Die beiden Pins waren schon bei mir verbunden:
net b-pos-fb joint.3.motor-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
Die hm2_5i25.0.encoder.01.position stimmt nicht mit der joint.3.pos-cmd überein.
Die Werte laufen auch nicht parallel zu einander. Die Werte nähern sich an bei 0, -30, -45, -60 und -90 Grad und driften dazwischen ab.
Das liegt meiner Meinung daran, dass die Rund-Achse B ja über einen Linearantrieb angetrieben wird, dessen Länge 270mm beträgt.
Wie bekomme ich den Encoder(hm2_5i25.0.encoder.01.position) so integriert, das am Ende der encoder-wert mit dem joint.3.motor-pos-fb Wert übereinstimmt?Ich hänge mal meine Hal hier an.
Code:
###########################
#---V4.hal---2025-02-15---#
###########################
#--------------------
#---- => Load Realtime-Modules for >V3BSTEPBCA.hal<
#---- => Module laden fue >V3BSTEPBCA.hal<
# --- Kinematik laden
loadrt [KINS]KINEMATICS
#autoconverted trivkins
#loadrt [KINS]KINEMATICS
#autoconverted maxkins
# --- EMCMOT/TRAJ laden
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# PCI Treiber und configuration laden fue mesa 5i25/7i76
loadrt hostmot2
# --------- fue beide 7i76 Mode 2 >..._port_0=2x2x< einstellen-----------
loadrt hm2_pci config=" num_encoders=2 num_pwmgens=0 num_3pwmgens=0 num_stepgens=10 sserial_port_0=2x2x"
addf hm2_5i25.0.read servo-thread
addf hm2_5i25.0.write servo-thread
setp hm2_5i25.0.watchdog.timeout_ns 10000000
#
#----Encoder laden ---
# fue das Handrad => 0
# fue den Spindelencoder => 1
# fue den B-Achs-Encoder => 01
loadrt encoder num_chan=2
addf encoder.capture-position servo-thread
addf encoder.update-counters servo-thread
#addf encoder.0.capture-position servo-thread
#addf hm2_5i25.0.encoder.01.capture-position servo-thread
#addf encoder.0.update-counters servo-thread
#----
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#--------------------
#---- => Load Realtime-Modules for Jogwheel
#---- => Module fue Handrad laden
loadrt mux8
addf mux8.0 servo-thread
loadrt ilowpass
addf ilowpass.0 servo-thread
loadrt or2 count=6
addf or2.0 servo-thread
addf or2.1 servo-thread
addf or2.2 servo-thread
addf or2.3 servo-thread
addf or2.4 servo-thread
addf or2.5 servo-thread
loadrt and2 names=and2_jogtaster1,and2_jogtaster2,and2_Taster_u_Wkz
addf and2_jogtaster1 servo-thread
addf and2_jogtaster2 servo-thread
addf and2_Taster_u_Wkz servo-thread
#--------------------
#---- => Load Realtime-Modules for Spindel
#---- => Realtime-Module fue Spindel laden
#loadrt pid num_chan=2
#addf pid.0.do-pid-calcs servo-thread
#addf pid.1.do-pid-calcs servo-thread
#addf pid.s.do-pid-calcs servo-thread
#loadrt orient count=1
#addf orient.0 servo-thread
#loadrt mux2 count=1
#addf mux2.0 servo-thread
#loadrt near count=1
#addf near.0 servo-thread
#loadrt edge count=1
#addf edge.0 servo-thread
loadrt abs count=1
addf abs.0 servo-thread
#--------------------
################################################################################
# external output signals / externe Ausgänge 7i76
#=======================================================================
# --- SPINDLE-ON ---
#setp hm2_5i25.0.gpio.006.is_output true
#net spindle-on hm2_5i25.0.gpio.006.out --- Status offen
#=======================================================================
# --- SPINDLE-CW ---
#setp hm2_5i25.0.gpio.007.is_output true
#net spindle-cw hm2_5i25.0.gpio.007.out --- Status offen
#=======================================================================
# --- SPINDLE-CCW ---
#setp hm2_5i25.0.gpio.008.is_output true
#net spindle-ccw hm2_5i25.0.gpio.008.out --- Status offen
