1c1
< # Tormach Lathe Simulation HAL file
---
> # Tormach Lathe Hal file for Mesa 5I25
5,7c5,8
< loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=9
< loadrt abs count=0
< loadrt pwmgen output_type=0
---
> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=9
> loadrt hostmot2
> loadrt hm2_pci config=" num_encoders=2 num_pwmgens=1 num_3pwmgens=0 num_stepgens=3 enable_raw " 
> loadrt estop_latch
8a10,11
> #loadrt near
> loadrt gearchange count=1
9a13,14
> loadrt machineokdb names=machine-ok-db
> 
11a17,84
> # as per Peter Wallace to reduce encoder errors from noise
> # use the 'raw' interface to set the encoder filter higher to ignore more noise
> # this sets how long an encoder signal needs to be stable to be accepted
> # register 0x3400 is QfilterRate decimal 13312
> # count rate is ClockLow/(QfilterRate + 2)
> # ClockLow is 33 MHz
> # setting the filter to 38 (decimal) will allow the encoder to function well past 100 kHz
> # lathe encoder is 1200 pulses per rev, 3000 RPM is 60 kHz
> #
> setp hm2_5i25.0.raw.write_address 13312
> setp hm2_5i25.0.raw.write_data [SPINDLE]ENCODER_FILTER
> setp hm2_5i25.0.raw.write_strobe TRUE
> 
> # stabilizes spindle RPM display
> loadrt lowpass
> setp lowpass.0.gain 0.01
> 
> # debounce - coolant relay switching noise hammers estop input
> loadrt debounce cfg=1,2
> loadrt lut5
> 
> # used to decode the signal from the lathe control board that encodes
> # the door and limit switches as a frequency
> loadrt freq2pin personality=0x0004
> setp freq2pin.0.freq-width 200
> setp freq2pin.0.input 0
> setp freq2pin.0.stability-count 25
> setp freq2pin.0.stability-width 20
> setp freq2pin.0.freq-table-00 1800
> setp freq2pin.0.freq-table-01 2000
> setp freq2pin.0.freq-table-02 2200
> setp freq2pin.0.freq-table-03 2400
> setp freq2pin.0.freq-table-04 2600
> setp freq2pin.0.freq-table-05 2800
> setp freq2pin.0.freq-table-06 3000
> setp freq2pin.0.freq-table-07 3200
> setp freq2pin.0.freq-table-08 3400
> setp freq2pin.0.freq-table-09 3600
> setp freq2pin.0.freq-table-10 3800
> setp freq2pin.0.freq-table-11 4000
> setp freq2pin.0.freq-table-12 4200
> setp freq2pin.0.freq-table-13 4400
> setp freq2pin.0.freq-table-14 4600
> setp freq2pin.0.freq-table-15 4800
> addf freq2pin.0 servo-thread
> 
> #############################################################################
> # servo thread
> 
> addf lut5.0 servo-thread
> addf debounce.0 servo-thread
> addf debounce.1 servo-thread
> 
> ########################################################################
> # noise debounce for estop
> # debounce.0 no longer used but left installed for the time being
> # temporarily bump from 150 ms to 850 ms to debug seemingly random e-stops
> #setp debounce.0.delay 850
> ###### estop debounce
> addf machine-ok-db servo-thread
> setp machine-ok-db.delay 850
> 
> # limit and door switches
> setp debounce.1.delay 10
> 
> addf hm2_5i25.0.read servo-thread
> addf hm2_5i25.0.write servo-thread
> addf hm2_5i25.0.pet_watchdog servo-thread
13,14c86
< # Add RT components to threads
< addf pwmgen.make-pulses base-thread
---
> addf lowpass.0 servo-thread
15a88
> # always needed
18,19c91,96
< addf abs.0 servo-thread
< addf pwmgen.update servo-thread
---
> 
> addf estop-latch.0 servo-thread
> 
> # used by spindle speed
> addf gearchange.0 servo-thread
> #addf near.0 servo-thread
23,31c100,227
< # Spindle set up
< net  machine-ok => pwmgen.0.enable
< net spindle-pwm pwmgen.0.pwm
< setp pwmgen.0.pwm-freq 10000.0
< setp pwmgen.0.scale 3000.
