# Generated by PNCconf at Tue Dec 27 13:45:21 2011
# Edited 12/27/12 Jeff Johnson
# 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=hm2/5i23/rmsvss6_8.bit num_resolvers=5 num_pwmgens=5 num_3pwmgens=0 num_stepgens=0"
setp hm2_5i23.0.pwmgen.pwm_frequency 24000
setp hm2_5i23.0.pwmgen.pdm_frequency 6000
setp hm2_5i23.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.z
loadrt abs names=abs.0,abs.1,abs.2,abs.3
loadrt lowpass names=lowpass.0,lowpass.1,lowpass.2,lowpass.3
loadrt scale names=scale.0,scale.1,scale.2,scale.3
loadrt classicladder_rt numPhysInputs=96 numPhysOutputs=48 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numTimersIec=50
loadrt mux16 names=foincr,soincr
loadrt and2 count=3
loadrt or2 count=1
loadrt gearchange
addf hm2_5i23.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf classicladder.0.refresh servo-thread
addf foincr servo-thread
addf soincr servo-thread
addf hm2_5i23.0.write servo-thread
addf hm2_5i23.0.pet_watchdog servo-thread
addf lowpass.0 servo-thread
addf abs.0 servo-thread
addf scale.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf or2.0 servo-thread
addf gearchange.0 servo-thread
# external output signals
#net spindle-low-range-sol <=== hm2_5i23.0.7i71.0.3.output-00
#net spindle-high-range-sol <=== hm2_5i23.0.7i71.0.3.output-01
#net spindle-run-sol <=== hm2_5i23.0.7i71.0.3.output-02
#net spindle-brake-sol <=== hm2_5i23.0.7i71.0.3.output-03
#net spindle-free-sol <=== hm2_5i23.0.7i71.0.3.output-04
#net hydraulic-motor-on ===> hm2_5i23.0.7i71.0.3.output-05
#net electrics-on-rel <=== hm2_5i23.0.7i71.0.3.output-06
#net advance-tailstock-sol <=== hm2_5i23.0.7i71.0.3.output-07
#net retract-tailstock-sol <=== hm2_5i23.0.7i71.0.3.output-08
#net outer-tool-coolant-sol <=== hm2_5i23.0.7i71.0.3.output-09
#net inner-tool-coolant-sol <=== hm2_5i23.0.7i71.0.3.output-10
#net slide-lube-sol <=== hm2_5i23.0.7i71.0.3.output-11
#net spindle-motor-on-permission-rel <=== hm2_5i23.0.7i71.0.3.output-12
#net spindle-motor-on-command-rel <=== hm2_5i23.0.7i71.0.3.output-13
#net turret-unclamp-sol <=== hm2_5i23.0.7i71.0.3.output-14
#net turret-index-sol <=== hm2_5i23.0.7i71.0.3.output-15
#net tailstock-up-sol <=== hm2_5i23.0.7i71.0.3.output-16
#net tailstock-down-sol <=== hm2_5i23.0.7i71.0.3.output-17
#net feed-hold-light <=== hm2_5i23.0.7i71.0.3.output-18
#net in-cycle-light <=== hm2_5i23.0.7i71.0.3.output-19
#net master-control-relay-rel <=== hm2_5i23.0.7i71.0.3.output-20
# external input signals
#net x-axis-select <=== hm2_5i23.0.7i70.0.0.input-00
#net plus-direction <=== hm2_5i23.0.7i70.0.0.input-01
#net minus-direction <=== hm2_5i23.0.7i70.0.0.input-02
#net z-axis-select <=== hm2_5i23.0.7i70.0.0.input-03
#net cycle-start <=== hm2_5i23.0.7i70.0.0.input-04
#net feedrate-percent-a <=== hm2_5i23.0.7i70.0.0.input-05
#net feedrate-percent-b <=== hm2_5i23.0.7i70.0.0.input-06
#net feedrate-percent-c <=== hm2_5i23.0.7i70.0.0.input-07
#net feedrate-percent-d <=== hm2_5i23.0.7i70.0.0.input-08
#net feed-hold <=== hm2_5i23.0.7i70.0.0.input-09
#net distance-00001 <=== hm2_5i23.0.7i70.0.0.input-10
#net distance-0001 <=== hm2_5i23.0.7i70.0.0.input-11
#net distance-001 <=== hm2_5i23.0.7i70.0.0.input-12
#net distance-01 <=== hm2_5i23.0.7i70.0.0.input-13
#net distance-1 <=== hm2_5i23.0.7i70.0.0.input-14
#net distance-cont <=== hm2_5i23.0.7i70.0.0.input-15