#=======================================================================
# --- SPINDLE-BRAKE ---
#setp hm2_5i25.0.gpio.009.is_output true
#net spindle-brake hm2_5i25.0.gpio.009.out --- Status offen
#=======================================================================
################################################################################
# external input signals / externe Eingänge 7i76
#=======================================================================
# --- MAX-X ---Endschalter X- --- Status OK
net max-x <= hm2_5i25.0.7i76.0.0.input-00-not
# --- MIN-X ---Endschalter X+ --- Status OK
net min-x <= hm2_5i25.0.7i76.0.0.input-01-not
#=======================================================================
# --- MIN-Y ---Endschalter Y- --- Status OK
net min-y <= hm2_5i25.0.7i76.0.0.input-02-not
# --- MAX-Y ---Endschalter Y+ --- Status OK
net max-y <= hm2_5i25.0.7i76.0.0.input-03-not
#=======================================================================
# --- MAX-Z ---Endschalter Z- --- Status OK
net max-z <= hm2_5i25.0.7i76.0.0.input-04-not
# --- MIN-Z ---Endschalter Z+ --- Status OK
net min-z <= hm2_5i25.0.7i76.0.0.input-05-not
#=======================================================================
# --- MAX-B ---Endschalter B- --- Status OK
net max-b <= hm2_5i25.0.7i76.0.0.input-06-not
# --- MIN-B ---Endschalter B+ --- Status OK
net min-b <= hm2_5i25.0.7i76.0.0.input-07-not
#=======================================================================
# --- HOME-X ---Referenzpunkt X-Achse --- Status OK
net home-x <= hm2_5i25.0.7i76.0.0.input-10
# --- HOME-Y ---Referenzpunkt Y-Achse --- Status OK
net home-y <= hm2_5i25.0.7i76.0.0.input-11
# --- HOME-Z ---Referenzpunkt Z-Achse --- Status OK
net home-z <= hm2_5i25.0.7i76.0.0.input-12
# --- HOME-A ---Referenzpunkt A-Achse --- Status OK
net home-a <= hm2_5i25.0.7i76.0.0.input-13
# --- HOME-B ---Referenzpunkt B-Achse --- Status OK
net home-b <= hm2_5i25.0.7i76.0.0.input-14
#net home-b <= hm2_5i25.0.encoder.01.input-index
#setp hm2_5i25.0.encoder.01.countermode 0
# --- HOME-C ---Referenzpunkt C-Achse --- Status OK
net home-c <= hm2_5i25.0.7i76.0.0.input-15
#=======================================================================
# --- Toolsensor --- Werkzeugsensor --- Status OK
# hm2_5i25.0.7i76.0.2.input-03-not
#=======================================================================
# --- Touchprobe --- Messtasterschalter --- Status OK
# hm2_5i25.0.7i76.0.2.input-06-not
#=======================================================================
# --- ESTOP-EXT ---Not-Halt-Taster --- Status OK
net estop-ext <= hm2_5i25.0.7i76.0.0.input-08
#=======================================================================
# --- Alarm ---Entstufe --- Status offen
#net alarm <= hm2_5i25.0.7i76.0.0.input-XX
#=======================================================================
# --- Laserlichtschranke ---ueber ULN2003A --- Status OK
#net Laser-an <= hm2_5i25.0.7i76.0.2.output-13 # --- wird mit M105 eingeschaltet.
#net Laser-aus <= hm2_5i25.0.7i76.0.2.output-13 # --- wird mit M104 ausgeschaltet.
# --- Touchprobe --- Laserlichtschranke --- Status OK
# hm2_5i25.0.7i76.0.2.input-07-not
#=======================================================================
# --- Staubsauger ---SchaltsteckdoseA --- Status OK
#net SteckdoseA <= hm2_5i25.0.7i76.0.2.output-14 # --- wird ueber M100 aus und mit M101 eingeschaltet.
#=======================================================================
# --- Licht Bearbeitungsraum ---SchaltsteckdoseB --- Status OK
#net SteckdoseB <= hm2_5i25.0.7i76.0.2.output-15 # --- wird ueber M102 aus und mit M103 eingeschaltet.