< setp pwmgen.0.offset 0.
< setp pwmgen.0.dither-pwm true
< net spindle-on motion.spindle-on
< net spindle-dir motion.spindle-reverse
---
> addf prog-not-idle servo-thread
> 
> 
> ###############################################################
> # 5i25 watchdog timeout
> # 10 milliseconds (~10 times the servo loop period)
> setp hm2_5i25.0.watchdog.timeout_ns 10000000
> 
> ###############################################################
> # 5i25
> # Configuration pin-out: 
> #
> #                    IO Connections for P3
> #    Lathe Function  Pin#    I/O     Pri. func    Sec. func    Chan      Pin func        Pin Dir
> #
> #    Spindle Speed    1        0     IOPort       StepGen       2        Step/Table1     (Out)
> #    Coolant         14        1     IOPort       None
> #    X Direction      2        2     IOPort       StepGen       0        Dir/Table2      (Out)
> #    Machine OK      15        3     IOPort       None                                   (In)
> #    X Step           3        4     IOPort       StepGen       0        Step/Table1     (Out)
> #    Door Switch     16        5     IOPort       QCount        1        Quad-A          (In)
> #    Z Direction      4        6     IOPort       StepGen       1        Dir/Table2      (Out)
> #    ChrgPump/Tool#  17        7     IOPort       PWM           0        PWM             (Out)
> #    Z Step           5        8     IOPort       StepGen       1        Step/Table1     (Out)
> #    Spindle Dir      6        9     IOPort       None
> #    ATC Reference    7       10     IOPort       None
> #    ATC Forward      8       11     IOPort       None
> #    Collet Closer    9       12     IOPort       None
> #    Spindle Enc Z   10       13     IOPort       QCount        0        Quad-IDX        (In)
> #    Spindle Enc A   11       14     IOPort       QCount        0        Quad-A          (In)
> #    Spindle Enc B   12       15     IOPort       QCount        0        Quad-B          (In)
> #    Probe           13       16     IOPort       None                                   (In)
> #
> 
> 
> ###############################################################
> # Spindle speed controlled by frequency
> #
> # LinuxCNC (rpm) => gearchange (pulse-freq) => stepgen (step & dir) => spindle
> #
> 
> setp gearchange.0.min1 [SPINDLE]LO_RANGE_MIN
> setp gearchange.0.max1 [SPINDLE]LO_RANGE_MAX
> setp gearchange.0.min2 [SPINDLE]HI_RANGE_MIN
> setp gearchange.0.max2 [SPINDLE]HI_RANGE_MAX
> setp gearchange.0.scale2 [SPINDLE]HI_RANGE_SCALE
> setp gearchange.0.sel 1
> 
> # direction not controlled via gearchanger, so reverse isn't set
> # and the dir-in and dir-out pins aren't linked
> net spindle-speed-raw motion.spindle-speed-out gearchange.0.speed-in
> net spindle-speed gearchange.0.speed-out hm2_5i25.0.stepgen.02.velocity-cmd
> 
> # type 1 velocity control mode
> setp hm2_5i25.0.stepgen.02.control-type 1
> 
> # step/dir
> # type 2 quadrature output for 50% duty cycle
> setp hm2_5i25.0.stepgen.02.step_type 2
> 
> # position = counts / position_scale
> # this scales the input RPM to the output frequency
> # fast spindle pulley 1000 Hz -> 1000 RPM
> setp hm2_5i25.0.stepgen.02.position-scale [SPINDLE]LO_SCALE
> 
> # no limit on acceleration
> setp hm2_5i25.0.stepgen.02.maxaccel 0
> 
> # for lathe 5000 Hz/RPM max
> # 5000 Hz maximum frequency, position units / second
> setp hm2_5i25.0.stepgen.02.maxvel 5000
> 
> # stepspace in nanoseconds
> setp hm2_5i25.0.stepgen.02.stepspace 0
> 
> # steplen in nanoseconds
> setp hm2_5i25.0.stepgen.02.steplen 100000
> 
