physical start button + pause switch

# Generated by PNCconf at Mon Jan 18 14:56:08 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS #autoconverted trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_pci config=" num_encoders=5 num_pwmgens=5 num_stepgens=0 sserial_port_0=100xxx" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s loadrt oneshot names=os1,os2,os3,os4,os5 loadrt not count=4 loadrt conv_float_s32 names=cnvf,cnvr,cnvs loadrt debounce cfg=2 loadrt and2 count=12 loadrt or2 count=10 loadrt toggle count=1 loadrt toggle2nist count=1 loadrt flipflop names=ff1,ff2 loadrt near count=2 loadrt scale names=scale.sp,scale.jog,scale-fo,scale-ro,scale-so,scale-maxa loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt limit1 count=2 loadrt limit2 count=1 loadrt mux2 count=3 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.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_5i25.0.write servo-thread addf os1 servo-thread addf os2 servo-thread addf os3 servo-thread addf os4 servo-thread addf os5 servo-thread addf not.0 servo-thread addf not.1 servo-thread addf not.2 servo-thread addf cnvf servo-thread addf cnvr servo-thread addf cnvs servo-thread addf debounce.0 servo-thread addf and2.0 servo-thread addf and2.1 servo-thread addf and2.2 servo-thread addf and2.3 servo-thread addf and2.4 servo-thread addf and2.5 servo-thread addf and2.6 servo-thread addf and2.7 servo-thread addf and2.8 servo-thread addf and2.9 servo-thread addf and2.10 servo-thread addf and2.11 servo-thread addf or2.0 servo-thread addf or2.1 servo-thread addf or2.2 servo-thread addf or2.3 servo-thread addf or2.4 servo-thread addf or2.5 servo-thread addf or2.6 servo-thread addf or2.7 servo-thread addf or2.8 servo-thread addf or2.9 servo-thread addf toggle.0 servo-thread addf toggle2nist.0 servo-thread addf ff1 servo-thread addf ff2 servo-thread addf near.0 servo-thread addf near.1 servo-thread addf scale.sp servo-thread addf scale.jog servo-thread addf scale-fo servo-thread addf scale-ro servo-thread addf scale-so servo-thread addf scale-maxa servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf limit1.0 servo-thread addf limit1.1 servo-thread addf limit2.0 servo-thread addf mux2.0 servo-thread addf mux2.1 servo-thread addf mux2.2 servo-thread ###################################################################################### ###################################################################################### ###################################################################################### #################################### AXIS HAL ######################################## ###################################################################################### ###################################################################################### ###################################################################################### #########################################--- "ESTOP-OUT" ---############## # "Estop output logic" ### # "Enables 10CR to enable power up" ### # "Drives DC Interlock relay" ### # --- "ESTOP-OUT" ---##################################################### net estop-out hm2_5i25.0.7i77.0.0.output-00 net machine-is-enabled hm2_5i25.0.7i77.0.0.output-01 ################################################################### # "Overrides" # ################################################################### # "Read analog inputs from the override knobs. Full scale will be"# # "approximately 24v. Scale the input accordingly. 1.0 = 100%" # # # # "Scale up the raw values 100x so that when converted to" # # "integers we have good resolution." # # "The results will be between 0 and 2400." # ################################################################### ################"--- Feed Override ---"################## # Convert from float to S32 # ######################################################### # "Read in analog input and send to halui.feed-override" # "Enable direct count input" net scale_ovr => scale-fo.gain scale-ro.gain scale-so.gain sets scale_ovr 100.0 #100 net fo-ena halui.feed-override.count-enable halui.feed-override.direct-value sets fo-ena 1 # "Scale down the value to a percentage" net scf-scale => halui.feed-override.scale sets scf-scale 0.000852 net scf-raw scale-fo.in <= hm2_5i25.0.7i77.0.0.analogin0 net scf-raw-adj cnvf.in <= scale-fo.out net scf-s halui.feed-override.counts <= cnvf.out ################"--- Rapid Override ---"################# # Convert from float to S32 # ######################################################### # "Read in analog input and send to halui.rapid-override" # "Enable direct count input" net ro-ena halui.rapid-override.count-enable halui.rapid-override.direct-value sets ro-ena 1 # "Scale down the value to a percentage" net scr-scale => halui.rapid-override.scale sets scr-scale 0.00044 net scr-raw scale-ro.in <= hm2_5i25.0.7i77.0.0.analogin1 net scr-raw-adj cnvr.in <= scale-ro.out net scr-s halui.rapid-override.counts <= cnvr.out ###############"--- Spindle Override ---"################ # Convert from float to S32 # ######################################################### # "Read in analog input and send to halui.spindle-override" # "Enable direct count input" net so-ena halui.spindle-override.count-enable halui.spindle-override.direct-value sets so-ena 1 # "Scale down the value to a percentage" net scs-scale => halui.spindle-override.scale sets scs-scale 0.0005 #0.0005 # "Add an offest so that we have a minimum override of 30%" #net scs-offset => scale-so.offset #sets scs-offset 100 net scs-raw scale-so.in <= hm2_5i25.0.7i77.0.0.analogin2 net scs-raw-adj cnvs.in <= scale-so.out net scs-s halui.spindle-override.counts <= cnvs.out ######################################################### # "External Pause/Resume Section" [Stop] # ######################################################### setp debounce.0.delay 20 net pause-resume-btn and2.0.in0 and2.1.in0 <= hm2_5i25.0.7i77.0.0.input-17-not net pause-on toggle2nist.0.is-on and2.0.in1 and2.3.in1 <= halui.program.is-paused net run-on and2.1.in1 <= halui.program.is-running net pause-sig or2.0.in0 <= and2.0.out net resume-sig or2.0.in1 <= and2.1.out net toggle-ok toggle.0.in <= or2.0.out net togglesig toggle2nist.0.in <= toggle.0.out net toggleon halui.program.pause <= toggle2nist.0.on net toggleoff halui.program.resume <= toggle2nist.0.off ######################################################### # "External Run/Step Section" [Start] # ######################################################### net run-step-btn and2.2.in0 and2.3.in0 <= hm2_5i25.0.7i77.0.0.input-16 net idle-on and2.2.in1 <= halui.program.is-idle net run-sig halui.mode.auto halui.program.run <= and2.2.out net step-sig halui.program.step <= and2.3.out ##################################################################################### # "This is how The External Step/Pause buttons function:" # ##################################################################################### # "Pressing Run/Step will begin executing a program. # # Pressing Hold/Resume while a program is running will pause the program. # # Pressing Run/Step while a program is paused will single step the program. # # Pressing Hold/Resume while a program is paused will return it to normal run mode."# ##################################################################################### ####################################################################### # "Manual Panel/Joystick Jog signals" # ####################################################################### # "JOG X" # ####################################################################### net jog-x-pos hm2_5i25.0.7i77.0.0.input-06 or2.4.in0 net jog-x-pos-p hm2_5i25.0.7i77.0.0.input-20 or2.4.in1 net or-out0 or2.4.out halui.axis.x.plus net jog-x-neg hm2_5i25.0.7i77.0.0.input-07 or2.5.in0 net jog-x-neg-p hm2_5i25.0.7i77.0.0.input-21 or2.5.in1 net or-out1 or2.5.out halui.axis.x.minus ####################################################################### # "JOG Y" # ####################################################################### net jog-y-pos hm2_5i25.0.7i77.0.0.input-08 or2.6.in0 net jog-y-pos-p hm2_5i25.0.7i77.0.0.input-19 or2.6.in1 net or-out2 or2.6.out halui.axis.y.plus net jog-y-neg hm2_5i25.0.7i77.0.0.input-09 or2.7.in0 net jog-y-neg-p hm2_5i25.0.7i77.0.0.input-18 or2.7.in1 net or-out3 or2.7.out halui.axis.y.minus ####################################################################### # "JOG Z" # ####################################################################### net jog-z-pos hm2_5i25.0.7i77.0.0.input-10 or2.8.in0 net jog-z-pos-p hm2_5i25.0.7i77.0.0.input-22 or2.8.in1 net or-out4 or2.8.out halui.axis.z.plus net jog-z-neg hm2_5i25.0.7i77.0.0.input-11 or2.9.in0 net jog-z-neg-p hm2_5i25.0.7i77.0.0.input-23 or2.9.in1 net or-out5 or2.9.out halui.axis.z.minus # "Using or2 with two inputs" #net signal-a input-a => or2.0.in0 #net signal-b input-b => or2.0.in1 #net or-out or2.0.out => input # "Joystick