#RMC Rev31 - ATC2 #RMC Rev28.5 - ATC3 #RMC Rev28 - ATC #RMC Rev27 - orient #RMC Rev26 - 4th axis disabled and probe & tool setter #RMC Rev25 - Blast multiclick #RMC Rev24 - drive alarms, vfd alarm #RMC Rev23 - Air connected, blast, mist, PDB, manual tool change #RMC Rev22 - feedhold blink, classic ladder %Q6 to single-block led, fixed spindle reverse (abs) #RMC Rev21 - PBTest02 revert to horizontal #RMC PBVTest03 - blast timer #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 num_dio=10 #ATC 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,pid.o #ORIENT loadrt abs count=2 loadrt lowpass names=lowpass.spindle loadrt scale count=3 #SPINDLE LOAD BLAST loadrt orient count=1 #ORIENT loadrt mux2 count=1 #ORIENT loadrt and2 count=10 loadrt or2 count=6 #ORIENT loadrt not count=6 loadrt toggle count=7 loadrt toggle2nist count=2 loadrt dbounce count=4 loadrt encoder num_chan=1 #MAXVEL OVERRIDE loadrt multiclick count=1 #BLAST loadrt near count=1 loadrt oneshot count=1 loadrt timedelay count=6 loadrt xor2 count=1 #ATC loadrt carousel pockets=18 encoding=counts num_sense=18 dir=2 #ATC3 loadrt conv_float_s32 #ATC loadrt limit3 count=1 #ORIENT loadrt lincurve personality=6 #ORIENT loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 addf [HMOT](CARD0).read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf orient.0 servo-thread #ORIENT addf mux2.0 servo-thread #ORIENT 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 pid.o.do-pid-calcs servo-thread #ORIENT addf [HMOT](CARD0).write servo-thread addf lowpass.spindle servo-thread addf near.0 servo-thread addf abs.0 servo-thread addf abs.1 servo-thread #ORIENT 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 timedelay.4 servo-thread #BLAST addf timedelay.5 servo-thread #FEEDHOLD LED 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 #BLAST addf and2.4 servo-thread #FEEDHOLD LED addf and2.5 servo-thread #YELOW LED addf and2.6 servo-thread #ORIENT 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 #GREEN LED addf or2.2 servo-thread #RED LED addf or2.3 servo-thread #BLAST addf or2.4 servo-thread #ORIENT addf or2.5 servo-thread #ORIENT addf not.0 servo-thread #PDB ENABLE addf not.1 servo-thread #OPTSTOP addf not.2 servo-thread #BLKDEL addf not.3 servo-thread #BLAST addf not.4 servo-thread #FEEDHOLD LED addf not.5 servo-thread #RED LED 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 #BLAST addf toggle.5 servo-thread #SGLBLK addf toggle.6 servo-thread addf toggle2nist.0 servo-thread #postgui MIST addf toggle2nist.1 servo-thread #postgui FLOOD addf dbounce.0 servo-thread #OPTSTOP addf dbounce.1 servo-thread #BLKDEL addf dbounce.2 servo-thread #postgui MIST addf dbounce.3 servo-thread #postgui FLOOD addf encoder.update-counters servo-thread addf encoder.capture-position servo-thread addf scale.0 servo-thread #SPINDLE LOAD addf scale.1 servo-thread #BLAST addf scale.2 servo-thread #BLAST addf multiclick.0 servo-thread #BLAST addf xor2.0 servo-thread #ATC addf carousel.0 servo-thread #ATC addf conv-float-s32.0 servo-thread #ATC (G-code analogue outputs are float-type) addf limit3.0 servo-thread #ORIENT addf lincurve.0 servo-thread #ORIENT setp dbounce.0.delay 5 #OPTSTOP setp dbounce.1.delay 5 #BLKDEL setp dbounce.2.delay 5 #postgui MIST setp dbounce.3.delay 5 #postgui FLOOD setp [HMOT](CARD0).dpll.01.timer-us -50 setp [HMOT](CARD0).stepgen.timer-number 1 #RMC Rev28.5 setp carousel.0.scale 1000 setp carousel.0.width 0 setp carousel.0.fwd-dc 25 setp carousel.0.rev-dc -25 #pocket request motion.analog-out-00 #carousel enable motion.digital-out-00 #extend solenoid motion.digital-out-01 #retract solenoid motion.digital-out-02 #drawbar solenoid motion.digital-out-03 #carousel-ready motion.digital-in-00 #extend proxy motion.digital-in-01 #retract proxy motion.digital-in-02 #drawbar down proxy motion.digital-in-03 #spindle-enable motion.digital-in-04 #spindle oriented motion.digital-in-05 net ATC_ENABLE <= motion.digital-out-00 net ATC_ENABLE => carousel.0.enable net ATC_ENABLE => [HMOT](CARD0).stepgen.03.enable net ATC_READY <= carousel.0.ready net ATC_READY => motion.digital-in-00 net ATC_COUNTS <= [HMOT](CARD0).stepgen.03.counts net ATC_COUNTS => carousel.0.counts net ATC_VEL <= carousel.0.motor-vel net ATC_VEL => [HMOT](CARD0).stepgen.03.velocity-cmd net ATC_INDEX <= [HMOT](CARD0).7i76.0.0.input-06-not #index proximity sensor; 1/per rev net ATC_INDEX => carousel.0.sense-0 #net ATC_PULSE <= [HMOT](CARD0).7i76.0.0.input-05-not #pulse proximity sensor; 1/per pocket #net ATC_PULSE => carousel.0.sense-1 net ATC_POS_REQ <= motion.analog-out-00 net ATC_POS_REQ => conv-float-s32.0.in net ATC_POS_S32 <= conv-float-s32.0.out net ATC_POS_S32 => carousel.0.pocket-number net ATC_EXTEND_VALVE <= motion.digital-out-01 net ATC_EXTEND_VALVE => [HMOT](CARD0).7i76.0.0.output-03 #rodless cylinder extend solenoid valve net ATC_RETRACT_VALVE <= motion.digital-out-02 net ATC_RETRACT_VALVE => [HMOT](CARD0).7i76.0.0.output-02 #rodless cylinder retract solenoid valve net ATC_RETRACT_SENS <= [HMOT](CARD0).7i76.0.0.input-08 #retracted proximity sensor net ATC_RETRACT_SENS => motion.digital-in-02 net ATC_EXTEND_SENS <= [HMOT](CARD0).7i76.0.0.input-07 #extended proximity sensor net ATC_EXTEND_SENS => motion.digital-in-01 net PDB_PROXY-DWN <= [HMOT](CARD0).7i76.0.0.input-09 #draw bar cylinder DOWN proximity sensor net PDB_PROXY-DWN => motion.digital-in-03 net UNCLAMP_TOOL_BUTTON <= [HMOT](CARD0).7i76.0.0.input-04 #manual pushbutton net UNCLAMP_TOOL_BUTTON => xor2.0.in0 net UNCLAMP_TOOL_AUTO <= motion.digital-out-03 net UNCLAMP_TOOL_AUTO => xor2.0.in1 net PDB_RELEASE <= xor2.0.out net PDB_RELEASE => [HMOT](CARD0).7i76.0.0.output-08 #draw bar cylinder solenoid valve net spindle-enable => motion.digital-in-04 #to check spindle is off during toolchange net spindle-is-oriented => motion.digital-in-05 #to check spindle is oriented #net ATC_PREP_NUMBER <= iocontrol.0.tool-prep-number net ATC_PREP_LOOP <= iocontrol.0.tool-prepare net ATC_PREP_LOOP => iocontrol.0.tool-prepared net ATC_CHANGE_LOOP <= iocontrol.0.tool-change net ATC_CHANGE_LOOP => iocontrol.0.tool-changed loadusr -W hal_manualtoolchange ## Step Gen signals/setup setp [HMOT](CARD0).stepgen.03.dirsetup 10000 #[JOINT_3]DIRSETUP setp [HMOT](CARD0).stepgen.03.dirhold 10000 #[JOINT_3]DIRHOLD setp [HMOT](CARD0).stepgen.03.steplen 2500 #[JOINT_3]STEPLEN setp [HMOT](CARD0).stepgen.03.stepspace 2500 #[JOINT_3]STEPSPACE setp [HMOT](CARD0).stepgen.03.position-scale 50.0 #[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 500 #[JOINT_3]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.03.maxvel 200 #[JOINT_3]STEPGEN_MAXVEL #PDB #net PDB_BUTTON <= [HMOT](CARD0).7i76.0.0.input-04 #net PDB_UP_SENS <= [HMOT](CARD0).7i76.0.0.input-09 #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 #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 #RMC Rev26 net PROBE_IN <= [HMOT](CARD0).7i76.0.0.input-03-not #net PDB_BUTTON <= [HMOT](CARD0).7i76.0.0.input-04 #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 #AIR SAFETY - comment out to bypass air safety 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 #MACHINE-ON WITH ESTOP CLEAR setp oneshot.0.width 2 setp timedelay.0.off-delay 0.1 