> # Spindle run assigned in the the POSTGUI_HALFILE
> 
> # spindle direction, '0' forward, '1' reverse
> setp hm2_5i25.0.gpio.009.is_output 1
> setp hm2_5i25.0.gpio.009.is_opendrain 0
> # invert direction signal
> setp hm2_5i25.0.gpio.009.invert_output 1
> # connect motion to pin
> net spindle-forward motion.spindle-forward => hm2_5i25.0.gpio.009.out
> 
> # door and limit switch
> # frequency encoded signal for door and limit switches
> # tied to encoder "A" in step/dir mode
> setp hm2_5i25.0.encoder.01.counter-mode 1
> # with no "B" dir signal encoder run backwards
> setp hm2_5i25.0.encoder.01.scale -1
> # set timeout for slow/no pulses to short amount of time
> # in other words drop to zero velocity quickly
> setp hm2_5i25.0.encoder.01.vel-timeout 0.010
> net freq2pin-input hm2_5i25.0.encoder.01.velocity => freq2pin.0.input
> 
> net door-switch-in freq2pin.0.output-not-0
> 
> # limit switch
> net limit-switch-in freq2pin.0.output-not-1
> 
> ########################################################################
> # home + limit switch
> 
> # must noise debounce inputs - otherwise coolant on/off relay can cause spurious estops/limits
> net limit-switch-in => debounce.1.0.in
> net door-switch-in => debounce.1.1.in
> 
> net all-limit-home <= debounce.1.0.out
> 
> # this truth table makes lut5.0.out false if any inputs are true
> # in other words, if any axis is homing all-limit is false
> # this avoids limit switch errors while homing
> setp lut5.0.function 0x1000000
> net all-limit-home => lut5.0.in-4
> net all-limit <= lut5.0.out
> 
> net homing-x <= axis.0.homing => lut5.0.in-0
> net homing-y <= axis.1.homing => lut5.0.in-1
> net homing-z <= axis.2.homing => lut5.0.in-2
> net limit-switch-enable => lut5.0.in-3
> 
> # connect to axes
> net all-limit-home => axis.0.home-sw-in
> net all-limit => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in
32a229,233
> net all-limit-home => axis.2.home-sw-in
> net all-limit => axis.2.neg-lim-sw-in axis.2.pos-lim-sw-in
> 
> 
> ########################################################################
34,35c235
< # iocontrol.0.coolant-flood now assigned in the the POSTGUI_HALFILE
< # net coolant-flood iocontrol.0.coolant-flood => parport.0.pin-14-out
---
> # iocontrol.0.coolant-flood assigned in the the POSTGUI_HALFILE
37,41d236
< # counting the spindle encoder in software
< loadrt encoder num_chan=1
< # simulate the encoder
< loadrt sim_encoder num_chan=1
< loadrt limit2 count=1
43c238,323
< addf limit2.0                   servo-thread
---
> ########################################################################
> # Spindle Encoder
> setp hm2_5i25.0.encoder.00.counter-mode 0
> 
> # setting scale negative makes spindle position increase in CW
> # and decrease in CCW - if this not done threading and rigid tapping stall
> # perhaps swapping the A-B encoder inputs would have the same effect
> setp hm2_5i25.0.encoder.00.scale [SPINDLE]ENCODER_SCALE
> setp hm2_5i25.0.encoder.00.filter 1
> 
> # see 'man hostmot2' for descriptions
> setp hm2_5i25.0.encoder.00.index-mask 0
> 
> net spindle-position hm2_5i25.0.encoder.00.position => motion.spindle-revs
> net spindle-raw-velocity hm2_5i25.0.encoder.00.velocity => motion.spindle-speed-in lowpass.0.in
> net spindle-velocity lowpass.0.out
> net spindle-index-enable hm2_5i25.0.encoder.00.index-enable <=> motion.spindle-index-enable
> 
> # note: gpio pins only read at servo thread frequency
> # these nodes are only for driving diagnostic "LEDs" in the UI
> # this is only going to be useful when the spindle is rotated by hand slowly
