#RMC PBVTest02 - overrides plus software encoder MAJOR CLEANUP #RMC PBVtest01 #RMC Rev16 - spindle orient #RMC Rev15 - coolant and mist part 2 #RMC Rev14 - back to classic ladder test #RMC Rev13 - run/step feedhold #RMC Revxx - air safety bypass for testing #RMC Rev12 - classicladder cycle start (fail) #RMC Rev11 - optional block #RMC Rev10 - coolant and mist #RMC Rev09 - spindle fan #RMC Rev08 - PDB signals #RMC Rev07 - homing offsets #RMC Rev06 - drive enable and alarms #RMC Rev05 - machine on w estop clear #RMC Rev04 - spindle PID sorted out #RMC Rev03 - estop fiddling #RMC Rev02 - added encoders and override resets #RMC Rev01 - removed classic ladder at end loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=22xxxx" setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s loadrt near loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 loadrt oneshot count=1 loadrt timedelay count=4 loadrt and2 count=10 loadrt or2 count=5 loadrt not count=4 loadrt toggle count=7 loadrt toggle2nist count=2 #loadrt siggen num_chan=1 loadrt dbounce count=4 #loadrt conv_float_s32 count=4 (not needed?) loadrt encoder num_chan=1 #MAXVEL OVERRIDE addf [HMOT](CARD0).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.a.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf lowpass.spindle servo-thread addf near.0 servo-thread addf abs.spindle servo-thread addf classicladder.0.refresh servo-thread addf oneshot.0 servo-thread #ESTOP RELAY addf timedelay.0 servo-thread #MACHINE ON addf timedelay.1 servo-thread #SPINDLE INHIBIT addf timedelay.2 servo-thread #PDB CYL addf timedelay.3 servo-thread #SPINDLE FAN addf and2.0 servo-thread #AIR PRESSURE addf and2.1 servo-thread #PDB ENABLE addf and2.2 servo-thread #vc-p4s.hal addf and2.3 servo-thread addf and2.4 servo-thread addf and2.5 servo-thread addf and2.6 servo-thread addf and2.7 servo-thread addf and2.8 servo-thread addf and2.9 servo-thread addf or2.0 servo-thread #PDB addf or2.1 servo-thread addf or2.2 servo-thread addf or2.3 servo-thread addf or2.4 servo-thread addf not.0 servo-thread #PDB ENABLE addf not.1 servo-thread #OPTSTOP addf not.2 servo-thread #BLKDEL addf not.3 servo-thread addf toggle.0 servo-thread #OPTSTOP addf toggle.1 servo-thread #BLKDEL addf toggle.2 servo-thread #postgui MIST addf toggle.3 servo-thread #postgui FLOOD addf toggle.4 servo-thread addf toggle.5 servo-thread addf toggle.6 servo-thread addf toggle2nist.0 servo-thread #postgui MIST addf toggle2nist.1 servo-thread #postgui FLOOD #addf siggen.0.update servo-thread addf dbounce.0 servo-thread #OPTSTOP setp dbounce.0.delay 5 #OPTSTOP addf dbounce.1 servo-thread #BLKDEL setp dbounce.1.delay 5 #BLKDEL addf dbounce.2 servo-thread #postgui MIST setp dbounce.2.delay 5 #postgui MIST addf dbounce.3 servo-thread #postgui FLOOD setp dbounce.3.delay 5 #postgui FLOOD addf [HMOT](CARD0).write servo-thread setp [HMOT](CARD0).dpll.01.timer-us -50 setp [HMOT](CARD0).stepgen.timer-number 1 #addf conv-float-s32.0 servo-thread (not needed?) #addf conv-float-s32.1 servo-thread (not needed?) #addf conv-float-s32.2 servo-thread (not needed?) #addf conv-float-s32.3 servo-thread (not needed?) addf encoder.update-counters servo-thread addf encoder.capture-position servo-thread # external input signals net VFD_ANALOG_IN <= [HMOT](CARD0).7i76.0.0.input-00 net TOOL_SETTER_OVERTRAVEL <= [HMOT](CARD0).7i76.0.0.input-01 net TOOL_SETTER <= [HMOT](CARD0).7i76.0.0.input-02 net PROBE_IN <= [HMOT](CARD0).7i76.0.0.input-03 net PDB_BUTTON <= [HMOT](CARD0).7i76.0.0.input-04 net ATC_TOOL_SENSOR <= [HMOT](CARD0).7i76.0.0.input-05 net ATC_HOME <= [HMOT](CARD0).7i76.0.0.input-06 net ATC_RETRACT <= [HMOT](CARD0).7i76.0.0.input-07 net ATC_EXTEND <= [HMOT](CARD0).7i76.0.0.input-08 net PDB_RETRACT <= [HMOT](CARD0).7i76.0.0.input-09 #LIMIT SWITCHES (invert pins for all NC proxys) net home-a <= [HMOT](CARD0).7i76.0.0.input-10-not net min-y <= [HMOT](CARD0).7i76.0.0.input-11-not net max-home-y <= [HMOT](CARD0).7i76.0.0.input-12-not net min-x <= [HMOT](CARD0).7i76.0.0.input-14-not net max-home-x <= [HMOT](CARD0).7i76.0.0.input-13-not net max-home-z <= [HMOT](CARD0).7i76.0.0.input-15-not #RMC Air bypass - uncomment to turn air safety back on #RMC Rev08 Air pressure safety #RMC Rev03 Estop relay #net AIR_PRESSURE_OK <= [HMOT](CARD0).7i76.0.0.input-24 net ESTOP_RELAY <= [HMOT](CARD0).7i76.0.0.input-20 #net AIR_PRESSURE_OK => and2.0.in0 #net ESTOP_RELAY => and2.0.in1 #net estop-clear <= and2.0.out net ESTOP_RELAY => iocontrol.0.emc-enable-in net estop-out <= iocontrol.0.user-enable-out net estop-out => [HMOT](CARD0).7i76.0.0.output-15 #MACHINE-ON WITH ESTOP CLEAR setp oneshot.0.width 2 setp timedelay.0.off-delay .1 net ESTOP_RELAY => oneshot.0.in net MACHINE_ON_DELAY <= oneshot.0.out net MACHINE_ON_DELAY => timedelay.0.in net MACHINE_ON <= timedelay.0.out net MACHINE_ON => halui.machine.on #OVERRIDE - FEED setp halui.feed-override.direct-value false setp halui.feed-override.scale .02 setp halui.feed-override.count-enable true net fo-count <= [HMOT](CARD0).7i84.0.1.enc0.count net fo-count => halui.feed-override.counts net fo-reset <= [HMOT](CARD0).7i84.0.1.input-07 #OVERRIDE - SPINDLE setp halui.spindle.0.override.direct-value false setp halui.spindle.0.override.scale .02 setp halui.spindle.0.override.count-enable true net so-count <= [HMOT](CARD0).7i84.0.1.enc1.count net so-count => halui.spindle.0.override.counts net so-reset <= [HMOT](CARD0).7i84.0.1.input-08 #OVERRIDE - MAXVEL setp encoder.0.x4-mode 1 setp halui.max-velocity.direct-value false setp halui.max-velocity.scale 0.02 setp halui.max-velocity.count-enable true net mvo-chanA <= [HMOT](CARD0).7i84.0.1.input-04 net mvo-chanA => encoder.0.phase-A net mvo-chanB <= [HMOT](CARD0).7i84.0.1.input-05 net mvo-chanB => encoder.0.phase-B net mvo-out <= encoder.0.counts net mvo-out => halui.max-velocity.counts #PDB net PDB_BUTTON <= [HMOT](CARD0).7i76.0.0.input-04 net PDB_UP_SENS <= [HMOT](CARD0).7i76.0.0.input-09-not net PDB_BUTTON => or2.0.in0 net PDB_UP_SENS => or2.0.in1 net SPINDLE-INHIBIT <= or2.0.out setp timedelay.1.on-delay 0 setp timedelay.1.off-delay 2 net SPINDLE-INHIBIT => timedelay.1.in net SPINDLE-INHIBIT-DWELL <= timedelay.1.out net SPINDLE-INHIBIT-DWELL => spindle.0.inhibit net spindle-enable => not.0.in net PDB_ENABLE <= not.0.out net PDB_ENABLE => and2.1.in0 net PDB_BUTTON => and2.1.in1 net PDB_EXTEND_OK <= and2.1.out setp timedelay.2.on-delay .5 setp timedelay.2.off-delay 0 net PDB_EXTEND_OK => timedelay.2.in net PDB_EXTEND_GO <= timedelay.2.out net PDB_EXTEND_GO => [HMOT](CARD0).7i76.0.0.output-08 #SPINDLE FAN setp timedelay.3.on-delay 5 setp timedelay.3.off-delay 30 net spindle-enable => timedelay.3.in net SPINDLE_FAN <= timedelay.3.out net SPINDLE_FAN => [HMOT](CARD0).7i76.0.0.output-05 # SPARE OUTPUTS net SPARE_RELAY_D05 => [HMOT](CARD0).7i76.0.0.output-01 net ATC_BLAST => [HMOT](CARD0).7i76.0.0.output-02 net ATC_CYL => [HMOT](CARD0).7i76.0.0.output-03 net SPARE_RELAY_A0 => [HMOT](CARD0).7i76.0.0.output-06 net LED_SPARE_01 => hm2_7i76e.0.7i84.0.1.output-06 net LED_SPARE_02 => hm2_7i76e.0.7i84.0.1.output-07 net LED_GRN => hm2_7i76e.0.7i84.0.1.output-12 net LED_WHT => hm2_7i76e.0.7i84.0.1.output-13 net LED_BLU => hm2_7i76e.0.7i84.0.1.output-14 net LED_RED => hm2_7i76e.0.7i84.0.1.output-15 # SPARE INPUTS net SPARE_B18 <= [HMOT](CARD0).7i76.0.0.input-22 net SPARE_B17 <= [HMOT](CARD0).7i76.0.0.input-23 #net BLST_ON <= hm2_7i76e.0.7i84.0.1.input-00 ANALOG #net BLST_OFF <= hm2_7i76e.0.7i84.0.1.input-01 ANALOG #net I10 <= hm2_7i76e.0.7i84.0.1.input-09 unconnected #net I10 <= hm2_7i76e.0.7i84.0.1.input-10 unconnected #net I11 <= hm2_7i76e.0.7i84.0.1.input-11 unconnected #net I11 <= hm2_7i76e.0.7i84.0.1.input-12 unconnected #net I11 <= hm2_7i76e.0.7i84.0.1.input-13 unconnected #net I11 <= hm2_7i76e.0.7i84.0.1.input-14 unconnected #net I15 <= hm2_7i76e.0.7i84.0.1.input-15 unconnected #net I26 <= hm2_7i76e.0.7i84.0.1.input-26 spare-btn01 #net I27 <= hm2_7i76e.0.7i84.0.1.input-27 spare-btn02 #net I31 <= hm2_7i76e.0.7i84.0.1.input-31 unconnected # ---HALUI signals--- net axis-select-x halui.axis.x.select #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 axis-select-y halui.axis.y.select #net jog-y-pos halui.axis.y.plus #net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog net y-is-homed halui.joint.1.is-homed net axis-select-z halui.axis.z.select #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.2.is-homed net axis-select-a halui.axis.a.select #net jog-a-pos halui.axis.a.plus #net jog-a-neg halui.axis.a.minus net jog-a-analog halui.axis.a.analog net a-is-homed halui.joint.3.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi net PROBE_IN => motion.probe-input net machine-is-on <= halui.machine.is-on net machine-is-enabled <= motion.motion-enabled net machine-is-enabled => [HMOT](CARD0).7i76.0.0.output-09 net LED_RESET <= halui.estop.is-activated net LED_RESET => hm2_7i76e.0.7i84.0.1.output-11 #CLASSIC LADDER (start/stop/single-block) net auto-mode <= [HMOT](CARD0).7i84.0.1.input-20 #cyclestart net auto-mode => classicladder.0.in-00 net feed-hold <= [HMOT](CARD0).7i84.0.1.input-21 #feedhold net feed-hold => classicladder.0.in-07 net program-idle <= halui.program.is-idle net program-idle => classicladder.0.in-02 net single-block <= [HMOT](CARD0).7i84.0.1.input-24 #singleblock net single-block => classicladder.0.in-09 net mode-is-auto <= halui.mode.is-auto net mode-is-auto => classicladder.0.in-04 net btn-stop <= [HMOT](CARD0).7i84.0.1.input-22 #cyclestop net btn-stop => classicladder.0.in-05 net auto-mode-select <= classicladder.0.out-00 net auto-mode-select => halui.mode.auto net cycle-start <= classicladder.0.out-01 net cycle-start => halui.program.run net cycle-start => hm2_7i76e.0.7i84.0.1.output-00 net feed-resume <= classicladder.0.out-03 net feed-resume => halui.program.resume net single-block-select <= classicladder.0.out-04 net single-block-select => halui.program.step net single-block-select => hm2_7i76e.0.7i84.0.1.output-04 net program-stop <= classicladder.0.out-05 net program-stop => halui.program.stop net program-stop => hm2_7i76e.0.7i84.0.1.output-02 net feed-hold-select <= classicladder.0.out-02 net feed-hold-select => halui.program.pause net feed-hold-select => hm2_7i76e.0.7i84.0.1.output-01 #OPTIONAL STOP M01 net BTN-OPTSTOP <= [HMOT](CARD0).7i84.0.1.input-23 #optstop net BTN-OPTSTOP => dbounce.0.in net OPTSTOP-DB <= dbounce.0.out net OPTSTOP-DB => toggle.0.in net OPTSTOP-ON <= toggle.0.out net OPTSTOP-ON => not.1.in net OPTSTOP-OFF <= not.1.out net OPTSTOP-ON => halui.program.optional-stop.on net OPTSTOP-OFF => halui.program.optional-stop.off net OPTSTOP-ISON <= halui.program.optional-stop.is-on