAX_ACCELERATION = 100
P = 1
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = -2000
MIN_LIMIT = -260
MAX_LIMIT = 260
HOME_OFFSET = -10
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -2
HOME_FINAL_VEL = 20
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
#0.005
FERROR = 2
#0.0005
MIN_FERROR = 2
#116.4
MAX_VELOCITY = 116.4
MAX_ACCELERATION = 200
P = 1
I = 0
D = 0
FF0 = 0
#0.01
FF1 = 0
#0.00175
FF2 = 0
BIAS = 0
DEADBAND = 0.001
OUTPUT_SCALE = 1
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10
INPUT_SCALE = -2083.333
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.6
HOME_SEARCH_VEL = -23
HOME_LATCH_VEL = -13
HOME_FINAL_VEL = 40
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
MAX_VELOCITY = 1
MAX_ACCELERATION = 10
OUTPUT_SCALE = 2000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
INPUT_SCALE = 200
Last edit: 13 Dec 2012 02:38 by machete.
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13 Dec 2012 03:12 - 13 Dec 2012 03:45 #27647
by PCW
Replied by PCW on topic Inverse spindle speed at Mesa 5i20 + 7i47S?
The PWM signal for the 7I47S is active low so the PWM output pin needs to be inverted.
Something like:
setp hm2_5i20.0.gpio.019.invert_output true
(with the 019 changed to whatever GPIO pin is appropriate for your custom configuration)
Something like:
setp hm2_5i20.0.gpio.019.invert_output true
(with the 019 changed to whatever GPIO pin is appropriate for your custom configuration)
Last edit: 13 Dec 2012 03:45 by PCW.
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20 Dec 2012 00:18 #27871
by machete
Replied by machete on topic Inverse spindle speed at Mesa 5i20 + 7i47S?
Thank you!
It works!
It works!
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