> net spindle-phase-A hm2_5i25.0.gpio.014.in
> net spindle-phase-B hm2_5i25.0.gpio.015.in
> net spindle-phase-Z hm2_5i25.0.gpio.013.in_not
> 
> ##################################################
> # SPINDLE-AT-SPEED - NOT YET TESTED - NOT ENABLED
> ##################################################
> ## for at-speed detection
> ## +/- 5% for true
> #setp near.0.scale 1.05
> ## or with 25 RPM of commanded
> #setp near.0.difference 25
> #net spindle-cmd => near.0.in1
> #net spindle-velocity => near.0.in2
> #net spindle-at-speed near.0.out motion.spindle-at-speed
> 
> ########################################################################
> # Charge pump
> # pin set by 5i25 configuration
> # P3 pin 17 gpio 007
> # duty cycle for tool #1 is 10%, 2 is 20%, 8 is 80%, 90% is non-ATC tool
> 
> setp hm2_5i25.0.pwmgen.00.output-type 1
> setp hm2_5i25.0.pwmgen.pwm_frequency 500
> setp hm2_5i25.0.pwmgen.00.scale 100
> # start with no ATC tool indicated
> # actual ATC tool changes handled via tormachltc.comp and the UI
> setp hm2_5i25.0.pwmgen.00.value 90
> 
> net estop-out <= iocontrol.0.user-enable-out
> 
> ########################################################################
> # E stop
> 
> # P3 pin 15 gpio 003
> 
> # estop noise debounce
> # use this line with a machine attached
> net machine-ok-raw hm2_5i25.0.gpio.003.in_not => machine-ok-db.in
> 
> # use the setp line below without a machine attached
> # this isn't useful unless a properly flashed 5i25 is present
> # no machine attached
> #setp machine-ok-db.in 1
> 
> net machine-ok-debounced machine-ok-db.out => estop-latch.0.ok-in
> 
> net estop estop-latch.0.ok-out => iocontrol.0.emc-enable-in  => hm2_5i25.0.pwmgen.00.enable
> net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
> 
> ########################################################################
> # Digital outputs
> 
> # P3 pin 8 gpio 011
> # ATC_FWD
> setp hm2_5i25.0.gpio.011.is_output 1
> setp hm2_5i25.0.gpio.011.is_opendrain 0
> setp hm2_5i25.0.gpio.011.out 1
> #net dout-01 motion.digital-out-01 => hm2_5i25.0.gpio.011.out
> 
> ########################################################################
> # Digital inputs
> # P3 pin 7 gpio 010
> # ATC_REF - tool change complete
> setp hm2_5i25.0.gpio.010.is_output 0
45d324
< addf prog-not-idle servo-thread
47,90c326,335
< #######################################################
< # Beginning of threading related stuff
< #######################################################
< 
< # spindle speed control
< net spindle-speed-cmd  motion.spindle-speed-out => limit2.0.in
< net spindle-speed-limited limit2.0.out => sim-encoder.0.speed
< 
< # simulate spindle mass
< setp limit2.0.maxv 500.0 # rpm/second
< 
< # spindle encoder
< # connect encoder signals to encoder counter
< net spindle-phase-A sim-encoder.0.phase-A => encoder.0.phase-A
< net spindle-phase-B sim-encoder.0.phase-B => encoder.0.phase-B
< net spindle-phase-Z sim-encoder.0.phase-Z => encoder.0.phase-Z
< 
< # assume 120 ppr = 480 counts/rev for the spindle
< setp sim-encoder.0.ppr 120
< # iocontrol output is in rpm, but sim-encoder speed is rps
< setp sim-encoder.0.scale 60
< # scale encoder output to read in revolutions
< # (that way thread pitches can be straightforward,
< #  a 20 tpi thread would multiply the encoder output
< #  by 1/20, etc)
< setp encoder.0.position-scale 480
< 
< # encoder reset control
< # hook up motion controller's sync output
< net spindle-index-enable motion.spindle-index-enable <=> encoder.0.index-enable
< 
