New Trajectory Planner - Testers/programs wanted

G21 G17 G90 G64 P0.05 G40 G0 Z3.0 T1 M6 M3 S1000 G0 X556.0 Y-305.0 G1 F300.0 Z-3.0 G1 F3000.0 X556.0 Y-300.0 G3 X172.0 Y-78.2975 I-256.0 J0.0 G3 Y-521.7025 I128.0 J-221.7025 G3 X556.0 Y-300.0 I128.0 J221.7025 G0 Z3.0 M5 M30

# 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 ARC_BLEND_OPTIMIZATION_DEPTH = 150 DEFAULT_ACCELERATION = 750 MAX_ACCELERATION = 750 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOL_CHANGE_QUILL_UP = 1 [KINS] JOINTS = 5 KINEMATICS = trivkins 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 = 5.0 MIN_FERROR = 0.5 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 STEPGEN_MAXACCEL = 937.5 P = 170 I = 0 D = 0 FF0 = 0 FF1 = 0.994 FF2 = 0.000025 BIAS = 0 DEADBAND = 0.0016 MAX_OUTPUT = 0 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 = 5.0 MIN_FERROR = 0.5 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 STEPGEN_MAXACCEL = 937.5 P = 170 I = 0 D = 0 FF0 = 0 FF1 = 0.994 FF2 = 0.000025 BIAS = 0 DEADBAND = 0.003 MAX_OUTPUT = 0 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 = 5.0 MIN_FERROR = 0.5 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 STEPGEN_MAXACCEL = 937.5 P = 170 I = 0 D = 0 FF0 = 0 FF1 = 0.994 FF2 = 0.000025 BIAS = 0 DEADBAND = 0.003 MAX_OUTPUT = 0 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 STEPGEN_MAXACCEL = 937.5 # 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 STEPGEN_MAXACCEL = 937.5 # 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