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 0.03 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 #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 #AIR BLAST net BLAST_OFF_ANA <= [HMOT](CARD0).7i84.0.1.analogin0 net BLAST_OFF_ANA => scale.1.in net BLAST_OFF_SCALED <= scale.1.out setp scale.1.gain 0.125 #0-24V in / 0-30 seconds ON time net BLAST_ON_ANA <= [HMOT](CARD0).7i84.0.1.analogin1 net BLAST_ON_ANA => scale.2.in net BLAST_ON_SCALED <= scale.2.out setp scale.2.gain 1.25 #0-24V in / 0-3 seconds OFF time net BLAST_OFF_SCALED => timedelay.4.off-delay net BLAST_ON_SCALED => timedelay.4.on-delay net BTN_BLAST <= [HMOT](CARD0).7i84.0.1.input-30 net BTN_BLAST => multiclick.0.in net BTN_BLAST_1CLICK <= multiclick.0.single-click-only net BTN_BLAST_1CLICK => toggle.4.in net BLAST_TOG <= toggle.4.out net BLAST_TIMER <= timedelay.4.out net BLAST_TIMER => not.3.in net BLAST_TIME_ON <= not.3.out net BLAST_TIME_ON => and2.3.in0 net BLAST_TOG => and2.3.in1 net BLAST_ON <= and2.3.out net BLAST_ON => timedelay.4.in net BLAST_TIMER => or2.3.in0 net BTN_BLAST => or2.3.in1 net BLAST_OUT <= or2.3.out net BLAST_OUT => [HMOT](CARD0).7i84.0.1.output-10 net BLAST_OUT => [HMOT](CARD0).7i76.0.0.output-04 # SPARE OUTPUTS net SPARE_RELAY_D05 => [HMOT](CARD0).7i76.0.0.output-01 net SPARE_RELAY_A0 => [HMOT](CARD0).7i76.0.0.output-06 net LED_SPARE_01 => [HMOT](CARD0).7i84.0.1.output-06 net LED_SPARE_02 => [HMOT](CARD0).7i84.0.1.output-07 # SPARE INPUTS net SPARE_B18 <= [HMOT](CARD0).7i76.0.0.input-22 net SPARE_B17 <= [HMOT](CARD0).7i76.0.0.input-23 # ---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 #RMC Rev26 - 4th axis disabled and probe & tool setter #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 => [HMOT](CARD0).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 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 program-stop <= classicladder.0.out-05 net program-stop => halui.program.stop net feed-hold-select <= classicladder.0.out-02 net feed-hold-select => halui.program.pause #CONTROL PANEL PROGRAM STATUS LEDS net program-idle => [HMOT](CARD0).7i84.0.1.output-02 net PGMRUN <= halui.program.is-running net PGMRUN => [HMOT](CARD0).7i84.0.1.output-00 net SGLBLK <= classicladder.0.out-06 net SGLBLK => [HMOT](CARD0).7i84.0.1.output-04 #FEEDHOLD net FDHOLD <= halui.program.is-paused net FDHOLD => and2.4.in0 net FDHOLD_LED <= timedelay.5.out net FDHOLD_LED => not.4.in net FDHOLD_LED_ON <= not.4.out net FDHOLD_LED_ON => and2.4.in1 net FDHOLD_LED_OFF <= and2.4.out net FDHOLD_LED_OFF => timedelay.5.in net FDHOLD_LED => [HMOT](CARD0).7i84.0.1.output-01 #PANEL LEDS net FDHOLD_LED => or2.1.in0 net PGMRUN => or2.1.in1 net LED_GRN <= or2.1.out net LED_GRN => [HMOT](CARD0).7i84.0.1.output-12 net FDHOLD_LED => or2.2.in0 net machine-is-enabled => not.5.in net machine-is-disabled <= not.5.out net machine-is-disabled => or2.2.in1 net LED_RED <= or2.2.out net LED_RED => [HMOT](CARD0).7i84.0.1.output-15 #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-31 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-30 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-29 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 #RMC Rev26 - 4th axis disabled and probe & tool setter #******************* # 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-28 #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 #******************* # ORIENT #******************* # M19 trigger orient.0.enable; pid.o enable; spinena; select analogout net spindle-orient <= spindle.0.orient #orient command net spindle-orient => or2.5.in0 #to orient enable net spindle-orient => and2.6.in0 #to