#net feed-rate-001 <=== hm2_5i23.0.7i70.0.0.input-16
#net feed-rate-01 <=== hm2_5i23.0.7i70.0.0.input-17
#net feed-rate-1 <=== hm2_5i23.0.7i70.0.0.input-18
#net <=== hm2_5i23.0.7i70.0.0.input-19
#net <=== hm2_5i23.0.7i70.0.0.input-20
#net turret-jog <=== hm2_5i23.0.7i70.0.0.input-21
#net coolant-on <=== hm2_5i23.0.7i70.0.0.input-22
#net coolant-off <=== hm2_5i23.0.7i70.0.0.input-23
#net tailstock-advance <=== hm2_5i23.0.7i70.0.0.input-24
#net tailstock-retract <=== hm2_5i23.0.7i70.0.0.input-25
#net tailstock-up <=== hm2_5i23.0.7i70.0.0.input-26
#net tailstock-down <=== hm2_5i23.0.7i70.0.0.input-27
#net e-stop <=== hm2_5i23.0.7i70.0.0.input-28
#net spindle-brake <=== hm2_5i23.0.7i70.0.0.input-29
#net spindle-neutral <=== hm2_5i23.0.7i70.0.0.input-30
#net rolling-guard-prox <=== hm2_5i23.0.7i70.0.0.input-31
#net servos-enabled <=== hm2_5i23.0.7i70.0.0.input-32
#net axis-feed-limit-overtravel <=== hm2_5i23.0.7i70.0.0.input-33
#net hydraulic-motor <=== hm2_5i23.0.7i70.0.0.input-34
#net coolant-motor <=== hm2_5i23.0.7i70.0.0.input-35
#net heat-exchanger-motor <=== hm2_5i23.0.7i70.0.0.input-36
#net chip-conveyor-motor <=== hm2_5i23.0.7i70.0.0.input-37
#net spindle-blower-motor <=== hm2_5i23.0.7i70.0.0.input-38
net up-to-speed <=== hm2_5i23.0.7i70.0.0.input-39
#net m-contactor <=== hm2_5i23.0.7i70.0.0.input-40
#net fault <=== hm2_5i23.0.7i70.0.0.input-41
#net motor-OL <=== hm2_5i23.0.7i70.0.0.input-42
#net low-speed <=== hm2_5i23.0.7i70.0.0.input-43
#net spindle-motor-temp <=== hm2_5i23.0.7i70.0.0.input-44
#net x-axis-motor-overload <=== hm2_5i23.0.7i70.0.0.input-45
#net z-axis-motor-overload <=== hm2_5i23.0.7i70.0.0.input-46
#net z-axis-motor-temp <=== hm2_5i23.0.7i70.0.0.input-47
#net hydraulic-pressure-over-600psi <=== hm2_5i23.0.7i70.0.1.input-00
#net spindle-lube-pressure-ok <=== hm2_5i23.0.7i70.0.1.input-01
#net spindle-lube-oil-temp <=== hm2_5i23.0.7i70.0.1.input-02
#net oil-in-resevoir <=== hm2_5i23.0.7i70.0.1.input-03
#net hydraulic-filter-bypassing <=== hm2_5i23.0.7i70.0.1.input-04
#net manual-slide-lube <=== hm2_5i23.0.7i70.0.1.input-05
#net turret-clamped <=== hm2_5i23.0.7i70.0.1.input-06
#net turret-unclamped <=== hm2_5i23.0.7i70.0.1.input-07
#net turret-in-final-position <=== hm2_5i23.0.7i70.0.1.input-08
#net turret-position-strobe <=== hm2_5i23.0.7i70.0.1.input-09
#net turret-position-bcd-1 <=== hm2_5i23.0.7i70.0.1.input-10
#net turret-position-bcd-2 <=== hm2_5i23.0.7i70.0.1.input-11
#net turret-position-bcd-4 <=== hm2_5i23.0.7i70.0.1.input-12
#net lube-cycle <=== hm2_5i23.0.7i70.0.1.input-13
#net x-motor-overtemp <=== hm2_5i23.0.7i70.0.1.input-14
#net tailstock-up-permission <=== hm2_5i23.0.7i70.0.1.input-15
#net tailstock-up-limit <=== hm2_5i23.0.7i70.0.1.input-16
#net tailstock-down-limit <=== hm2_5i23.0.7i70.0.1.input-17
#net spindle-running-in-low-range <=== hm2_5i23.0.7i70.0.1.input-18
net spindle-running-in-high-range <=== hm2_5i23.0.7i70.0.1.input-19
#net master-stop <=== hm2_5i23.0.7i70.0.1.input-20
net x-pos-overtravel <=== hm2_5i23.0.7i70.0.1.input-24
net x-neg-overtravel <=== hm2_5i23.0.7i70.0.1.input-25
net z-pos-overtravel <=== hm2_5i23.0.7i70.0.1.input-26
net z-neg-overtravel <=== hm2_5i23.0.7i70.0.1.input-27
#*******************
# 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
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