switches (currently unused)" #net jog-continuous <= hm2_5i25.0.7i77.0.0.input-12 ############################################################# # "JOG Rates - Select the limited rate when we jog z minus" # ############################################################# setp limit1.0.max 20 net jog-speed => limit1.0.in => mux2.0.in0 net jog-speed-lim <= limit1.0.out => mux2.0.in1 net jog-z-neg => mux2.0.sel net jog-speed-sel <= mux2.0.out => halui.axis.jog-speed ############################################################### # "Home switch inputs" # ############################################################### net home-x <= hm2_5i25.0.7i77.0.0.input-13 net home-y <= hm2_5i25.0.7i77.0.0.input-14 net home-z <= hm2_5i25.0.7i77.0.0.input-15 ######################################################### # "X AXIS" # ######################################################### 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 ############################################# # ---"X AXIS PWM Generator signals/setup"---# ############################################# setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT net x-output => hm2_5i25.0.7i77.0.1.analogout0 net x-pos-cmd joint.0.motor-pos-cmd net x-enable joint.0.amp-enable-out ######################################## # "X AXIS enable _all_ sserial pwmgens"# ######################################## net x-enable hm2_5i25.0.7i77.0.1.analogena ################################################ # ---"X AXIS 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_0]ENCODER_SCALE net x-pos-fb <= hm2_5i25.0.encoder.00.position net x-vel-fb <= hm2_5i25.0.encoder.00.velocity net x-pos-fb => joint.0.motor-pos-fb net x-index-enable joint.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts ################################################### # ---"X AXIS 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 ######################################################### # "Y AXIS" # ######################################################### 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 setp pid.y.maxerror .0005 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output ############################################# # ---"Y AXIS PWM Generator signals/setup"---# ############################################# setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [JOINT_1]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT net y-output => hm2_5i25.0.7i77.0.1.analogout1 net y-pos-cmd joint.1.motor-pos-cmd net y-enable joint.1.amp-enable-out ############################################### # ---"Y AXIS 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 y-pos-fb <= hm2_5i25.0.encoder.01.position net y-vel-fb <= hm2_5i25.0.encoder.01.velocity net y-pos-fb => joint.1.motor-pos-fb net y-index-enable joint.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts ################################################### # ---"Y AXIS home / limit switch signals"--- # ################################################### net home-y => 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 ######################################################### # "Z AXIS" # ######################################################### 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 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 ############################################# # ---"Z AXIS PWM Generator signals/setup"---# ############################################# setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [JOINT_2]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout2-minlim [JOINT_2]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [JOINT_2]OUTPUT_MAX_LIMIT net z-output => hm2_5i25.0.7i77.0.1.analogout2 net z-pos-cmd joint.2.motor-pos-cmd net z-enable joint.2.amp-enable-out ################################################ # ---"Z AXIS 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_2]ENCODER_SCALE net z-pos-fb <= hm2_5i25.0.encoder.02.position net z-vel-fb <= hm2_5i25.0.encoder.02.velocity net z-pos-fb => joint.2.motor-pos-fb net z-index-enable joint.