#=======================================================================
################################################################################
#--------------------
# ************************
# AXIS X / X Achse *
# ************************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [JOINT_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 [JOINT_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
net x-pos-fb joint.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-cmd joint.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
net x-enable joint.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
# ---setup home / limit switch signals---OK
net home-x => joint.0.home-sw-in
net min-x => joint.0.neg-lim-sw-in
net max-x => joint.0.pos-lim-sw-in
#--------------------
# ************************
# AXIS Y / Y Achse *
# ************************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]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 [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
net y-pos-fb joint.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-cmd joint.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
net y-enable joint.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable
# ---setup home / limit switch signals---OK
net home-y => joint.1.home-sw-in
net min-y => joint.1.neg-lim-sw-in
net max-y => joint.1.pos-lim-sw-in
#--------------------
# ************************
# AXIS Z / Z Achse *
# ************************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 0
setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
net z-pos-fb joint.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net z-pos-cmd joint.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
net z-enable joint.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable
# ---setup home / limit switch signals---OK
net home-z => joint.2.home-sw-in
net min-z => joint.2.neg-lim-sw-in
net max-z => joint.2.pos-lim-sw-in
#--------------------
# ************************
# AXIS B / B Achse *
# ************************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 0
setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---Encoder signals setup---------------------------------------------
setp hm2_5i25.0.encoder.01.counter-mode [JOINT_3]ENCODER_01_COUNTER_MODE
setp hm2_5i25.0.encoder.01.filter [JOINT_3]ENCODER_01_FILTER
setp hm2_5i25.0.encoder.01.index-invert [JOINT_3]ENCODER_01_INDEX_INVERT
setp hm2_5i25.0.encoder.01.index-mask [JOINT_3]ENCODER_01_INDEX_MASK
setp hm2_5i25.0.encoder.01.index-mask-invert [JOINT_3]ENCODER_01_INDEX_MASK_INVERT
setp hm2_5i25.0.encoder.01.scale [JOINT_3]ENCODER_01_SCALE
net b-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net b-pos-fb => joint.3.motor-pos-fb
#net encoder-pos-b hm2_5i25.0.encoder.01.position => hm2_5i25.0.stepgen.03.position-fb
#net encoder-vel-b hm2_5i25.0.encoder.01.velocity => hm2_5i25.0.stepgen.03.velocity-fb
net b-pos-fb joint.3.motor-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net b-pos-cmd joint.3.motor-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd
net b-enable joint.3.amp-enable-out => hm2_5i25.0.stepgen.03.enable
# ---setup home / limit switch signals---OK
net home-b => joint.3.home-sw-in
net min-b => joint.3.neg-lim-sw-in
net max-b => joint.3.pos-lim-sw-in
#--------------------
# ************************
# AXIS C / C Achse *
# ************************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.04.dirsetup [JOINT_4]DIRSETUP
setp hm2_5i25.0.stepgen.04.dirhold [JOINT_4]DIRHOLD
setp hm2_5i25.0.stepgen.04.steplen [JOINT_4]STEPLEN
setp hm2_5i25.0.stepgen.04.stepspace [JOINT_4]STEPSPACE
setp hm2_5i25.0.stepgen.04.position-scale [JOINT_4]STEP_SCALE
setp hm2_5i25.0.stepgen.04.step_type 0
setp hm2_5i25.0.stepgen.04.control-type 0
setp hm2_5i25.0.stepgen.04.maxaccel [JOINT_4]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.04.maxvel [JOINT_4]STEPGEN_MAXVEL
net c-pos-fb joint.4.motor-pos-fb <= hm2_5i25.0.stepgen.04.position-fb
net c-pos-cmd joint.4.motor-pos-cmd => hm2_5i25.0.stepgen.04.position-cmd
net c-enable joint.4.amp-enable-out => hm2_5i25.0.stepgen.04.enable
# ---setup home / limit switch signals---OK
net home-c => joint.4.home-sw-in
#--------------------
# ************************
# AXIS A / A Achse *
# ************************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.05.dirsetup [JOINT_5]DIRSETUP
setp hm2_5i25.0.stepgen.05.dirhold [JOINT_5]DIRHOLD
setp hm2_5i25.0.stepgen.05.steplen [JOINT_5]STEPLEN
setp hm2_5i25.0.stepgen.05.stepspace [JOINT_5]STEPSPACE
setp hm2_5i25.0.stepgen.05.position-scale [JOINT_5]STEP_SCALE
setp hm2_5i25.0.stepgen.05.step_type 0
setp hm2_5i25.0.stepgen.05.control-type 0
setp hm2_5i25.0.stepgen.05.maxaccel [JOINT_5]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.05.maxvel [JOINT_5]STEPGEN_MAXVEL
net a-pos-fb joint.5.motor-pos-fb <= hm2_5i25.0.stepgen.05.position-fb
net a-pos-cmd joint.5.motor-pos-cmd => hm2_5i25.0.stepgen.05.position-cmd
net a-enable joint.5.amp-enable-out => hm2_5i25.0.stepgen.05.enable