# ---PWM Generator signals/setup---
setp hm2_5i23.0.pwmgen.04.output-type 2
setp hm2_5i23.0.pwmgen.04.scale [AXIS_0]OUTPUT_SCALE
net x-output => hm2_5i23.0.pwmgen.04.value
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out => hm2_5i23.0.pwmgen.04.enable
# ---Reslover feedback signals/setup---
setp hm2_5i23.0.resolver.04.scale [AXIS_0]RESOLVER_SCALE
net x-pos-fb <= hm2_5i23.0.resolver.04.position
net x-pos-fb => axis.0.motor-pos-fb
# ---setup home / limit switch signals---
#net x-home-sw => axis.0.home-sw-in
#net x-neg-limit => axis.0.neg-lim-sw-in
#net x-pos-limit => axis.0.pos-lim-sw-in
#============================SRT=====================
net x-neg-overtravel ===> axis.0.neg-lim-sw-in
net x-pos-overtravel ===> axis.0.pos-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
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
# ---PWM Generator signals/setup---
setp hm2_5i23.0.pwmgen.02.output-type 2
setp hm2_5i23.0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
net z-output => hm2_5i23.0.pwmgen.02.value
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out => hm2_5i23.0.pwmgen.02.enable
# ---Resolver feedback signals/setup---
setp hm2_5i23.0.resolver.02.scale [AXIS_2]RESOLVER_SCALE
net z-pos-fb <= hm2_5i23.0.resolver.02.position
net z-pos-fb => axis.2.motor-pos-fb
# ---setup home / limit switch signals---
#net z-home-sw => axis.2.home-sw-in
#net z-neg-limit => axis.2.neg-lim-sw-in
#net z-pos-limit => axis.2.pos-lim-sw-in
#============================SRT=====================
net z-pos-overtravel ===> axis.2.pos-lim-sw-in
net z-neg-overtravel ===> axis.2.neg-lim-sw-in
#====================================================
#*******************
# SPINDLE S
#*******************
# ---PWM Generator signals/setup---
setp hm2_5i23.0.pwmgen.00.output-type 2
setp hm2_5i23.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd => hm2_5i23.0.pwmgen.00.value
net spindle-enable => hm2_5i23.0.pwmgen.00.enable
# ---Resolver feedback signals/setup---
setp hm2_5i23.0.resolver.00.velocity-scale 1 # motor speed in RPS
setp hm2_5i23.0.resolver.00.scale [SPINDLE_9]RESOLVER_SCALE
#setp hm2_5i23.0.resolver.00.lowpass.0
#setp hm2_5i23.0.resolver.00.index-invert 0
#setp hm2_5i23.0.resolver.00.index-mask 0
#setp hm2_5i23.0.resolver.00.index-mask-invert 0
net spindle-revs <= hm2_5i23.0.resolver.00.position
net spindle-vel-fb <= hm2_5i23.0.resolver.00.velocity
net spindle-index-enable <=> hm2_5i23.0.resolver.00.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-junk <= 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
#===========================================================================================
#--------------SRT ADDED
net spindle-enable ===> hm2_5i23.0.7i71.0.3.output-13
#-------------Gearchange------------------------------
setp gearchange.0.min1 30
setp gearchange.0.max1 950
setp gearchange.0.min2 95
setp gearchange.0.max2 3000
setp gearchange.0.scale2 3.1
setp gearchange.0.sel 0
setp scale.3.gain 60
setp lowpass.3.gain .01
net spindle-vel-fb ===> lowpass.0.in
net spindle-fb-filtered-rps ===> abs.3.in
net spindle-fb-filtered-abs-rps ===> scale.3.in
net spindle-junk gearchange.0.speed-in
net spindle-vel-cmd gearchange.0.speed-out
#net scaled-spindle-vel pyvcp.spindle-speed
net spindle-running-in-high-range ===> gearchange.0.sel
#net spindle-vel lowpass.3.out
