LINEAR POTENTIOMETERS
27 Feb 2020 01:17 - 27 Feb 2020 01:19 #158592
by COlger81
LINEAR POTENTIOMETERS was created by COlger81
Is there some trick to getting Gmoccapy to accept overrides using the scale component with linear potentiometers. Specifically the spindle override. I have the proper pins connected and am getting the proper scale out to the proper pin... Gmoccapy seems to have custom overrides instead of using Hal....
Last edit: 27 Feb 2020 01:19 by COlger81.
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27 Feb 2020 04:45 #158599
by cmorley
Replied by cmorley on topic LINEAR POTENTIOMETERS
Please post your files so we can see what you did.
The following user(s) said Thank You: COlger81
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27 Feb 2020 18:10 - 27 Feb 2020 18:17 #158658
by COlger81
Replied by COlger81 on topic LINEAR POTENTIOMETERS
# Generated by PNCconf at Tue Feb 4 09:08:47 2020
# Using LinuxCNC version: UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadusr python rapidselectorDMM.py
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=300xxx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt scale names=spindle-scale
addf hm2_7i92.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
addf spindle-scale servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
#setp hm2_7i92.0.stepgen.timer-number 1
setp halui.rapid-override.count-enable true
setp halui.rapid-override.direct-value true
#============================================================
#---SPINDLE-OVERRIDE-POT---START---
net spindle-analogue hm2_7i92.0.7i77.0.0.analogin1 => spindle-scale.in
net spindle-override spindle-scale.out halui.spindle.0.override.scale
setp halui.spindle.0.override.counts 1
setp halui.spindle.0.override.direct-value 1
setp spindle-scale.gain 4.18
#===POT INPUT IS LINEAR 0-23.915v===
setp spindle-scale.offset 0
#---SPINDLE-OVERRIDE-POT---END---
#============================================================
# external output signals
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i92.0.7i77.0.0.input-07-not
#*******************
# AXIS X JOINT 0
#*******************
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
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT
net x-output => hm2_7i92.0.7i77.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable hm2_7i92.0.7i77.0.0.output-02 => joint.0.amp-enable-out
net amp-fault-x hm2_7i92.0.7i77.0.0.input-06-not <= joint.0.amp-fault-in
# enable _all_ sserial pwmgens
net x-enable => hm2_7i92.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => 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 JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout1-scalemax [JOINT_1]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT
net y-output => hm2_7i92.0.7i77.0.1.analogout1
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-enable <= joint.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout2-scalemax [JOINT_2]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout2-minlim [JOINT_2]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout2-maxlim [JOINT_2]OUTPUT_MAX_LIMIT
net z-output => hm2_7i92.0.7i77.0.1.analogout2
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-enable <= joint.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
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
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout5-scalemax [SPINDLE_0]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout5-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout5-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
net spindle-output => hm2_7i92.0.7i77.0.1.analogout5
net spindle-enable => hm2_7i92.0.7i77.0.1.spinena
# ---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 hm2_7i92.0.7i77.0.0.output-00 <= spindle.0.forward
net spindle-ccw hm2_7i92.0.7i77.0.0.output-01 <= 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
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
#============================================================
#---RAPID-OVERRIDE-SELECTOR-SWITCH---START---
net override-scale halui.rapid-override.scale rapidselect.scale-output
net override-value halui.rapid-override.value rapidselect.value
net rapid-sel-0 rapidselect.one <= hm2_7i92.0.7i77.0.0.input-08
net rapid-sel-1 rapidselect.two <= hm2_7i92.0.7i77.0.0.input-09
net rapid-sel-inc rapidselect.increase halui.rapid-override.increase
net rapid-sel-dec rapidselect.decrease halui.rapid-override.decrease
#---RAPID-OVERRIDE-SELECTOR-SWITCH---END---
#============================================================
#---MODE-SELECT-KEYBOARD-START---
#net mode-jog matrix_kb.0.key.r6c3 => halui.mode.manual
#net mode-auto matrix_kb.0.key.r6c6 => halui.mode.auto
#net mode-manual matrix_kb.0.key.r6c5 => halui.mode.mdi
#---MODE-SELECT-KEYBOARD-END---
#============================================================
net axis-select-x halui.axis.x.select
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 x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
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 y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
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 z-is-homed halui.joint.2.is-homed