# ---setup home / limit switch signals---OK
net home-a => joint.5.home-sw-in
#--------------------
################################################################################
#--------------------
# --- connect miscellaneous signals ---
# --- Verbindung diverser Signale ---
# --- zum HAL User interface ---
# *************************************
# ---HALUI signals---
#--------------------
#net joint-select-x halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
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 joint-select-y halui.axis.y.select
net y-is-homed halui.joint.1.is-homed
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 joint-select-z halui.axis.z.select
net z-is-homed halui.joint.2.is-homed
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 joint-select-a halui.axis.a.select
net a-is-homed halui.joint.5.is-homed
net jog-a-pos halui.axis.a.plus
net jog-a-neg halui.axis.a.minus
net jog-a-analog halui.axis.a.analog
#
#--------------------
#net joint-select-b halui.axis.b.select
net b-is-homed halui.joint.3.is-homed
net jog-b-pos halui.axis.b.plus
net jog-b-neg halui.axis.b.minus
net jog-b-analog halui.axis.b.analog
#--------------------
#net joint-select-c halui.axis.c.select
net c-is-homed halui.joint.4.is-homed
net jog-c-pos halui.axis.c.plus
net jog-c-neg halui.axis.c.minus
net jog-c-analog halui.axis.c.analog
#--------------------
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 ---noch nicht vorhanden
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---estop signals---OK
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
################################################################################
#******************************
# Touchprobe / Toolsetter
# Messtaster / Werkzeugvermessung
#******************************
#--------------------
#=======================================================================
# --- Laserlichtschranke ---ueber ULN2003A--- Status OK
# net Laser-an <= hm2_5i25.0.7i76.0.2.output-13
# --- Touchprobe --- Laserlichtschranke --- Status OK
# hm2_5i25.0.7i76.0.2.input-07-not
#=======================================================================
# --- Touchprobe --- Messtasterschalter --- Status OK
# Mit EasyProbe !
# hm2_5i25.0.7i76.0.2.input-06-not
#=======================================================================
# Lasersensor Entprellen
loadrt dbounce names=dbounce_laser
addf dbounce_laser servo-thread
setp dbounce_laser.delay 8
net Laser-in dbounce_laser.in <= hm2_5i25.0.7i76.0.2.input-07-not
#net Laser-out or2.4.in1 <= dbounce_laser.out
#net probe-input => motion.probe-input <= or2.4.out
#=======================================================================
################################################################################
#**********************************************************************
# Analogeingaenge 7i76 fue Potis 10K Eilgang / Vorschub / Spindel *
#**********************************************************************
#---- Analog Eingaenge 7i76 Nr.2 Eingaenge 00 01 02
#---- Analog Inputs 7i76 No.2 Inputs 00 01 02
#--------------------
loadrt conv_float_s32 names=conv_float_s32.feed,conv_float_s32.rapid,conv_float_s32.spindel
addf conv_float_s32.feed servo-thread
addf conv_float_s32.rapid servo-thread
addf conv_float_s32.spindel servo-thread
#--------------------
#--- Vorschubregler - Regelbereich 0 bis 150% - (regelbarer Widerstand 10Kohm an 7i76 mit 24V)
#--- Feed override - control range 0 to 150% - (adjustable resistance 10Kohm on 7i76 with 24V)
setp halui.feed-override.scale 0.01
setp halui.feed-override.direct-value true
setp hm2_5i25.0.7i76.0.2.analogin0-scalemax 152
#setp hm2_5i25.0.7i76.0.2.analogin0-scalemax 228
net halui.feedanalog <= hm2_5i25.0.7i76.0.2.analogin0 => conv_float_s32.feed.in
net feedanalog conv_float_s32.feed.out => halui.feed-override.counts
#--------------------
#--- Eilgangregler - Regelbereich 0 bis 100% - (regelbarer Widerstand 10Kohm an 7i76 mit 24V)
#--- Rappid override - control range 0 to 100% - (adjustable resistance 10Kohm on 7i76 with 24V)
setp halui.rapid-override.scale 0.01
setp halui.rapid-override.direct-value true
setp hm2_5i25.0.7i76.0.2.analogin1-scalemax 150
#setp hm2_5i25.0.7i76.0.2.analogin1-scalemax 228
net halui.maxrapidanalog <= hm2_5i25.0.7i76.0.2.analogin1 => conv_float_s32.rapid.in
net maxrapidanalog conv_float_s32.rapid.out => halui.rapid-override.counts
# --------------------------------Spindelcontrol noch nicht in Funktion---------
#--- Spindeldrehzahlregler - Regelbereich 50 bis 150% - (regelbarer Widerstand 5Kohm an 7i76 mit 24V)
#--- Spindel override - control range 50 to 150% - (adjustable resistance 5Kohm on 7i76 with 24V)
setp halui.spindle.0.override.direct-value false
setp halui.spindle.0.override.count-enable true
setp halui.spindle.0.override.scale 0.025
net spindleanalog conv_float_s32.spindel.out => halui.spindle.0.override.counts
setp hm2_5i25.0.7i76.0.2.analogin2-scalemax 200
net halui.spindleanalog <= hm2_5i25.0.7i76.0.2.analogin2 => conv_float_s32.spindel.in
