Mesa 5i25 and 7i76 and encoder

loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=20 loadrt hostmot2 loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=2 sserial_port_0=00xxxx" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.z,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt mux16 names=soincr # load a near component and attach it to a thread loadrt near addf near.0 servo-thread 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.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf hm2_5i25.0.write servo-thread addf soincr servo-thread loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 loadusr classicladder --nogui custom.clp addf classicladder.0.refresh servo-thread # external output signals # --- COOLANT-FLOOD --- net coolant-flood hm2_5i25.0.7i76.0.0.output-03 # --- COOLANT-MIST --- net coolant-mist hm2_5i25.0.7i76.0.0.output-04 # --- SPINDLE-CW --- net spindle-cw hm2_5i25.0.7i76.0.0.output-06 # --- SPINDLE-CCW --- net spindle-ccw hm2_5i25.0.7i76.0.0.output-05 # --- MACHINE-IS-ENABLED --- net machine-is-enabled hm2_5i25.0.7i76.0.0.output-07 # external input signals # --- HOME-X --- net max-home-x <= hm2_5i25.0.7i76.0.0.input-00 # --- MIN-X --- net min-x <= hm2_5i25.0.7i76.0.0.input-01 # --- HOME-Z --- net max-home-z <= hm2_5i25.0.7i76.0.0.input-02 #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_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 [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [AXIS_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 [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_5i25.0.stepgen.00.enable # ---setup home / limit switch signals--- net max-home-x => axis.0.home-sw-in net min-x => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT setp pid.z.error-previous-target true setp pid.z.maxerror .0005 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 1 setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.01.maxvel [AXIS_2]STEPGEN_MAXVEL setp hm2_5i25.0.gpio.002.invert_output true #modification sens # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output <= hm2_5i25.0.stepgen.01.velocity-cmd net z-pos-fb <= hm2_5i25.0.stepgen.01.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net max-home-z => axis.2.home-sw-in net max-home-z => axis.2.pos-lim-sw-in #******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]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 # ---digital potentionmeter output signals/setup--- setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd-rpm-abs => hm2_5i25.0.7i76.0.0.spinout net spindle-enable => hm2_5i25.0.7i76.0.0.spinena net spindle-ccw => hm2_5i25.0.7i76.0.0.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 # ---Setup spindle at speed signals--- #sets spindle-at-speed true # ---Setup spindle at speed signals--- net spindle-vel-cmd-rps => near.0.in1 net spindle-vel-fb => near.0.in2 net spindle-at-speed <= near.0.out setp near.0.scale 1.000000 setp near.0.difference 3.333333 # Spindle encoder # ---------------- # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.00.counter-mode 1 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 100 net spindle-revs <= hm2_5i25.0.encoder.00.position net spindle-vel-fb <= hm2_5i25.0.encoder.00.velocity net spindle-index-enable <=> hm2_5i25.0.encoder.00.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-c halui.joint.2.select net z-is-homed halui.joint.2.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