W axis with gantry kins hal/ini configuration
- guymalpass
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11 Dec 2015 21:44 #66851
by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
Sorry, forgot all about the files. I'll post them in the morning, promise!
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- guymalpass
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- Posts: 75
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12 Dec 2015 17:37 #66879
by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
Later than promised, but here you go:
# This config file was created 2015-12-01 09:00:32.737957 by the update_ini script
# The original config files may be found in the /home/guy/linuxcnc-dev/configs/Gicam/Gicam.old directory
# Generated by PNCconf at Mon Nov 30 19:55:47 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
# The version string for this INI file.
VERSION = 1.0
MACHINE = CNC JA9
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.500000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/guy/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 25.0000
MAX_LINEAR_VELOCITY = 200.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = mousepad
GEOMETRY = XYZW
PROGRAM_PREFIX = /media
[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
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = LinuxCNCJA9.hal
[HALUI]
[TRAJ]
AXES = 4
COORDINATES = XYZw
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 200.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
[KINS]
JOINTS = 5
KINEMATICS = gentrivkins coordinates=xyyzw
AUTO_TELEOP = 20
[AXIS_X]
HOME = 0
MIN_LIMIT = -0.01
MAX_LIMIT = 1470.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 750.0
[JOINT_0]
TYPE = LINEAR
HOME = 0
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 250.0
STEPGEN_MAXACCEL = 937.50
P = 199.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0047
BIAS = 0.0
DEADBAND = 0.0016
MAX_OUTPUT = 20000
ENCODER_SCALE = 763.9437
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 26600
STEPLEN = 1600
STEPSPACE = 1600
STEP_SCALE = -636.6198
MIN_LIMIT = -0.01
MAX_LIMIT = 1470.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_Y]
HOME = 0.0
MIN_LIMIT = -0.01
MAX_LIMIT = 2500.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 750.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.100
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 250.0
STEPGEN_MAXACCEL = 937.50
P = 199.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0047
BIAS = 0.0
DEADBAND = 0.003
MAX_OUTPUT = 20000
ENCODER_SCALE = -763.9437
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 26600
STEPLEN = 1600
STEPSPACE = 1600
STEP_SCALE = 636.6198
MIN_LIMIT = -0.01
MAX_LIMIT = 2500.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.000
MIN_FERROR = 0.100
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 250.0
STEPGEN_MAXACCEL = 937.50
P = 199.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0047
BIAS = 0.0
DEADBAND = 0.003
MAX_OUTPUT = 20000
ENCODER_SCALE = 763.9437
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 26600
STEPLEN = 1600
STEPSPACE = 1600
STEP_SCALE = -636.6198
MIN_LIMIT = -0.01
MAX_LIMIT = 2500.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_Z]
HOME = 0.0
MIN_LIMIT = -335.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.2
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 125.0
STEPGEN_MAXACCEL = 937.50
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 26600
STEPLEN = 1600
STEPSPACE = 1600
STEP_SCALE = -256
MIN_LIMIT = -335.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
[AXIS_W]
HOME = 0.0
MIN_LIMIT = -335.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
[JOINT_4]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.2
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 125.0
STEPGEN_MAXACCEL = 937.50
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 26600
STEPLEN = 1600
STEPSPACE = 1600
STEP_SCALE = -256
MIN_LIMIT = -335.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
#********************
# Spindle
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[SPINDLE_9]
OUTPUT_SCALE = 24000.0
OUTPUT_MIN_LIMIT = 3000.0
OUTPUT_MAX_LIMIT = 24000.0
# Generated by PNCconf at Mon Nov 30 19:55:47 2015
# 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
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=10000x"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y1,pid.y2
