Advanced Search

HALCMD = setp xyzac-trt-kins.x-rot-point -85.775
HALCMD = setp xyzac-trt-kins.y-rot-point -110.570
HALCMD = setp xyzac-trt-kins.z-rot-point -16.942
HALCMD = setp xyzac-trt-kins.y-offset 0
HALCMD = setp xyzac-trt-kins.z-offset -38.7445

    # load components
########################################################################

loadrt logic names=logic-and personality=0x102
addf logic-and servo-thread

# load a summing component for adding spindle lift and Z compensation
loadrt scaled_s32_sums
addf scaled-s32-sums.0 servo-thread

loadusr -Wn z_level_compensation z_level_compensation
# method parameter must be one of nearest(2), linear(1), cubic (0)
setp z_level_compensation.fade-height 0.0
setp z_level_compensation.method 1

# connect signals
########################################################################

net spindle-speed-limited  =>  spindle.0.speed-out-rps => spindle.0.speed-in

# the unlink pin commands are only used, because they are connected 
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number

net tool-change      hal_manualtoolchange.change   <=  iocontrol.0.tool-change 
net tool-changed     hal_manualtoolchange.changed  <=  iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number   <=  iocontrol.0.tool-prep-number

net eoffset-clear    axis.z.eoffset-clear
net eoffset-counts   axis.z.eoffset-counts
setp axis.z.eoffset-scale .001
net eoffset-total          axis.z.eoffset
net eoffset-total          qtdragon.eoffset-value
setp axis.z.eoffset-enable True

## external offsets for spindle pause function
##################################################
net eoffset-clear     qtdragon.eoffset-clear
net eoffset-spindle-count   <= qtdragon.eoffset-spindle-count    
net spindle-pause     qtdragon.spindle-inhibit spindle.0.inhibit
net probe-input qtdragon.led-probe

## Z level compensation
####################################################
net eoffset-clr2            z_level_compensation.clear      => logic-and.in-01
net xpos-cmd                z_level_compensation.x-pos      <= joint.0.motor-pos-cmd
net ypos-cmd                z_level_compensation.y-pos      <= joint.1.pos-cmd
net zpos-cmd                z_level_compensation.z-pos      <= joint.2.pos-cmd
net z_compensation_on       z_level_compensation.enable-in  <= qtdragon.comp-on
net eoffset-zlevel-count    z_level_compensation.counts     => qtdragon.eoffset-zlevel-count

net eoffset-spindle-count   scaled-s32-sums.0.in0
net eoffset-zlevel-count    scaled-s32-sums.0.in1
setp scaled-s32-sums.0.scale0 1000
net eoffset-counts          scaled-s32-sums.0.out-s

    #loadrt scale names=spindle_amp_scale
    #addf scale.1 servo-thread
    #setp scale.1.gain 9.6 # PWM per RPM, calculated over full scale. Example: 0-100 PWM, 12000 rpm: (100/12000)  = 0.008333
    #net spindle-amp-in spindle.0.speed-out => scale.1.in
    net spindle-amp-scaled scale.1.out => qtdragon.spindle-amps
    setp qtdragon.spindle-volts 48

[EMC]
MACHINE = MAZAK_Micro_Slant_15
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000