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
net machine-on hm2_7i92.0.7i77.0.0.input-05 => halui.machine.on
#net machine-off hm2_7i92.0.7i77.0.0.input-05-not => halui.machine.off
# ---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
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Using LinuxCNC version: UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadusr python rapidselectorDMM.py
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=300xxx"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt scale names=spindle-scale
addf hm2_7i92.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
addf spindle-scale servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
#setp hm2_7i92.0.stepgen.timer-number 1
setp halui.rapid-override.count-enable true
setp halui.rapid-override.direct-value true
#============================================================
#---SPINDLE-OVERRIDE-POT---START---
net spindle-analogue hm2_7i92.0.7i77.0.0.analogin1 => spindle-scale.in
net spindle-override spindle-scale.out halui.spindle.0.override.scale
setp halui.spindle.0.override.counts 1
setp halui.spindle.0.override.direct-value 1
setp spindle-scale.gain 4.18
#===POT INPUT IS LINEAR 0-23.915v===
setp spindle-scale.offset 0
#---SPINDLE-OVERRIDE-POT---END---
#============================================================
# external output signals
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i92.0.7i77.0.0.input-07-not
#*******************
# AXIS X JOINT 0
#*******************
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
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT
net x-output => hm2_7i92.0.7i77.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable hm2_7i92.0.7i77.0.0.output-02 => joint.0.amp-enable-out
net amp-fault-x hm2_7i92.0.7i77.0.0.input-06-not <= joint.0.amp-fault-in
# enable _all_ sserial pwmgens
net x-enable => hm2_7i92.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => 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 JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout1-scalemax [JOINT_1]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT
net y-output => hm2_7i92.0.7i77.0.1.analogout1
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-enable <= joint.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-vel-fb <= hm2_7i92.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout2-scalemax [JOINT_2]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout2-minlim [JOINT_2]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout2-maxlim [JOINT_2]OUTPUT_MAX_LIMIT
net z-output => hm2_7i92.0.7i77.0.1.analogout2
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-enable <= joint.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
net z-pos-fb <= hm2_7i92.0.encoder.02.position
net z-vel-fb <= hm2_7i92.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
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
# ---PWM Generator signals/setup---
setp hm2_7i92.0.7i77.0.1.analogout5-scalemax [SPINDLE_0]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout5-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout5-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
net spindle-output => hm2_7i92.0.7i77.0.1.analogout5
net spindle-enable => hm2_7i92.0.7i77.0.1.spinena
# ---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 hm2_7i92.0.7i77.0.0.output-00 <= spindle.0.forward
net spindle-ccw hm2_7i92.0.7i77.0.0.output-01 <= 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
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
#============================================================
#---RAPID-OVERRIDE-SELECTOR-SWITCH---START---
net override-scale halui.rapid-override.scale rapidselect.scale-output
net override-value halui.rapid-override.value rapidselect.value
net rapid-sel-0 rapidselect.one <= hm2_7i92.0.7i77.0.0.input-08
net rapid-sel-1 rapidselect.two <= hm2_7i92.0.7i77.0.0.input-09
net rapid-sel-inc rapidselect.increase halui.rapid-override.increase
net rapid-sel-dec rapidselect.decrease halui.rapid-override.decrease
#---RAPID-OVERRIDE-SELECTOR-SWITCH---END---
#============================================================
#---MODE-SELECT-KEYBOARD-START---
#net mode-jog matrix_kb.0.key.r6c3 => halui.mode.manual
#net mode-auto matrix_kb.0.key.r6c6 => halui.mode.auto
#net mode-manual matrix_kb.0.key.r6c5 => halui.mode.mdi
#---MODE-SELECT-KEYBOARD-END---
#============================================================
net axis-select-x halui.axis.x.select
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 x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
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 y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
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 z-is-homed halui.joint.2.is-homed
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
net machine-on hm2_7i92.0.7i77.0.0.input-05 => halui.machine.on
#net machine-off hm2_7i92.0.7i77.0.0.input-05-not => halui.machine.off
# ---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
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Last edit: 27 Feb 2020 18:17 by COlger81.