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
loadrt axisswap count=1
loadrt conv_float_s32 count=2
loadrt mult2 count=2
loadrt sum2 count=1
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y1.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf classicladder.0.refresh servo-thread
addf hm2_5i25.0.write servo-thread
addf axisswap.0 servo-thread
addf conv-float-s32.0 servo-thread
addf conv-float-s32.1 servo-thread
addf mult2.0 servo-thread
addf mult2.1 servo-thread
addf sum2.0 servo-thread
# external output signals
# external input signals
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i76.0.3.input-16
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i76.0.3.input-18
# --- SPINDLE-AT-SPEED ---
net spindle-at-speed <= hm2_5i25.0.7i76.0.3.input-15
# --- FEED OVERRIDE ---
setp halui.feed-override.count-enable TRUE
setp halui.feed-override.direct-value TRUE
setp halui.feed-override.scale 0.01
setp mult2.0.in0 8.216134
net feed-float-in mult2.0.in1 <= hm2_5i25.0.7i77.0.0.analogin1
net feed-mult-out mult2.0.out => conv-float-s32.0.in
net feed-s32-out conv-float-s32.0.out => halui.feed-override.counts
# --- RAPID OVERRIDE ---
setp halui.rapid-override.count-enable TRUE
setp halui.rapid-override.direct-value TRUE
setp halui.rapid-override.scale 0.02
net feed-s32-out => halui.rapid-override.counts
# --- SPINDLE OVERRIDE ---
setp halui.spindle-override.count-enable TRUE
setp halui.spindle-override.direct-value TRUE
setp halui.spindle-override.scale 0.01
setp mult2.1.in0 4.156682
setp sum2.0.in0 50
net spindle-pot-in mult2.1.in1 <= hm2_5i25.0.7i77.0.0.analogin0
net spindle-mult-out mult2.1.out => sum2.0.in1
net spindle-sum2-out sum2.0.out => conv-float-s32.1.in
net spindle-s32-out conv-float-s32.1.out => halui.spindle-override.counts
# --- DRIVE FAULT FEEDBACK ---
net drive-fault <= hm2_5i25.0.7i76.0.3.input-17-not
net drive-fault => joint.0.amp-fault-in
net drive-fault => joint.1.amp-fault-in
net drive-fault => joint.2.amp-fault-in
net drive-fault => joint.3.amp-fault-in
net drive-fault => joint.4.amp-fault-in
#*******************
# AXIS X
#*******************
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
#setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# 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 1
setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.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_5i25.0.stepgen.00.velocity-cmd
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.02.position
net x-vel-fb <= hm2_5i25.0.encoder.02.velocity
net x-index-enable joint.0.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net home-x => 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
#*******************
setp pid.y1.Pgain [JOINT_1]P
setp pid.y1.Igain [JOINT_1]I
setp pid.y1.Dgain [JOINT_1]D
setp pid.y1.bias [JOINT_1]BIAS
setp pid.y1.FF0 [JOINT_1]FF0
setp pid.y1.FF1 [JOINT_1]FF1
setp pid.y1.FF2 [JOINT_1]FF2
setp pid.y1.deadband [JOINT_1]DEADBAND
setp pid.y1.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y1.error-previous-target true
#setp pid.y1.maxerror .0005
net y1-index-enable <=> pid.y1.index-enable
net y1-enable => pid.y1.enable
net y1-pos-cmd => pid.y1.command
net y1-vel-cmd => pid.y1.command-deriv
net y1-pos-fb => pid.y1.feedback
net y1-output <= pid.y1.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [JOINT_1]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 1
setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y1-pos-cmd <= joint.1.motor-pos-cmd
net y1-vel-cmd <= joint.1.vel-cmd
net y1-output => hm2_5i25.0.stepgen.02.velocity-cmd
net y1-pos-fb => joint.1.motor-pos-fb
net y1-enable <= joint.1.amp-enable-out
net y1-enable => hm2_5i25.0.stepgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
net y1-pos-fb <= hm2_5i25.0.encoder.01.position
net y1-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y1-index-enable joint.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y1-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => joint.1.home-sw-in
net y1-neg-limit => joint.1.neg-lim-sw-in
net y1-pos-limit => joint.1.pos-lim-sw-in
# ---SECOND Y JOINT---
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
#setp pid.y2.maxerror .0005
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-vel-cmd => pid.y2.command-deriv