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts ################################################### # ---"Z AXIS home / limit switch signals"--- # ################################################### net home-z => 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_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 setp pid.s.maxerror .0005 net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output ################################################ # ---"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 ################################################# # ---"SPINDLE at speed signals"--- # ################################################# sets spindle-at-speed true ######################################################### # "MISC SIGNALS" # ######################################################### net joint-select-a halui.axis.x.select net x-is-homed halui.joint.0.is-homed net jog-x-analog halui.axis.x.analog net joint-select-b halui.axis.y.select net y-is-homed halui.joint.1.is-homed net jog-y-analog halui.axis.y.analog net joint-select-c halui.axis.z.select net z-is-homed halui.joint.2.is-homed net jog-z-analog halui.axis.z.analog net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.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 MDI-mode halui.mode.is-mdi ########################### # ---"coolant signals"---# ########################### net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood ############################################################## # "Probe input & output" # ############################################################## #net probe-in <= hm2_5i25.0.7i77.0.0.input-23 => or2.3.in0 #net toolset-in <= hm2_5i25.0.7i77.0.0.input-24 => or2.3.in1 #net probe-signal <= or2.3.out => motion.probe-input #"Output a short pulse to the probe LED/Beeper on contact" #setp os5.falling FALSE #setp os5.rising TRUE #newsig os5Time float #net os5Time => os5.width #sets os5Time 0.02 #net probe-signal => os5.in #net probe-led <= os5.out => hm2_5i25.0.7i77.0.0.output-10 net probe-in => motion.probe-input ################################## # ---"motion control signals"---# ################################## net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled ########################## # ---"estop signals"--- # ########################## net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in ######################################################### # "Manual Tool Change" # ######################################################### 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 ######################################################### # "SHARED JOGWHEEL MPG" # ######################################################### net joint-selected-count <= hm2_5i25.0.encoder.03.count ######################################### ######### "for axis x MPG" ######### ######################################### setp joint.0.jog-vel-mode 0 setp axis.x.jog-vel-mode 0 net selected-jog-incr => joint.0.jog-scale axis.x.jog-scale #net jog-ena-x => axis.x.jog-enable net joint-selected-count => joint.0.jog-counts axis.x.jog-counts ######################################### ######### "for axis y MPG" ######### ######################################### setp joint.1.jog-vel-mode 0 setp axis.y.jog-vel-mode 0 net selected-jog-incr => joint.1.jog-scale axis.y.jog-scale #net jog-ena-y => axis.y.jog-enable net joint-selected-count => joint.1.jog-counts axis.y.jog-counts ######################################### ######### "for axis z MPG" ######### ######################################### setp joint.2.jog-vel-mode 0 setp axis.z.jog-vel-mode 0 # "Limit Z motion, should be about 20 FPM" setp limit1.1.max [MPG]Z_MINUS_LIMIT net selected-jog-incr => limit1.1.in net selected-jog-incr-z <= limit1.1.out => joint.2.jog-scale axis.z.jog-scale #net jog-ena-z => axis.z.jog-enable net joint-selected-count => joint.2.jog-counts axis.z.jog-counts # "Scale the jog rate (FPM) to an increment per Handwheel count" setp scale.jog.gain [MPG]HAND_WHEEL_SCALE net jog-speed => scale.jog.in ######################################################### # "MPG JOG SELECTED" # ######################################################### net jog-ena-z hm2_5i25.0.7i77.0.0.input-25 => axis.z.jog-enable net jog-ena-z-not hm2_5i25.0.7i77.0.0.input-25-not => and2.11.in0 net jog-ena-x hm2_5i25.0.7i77.0.0.input-24 => axis.x.jog-enable net jog-ena-x-not hm2_5i25.0.7i77.0.0.input-24-not => and2.11.in1 net jog-ena-y and2.11.out => axis.y.jog-enable sets selected-jog-incr .000001 sets jog-speed 100 ######################################################### # "POST GUI FILE BERTHA Jog signals" # ######################################################### #net jog-speed <= gscreen.jog-spd-out #net jog-inc <= screen.jog-inc-out #net jog-ena-x <= gscreen.jog-enable-x-out #net jog-ena-y <= gscreen.jog-enable-y-out #net jog-ena-z <= gscreen.jog-enable-z-out