< # report our revolution count to the motion controller
< net spindle-pos encoder.0.position => motion.spindle-revs
< 
< # for spindle velocity estimate
< loadrt lowpass count=1
< loadrt scale count=1
< net spindle-rps-raw encoder.0.velocity lowpass.0.in
< net spindle-rps-filtered lowpass.0.out scale.0.in motion.spindle-speed-in
< net spindle-rpm-filtered scale.0.out
< setp scale.0.gain 60
< setp lowpass.0.gain .07
< addf lowpass.0 servo-thread
< addf scale.0 servo-thread
---
> # Tool Changer
> 
> # type of tool changer is set by the UI via tormachltc.0.tool-changer-type
> # 0 - manual
> # 1 - gang
> # 3 - 8 position ATC
> 
> # tool-prepare
> # loopback - not needed
> net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
92,99c337,338
< # for at-speed detection
< loadrt near
< addf near.0 servo-thread
< setp near.0.scale 1.1
< setp near.0.difference 10
< net spindle-speed-cmd => near.0.in1
< net spindle-rpm-filtered => near.0.in2
< net spindle-at-speed near.0.out motion.spindle-at-speed
---
> # tool number
> net tool-prep-number-to-comp iocontrol.0.tool-prep-number => tormachltc.0.tool-prep-number
101c340,341
< net  spindle-fwd <= motion.spindle-forward
---
> # ATC tool number PWM duty cycle computed by tormachltc from tool-prep-number
> net tool-number-as-pwm tormachltc.0.pwm-duty-cycle => hm2_5i25.0.pwmgen.00.value
103,104c343,349
< addf encoder.capture-position servo-thread
< addf sim-encoder.update-speed servo-thread
---
> # feedback that tool change is complete
> # iocontrol.0.tool-changed needs to go high when tool change is complete
> net tool-change-done-from-changer tormachltc.0.tool-changed-out => iocontrol.0.tool-changed
> 
> # this connects the lathe control board tool-changed signal to the HAL comp
> # this pin from the lathe control board is active low so invert
> net tool-change-done-from-atc hm2_5i25.0.gpio.010.in_not <=> tormachltc.0.atc-tool-changed
106,107c351,374
< addf sim-encoder.make-pulses    base-thread
< addf encoder.update-counters    base-thread
---
> # 0 -> 1 iocontrol.0.tool-change begins ATC tool change process for ATC tools
> # comp will only pass along to lathe control board for ATC tool numbers
> net tool-change-start iocontrol.0.tool-change => tormachltc.0.tool-change-in
> 
> # and connect comp tool-change-out to the lathe control board
> net tcout tormachltc.0.tool-change-out => hm2_5i25.0.gpio.011.out
> 
> 
> ########################################################################
> # collet closer
> #
> #net dout-02 motion.digital-out-02 => parport.0.pin-09-out
> # P3 pin 9 gpio 012
> setp hm2_5i25.0.gpio.012.is_output 1
> setp hm2_5i25.0.gpio.012.is_opendrain 0
> setp hm2_5i25.0.gpio.012.out 0
> net dout-02 motion.digital-out-02 => hm2_5i25.0.gpio.012.out
> 
> ########################################################################
> # Digital input
> # SPARE SPARE
> # P3 pin 13 gpio 016
> setp hm2_5i25.0.gpio.016.is_output 0
> net din-00 hm2_5i25.0.gpio.016.in => motion.digital-in-00
124,125d390
< # collet closer
< net dout-02 motion.digital-out-02 
127c392
< # Axes
---
> ########################################################################
129,130c394,397
< # loopback
< net axisXpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb
---
> # step/dir
> setp hm2_5i25.0.stepgen.00.step_type 0
> # position control
> setp hm2_5i25.0.stepgen.00.control-type 0
132,134c399,401
< # Z axis
< # loopback
< net axisZpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb
---
> # scaling for position feedback, position command, and velocity command, in steps per length unit.
