7i96s vfd control

# This file was created with the Mesa Configuration Tool on elo 06 2022 20:18:17 # If you make changes to this file DO NOT run the configuration tool again! # This file will be replaced with a new file if you do! # kinematics loadrt [KINS]KINEMATICS # motion controller loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # standard components loadrt pid num_chan=3 # hostmot2 driver loadrt hostmot2 loadrt [HM2](DRIVER) board_ip=[HM2](IPADDRESS) setp hm2_7i96s.0.watchdog.timeout_ns 5000000 # THREADS addf hm2_7i96s.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf hm2_7i96s.0.write servo-thread # Joint 0 # PID Setup setp pid.0.Pgain [JOINT_0]P setp pid.0.Igain [JOINT_0]I setp pid.0.Dgain [JOINT_0]D setp pid.0.bias [JOINT_0]BIAS setp pid.0.FF0 [JOINT_0]FF0 setp pid.0.FF1 [JOINT_0]FF1 setp pid.0.FF2 [JOINT_0]FF2 setp pid.0.deadband [JOINT_0]DEADBAND setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT setp pid.0.maxerror [JOINT_0]MAX_ERROR setp pid.0.error-previous-target true # joint enable chain net joint-0-index-enable <=> pid.0.index-enable net joint-0-enable <= joint.0.amp-enable-out net joint-0-enable => pid.0.enable net joint-0-enable => hm2_7i96s.0.stepgen.00.enable setp hm2_7i96s.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i96s.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i96s.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i96s.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i96s.0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_7i96s.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL setp hm2_7i96s.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC setp hm2_7i96s.0.stepgen.00.step_type 0 setp hm2_7i96s.0.stepgen.00.control-type 1 # position command and feedback net joint-0-pos-cmd <= joint.0.motor-pos-cmd net joint-0-pos-cmd => pid.0.command net joint-0-pos-fb <= hm2_7i96s.0.stepgen.00.position-fb net joint-0-pos-fb => joint.0.motor-pos-fb net joint-0-pos-fb => pid.0.feedback net joint.0.output <= pid.0.output net joint.0.output => hm2_7i96s.0.stepgen.00.velocity-cmd # Joint 1 # PID Setup setp pid.1.Pgain [JOINT_1]P setp pid.1.Igain [JOINT_1]I setp pid.1.Dgain [JOINT_1]D setp pid.1.bias [JOINT_1]BIAS setp pid.1.FF0 [JOINT_1]FF0 setp pid.1.FF1 [JOINT_1]FF1 setp pid.1.FF2 [JOINT_1]FF2 setp pid.1.deadband [JOINT_1]DEADBAND setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.1.maxerror [JOINT_1]MAX_ERROR setp pid.1.error-previous-target true # joint enable chain net joint-1-index-enable <=> pid.1.index-enable net joint-1-enable <= joint.1.amp-enable-out net joint-1-enable => pid.1.enable net joint-1-enable => hm2_7i96s.0.stepgen.01.enable setp hm2_7i96s.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i96s.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i96s.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i96s.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i96s.0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_7i96s.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL setp hm2_7i96s.