{\rtf1\ansi\ansicpg1252\cocoartf2822
\cocoatextscaling0\cocoaplatform0{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
{\*\expandedcolortbl;;}
\margl1440\margr1440\vieww11520\viewh8400\viewkind0
\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural\partightenfactor0

\f0\fs24 \cf0 \
# This file was created with the Mesa Configuration Tool on Mar 08 2025 10:40:46\
# If you make changes to this file DO NOT run the configuration tool again!\
# This file will be replaced with a new file if you do!\
\
# kinematics\
loadrt [KINS](KINEMATICS)\
\
# motion controller\
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)\
\
#boot for pico servo amplifier\
loadrt boot\
loadrt comp count=4\
\
# hostmot2 driver\
loadrt hostmot2\
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="num_encoders=4 num_pwmgens=5 sserial_port_0=00000000"\
\
# manual tool change#\
loadusr -W hal_manualtoolchange\
net tool-change      hal_manualtoolchange.change   <=  iocontrol.0.tool-change\
net tool-changed     hal_manualtoolchange.changed  <=  iocontrol.0.tool-changed => hm2_[MESA](BOARD).0.ssr.00.out-02\
net tool-prep-number hal_manualtoolchange.number   <=  iocontrol.0.tool-prep-number\
\
\
setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 5000000\
\
loadrt pid names=pid.x,pid.y0,pid.y1,pid.z,pid.s\
\
# THREADS\
addf hm2_[MESA](BOARD).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.y0.do-pid-calcs servo-thread\
addf pid.y1.do-pid-calcs servo-thread\
addf pid.z.do-pid-calcs servo-thread\
addf pid.s.do-pid-calcs servo-thread\
\
addf hm2_[MESA](BOARD).0.write servo-thread\
\
\
#boot and comp for pico servo amp\
addf boot.0 servo-thread\
addf comp.0 servo-thread\
addf comp.1 servo-thread\
addf comp.2 servo-thread\
addf comp.3 servo-thread\
\
# amp enable\
net motion-enable hm2_[MESA](BOARD).0.ssr.00.out-00 <= motion.motion-enabled\
\
# Global PWM setup\
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency 50000 #  originally 75000\
\
# Board: 7i95t\
\
# Axis: X Joint: 0 Output: 0\
# PID Setup\
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\
\
# joint-0 enable chain\
net joint-0-index-enable <=> pid.x.index-enable\
net joint-0-index-enable <=> joint.0.index-enable\
net joint-0-index-enable <=> hm2_[MESA](BOARD).0.encoder.00.index-enable\
\
#net joint-0-enable <= joint.0.amp-enable-out\
#net joint-0-enable => pid.x.enable\
net joint-0-enable => hm2_[MESA](BOARD).0.pwmgen.00.enable boot.0.enable\
\
\
# PWM Generator setup\
setp hm2_[MESA](BOARD).0.pwmgen.00.output-type 1 #PWM pin0\
setp hm2_[MESA](BOARD).0.pwmgen.00.offset-mode 0 # offset mode so 50% = 0\
setp hm2_[MESA](BOARD).0.pwmgen.00.scale [JOINT_0]SCALE\
\
# ---Encoder feedback signals/setup---\
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0\
setp hm2_[MESA](BOARD).0.encoder.00.filter 1\
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0\
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0\
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0\
setp hm2_[MESA](BOARD).0.encoder.00.scale  [JOINT_0]ENCODER_SCALE\
\
# position command and feedback\
net joint-0-pos-cmd <= joint.0.motor-pos-cmd\
net joint-0-pos-cmd => pid.x.command\
\
net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position\