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [JOINT_2]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [JOINT_2]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [JOINT_2]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_5i25.0.stepgen.03.velocity-cmd
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_5i25.0.stepgen.03.enable
# ---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 [JOINT_2]ENCODER_SCALE
net y2-pos-fb <= hm2_5i25.0.encoder.00.position
net y2-vel-fb <= hm2_5i25.0.encoder.00.velocity
net y2-index-enable joint.2.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net y2-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-y => joint.2.home-sw-in
net y1-neg-limit => joint.2.neg-lim-sw-in
net y1-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_3]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [JOINT_3]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [JOINT_3]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [JOINT_3]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [JOINT_3]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_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---stepper signals---
net z-pos-cmd-in joint.3.motor-pos-cmd => axisswap.0.inz
net z-pos-cmd-out axisswap.0.outz => hm2_5i25.0.stepgen.01.position-cmd
net z-pos-fb-in hm2_5i25.0.stepgen.01.position-fb => axisswap.0.inzfb
net z-pos-fb-out axisswap.0.outzfb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_5i25.0.stepgen.01.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.3.home-sw-in
net z-neg-limit => joint.3.neg-lim-sw-in
net z-pos-limit => joint.3.pos-lim-sw-in
#*******************
# AXIS W
#*******************
# 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
# ---stepper signals---
net w-pos-cmd-in joint.4.motor-pos-cmd => axisswap.0.inw
net w-pos-cmd-out axisswap.0.outw => hm2_5i25.0.stepgen.04.position-cmd
net w-pos-fb-in hm2_5i25.0.stepgen.04.position-fb => axisswap.0.inwfb
net w-pos-fb-out axisswap.0.outwfb => joint.4.motor-pos-fb
net w-enable <= joint.4.amp-enable-out
net w-enable => hm2_5i25.0.stepgen.04.enable
# ---setup home / limit switch signals---
net w-home-sw => joint.4.home-sw-in
net w-neg-limit => joint.4.neg-lim-sw-in
net w-pos-limit => joint.4.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---digital potentionmeter output signals/setup---
setp hm2_5i25.0.7i76.0.3.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i76.0.3.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
setp hm2_5i25.0.7i76.0.3.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd-rpm => hm2_5i25.0.7i76.0.3.spinout
net machine-is-enabled => hm2_5i25.0.7i76.0.3.spinena
net spindle-ccw => hm2_5i25.0.7i76.0.3.spindir
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= 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-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
#******************************
# 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-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
#net jog-y-pos halui.jog.1.plus
#net jog-y-neg halui.jog.1.minus
#net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.4.select
net z-is-homed halui.joint.4.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-out => iocontrol.0.emc-enable-in
# ---signals for spindle control---
net tool-number iocontrol.0.tool-number => classicladder.0.s32in-00
net tool-change iocontrol.0.tool-change => classicladder.0.in-05
net tool-changed classicladder.0.out-04 => iocontrol.0.tool-changed
net tool-prepare iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net spindle-cw => classicladder.0.in-00
net cwconfirmed classicladder.0.out-00 => hm2_5i25.0.7i76.0.3.output-00
net spindle-ccw => classicladder.0.in-01
net ccwconfirmed classicladder.0.out-01 => hm2_5i25.0.7i76.0.3.output-01
net during-run hm2_5i25.0.7i76.0.3.input-14 => classicladder.0.in-02
net c1-in hm2_5i25.0.7i76.0.3.input-04 => classicladder.0.in-03
net c2-in hm2_5i25.0.7i76.0.3.input-05 => classicladder.0.in-04
net c1-out classicladder.0.out-02 => hm2_5i25.0.7i76.0.3.output-14
net c2-out classicladder.0.out-03 => hm2_5i25.0.7i76.0.3.output-15
net swapper classicladder.0.out-05 => axisswap.0.sel
net y2-vel-cmd => classicladder.0.floatin-00
# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui custom.clp
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