# Generated by PNCconf at Wed Feb 10 17:25:25 2021 # Using LinuxCNC version: 2.8 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_pci config=" num_encoders=4 num_pwmgens=0 num_stepgens=2 sserial_port_0=00xxxx" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.z,pid.s addf hm2_5i25.0.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 pid.s.do-pid-calcs servo-thread addf hm2_5i25.0.write servo-thread # external output signals # external input signals # --- MAX-HOME-X --- net max-home-x <= hm2_5i25.0.7i76.0.0.input-00 # --- MIN-X --- net min-x <= hm2_5i25.0.7i76.0.0.input-01-not # --- MAX-HOME-Z --- net max-home-z <= hm2_5i25.0.7i76.0.0.input-03 # --- MIN-Z --- net min-z <= hm2_5i25.0.7i76.0.0.input-02 #******************* # AXIS X JOINT 0 #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 5.0 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 setp hm2_5i25.0.stepgen.00.control-type 1 setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- setp hm2_5i25.0.encoder.02.scale [JOINT_0]INPUT_SCALE net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd # Default FB from stepgen: # net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb # Stepgenposition to PIN x-pos-fb # Alternative FB from encoder: net x-pos-fb <= hm2_5i25.0.encoder.02.position # Encoderpostion to PIN x-pos-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_5i25.0.stepgen.00.enable # ---setup home / limit switch signals--- net max-home-x => joint.0.home-sw-in net min-x => joint.0.neg-lim-sw-in net max-home-x => joint.0.pos-lim-sw-in #******************* # AXIS Z JOINT 1 #******************* setp pid.z.Pgain [JOINT_1]P setp pid.z.Igain [JOINT_1]I setp pid.z.Dgain [JOINT_1]D setp pid.z.bias [JOINT_1]BIAS setp pid.z.FF0 [JOINT_1]FF0 setp pid.z.FF1 [JOINT_1]FF1 setp pid.z.FF2 [JOINT_1]FF2 setp pid.z.deadband [JOINT_1]DEADBAND setp pid.z.maxoutput [JOINT_1]MAX_OUTPUT setp pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 5.0 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 1 setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- setp hm2_5i25.0.encoder.03.scale [JOINT_1]INPUT_SCALE net z-pos-cmd <= joint.1.motor-pos-cmd net z-vel-cmd <= joint.1.vel-cmd net z-output <= hm2_5i25.0.stepgen.01.velocity-cmd # Default FB from stepgen: # net z-pos-fb <= hm2_5i25.0.stepgen.01.position-fb # Stepgenposition to PIN z-pos-fb # Close the loop with FB from encoder: net z-pos-fb <= hm2_5i25.0.encoder.03.position # Encoderpostion to PIN z-pos-fb net z-pos-fb => joint.1.motor-pos-fb net z-enable <= joint.1.amp-enable-out net z-enable => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net max-home-z => joint.1.home-sw-in net min-z => joint.1.neg-lim-sw-in net max-home-z => joint.1.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm-abs => pid.s.command net spindle-vel-fb-rpm-abs => pid.s.feedback net spindle-output <= pid.s.output # ---digital potentionmeter output signals/setup--- setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE net spindle-output => hm2_5i25.0.7i76.0.0.spinout net spindle-enable => hm2_5i25.0.7i76.0.0.spinena net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.00.counter-mode 0 setp hm2_5i25.0.encoder.00.filter 1 setp hm2_5i25.0.encoder.00.index-invert 0 setp hm2_5i25.0.encoder.00.index-mask 0 setp hm2_5i25.0.encoder.00.index-mask-invert 0 setp hm2_5i25.0.encoder.00.scale [SPINDLE_0]ENCODER_SCALE net spindle-revs <= hm2_5i25.0.encoder.00.position net spindle-vel-fb-rps <= hm2_5i25.0.encoder.00.velocity net spindle-index-enable <=> hm2_5i25.0.encoder.00.index-enable # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm <= spindle.0.speed-out # Added this and commented it out in the WHB hal file # - otherwise pid.s.command doesn't have anything to work with: net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs # Added this and commented it out in the WHB hal file: net spindle-enable <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- # sets spindle-at-speed true # Comment this out to run without spindle running: net spindle-at-speed <= hm2_5i25.0.7i76.0.0.input-05 # Not connected up to e-stop cct yet: net vfd-fault <= hm2_5i25.0.7i76.0.0.input-04 #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog net x-is-homed halui.joint.0.is-homed net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.1.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- 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