# Generated by PNCconf at Thu Feb 16 08:34:19 2017 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=00000x" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,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.y.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 # --- JOINT-SELECT-A --- net joint-select-a <= hm2_5i25.0.7i77.0.0.input-02 # --- JOINT-SELECT-B --- net joint-select-b <= hm2_5i25.0.7i77.0.0.input-03 # --- JOINT-SELECT-C --- net joint-select-c <= hm2_5i25.0.7i77.0.0.input-04 #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_2]P setp pid.x.Igain [AXIS_2]I setp pid.x.Dgain [AXIS_2]D setp pid.x.bias [AXIS_2]BIAS setp pid.x.FF0 [AXIS_2]FF0 setp pid.x.FF1 [AXIS_2]FF1 setp pid.x.FF2 [AXIS_2]FF2 setp pid.x.deadband [AXIS_2]DEADBAND setp pid.x.maxoutput [AXIS_2]MAX_OUTPUT setp pid.x.error-previous-target true net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT net x-output => hm2_5i25.0.7i77.0.1.analogout2 net x-pos-cmd axis.2.motor-pos-cmd net x-enable axis.2.amp-enable-out # enable _all_ sserial pwmgens net x-enable hm2_5i25.0.7i77.0.1.analogena # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.02.counter-mode 0 setp hm2_5i25.0.encoder.02.filter 1 setp hm2_5i25.0.encoder.02.index-invert 0 setp hm2_5i25.0.encoder.02.index-mask 0 setp hm2_5i25.0.encoder.02.index-mask-invert 0 setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE net x-pos-fb <= hm2_5i25.0.encoder.02.position net x-vel-fb <= hm2_5i25.0.encoder.02.velocity net x-pos-fb => axis.2.motor-pos-fb net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.02.index-enable net x-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net x-home-sw => axis.2.home-sw-in net x-neg-limit => axis.2.neg-lim-sw-in net x-pos-limit => axis.2.pos-lim-sw-in #******************* # AXIS Y #******************* setp pid.y.Pgain [AXIS_3]P setp pid.y.Igain [AXIS_3]I setp pid.y.Dgain [AXIS_3]D setp pid.y.bias [AXIS_3]BIAS setp pid.y.FF0 [AXIS_3]FF0 setp pid.y.FF1 [AXIS_3]FF1 setp pid.y.FF2 [AXIS_3]FF2 setp pid.y.deadband [AXIS_3]DEADBAND setp pid.y.maxoutput [AXIS_3]MAX_OUTPUT setp pid.y.error-previous-target true net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout3-scalemax [AXIS_3]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout3-minlim [AXIS_3]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout3-maxlim [AXIS_3]OUTPUT_MAX_LIMIT net y-output => hm2_5i25.0.7i77.0.1.analogout3 net y-pos-cmd axis.3.motor-pos-cmd net y-enable axis.3.amp-enable-out # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.03.counter-mode 0 setp hm2_5i25.0.encoder.03.filter 1 setp hm2_5i25.0.encoder.03.index-invert 0 setp hm2_5i25.0.encoder.03.index-mask 0 setp hm2_5i25.0.encoder.03.index-mask-invert 0 setp hm2_5i25.0.encoder.03.scale [AXIS_3]ENCODER_SCALE net y-pos-fb <= hm2_5i25.0.encoder.03.position net y-vel-fb <= hm2_5i25.0.encoder.03.velocity net y-pos-fb => axis.3.motor-pos-fb net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.03.index-enable net y-pos-rawcounts <= hm2_5i25.0.encoder.03.rawcounts # ---setup home / limit switch signals--- net y-home-sw => axis.3.home-sw-in net y-neg-limit => axis.3.neg-lim-sw-in net y-pos-limit => axis.3.pos-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_4]P setp pid.z.Igain [AXIS_4]I setp pid.z.Dgain [AXIS_4]D setp pid.z.bias [AXIS_4]BIAS setp pid.z.FF0 [AXIS_4]FF0 setp pid.z.FF1 [AXIS_4]FF1 setp pid.z.FF2 [AXIS_4]FF2 setp pid.z.deadband [AXIS_4]DEADBAND setp pid.z.maxoutput [AXIS_4]MAX_OUTPUT setp pid.z.error-previous-target true net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout4-scalemax [AXIS_4]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout4-minlim [AXIS_4]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout4-maxlim [AXIS_4]OUTPUT_MAX_LIMIT net z-output => hm2_5i25.0.7i77.0.1.analogout4 net z-pos-cmd axis.4.motor-pos-cmd net z-enable axis.4.amp-enable-out # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.04.counter-mode 0 setp hm2_5i25.0.encoder.04.filter 1 setp hm2_5i25.0.encoder.04.index-invert 0 setp hm2_5i25.0.encoder.04.index-mask 0 setp hm2_5i25.0.encoder.04.index-mask-invert 0 setp hm2_5i25.0.encoder.04.scale [AXIS_4]ENCODER_SCALE net z-pos-fb <= hm2_5i25.0.encoder.04.position net z-vel-fb <= hm2_5i25.0.encoder.04.velocity net z-pos-fb => axis.4.motor-pos-fb net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.04.index-enable net z-pos-rawcounts <= hm2_5i25.0.encoder.04.rawcounts # ---setup home / limit switch signals--- net z-home-sw => axis.4.home-sw-in net z-neg-limit => axis.4.neg-lim-sw-in net z-pos-limit => axis.4.pos-lim-sw-in #******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]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 => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs 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-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # 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-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.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 # ---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