> # converts from counts to position units. position = counts / position_scale
> setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]SCALE
136,137c403,407
< # estop loopback
< net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
---
> # stepper driver timing parameters
> setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
> setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
> setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
> setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
139c409,410
< # Tool Changer
---
> setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
> setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
141,144c412
< # type of tool changer is set by the UI via tormachltc.0.tool-changer-type
< # 0 - manual
< # 1 - gang
< # 3 - 8 position ATC
---
> net xpos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
146,148c414,447
< # tool-prepare
< # loopback - not needed
< net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
---
> net xpos-fb hm2_5i25.0.stepgen.00.position-fb => axis.0.motor-pos-fb
> 
> # P3 pin 3 gpio 004
> setp hm2_5i25.0.gpio.004.invert_output 1
> 
> net xenable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
> 
> ########################################################################
> # Z axis
> # step/dir
> setp hm2_5i25.0.stepgen.01.step_type 0
> # position control
> setp hm2_5i25.0.stepgen.01.control-type 0
> 
> # scaling for position feedback, position command, and velocity command, in steps per length unit.
> # converts from counts to position units. position = counts / position_scale
> setp hm2_5i25.0.stepgen.01.position-scale [AXIS_2]SCALE
> 
> # stepper driver timing parameters
> setp hm2_5i25.0.stepgen.01.steplen [AXIS_2]STEPLEN
> setp hm2_5i25.0.stepgen.01.stepspace [AXIS_2]STEPSPACE
> setp hm2_5i25.0.stepgen.01.dirhold [AXIS_2]DIRHOLD
> setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP
> 
> setp hm2_5i25.0.stepgen.01.maxvel [AXIS_2]STEPGEN_MAX_VEL
> setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_2]STEPGEN_MAXACCEL
> 
> net zpos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
> net zpos-fb hm2_5i25.0.stepgen.01.position-fb => axis.2.motor-pos-fb
> 
> # P3 pin 5 gpio 008
> setp hm2_5i25.0.gpio.008.invert_output 1
> 
> net zenable axis.2.amp-enable-out => hm2_5i25.0.stepgen.01.enable
150,151d448
< # tool number
< net tool-prep-number-to-comp iocontrol.0.tool-prep-number => tormachltc.0.tool-prep-number
153,155d449
< # feedback that tool change is complete
< # iocontrol.0.tool-changed needs to go high when tool change is complete
< net tool-change-done-from-changer tormachltc.0.tool-changed-out => iocontrol.0.tool-changed
157,160d450
< # 0 -> 1 iocontrol.0.tool-change begins ATC tool change process
< # connect real ATC signal to the HAL comp
< # lathe control board ignores it if the tool number is out of range of the ATC
< net tool-change-start iocontrol.0.tool-change
162,163d451
< # and connect iocontrol.0.tool-change to the tool changer comp
< net tool-change-start tormachltc.0.tool-change-in
165,167d452
< # this connects the lathe control board tool-changed signal to the HAL comp
< # for sim ATC 'tool-changed' is looped back to 'tool-change'
< net tool-change-start tormachltc.0.atc-tool-changed