net joint-0-pos-fb => joint.0.motor-pos-fb\
net joint-0-pos-fb => pid.x.feedback\
\
# PID Output\
net pid-x-signal-in pid.x.output => boot.0.pid0\
net pid-x-signal-out <= boot.0.pout0\
net pid-x-signal-out => hm2_[MESA](BOARD).0.pwmgen.00.value\
\
# Axis: Y Joint: 1 Output: 1\
# PID Setup\
setp pid.y0.Pgain [JOINT_1](P)\
setp pid.y0.Igain [JOINT_1](I)\
setp pid.y0.Dgain [JOINT_1](D)\
setp pid.y0.bias [JOINT_1](BIAS)\
setp pid.y0.FF0 [JOINT_1](FF0)\
setp pid.y0.FF1 [JOINT_1](FF1)\
setp pid.y0.FF2 [JOINT_1](FF2)\
setp pid.y0.deadband [JOINT_1](DEADBAND)\
setp pid.y0.maxoutput [JOINT_1](MAX_OUTPUT)\
setp pid.y0.error-previous-target True\
\
# joint-0 enable chain\
net joint-1-index-enable <=> pid.y0.index-enable\
net joint-1-index-enable <=> joint.1.index-enable\
net joint-1-index-enable <=> hm2_[MESA](BOARD).0.encoder.01.index-enable\
\
#net joint-1-enable <= joint.1.amp-enable-out\
#net joint-1-enable => pid.y0.enable\
net joint-1-enable => hm2_[MESA](BOARD).0.pwmgen.01.enable\
\
\
# PWM Generator setup\
setp hm2_[MESA](BOARD).0.pwmgen.01.output-type 1 #PWM pin0\
setp hm2_[MESA](BOARD).0.pwmgen.01.offset-mode 0 # offset mode so 50% = 0\
setp hm2_[MESA](BOARD).0.pwmgen.01.scale [JOINT_1]SCALE\
\
# ---Encoder feedback signals/setup---\
setp hm2_[MESA](BOARD).0.encoder.01.counter-mode 0\
setp hm2_[MESA](BOARD).0.encoder.01.filter 1\
setp hm2_[MESA](BOARD).0.encoder.01.index-invert 0\
setp hm2_[MESA](BOARD).0.encoder.01.index-mask 0\
setp hm2_[MESA](BOARD).0.encoder.01.index-mask-invert 0\
setp hm2_[MESA](BOARD).0.encoder.01.scale  [JOINT_1]ENCODER_SCALE\
\
# position command and feedback\
net joint-1-pos-cmd <= joint.1.motor-pos-cmd\
net joint-1-pos-cmd => pid.y0.command\
\
net joint-1-pos-fb <= hm2_[MESA](BOARD).0.encoder.01.position\
net joint-1-pos-fb => joint.1.motor-pos-fb\
net joint-1-pos-fb => pid.y0.feedback\
\
# PID Output\
net pid-y0-signal-in pid.y0.output => boot.0.pid1\
net pid-y0-signal-out <= boot.0.pout1\
net pid-y0-signal-out => hm2_[MESA](BOARD).0.pwmgen.01.value\
\
# Axis: Y Joint: 2 Output: 2\
# PID Setup\
setp pid.y1.Pgain [JOINT_2](P)\
setp pid.y1.Igain [JOINT_2](I)\
setp pid.y1.Dgain [JOINT_2](D)\
setp pid.y1.bias [JOINT_2](BIAS)\
setp pid.y1.FF0 [JOINT_2](FF0)\
setp pid.y1.FF1 [JOINT_2](FF1)\
setp pid.y1.FF2 [JOINT_2](FF2)\
setp pid.y1.deadband [JOINT_2](DEADBAND)\
setp pid.y1.maxoutput [JOINT_2](MAX_OUTPUT)\
setp pid.y1.error-previous-target True\
\
# joint-0 enable chain\
net joint-2-index-enable <=> pid.y1.index-enable\
net joint-2-index-enable <=> joint.2.index-enable\
net joint-2-index-enable <=> hm2_[MESA](BOARD).0.encoder.02.index-enable\
\
#net joint-2-enable <= joint.2.amp-enable-out\
#net joint-2-enable => pid.y1.enable\
net joint-2-enable => hm2_[MESA](BOARD).0.pwmgen.02.enable\
\
\
# PWM Generator setup\
setp hm2_[MESA](BOARD).0.pwmgen.02.output-type 1 #PWM pin0\
setp hm2_[MESA](BOARD).0.pwmgen.02.offset-mode 0 # offset mode so 50% = 0\
setp hm2_[MESA](BOARD).0.pwmgen.02.scale [JOINT_2]SCALE\
\
# ---Encoder feedback signals/setup---\
setp hm2_[MESA](BOARD).0.encoder.02.counter-mode 0\
setp hm2_[MESA](BOARD).0.encoder.02.filter 1\
setp hm2_[MESA](BOARD).0.encoder.02.index-invert 0\
setp hm2_[MESA](BOARD).0.encoder.02.index-mask 0\