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC setp hm2_7i96s.0.stepgen.01.step_type 0 setp hm2_7i96s.0.stepgen.01.control-type 1 # position command and feedback net joint-1-pos-cmd <= joint.1.motor-pos-cmd net joint-1-pos-cmd => pid.1.command net joint-1-pos-fb <= hm2_7i96s.0.stepgen.01.position-fb net joint-1-pos-fb => joint.1.motor-pos-fb net joint-1-pos-fb => pid.1.feedback net joint.1.output <= pid.1.output net joint.1.output => hm2_7i96s.0.stepgen.01.velocity-cmd # Spindle # Spindle Velocity Pins 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 # Spindle Command Pins 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 # Set spindle at speed signal sets spindle-at-speed true # Spindle Board Connections net spindle-enable => hm2_7i96s.0.pwmgen.00.enable net spindle-vel-cmd-rpm hm2_7i96s.0.pwmgen.00.value setp hm2_7i96s.0.pwmgen.00.scale [SPINDLE]MAX_RPM setp hm2_7i96s.0.pwmgen.pwm_frequency [SPINDLE]PWM_FREQUENCY setp hm2_7i96s.0.pwmgen.00.output-type [SPINDLE]SPINDLE_PWM_TYPE

# This file was created with the Mesa Configuration Tool on elo 06 2022 20:18:17 # Changes to most things are ok and will be read by the Configuration Tool [MESA] VERSION = 0.7.0 BOARD = 7i96s FIRMWARE = 7i96s_d.bin CARD_0 = None CARD_1 = None [EMC] VERSION = 1.1 MACHINE = Emco 50 PC turn mesact DEBUG = 0x00000000 [HM2] DRIVER = hm2_eth IPADDRESS = 10.10.10.10 STEPGENS = False PWMGENS = False ENCODERS = False [DISPLAY] DISPLAY = gmoccapy EDITOR = gedit PROGRAM_PREFIX = /home/samuel/linuxcnc/nc_files POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = COMMANDED MAX_FEED_OVERRIDE = 1.2 MIN_VELOCITY = 0.0 DEFAULT_LINEAR_VELOCITY = 2.1 MAX_LINEAR_VELOCITY = 5.0 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = "" LATHE = 1 BACK_TOOL_LATHE = 1 [KINS] KINEMATICS = trivkins coordinates=ZX JOINTS = 2 [EMCIO] EMCIO = iov2 CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = emco_50_pc_turn_mesact.var SUBROUTINE_PATH = /home/samuel/linuxcnc/subroutines [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = ZX LINEAR_UNITS = mm ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 5.0 NO_FORCE_HOMING = 1 [HAL] HALFILE = emco_50_pc_turn_mesact.hal HALFILE = io.hal HALFILE = custom.hal HALUI = halui [HALUI] [AXIS_Z] MIN_LIMIT = -1 MAX_LIMIT = 236 MAX_VELOCITY = 3.15 MAX_ACCELERATION = 350 [AXIS_X] MIN_LIMIT = -46 MAX_LIMIT = 0 MAX_VELOCITY = 3.15 MAX_ACCELERATION = 350 [JOINT_0] AXIS = Z MIN_LIMIT = -1 MAX_LIMIT = 236 MAX_VELOCITY = 3.15 MAX_ACCELERATION = 350 TYPE = LINEAR SCALE = 8000 DRIVE = Custom STEP_INVERT = False DIR_INVERT = False STEPGEN_MAX_VEL = 3.78 STEPGEN_MAX_ACC = 420.00 DIRSETUP = 20000 DIRHOLD = 20000 STEPLEN = 20000 STEPSPACE = 20000 FERROR = 0.005 MIN_FERROR = 0.0025 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1 HOME_LATCH_VEL = -0.5 HOME_FINAL_VEL = 0.0000 HOME_IGNORE_LIMITS = True [JOINT_1] AXIS = X MIN_LIMIT = -46 MAX_LIMIT = 0 MAX_VELOCITY = 3.15 MAX_ACCELERATION = 350 TYPE = LINEAR SCALE = 8000 DRIVE = Custom STEP_INVERT = False DIR_INVERT = False STEPGEN_MAX_VEL = 3.78 STEPGEN_MAX_ACC = 420.00 DIRSETUP = 20000 DIRHOLD = 20000 STEPLEN = 20000 STEPSPACE = 20000 FERROR = 0.005 MIN_FERROR = 0.0025 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 [SPINDLE] SPINDLE_TYPE = analog SPINDLE_PWM_TYPE = 1 PWM_FREQUENCY = 10000 MAX_RPM = 1600 MIN_RPM = 0 # Everything below this line is only used to # setup the Configuration Tool when loading the ini. [INPUTS] # DO NOT change the inputs they are used by the configuration tool INPUT_0 = Joint 0 Home INPUT_INVERT_0 = False INPUT_SLOW_0 = False