5i25+7i76 Spindle and Encoder Setup

# Generated by PNCconf at Sun Sep 29 12:26:37 2013 # 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=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=2 sserial_port_0=00xxxxxx " setp hm2_5i25.0.watchdog.timeout_ns 10000000 loadrt hal_parport cfg="0x0378 out" loadrt pid names=pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt scale names=scale.spindle addf parport.0.read servo-thread addf parport.0.write servo-thread addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.s.do-pid-calcs servo-thread addf abs.spindle servo-thread addf scale.spindle servo-thread addf lowpass.spindle servo-thread addf hm2_5i25.0.write servo-thread addf hm2_5i25.0.pet_watchdog servo-thread # external output signals # --- MACHINE-IS-ENABLED --- net machine-is-enabled parport.0.pin-01-out # --- COOLANT-FLOOD --- net coolant-flood parport.0.pin-09-out # external input signals # --- MIN-X --- net min-x <= hm2_5i25.0.7i76.0.0.input-00-not # --- MIN-Z --- net min-z <= hm2_5i25.0.7i76.0.0.input-01-not # --- MAX-HOME-X --- net max-home-x <= hm2_5i25.0.7i76.0.0.input-02-not # --- MAX-HOME-Z --- net max-home-z <= hm2_5i25.0.7i76.0.0.input-03-not # --- ESTOP-EXT --- net estop-ext <= parport.0.pin-15-in-not #******************* # AXIS X #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD 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.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 setp hm2_5i25.0.stepgen.00.control-type 0 setp hm2_5i25.0.stepgen.00.maxaccel 62.5 setp hm2_5i25.0.stepgen.00.maxvel 16.7 net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable # ---setup home / limit switch signals--- net max-home-x => axis.0.home-sw-in net min-x => axis.0.neg-lim-sw-in net max-home-x => axis.0.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_2]DIRHOLD 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.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 0 setp hm2_5i25.0.stepgen.01.maxaccel 62.5 setp hm2_5i25.0.stepgen.01.maxvel 16.7 net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net max-home-z => axis.2.home-sw-in net min-z => axis.2.neg-lim-sw-in net max-home-z => axis.2.pos-lim-sw-in #******************* # SPINDLE S #******************* # ---digital potentionmeter output signals/setup--- setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd => hm2_5i25.0.7i76.0.0.spinout net machine-is-enabled => hm2_5i25.0.7i76.0.0.spinena net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.00.counter-mode 1 setp hm2_5i25.0.encoder.00.filter 1 setp hm2_5i25.0.encoder.00.index-invert 0 setp hm2_5i25.0.encoder.00.index-mask 0 setp hm2_5i25.0.encoder.00.index-mask-invert 0 setp hm2_5i25.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE net spindle-revs <= hm2_5i25.0.encoder.00.position net spindle-vel-fb <= hm2_5i25.0.encoder.00.velocity net spindle-index-enable <=> hm2_5i25.0.encoder.00.index-enable # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd <= motion.spindle-speed-out net spindle-on <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true # 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 => lowpass.spindle.in net spindle-fb-filtered-rps lowpass.spindle.out => abs.spindle.in net spindle-fb-filtered-abs-rps abs.spindle.out => scale.spindle.in net spindle-fb-filtered-abs-rpm scale.spindle.out #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.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-ext => iocontrol.0.emc-enable-in # ---toolchange signals for custom tool changer--- net tool-number <= iocontrol.0.tool-prep-number net tool-change-request <= iocontrol.0.tool-change net tool-change-confirmed => iocontrol.0.tool-changed net tool-prepare-request <= iocontrol.0.tool-prepare net tool-prepare-confirmed => iocontrol.0.tool-prepared

# Generated by PNCconf at Sun Sep 29 12:26:37 2013 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = EMCO-Turn120 DEBUG = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/stephan/linuxcnc/nc_files PYVCP = pyvcp-panel.xml INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm LATHE = 1 POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 10.000000 MAX_LINEAR_VELOCITY = 13.333333 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = gedit GEOMETRY = xz [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [HAL] HALUI = halui HALFILE = EMCO-Turn120.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 3 COORDINATES = X Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.33 MAX_LINEAR_VELOCITY = 13.33 NO_FORCE_HOMING = 1 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 0.0 FERROR = 0.005 MIN_FERROR = 0.0005 MAX_VELOCITY = 13.3333333333 MAX_ACCELERATION = 50.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = -1280.0 MIN_LIMIT = -0.2 MAX_LIMIT = 50.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -6.666667 HOME_LATCH_VEL = 3.333333 HOME_FINAL_VEL = 0.333333 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.005 MIN_FERROR = 0.0005 MAX_VELOCITY = 13.3333333333 MAX_ACCELERATION = 50.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = -1280.0 MIN_LIMIT = -134.0 MAX_LIMIT = 0.2 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 6.666667 HOME_LATCH_VEL = -3.333333 HOME_FINAL_VEL = 0.333333 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 #******************** # Spindle #******************** [SPINDLE_9] ENCODER_SCALE = 1440.0 OUTPUT_SCALE = 2000.0 OUTPUT_MIN_LIMIT = 0.0 OUTPUT_MAX_LIMIT = 2000.0

Replace: loadrt abs names=abs.spindle with: loadrt abs names=abs.spindle,abs.spindle_output add: addf abs.spindle_output servo-thread replace: net spindle-vel-cmd => hm2_5i25.0.7i76.0.0.spinout with: net spindle-vel-cmd => abs.spindle_output.in net spindle-vel-cmd-abs abs.spindle_output.out => hm2_5i25.0.7i76.0.0.spinout