#--------------------
#*************************
# Analogeingaenge Ende *
#*************************
################################################################################
#*******************
#* Handrad *
#*******************
#--------------------
# --- Wenn das Handrad ein Quadratursignal pro Klick ausgibt ---
# --- "x4-mode" auf 1 setzen ---
# --- Wenn kein Quadratursignal pro Klick ausgegeben wird ---
# --- "x4-mode" auf 0 setzen ---
setp encoder.0.x4-mode 0
#--------------------
# --- Geschwindigkeitsmodus an(1) oder aus(0) ---
# --- Mode 0 ist Standardwert / default - Maschine laeuft nach ---
# --- Mode 1 = Maschine stoppt sofort mit Handrad Stillstand ---
setp joint.0.jog-vel-mode 1
setp joint.1.jog-vel-mode 1
setp joint.2.jog-vel-mode 1
setp joint.3.jog-vel-mode 1
setp joint.4.jog-vel-mode 1
setp joint.5.jog-vel-mode 1
#--------------------
# --- Die 4 Drehschalter Eingaenge ueber "or2" fuer ---
# --- die 3 "mux8" Decoder Eingaenge aufbereiten ---
net increment1 or2.0.in0 <= hm2_5i25.0.7i76.0.0.input-17
net increment2 or2.1.in1 <= hm2_5i25.0.7i76.0.0.input-18
net increment3 or2.0.in1 or2.1.in0 <= hm2_5i25.0.7i76.0.0.input-19
net increment4 or2.2.in1 <= hm2_5i25.0.7i76.0.0.input-20
#--------------------
# --- mux8 laden
# --- loadrt mux8
# --- addf mux8.0 servo-thread
# --- Parameter fue "mux8" setzen - Das gewuenschte Increment wird ---
# --- mit 1000 (scale von ilopass) multipliziert. ---
setp mux8.0.in1 0.001
setp mux8.0.in2 0.0001
setp mux8.0.in3 0.00001
setp mux8.0.in4 0.000001
#--------------------
# --- "or2" Ausgaenge mit "mux8" verbinden
net scale0 or2.0.out => mux8.0.sel0
net scale1 or2.1.out => mux8.0.sel1
net scale2 or2.2.out => mux8.0.sel2
# --- "mux8" Ausgang ueber "mpg-scale" mit "joint.N.jog-scale @axN@.jog-scale" verbinden
net mpg-scale <= mux8.0.out
net mpg-scale => joint.0.jog-scale axis.x.jog-scale
net mpg-scale => joint.1.jog-scale axis.y.jog-scale
net mpg-scale => joint.2.jog-scale axis.z.jog-scale
net mpg-scale => joint.3.jog-scale axis.b.jog-scale
net mpg-scale => joint.4.jog-scale axis.c.jog-scale
net mpg-scale => joint.5.jog-scale axis.a.jog-scale
#--------------------
# --- Handradimpulse der Phasen A+B an den "mpg-encoder" anschliessen --
net mpg-A encoder.0.phase-A <= hm2_5i25.0.7i76.0.0.input-29
net mpg-B encoder.0.phase-B <= hm2_5i25.0.7i76.0.0.input-28-not
#--------------------
# --- Die Achsenanwahl ---
net mpg-x halui.axis.x.select axis.x.jog-enable <= hm2_5i25.0.7i76.0.0.input-23
net mpg-y halui.axis.y.select axis.y.jog-enable <= hm2_5i25.0.7i76.0.0.input-24
net mpg-z halui.axis.z.select axis.z.jog-enable <= hm2_5i25.0.7i76.0.0.input-25
net mpg-b halui.axis.b.select axis.b.jog-enable <= hm2_5i25.0.7i76.0.0.input-31
net mpg-c halui.axis.c.select axis.c.jog-enable <= hm2_5i25.0.7i76.0.0.input-22
net mpg-a halui.axis.a.select axis.a.jog-enable <= hm2_5i25.0.7i76.0.0.input-30
#--------------------
# --- scale-Wert von ilopass wird mit dem increment multipliziert ---
# --- und als Parameter an "mux8" übergeben - Standartwert = 1000 ---
setp ilowpass.0.scale 1000
# --- Intensitaet von "ilowpass" Standartwert = 0.01
setp ilowpass.0.gain 0.01
#--------------------
# --- Der Ausgang von "encoder.0.counts" sendet an "ilowpass.0.in" -----
net mpg-out ilowpass.0.in <= encoder.0.counts
#--------------------