INPUT_1 = Joint 1 Home INPUT_INVERT_1 = True INPUT_SLOW_1 = False INPUT_2 = External E Stop INPUT_INVERT_2 = True INPUT_SLOW_2 = False INPUT_3 = Select INPUT_INVERT_3 = False INPUT_SLOW_3 = False INPUT_4 = Select INPUT_INVERT_4 = False INPUT_SLOW_4 = False INPUT_5 = Select INPUT_INVERT_5 = False INPUT_SLOW_5 = False INPUT_6 = Select INPUT_INVERT_6 = False INPUT_SLOW_6 = False INPUT_7 = Select INPUT_INVERT_7 = False INPUT_SLOW_7 = False INPUT_8 = Select INPUT_INVERT_8 = False INPUT_SLOW_8 = False INPUT_9 = Select INPUT_INVERT_9 = False INPUT_SLOW_9 = False INPUT_10 = Select INPUT_INVERT_10 = False INPUT_SLOW_10 = False INPUT_11 = Select INPUT_INVERT_11 = False INPUT_SLOW_11 = False INPUT_12 = Select INPUT_INVERT_12 = False INPUT_SLOW_12 = False INPUT_13 = Select INPUT_INVERT_13 = False INPUT_SLOW_13 = False INPUT_14 = Select INPUT_INVERT_14 = False INPUT_SLOW_14 = False INPUT_15 = Select INPUT_INVERT_15 = False INPUT_SLOW_15 = False INPUT_16 = Select INPUT_INVERT_16 = False INPUT_SLOW_16 = False INPUT_17 = Select INPUT_INVERT_17 = False INPUT_SLOW_17 = False INPUT_18 = Select INPUT_INVERT_18 = False INPUT_SLOW_18 = False INPUT_19 = Select INPUT_INVERT_19 = False INPUT_SLOW_19 = False INPUT_20 = Select INPUT_INVERT_20 = False INPUT_SLOW_20 = False INPUT_21 = Select INPUT_INVERT_21 = False INPUT_SLOW_21 = False INPUT_22 = Select INPUT_INVERT_22 = False INPUT_SLOW_22 = False INPUT_23 = Select INPUT_INVERT_23 = False INPUT_SLOW_23 = False INPUT_24 = Select INPUT_INVERT_24 = False INPUT_SLOW_24 = False INPUT_25 = Select INPUT_INVERT_25 = False INPUT_SLOW_25 = False INPUT_26 = Select INPUT_INVERT_26 = False INPUT_SLOW_26 = False INPUT_27 = Select INPUT_INVERT_27 = False INPUT_SLOW_27 = False INPUT_28 = Select INPUT_INVERT_28 = False INPUT_SLOW_28 = False INPUT_29 = Select INPUT_INVERT_29 = False INPUT_SLOW_29 = False INPUT_30 = Select INPUT_INVERT_30 = False INPUT_SLOW_30 = False INPUT_31 = Select INPUT_INVERT_31 = False INPUT_SLOW_31 = False [OUTPUTS] # DO NOT change the outputs they are used by the configuration tool OUTPUT_0 = Spindle CW OUTPUT_1 = Spindle CCW OUTPUT_2 = Spindle On OUTPUT_3 = Select OUTPUT_4 = Select OUTPUT_5 = Select OUTPUT_6 = Select OUTPUT_7 = Select OUTPUT_8 = Select OUTPUT_9 = Select OUTPUT_10 = Select OUTPUT_11 = Select OUTPUT_12 = Select OUTPUT_13 = Select OUTPUT_14 = Select OUTPUT_15 = Select [OPTIONS] # DO NOT change the options they are used by the configuration tool LOAD_CONFIG = False INTRO_GRAPHIC = emc2.gif INTRO_GRAPHIC_TIME = 0 MANUAL_TOOL_CHANGE = False CUSTOM_HAL = True POST_GUI_HAL = False SHUTDOWN_HAL = False HALUI = False PYVCP = False GLADEVCP = False LADDER = False BACKUP = False

# This file was created with the 7i92 Wizard on elo 06 2022 20:18:17 # If you make changes to this file DO NOT use the Configuration Tool net joint-0-home joint.0.home-sw-in <=  hm2_7i96s.0.inm.00.input-00 net joint-1-home joint.1.home-sw-in <=  hm2_7i96s.0.inm.00.input-01-not # External E-Stop loadrt estop_latch addf estop-latch.0 servo-thread net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset net remote-estop estop-latch.0.fault-in <= hm2_7i96s.0.inm.00.input-02-not net spindle-cw spindle.0.forward => hm2_7i96s.0.ssr.00.out-00 net spindle-ccw spindle.0.reverse => hm2_7i96s.0.ssr.00.out-01 net spindle-on => hm2_7i96s.0.ssr.00.out-02