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27 Feb 2020 18:31 #158663
by bbsr_5a
Replied by bbsr_5a on topic LINEAR POTENTIOMETERS
First of all
this is related to a postgui HAL File not the mashine hal as it is main used by the Gmoccapy not the mashiine
this is related to a postgui HAL File not the mashine hal as it is main used by the Gmoccapy not the mashiine
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27 Feb 2020 18:37 #158664
by COlger81
Replied by COlger81 on topic LINEAR POTENTIOMETERS
I do not want to tie my hands to Gmoccapy. Is there a way to use this as i have it configured? I'm not really sure how your comment is helpful..
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27 Feb 2020 19:00 #158673
by bbsr_5a
Replied by bbsr_5a on topic LINEAR POTENTIOMETERS
Why double posting
where did you connect your potenziometer to on the 7i92-7i77
in the postgui file NOT the HAL
red the pin
scale it and get it to
where did you connect your potenziometer to on the 7i92-7i77
in the postgui file NOT the HAL
red the pin
scale it and get it to
spindle override
halui.spindle−override.count−enable bit in (default: TRUE)
When TRUE, modify spindle override when counts changes.
halui.spindle−override.counts s32 in
counts X scale = spindle override percentage
halui.spindle−override.decrease bit in
pin for decreasing the SO (−=scale)
halui.spindle−override.direct−value bit in
pin to enable direct spindle override value input
halui.spindle−override.increase bit in
pin for increasing the SO (+=scale)
halui.spindle−override.scale float in
pin for setting the scale of counts for SO
halui.spindle−override.value float out
current FO value
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27 Feb 2020 19:03 #158675
by bbsr_5a
Replied by bbsr_5a on topic LINEAR POTENTIOMETERS
hi there is a HALUI section in the ini and also inside the POSTgui HAL
your in i loads up a Coustom_postgui file that is inside the machine fiolder
THERE you need to connect to a halui pin NOT IN THE MAIN HAL
see here the pinnames for spindle override
linuxcnc.org/docs/html/man/man1/halui.1.html
your in i loads up a Coustom_postgui file that is inside the machine fiolder
THERE you need to connect to a halui pin NOT IN THE MAIN HAL
see here the pinnames for spindle override
linuxcnc.org/docs/html/man/man1/halui.1.html
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27 Feb 2020 19:05 #158676
by COlger81
Replied by COlger81 on topic LINEAR POTENTIOMETERS
I'm connected to analogin1 as the hal file shows.
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27 Feb 2020 19:10 #158678
by COlger81
Replied by COlger81 on topic LINEAR POTENTIOMETERS
Ok, this is my 2nd build with Linuxcnc and i never understood the need for a postgui hal file. The first build was successful using the main hal file exclusively. I'll try that.
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27 Feb 2020 19:13 #158679
by tommylight
Replied by tommylight on topic LINEAR POTENTIOMETERS
@COlger81
No double posting, turn off caps lock, and creating two topic with the same name creates a lot of confusion for users and searching and the database.
Here are some links:
www.google.com/search?sxsrf=ALeKk00ZlCIa...PQDXEQ4dUDCAU&uact=5
No double posting, turn off caps lock, and creating two topic with the same name creates a lot of confusion for users and searching and the database.
Here are some links:
www.google.com/search?sxsrf=ALeKk00ZlCIa...PQDXEQ4dUDCAU&uact=5
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