#============================================================================================
# ---Setup spindle at speed signals---
#sets spindle-at-speed true
setp scale.0.gain 60
setp lowpass.0.gain .0009
net spindle-vel-fb lowpass.0.in
net spindle-fb-filtered-rps <= lowpass.0.out => abs.0.in
net spindle-fb-filtered-abs-rps <= abs.0.out => scale.0.in
net scaled-spindle-vel scale.0.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
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
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
#============================================
# SRT ADDED LINES
#===========================================
#net machine-is-on ===> hm2_5i23.0.7i71.0.3.output-05
#net hydraulic-pressure-over-600psi ===> hm2_5i23.0.7i71.0.3.output-06
# ---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---
sets jog-speed 1.000000
# connect feed overide increments - switches
setp halui.feed-override.count-enable true
setp halui.feed-override.direct-value true
setp halui.feed-override.scale .01
net feedoverride-incr => halui.feed-override.counts
net fo-incr-a => foincr.sel0
net fo-incr-b => foincr.sel1
net fo-incr-c => foincr.sel2
net fo-incr-d => foincr.sel3
net feedoverride-incr <= foincr.out-s
setp foincr.debounce-time 0.200000
setp foincr.use-graycode False
setp foincr.suppress-no-input False
setp foincr.in00 0.000000
setp foincr.in01 5.000000
setp foincr.in02 10.000000
setp foincr.in03 25.000000
setp foincr.in04 50.000000
setp foincr.in05 75.000000
setp foincr.in06 90.000000
setp foincr.in07 100.000000
setp foincr.in08 110.000000
setp foincr.in09 125.000000
setp foincr.in10 140.000000
setp foincr.in11 150.000000
setp foincr.in12 165.000000
setp foincr.in13 180.000000
setp foincr.in14 190.000000
setp foincr.in15 200.000000
# connect spindle overide increments
setp halui.spindle-override.count-enable true
setp halui.spindle-override.direct-value true
setp halui.spindle-override.scale .01
net spindleoverride-incr => halui.spindle-override.counts
net so-incr-a => soincr.sel0
net so-incr-b => soincr.sel1
net so-incr-c => soincr.sel2
net so-incr-d => soincr.sel3
net spindleoverride-incr <= soincr.out-s
setp soincr.debounce-time 0.200000
setp soincr.use-graycode False
setp soincr.suppress-no-input False
setp soincr.in00 0.000000
setp soincr.in01 5.000000
setp soincr.in02 10.000000
setp soincr.in03 25.000000
setp soincr.in04 50.000000
setp soincr.in05 75.000000
setp soincr.in06 90.000000
setp soincr.in07 100.000000
setp soincr.in08 110.000000
setp soincr.in09 125.000000
setp soincr.in10 140.000000
setp soincr.in11 150.000000
setp soincr.in12 165.000000
setp soincr.in13 180.000000
setp soincr.in14 190.000000
setp soincr.in15 200.000000
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
#==========================================================================
net machine-is-enabled ===> hm2_5i23.0.7i71.0.3.output-12
#===========================================================================
# ---digital in / out signals---
# ---estop signals---
#net estop-out <= iocontrol.0.user-enable-out
#net estop-out => iocontrol.0.emc-enable-in
# ---toolchange signals for custom tool changer---
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-prepare-request <= iocontrol.0.tool-prepare
net tool-prepare-confirmed => iocontrol.0.tool-prepared
# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui estop.clp