# Generated by PNCconf at Tue Mar 9 09:10:54 2021 # Using LinuxCNC version: 2.9.0~pre0 # 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 num_dio=30 num_aio=30 loadrt hostmot2 loadrt hm2_eth board_ip="192.168.8.232" config=" num_encoders=6 num_pwmgens=6 num_stepgens=0 sserial_port_0=00xxxxxx" setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s 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.s.do-pid-calcs servo-thread addf [HMOT](CARD0).write servo-thread # external output signals # Test over halshow in test panel box # setp hm2_7i97.0.ssr.00.out-00 true # external input signals # --- MIN-HOME-X --- net min-home-x <= [HMOT](CARD0).inmux.00.input-00-not # --- MIN-HOME-Y --- net min-home-y <= [HMOT](CARD0).inmux.00.input-01-not # --- MAX-HOME-Z --- net max-home-z <= [HMOT](CARD0).inmux.00.input-02-not # Global PWM setup setp [HMOT](CARD0).pwmgen.pwm_frequency 48000 #******************* # 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 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 # ---PWM Generator signals/setup--- setp [HMOT](CARD0).pwmgen.00.output-type 1 #PWM pin0 setp [HMOT](CARD0).pwmgen.00.offset-mode 1 # offset mode so 50% = 0 setp [HMOT](CARD0).pwmgen.00.scale [JOINT_0]OUTPUT_SCALE net x-output => [HMOT](CARD0).pwmgen.00.value net x-pos-cmd <= joint.0.motor-pos-cmd net x-enable <= joint.0.amp-enable-out # enable first PWMGens on x-enable net x-enable => [HMOT](CARD0).pwmgen.00.enable #net x-enable => [HMOT](CARD0).pwmgen.01.enable #net x-enable => [HMOT](CARD0).pwmgen.02.enable # ---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 [JOINT_0]ENCODER_SCALE net x-pos-fb <= [HMOT](CARD0).encoder.00.position net x-vel-fb <= [HMOT](CARD0).encoder.00.velocity net x-pos-fb => joint.0.motor-pos-fb net x-index-enable joint.0.index-enable <=> [HMOT](CARD0).encoder.00.index-enable net x-pos-rawcounts <= [HMOT](CARD0).encoder.00.rawcounts # ---setup home / limit switch signals--- net min-home-x => joint.0.home-sw-in #net min-home-x => joint.0.neg-lim-sw-in #net x-pos-limit => 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 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 # ---PWM Generator signals/setup--- setp [HMOT](CARD0).pwmgen.01.output-type 1 #PWM pin1 setp [HMOT](CARD0).pwmgen.01.offset-mode 1 # offset mode so 50% = 0 setp [HMOT](CARD0).pwmgen.01.scale [JOINT_1]OUTPUT_SCALE net y-output => [HMOT](CARD0).pwmgen.01.value net y-pos-cmd <= joint.1.motor-pos-cmd net y-enable <= joint.1.amp-enable-out # enable second PWMGens on y-enable net y-enable => [HMOT](CARD0).pwmgen.01.enable # ---Encoder feedback signals/setup--- setp [HMOT](CARD0).encoder.01.counter-mode 0 setp [HMOT](CARD0).encoder.01.filter 1 setp [HMOT](CARD0).encoder.01.index-invert 0 setp [HMOT](CARD0).encoder.01.index-mask 0 setp [HMOT](CARD0).encoder.01.index-mask-invert 0 setp [HMOT](CARD0).encoder.01.scale [JOINT_1]ENCODER_SCALE net y-pos-fb <= [HMOT](CARD0).encoder.01.position net y-vel-fb <= [HMOT](CARD0).encoder.01.velocity net y-pos-fb => joint.1.motor-pos-fb net y-index-enable joint.1.index-enable <=> [HMOT](CARD0).encoder.01.index-enable net y-pos-rawcounts <= [HMOT](CARD0).encoder.01.rawcounts # ---setup home / limit switch signals--- net min-home-y => joint.1.home-sw-in #net min-home-y => joint.1.neg-lim-sw-in net y-pos-limit => 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 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 # ---PWM Generator signals/setup--- setp [HMOT](CARD0).pwmgen.02.output-type 1 #PWM pin2 setp [HMOT](CARD0).pwmgen.02.offset-mode 1 # offset mode so 50% = 0 setp [HMOT](CARD0).pwmgen.02.scale [JOINT_2]OUTPUT_SCALE net z-output => [HMOT](CARD0).pwmgen.02.value net z-pos-cmd <= joint.2.motor-pos-cmd net z-enable <= joint.2.amp-enable-out # enable third PWMGens on z-enable net z-enable => [HMOT](CARD0).pwmgen.02.enable # ---Encoder feedback signals/setup--- setp [HMOT](CARD0).encoder.02.counter-mode 0 setp [HMOT](CARD0).encoder.02.filter 1 setp [HMOT](CARD0).encoder.02.index-invert 0 setp [HMOT](CARD0).encoder.02.index-mask 0 setp [HMOT](CARD0).encoder.02.index-mask-invert 0 setp [HMOT](CARD0).encoder.02.scale [JOINT_2]ENCODER_SCALE net z-pos-fb <= [HMOT](CARD0).encoder.02.position net z-vel-fb <= [HMOT](CARD0).encoder.02.velocity net z-pos-fb => joint.2.motor-pos-fb net z-index-enable joint.2.index-enable <=> [HMOT](CARD0).encoder.02.index-enable net z-pos-rawcounts <= [HMOT](CARD0).encoder.02.rawcounts # ---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 #******************* # 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 #Only positive value from 0 to +10V if you use not abs then you have -10v to 0 to +10V net spindle-vel-cmd-rpm-abs => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---PWM Generator signals/setup--- setp [HMOT](CARD0).pwmgen.05.output-type 1 #PWM pin5 setp [HMOT](CARD0).pwmgen.05.offset-mode 1 # offset mode so 50% = 0 setp [HMOT](CARD0).pwmgen.05.value 0.0 # all Values always positive setp [HMOT](CARD0).pwmgen.05.scale [SPINDLE_0]OUTPUT_SCALE net spindle-output => [HMOT](CARD0).pwmgen.05.value net spindle-enable => [HMOT](CARD0).pwmgen.05.enable # ---Encoder feedback signals/setup--- setp [HMOT](CARD0).encoder.05.counter-mode 0 setp [HMOT](CARD0).encoder.05.filter 1 setp [HMOT](CARD0).encoder.05.index-invert 0 setp [HMOT](CARD0).encoder.05.index-mask 0 setp [HMOT](CARD0).encoder.05.index-mask-invert 0 setp [HMOT](CARD0).encoder.05.scale [SPINDLE_0]ENCODER_SCALE net spindle-revs <= [HMOT](CARD0).encoder.05.position net spindle-vel-fb-rps <= [HMOT](CARD0).encoder.05.velocity net spindle-vel-fb-rpm <= [HMOT](CARD0).encoder.05.velocity-rpm net spindle-index-enable <=> [HMOT](CARD0).encoder.05.index-enable # ---setup spindle control signals--- #Spindle Reverse set Output OUT1 to give Signal 1 to VFD and forward 0 #net spindle-cw spindle.0.forward => [HMOT](CARD0).ssr.00.out-01 net spindle-ccw spindle.0.reverse => [HMOT](CARD0).ssr.00.out-01 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 # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---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 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 machine-is-on halui.machine.is-on 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