spindle is oriented #net orient-lock <= spindle.0.locked net orient-lock => or2.5.in1 #to orient ennable net orient-enable <= or2.5.out net orient-enable => orient.0.enable net orient-enable => pid.o.enable net orient-enable => or2.4.in1 #to spindle enable net orient-enable => mux2.0.sel # M19 orient angle R in to orient component net orient-angle <= spindle.0.orient-angle net orient-angle => orient.0.angle # M19 orient mode P in to orient component default 0 net orient-mode <= spindle.0.orient-mode net orient-mode => orient.0.mode # Encoder position into orient component and orient pid net spindle-revs => orient.0.position net spindle-revs => pid.o.feedback # Orient component position into orient pid net orient-command <= orient.0.command net orient-command => pid.o.command # Orient pid output to spindle analog net spindle-orient-output <= pid.o.output net spindle-orient-output => mux2.0.in1 # Orient limit3 test #net orient-limit <= pid.o.output #net orient-limit => limit3.0.in #net orient-limit-out <= limit3.0.out #net orient-limit-out => mux2.0.in1 #setp limit3.0.min 0 #setp limit3.0.max 1 #setp limit3.0.maxv 1 #setp limit3.0.maxa 1 # Orient component return that orient is complete net orient-complete <= orient.0.is-oriented net orient-complete => and2.6.in1 net spindle-is-oriented <= and2.6.out net spindle-is-oriented => spindle.0.is-oriented setp pid.o.Pgain 2000 #[TUNE]P setp pid.o.Igain 0 #[TUNE]I setp pid.o.Dgain 160 #[TUNE]D setp pid.o.bias 0 #[TUNE]BIAS setp pid.o.FF0 0 #[TUNE]FF0 setp pid.o.FF1 0 #[TUNE]FF1 setp pid.o.FF2 0 #[TUNE]FF2 setp pid.o.deadband 0.002 #[TUNE]DEADBAND 0.0015 setp pid.o.maxoutput 210 #[TUNE]MAX_OUTPUT setp pid.o.error-previous-target true setp orient.0.tolerance 1.0 setp lincurve.0.x-val-00 -0.02 #-0.01388 setp lincurve.0.y-val-00 1500 #1300 setp lincurve.0.x-val-01 -0.008 #-0.00555 #-0.004 setp lincurve.0.y-val-01 10000 #15000 #18000 setp lincurve.0.x-val-02 -0.001 #-0.00277 #-0.001 setp lincurve.0.y-val-02 0 setp lincurve.0.x-val-03 0.001 #0.00277 #0.001 setp lincurve.0.y-val-03 0 setp lincurve.0.x-val-04 0.008 #0.00555 #0.004 setp lincurve.0.y-val-04 10000 #15000 #18000 setp lincurve.0.x-val-05 0.02 #0.01388 setp lincurve.0.y-val-05 1500 #1300 net orient-lincurve-in <= pid.o.error net orient-lincurve-in => lincurve.0.in net orient-lincurve-out <= lincurve.0.out net orient-lincurve-out => pid.o.Pgain #******************* # 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 setp pid.s.maxerrorI 10 net spindle-index-enable <= pid.s.index-enable net spindle-vel-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-vel-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 # spindle output is based on mux2 and sel bit net spindle-vel-output => mux2.0.in0 net spindle-output <= mux2.0.out net spindle-output => abs.1.in net spindle-output-abs <= abs.1.out net spindle-output-abs => [HMOT](CARD0).7i76.0.0.spinout net spindle-output-dir <= abs.1.is-negative net spindle-output-dir => [HMOT](CARD0).7i76.0.0.spindir # spindle enable from or2; either spindle-vel-enable or orient-enable net spindle-vel-enable => or2.4.in0 net spindle-enable <= or2.4.out net spindle-enable => [HMOT](CARD0).7i76.0.0.spinena # ---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-vel-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.0.in net spindle-vel-fb-rpm-abs <= abs.0.out net spindle-vel-fb-rpm-abs => lowpass.spindle.in net spindle-fb-rpm-abs-filtered <= lowpass.spindle.out #MANUAL TOOLCHANGE #net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change #net tool-changed 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