net OPTSTOP-ISON => [HMOT](CARD0).7i84.0.1.output-03 #BLOCK DELETE net BTN-BLKDEL <= [HMOT](CARD0).7i84.0.1.input-25 #block-delete net BTN-BLKDEL => dbounce.1.in net BLKDEL-DB <= dbounce.1.out net BLKDEL-DB => toggle.1.in net BLKDEL-ON <= toggle.1.out net BLKDEL-ON => not.2.in net BLKDEL-OFF <= not.2.out net BLKDEL-ON => halui.program.block-delete.on net BLKDEL-OFF => halui.program.block-delete.off net BLKDEL-ISON <= halui.program.block-delete.is-on net BLKDEL-ISON => [HMOT](CARD0).7i84.0.1.output-05 #******************* # 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 0.000500 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 [HMOT](CARD0).stepgen.00.dirsetup [JOINT_0]DIRSETUP setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_0]DIRHOLD setp [HMOT](CARD0).stepgen.00.steplen [JOINT_0]STEPLEN setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_0]STEPSPACE setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_0]STEP_SCALE setp [HMOT](CARD0).stepgen.00.step_type 0 setp [HMOT](CARD0).stepgen.00.control-type 1 setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output <= [HMOT](CARD0).stepgen.00.velocity-cmd net x-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => [HMOT](CARD0).stepgen.00.enable net ALARM_X <= [HMOT](CARD0).7i76.0.0.input-28 #net ALARM_X => joint.0.amp-fault-in # ---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 Y JOINT 1 #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y.maxerror 0.000500 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_1]DIRSETUP setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_1]DIRHOLD setp [HMOT](CARD0).stepgen.01.steplen [JOINT_1]STEPLEN setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_1]STEPSPACE setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_1]STEP_SCALE setp [HMOT](CARD0).stepgen.01.step_type 0 setp [HMOT](CARD0).stepgen.01.control-type 1 setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-output <= [HMOT](CARD0).stepgen.01.velocity-cmd net y-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => [HMOT](CARD0).stepgen.01.enable net ALARM_Y <= [HMOT](CARD0).7i76.0.0.input-29 #net ALARM_Y => joint.1.amp-fault-in # ---setup home / limit switch signals--- net max-home-y => joint.1.home-sw-in net min-y => joint.1.neg-lim-sw-in net max-home-y => joint.1.pos-lim-sw-in #******************* # AXIS Z JOINT 2 #******************* setp pid.z.Pgain [JOINT_2]P setp pid.z.Igain [JOINT_2]I setp pid.z.Dgain [JOINT_2]D setp pid.z.bias [JOINT_2]BIAS setp pid.z.FF0 [JOINT_2]FF0 setp pid.z.FF1 [JOINT_2]FF1 setp pid.z.FF2 [JOINT_2]FF2 setp pid.z.deadband [JOINT_2]DEADBAND setp pid.z.maxoutput [JOINT_2]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 0.000500 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 [HMOT](CARD0).stepgen.02.dirsetup [JOINT_2]DIRSETUP setp [HMOT](CARD0).stepgen.02.dirhold [JOINT_2]DIRHOLD setp [HMOT](CARD0).stepgen.02.steplen [JOINT_2]STEPLEN setp [HMOT](CARD0).stepgen.02.stepspace [JOINT_2]STEPSPACE setp [HMOT](CARD0).stepgen.02.position-scale [JOINT_2]STEP_SCALE setp [HMOT](CARD0).stepgen.02.step_type 0 setp [HMOT](CARD0).stepgen.02.control-type 1 setp [HMOT](CARD0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.2.motor-pos-cmd net z-vel-cmd <= joint.2.vel-cmd net z-output <= [HMOT](CARD0).stepgen.02.velocity-cmd net z-pos-fb <= [HMOT](CARD0).stepgen.02.position-fb net z-pos-fb => joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out net z-enable => [HMOT](CARD0).stepgen.02.enable net ALARM_Z <= [HMOT](CARD0).7i76.0.0.input-30 #net ALARM_Z => joint.2.amp-fault-in # ---setup home / limit switch signals--- net max-home-z => joint.2.home-sw-in net z-neg-limit => joint.2.neg-lim-sw-in net max-home-z => joint.2.pos-lim-sw-in #******************* # AXIS A JOINT 3 #******************* setp pid.a.Pgain [JOINT_3]P setp pid.a.Igain [JOINT_3]I setp pid.a.Dgain [JOINT_3]D setp pid.a.bias [JOINT_3]BIAS setp pid.a.FF0 [JOINT_3]FF0 setp pid.a.FF1 [JOINT_3]FF1 setp pid.a.FF2 [JOINT_3]FF2 setp pid.a.deadband [JOINT_3]DEADBAND setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT setp pid.a.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.a.maxerror 0.000500 net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-pos-cmd => pid.a.command net a-pos-fb => pid.a.feedback net a-output <= pid.a.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.03.dirsetup [JOINT_3]DIRSETUP setp [HMOT](CARD0).stepgen.03.dirhold [JOINT_3]DIRHOLD setp [HMOT](CARD0).stepgen.03.steplen [JOINT_3]STEPLEN setp [HMOT](CARD0).stepgen.03.stepspace [JOINT_3]STEPSPACE setp [HMOT](CARD0).stepgen.03.position-scale [JOINT_3]STEP_SCALE setp [HMOT](CARD0).stepgen.03.step_type 0 setp [HMOT](CARD0).stepgen.03.control-type 1 setp [HMOT](CARD0).stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd <= joint.3.motor-pos-cmd net a-vel-cmd <= joint.3.vel-cmd net a-output <= [HMOT](CARD0).stepgen.03.velocity-cmd net a-pos-fb <= [HMOT](CARD0).stepgen.03.position-fb net a-pos-fb => joint.3.motor-pos-fb net a-enable <= joint.3.amp-enable-out net a-enable => [HMOT](CARD0).stepgen.03.enable net ALARM_A <= [HMOT](CARD0).7i76.0.0.input-31 #net ALARM_A => joint.3.amp-fault-in # ---setup home / limit switch signals--- net home-a => joint.3.home-sw-in net a-neg-limit => joint.3.neg-lim-sw-in net a-pos-limit => joint.3.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 => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---digital potentionmeter output signals/setup--- setp [HMOT](CARD0).7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT setp [HMOT](CARD0).7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT setp [HMOT](CARD0).7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE net spindle-output => [HMOT](CARD0).7i76.0.0.spinout net spindle-enable => [HMOT](CARD0).7i76.0.0.spinena net spindle-ccw => [HMOT](CARD0).7i76.0.0.spindir # ---Encoder feedback signals/setup--- setp [HMOT](CARD0).encoder.00.counter-mode 0 setp [HMOT](CARD0).encoder.00.filter 1 setp [HMOT](CARD0).encoder.00.index-invert 0 setp [HMOT](CARD0).encoder.00.index-mask 0 setp [HMOT](CARD0).encoder.00.index-mask-invert 0 setp [HMOT](CARD0).encoder.00.scale [SPINDLE_0]ENCODER_SCALE net spindle-revs <= [HMOT](CARD0).encoder.00.position net spindle-vel-fb-rps <= [HMOT](CARD0).encoder.00.velocity net spindle-vel-fb-rpm <= [HMOT](CARD0).encoder.00.velocity-rpm net spindle-index-enable <=> [HMOT](CARD0).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 net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs 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 net ALARM_VFD <= [HMOT](CARD0).7i76.0.0.input-27 #net ALARM_VFD => spindle.0.amp-fault-in # ---Setup spindle at speed signals--- net spindle-vel-cmd-rps => near.0.in1 net spindle-vel-fb-rps => near.0.in2 net spindle-at-speed <= near.0.out setp near.0.scale 1.000000 setp near.0.difference 1.666667 #RMC added for spindle PID feedback setp lowpass.spindle.gain 1.000000 net spindle-vel-fb-rpm => abs.spindle.in net spindle-vel-fb-rpm-abs abs.spindle.out => lowpass.spindle.in net spindle-fb-rpm-abs-filtered lowpass.spindle.out