setp hm2_[MESA](BOARD).0.encoder.02.index-mask-invert 0\
setp hm2_[MESA](BOARD).0.encoder.02.scale  [JOINT_2]ENCODER_SCALE\
\
# position command and feedback\
net joint-2-pos-cmd <= joint.2.motor-pos-cmd\
net joint-2-pos-cmd => pid.y1.command\
\
net joint-2-pos-fb <= hm2_[MESA](BOARD).0.encoder.02.position\
net joint-2-pos-fb => joint.2.motor-pos-fb\
net joint-2-pos-fb => pid.y1.feedback\
\
# PID Output\
net pid-y1-signal-in pid.y1.output => boot.0.pid2\
net pid-y1-signal-out <= boot.0.pout2\
net pid-y1-signal-out => hm2_[MESA](BOARD).0.pwmgen.02.value\
\
# Axis: Z Joint: 3 Output: 3\
# PID Setup\
setp pid.z.Pgain [JOINT_3](P)\
setp pid.z.Igain [JOINT_3](I)\
setp pid.z.Dgain [JOINT_3](D)\
setp pid.z.bias [JOINT_3](BIAS)\
setp pid.z.FF0 [JOINT_3](FF0)\
setp pid.z.FF1 [JOINT_3](FF1)\
setp pid.z.FF2 [JOINT_3](FF2)\
setp pid.z.deadband [JOINT_3](DEADBAND)\
setp pid.z.maxoutput [JOINT_3](MAX_OUTPUT)\
setp pid.z.error-previous-target True\
\
# joint-0 enable chain\
net joint-3-index-enable <=> pid.z.index-enable\
net joint-3-index-enable <=> joint.3.index-enable\
net joint-3-index-enable <=> hm2_[MESA](BOARD).0.encoder.03.index-enable\
\
net joint-3-enable <= joint.3.amp-enable-out\
net joint-3-enable => pid.z.enable\
net joint-3-enable => hm2_[MESA](BOARD).0.pwmgen.03.enable\
\
\
# PWM Generator setup\
setp hm2_[MESA](BOARD).0.pwmgen.03.output-type 1 #PWM pin0\
setp hm2_[MESA](BOARD).0.pwmgen.03.offset-mode 0 # offset mode so 50% = 0\
setp hm2_[MESA](BOARD).0.pwmgen.03.scale [JOINT_3]SCALE\
\
# ---Encoder feedback signals/setup---\
setp hm2_[MESA](BOARD).0.encoder.03.counter-mode 0\
setp hm2_[MESA](BOARD).0.encoder.03.filter 1\
setp hm2_[MESA](BOARD).0.encoder.03.index-invert 0\
setp hm2_[MESA](BOARD).0.encoder.03.index-mask 0\
setp hm2_[MESA](BOARD).0.encoder.03.index-mask-invert 0\
setp hm2_[MESA](BOARD).0.encoder.03.scale  [JOINT_3]ENCODER_SCALE\
\
# position command and feedback\
net joint-3-pos-cmd <= joint.3.motor-pos-cmd\
net joint-3-pos-cmd => pid.z.command\
\
net joint-3-pos-fb <= hm2_[MESA](BOARD).0.encoder.03.position\
net joint-3-pos-fb => joint.3.motor-pos-fb\
net joint-3-pos-fb => pid.z.feedback\
\
# PID Output\
net pid-z-signal-in pid.z.output => boot.0.pid3\
net pid-z-signal-out <= boot.0.pout3\
net pid-z-signal-out => hm2_[MESA](BOARD).0.pwmgen.03.value\
\
##############\
## SPINDLE ###\
##############\
# Spindle PWM Setup\
setp hm2_[MESA](BOARD).0.pwmgen.04.output-type [SPINDLE_0](PWM_TYPE)\
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency [SPINDLE_0](PWM_FREQUENCY)\
setp hm2_[MESA](BOARD).0.pwmgen.04.scale [SPINDLE_0](SCALE)\
\
# Spindle Feedback\
setp spindle.0.at-speed true\
\
# Spindle Command Pins\
net spindle-on <= spindle.0.on\
net spindle-on => pid.s.enable\
net spindle-on => hm2_[MESA](BOARD).0.ssr.00.out-01\
net spindle-cw <= spindle.0.forward\
net spindle-ccw <= spindle.0.reverse\
net spindle-brake <= spindle.0.brake\
\
# Spindle Enable\
net spindle-on <= spindle.0.on\
net spindle-on => hm2_[MESA](BOARD).0.pwmgen.04.enable\
\
# Spindle Connections\
net spindle-vel-cmd <= spindle.0.speed-out\
net spindle-vel-cmd => pid.s.command\
net spindle-pid-out <= pid.s.output\
net spindle-pid-out => hm2_[MESA](BOARD).0.pwmgen.04.value\
}