Tool height setter and 3d probe inputs

# Generated by PNCconf at Tue Jan 18 09:12:59 2022
# Using LinuxCNC version:  2.8
# 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="10.10.10.10" config=" num_encoders=5 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp    hm2_7i96.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt abs names=abs.0,abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt near

addf hm2_7i96.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf scale.spindle            servo-thread
addf abs.spindle              servo-thread
addf lowpass.spindle          servo-thread
addf near.0                   servo-thread
addf hm2_7i96.0.write         servo-thread
addf abs.0              servo-thread

# external output signals

# --- COOLANT-MIST ---
net coolant-mist  =>     hm2_7i96.0.ssr.00.out-01


# external input signals

# --- MACHINE-ON ---
net external-machine-on <= hm2_7i96.0.gpio.003.in_not

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i96.0.gpio.000.in

# --- PROBE-IN ---
#net probe-in     <=  hm2_7i96.0.gpio.001.in

net toolsetter-in     <=  hm2_7i96.0.gpio.001.in => tool_probe.in0

net probe-in     <=  hm2_7i96.0.gpio.002.in => tool_probe.in1

net tool-or-probe tool_probe.out


# --- Probe Blast---
#net probe-blast => hm2_7i96.0.ssr.00.out-02


#*******************
#  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   hm2_7i96.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i96.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i96.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i96.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i96.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i96.0.stepgen.00.step_type        0
setp   hm2_7i96.0.stepgen.00.control-type     1
setp   hm2_7i96.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i96.0.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     <= hm2_7i96.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i96.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i96.0.stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  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
# 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   hm2_7i96.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i96.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i96.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i96.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i96.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i96.0.stepgen.01.step_type        0
setp   hm2_7i96.0.stepgen.01.control-type     1
setp   hm2_7i96.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i96.0.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     <= hm2_7i96.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i96.0.stepgen.01.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i96.0.stepgen.01.enable

# ---setup home / limit switch signals---

net y-home-sw     =>  joint.1.home-sw-in
net y-neg-limit     =>  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
# 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   hm2_7i96.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i96.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i96.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_7i96.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i96.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i96.0.stepgen.02.step_type        0
setp   hm2_7i96.0.stepgen.02.control-type     1
setp   hm2_7i96.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i96.0.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     <= hm2_7i96.0.stepgen.02.velocity-cmd
net z-pos-fb     <= hm2_7i96.0.stepgen.02.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => hm2_7i96.0.stepgen.02.enable

# ---setup home / limit switch signals---

net z-home-sw     =>  joint.2.home-sw-in
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net z-pos-limit     =>  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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.s.maxerror 0.000500

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# Step Gen signals/setup

setp   hm2_7i96.0.stepgen.03.dirsetup        [SPINDLE_0]DIRSETUP
setp   hm2_7i96.0.stepgen.03.dirhold         [SPINDLE_0]DIRHOLD
setp   hm2_7i96.0.stepgen.03.steplen         [SPINDLE_0]STEPLEN
setp   hm2_7i96.0.stepgen.03.stepspace       [SPINDLE_0]STEPSPACE
setp   hm2_7i96.0.stepgen.03.position-scale  [SPINDLE_0]STEP_SCALE
setp   hm2_7i96.0.stepgen.03.step_type        0
setp   hm2_7i96.0.stepgen.03.control-type     1
setp   hm2_7i96.0.stepgen.03.maxaccel         [SPINDLE_0]MAX_ACCELERATION
setp   hm2_7i96.0.stepgen.03.maxvel           [SPINDLE_0]MAX_VELOCITY

net spindle-vel-cmd-rps  => hm2_7i96.0.stepgen.03.velocity-cmd

#(enables the DMM drive with the power button)
net machine-is-on <= halui.machine.is-on
net machine-is-on => hm2_7i96.0.ssr.00.out-00

#(enables the spindle stepgen)
net machine-is-enabled <= motion.motion-enabled
net machine-is-enabled => hm2_7i96.0.stepgen.03.enable

# ---Encoder feedback signals/setup---

setp    hm2_7i96.0.encoder.04.counter-mode 0
setp    hm2_7i96.0.encoder.04.filter 1
setp    hm2_7i96.0.encoder.04.index-invert 0
setp    hm2_7i96.0.encoder.04.index-mask 0
setp    hm2_7i96.0.encoder.04.index-mask-invert 0
setp    hm2_7i96.0.encoder.04.scale  [SPINDLE_0]ENCODER_SCALE
net spindle-revs             <=   hm2_7i96.0.encoder.04.position
net spindle-vel-fb-rps       <=   hm2_7i96.0.encoder.04.velocity
net spindle-index-enable     <=>  hm2_7i96.0.encoder.04.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-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---

net spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb-rps-abs =>  near.0.in2

net spindle-at-speed       <=  near.0.out

net spindle-vel-fb-rps         =>  abs.0.in
net spindle-vel-fb-rps-abs abs.0.out

setp near.0.scale 1.000000
setp near.0.difference 2.00

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

setp     scale.spindle.gain 60
setp     lowpass.spindle.gain 1.000000

net spindle-vel-fb-rps        =>     scale.spindle.in
net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in
net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in
net spindle-fb-rpm-abs-filtered  lowpass.spindle.out  

#******************************
# 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
net tool-or-probe     =>  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-ext     =>  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

loadrt or2 names=tool_probe
addf tool_probe servo-thread