# Generated by PNCconf at Wed May 23 18:29:55 2012
# 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 probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4.BIT num_encoders=4 num_pwmgens=4 num_stepgens=0"
setp hm2_5i20.0.pwmgen.pwm_frequency 100000
setp hm2_5i20.0.pwmgen.pdm_frequency 100000
setp hm2_5i20.0.watchdog.timeout_ns 10000000
addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
loadrt pid num_chan=2
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
setp pid.0.Pgain pid.x.Pgain
setp pid.0.Igain pid.x.Igain
setp pid.0.Dgain pid.x.Dgain
setp pid.0.bias pid.x.bias
setp pid.0.FF0 pid.x.FF0
setp pid.0.FF1 pid.x.FF1
setp pid.0.FF2 pid.x.FF2
setp pid.0.deadband pid.x.deadband
setp pid.0.maxoutput pid.x.maxoutput
setp pid.0.enable pid.x.enable
setp pid.0.command pid.x.command
setp pid.0.feedback pid.x.feedback
setp pid.0.output pid.x.output
setp pid.0.index-enable pid.x.index-enable
setp pid.1.Pgain pid.y.Pgain
setp pid.1.Igain pid.y.Igain
setp pid.1.Dgain pid.y.Dgain
setp pid.1.bias pid.y.bias
setp pid.1.FF0 pid.y.FF0
setp pid.1.FF1 pid.y.FF1
setp pid.1.FF2 pid.y.FF2
setp pid.1.deadband pid.y.deadband
setp pid.1.maxoutput pid.y.maxoutput
setp pid.1.enable pid.y.enable
setp pid.1.command pid.y.command
setp pid.1.feedback pid.y.feedback
setp pid.1.output pid.y.output
setp pid.1.index-enable pid.y.index-enable
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread
# external output signals
# external input signals
# --- HOME-X ---
net home-x <= hm2_5i20.0.gpio.026.in_not
# --- HOME-Y ---
net home-y <= hm2_5i20.0.gpio.024.in_not
# --- MAX-X ---
net max-x <= hm2_5i20.0.gpio.028.in
# --- BOTH-Y ---
net both-y <= hm2_5i20.0.gpio.030.in
# --- MIN-X ---
net min-x <= hm2_5i20.0.gpio.032.in
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-index-enable <=> pid.x.index-enable
# PWM Generator signals/setup
setp hm2_5i20.0.pwmgen.02.output-type 1
setp hm2_5i20.0.pwmgen.02.scale [AXIS_0]OUTPUT_SCALE
net xenable => pid.x.enable
net xoutput pid.x.output => hm2_5i20.0.pwmgen.02.value
net xpos-cmd axis.0.motor-pos-cmd => pid.x.command
net xenable axis.0.amp-enable-out => hm2_5i20.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 0
setp hm2_5i20.0.encoder.02.filter 1
setp hm2_5i20.0.encoder.02.index-invert 0
setp hm2_5i20.0.encoder.02.index-mask 0
setp hm2_5i20.0.encoder.02.index-mask-invert 0
setp hm2_5i20.0.encoder.02.scale [AXIS_0]INPUT_SCALE
net xpos-fb <= hm2_5i20.0.encoder.02.position
net xpos-fb => pid.x.feedback
net xpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i20.0.encoder.02.index-enable
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-index-enable <=> pid.y.index-enable
# PWM Generator signals/setup
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.00.scale [AXIS_1]OUTPUT_SCALE
net yenable => pid.y.enable
net youtput pid.y.output => hm2_5i20.0.pwmgen.00.value
net ypos-cmd axis.1.motor-pos-cmd => pid.y.command
net yenable axis.1.amp-enable-out => hm2_5i20.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.00.counter-mode 0
setp hm2_5i20.0.encoder.00.filter 1
setp hm2_5i20.0.encoder.00.index-invert 0
setp hm2_5i20.0.encoder.00.index-mask 0
setp hm2_5i20.0.encoder.00.index-mask-invert 0
setp hm2_5i20.0.encoder.00.scale [AXIS_1]INPUT_SCALE
net ypos-fb <= hm2_5i20.0.encoder.00.position
net ypos-fb => pid.y.feedback
net ypos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i20.0.encoder.00.index-enable
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net both-y => axis.1.neg-lim-sw-in
net both-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# ---setup home / limit switch signals---
#net z-home-sw => axis.2.home-sw-in
#net z-neg-limit => axis.2.neg-lim-sw-in
#net z-pos-limit => axis.2.pos-lim-sw-in
#******************************
# connect miscellaneous signals
#******************************
# ---digital in / out signals---
net din-00 => motion.digital-in-00
net din-03 => motion.digital-in-03
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in