# --- Der Ausgang von "ilowpass" sendet an jede Achse
# --- den modifizierten Wert von "jog-counts"
# --- Nur die angewaelte Achse wird bewegt.
net encoder-counts <= ilowpass.0.out
net encoder-counts => joint.0.jog-counts axis.x.jog-counts
net encoder-counts => joint.1.jog-counts axis.y.jog-counts
net encoder-counts => joint.2.jog-counts axis.z.jog-counts
net encoder-counts => joint.3.jog-counts axis.b.jog-counts
net encoder-counts => joint.4.jog-counts axis.c.jog-counts
net encoder-counts => joint.5.jog-counts axis.a.jog-counts
#--------------------
# Auswahl zwischen Jogtaster oder Handrad ueber "or2" und "and2"
# net tasterfreigabe-0 or2.3.in0 <= hm2_5i25.0.7i76.0.0.input-16
net tasterfreigabe-1 or2.3.in1 <= hm2_5i25.0.7i76.0.0.input-21
net jogtasterfreigabe or2.3.out => and2_jogtaster1.in0 and2_jogtaster2.in0
net jogtasterfrei-0 and2_jogtaster1.in1 <= hm2_5i25.0.7i76.0.0.input-26
net jogtasterfrei-1 and2_jogtaster2.in1 <= hm2_5i25.0.7i76.0.0.input-27
#--------------------
# --- Jogtaster - Positive Richtung ---
#net jog-selected-pos <= and2_jogtaster1.out
net jog-selected-neg <= and2_jogtaster1.out
# --- Jogtaster - Negative Richtung ---
#net jog-selected-neg <= and2_jogtaster2.out
net jog-selected-pos <= and2_jogtaster2.out
#--------------------
# ---Jog Geschwindigkeit in mm/min --- Standartwert = 2000
sets jog-speed 2000
#--------------------
#*********************************
# --- Handrad --- FIN / ENDE *
#*********************************
################################################################################
#
#*******************
# SPINDLE S *
#*******************
loadrt pid names=pid.s
addf pid.s.do-pid-calcs servo-thread
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
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentionmeter output signals/setup--------------------------------
setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => hm2_5i25.0.7i76.0.0.spinout
net spindle-enable => hm2_5i25.0.7i76.0.0.spinena
#net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir
net spindle-cw => hm2_5i25.0.7i76.0.0.spindir
#net spindle-enable => hm2_5i25.0.7i76.0.0.output-00
#net spindle-ccw => hm2_5i25.0.7i76.0.0.output-01
#net spindle-cw => hm2_5i25.0.7i76.0.0.output-02
# ---Encoder feedback signals/setup---------------------------------------------
#setp hm2_5i25.0.encoder.00.counter-mode 0
#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_0]ENCODER_SCALE
#net spindle-revs <= hm2_5i25.0.encoder.00.position
#net spindle-vel-fb-rps <= 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 <= 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---------------------------------------------
sets spindle-at-speed true
#--------------------
#------------------------------SPINDLE --- FIN / ENDE --------------------------
#--------------------
# ---Signale zum manuellen Werkzeugwechsel---
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
# ---Nutze externen Dialog zum Werkzeugwechsel---
loadusr -W hal_manualtoolchange
net tool-change-request => hal_manualtoolchange.change
net tool-change-confirmed <= hal_manualtoolchange.changed
net tool-number => hal_manualtoolchange.number
# ---ignoriere Anfragen zu Werkzeug-Vorbereitungen---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
#------------------------------HAL --- FIN / ENDE ------------------------------
