7i84 Software mode 3

loadrt abs count=1 loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hostmot2 loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=0002 " setp hm2_5i25.0.watchdog.timeout_ns 10000000 loadrt mux16 names=jogincr,foincr,mvoincr,soincr addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf jogincr servo-thread addf foincr servo-thread addf mvoincr servo-thread addf soincr servo-thread addf hm2_5i25.0.write servo-thread addf hm2_5i25.0.pet_watchdog servo-thread addf abs.0 servo-thread

loadrt abs count=1 loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hostmot2 loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=0200 " setp hm2_5i25.0.watchdog.timeout_ns 10000000 loadrt mux16 names=jogincr,foincr,mvoincr,soincr addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf jogincr servo-thread addf foincr servo-thread addf mvoincr servo-thread addf soincr servo-thread addf hm2_5i25.0.write servo-thread addf hm2_5i25.0.pet_watchdog servo-thread addf abs.0 servo-thread # external output signals # external input signals # ---COOLANT CONROL --- net coolant-flood hm2_5i25.0.7i76.0.0.output-01 # ---LUBRICATION SYSTEM --- # --- SPINDLE-BRAKE --- net spindle-brake hm2_5i25.0.7i76.0.0.output-00 # --- BOTH-HOME-X --- net both-home-x <= hm2_5i25.0.7i76.0.0.input-00 # --- BOTH-HOME-Y --- net both-home-y <= hm2_5i25.0.7i76.0.0.input-01 # --- MAX-HOME-Z --- net max-home-z <= hm2_5i25.0.7i76.0.0.input-03 # --- MIN-Z --- net min-z <= hm2_5i25.0.7i76.0.0.input-04 # --- JOINT-SELECT-a-X --- net joint-select-a <= hm2_5i25.0.7i84.0.1.input-00 # --- JOINT-SELECT-b-Y --- net joint-select-b <= hm2_5i25.0.7i84.0.1.input-01 # --- JOINT-SELECT-c-Z --- net joint-select-c <= hm2_5i25.0.7i84.0.1.input-02 # --- JOINT-SELECT-d-A --- net joint-select-d <= hm2_5i25.0.7i84.0.1.input-03 # --- JOG-INCR-A --- net jog-incr-a <= hm2_5i25.0.7i84.0.1.input-09 # --- JOG-INCR-B --- net jog-incr-b <= hm2_5i25.0.7i84.0.1.input-10 # --- JOG-INCR-C --- net jog-incr-c <= hm2_5i25.0.7i84.0.1.input-11 # --- Feedrate overide - FO-INCR-A --- net fo-incr-a <= hm2_5i25.0.7i84.0.1.input-04 # --- FO-INCR-B --- net fo-incr-b <= hm2_5i25.0.7i84.0.1.input-05 # --- FO-INCR-C --- net fo-incr-c <= hm2_5i25.0.7i84.0.1.input-06 # --- FO-INCR-D --- net fo-incr-d <= hm2_5i25.0.7i84.0.1.input-07 # --- Spindle override - SO-INCR-A --- net so-incr-a <= hm2_5i25.0.7i84.0.1.input-29 # --- SO-INCR-B --- net so-incr-b <= hm2_5i25.0.7i84.0.1.input-30 # --- SO-INCR-C --- net so-incr-c <= hm2_5i25.0.7i84.0.1.input-31 # --- Max velocity override - MVO-INCR-A --- net mvo-incr-a <= hm2_5i25.0.7i76.0.0.input-28 # --- MVO-INCR-B --- net mvo-incr-b <= hm2_5i25.0.7i76.0.0.input-29 # --- MVO-INCR-C --- net mvo-incr-c <= hm2_5i25.0.7i76.0.0.input-30 # --- MVO-INCR-D --- net mvo-incr-d <= hm2_5i25.0.7i76.0.0.input-31 #******************* # AXIS X #******************* # 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 0 setp hm2_5i25.0.stepgen.00.maxaccel 5.0 setp hm2_5i25.0.stepgen.00.maxvel 2.1 net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable # ---setup home / limit switch signals--- net both-home-x => axis.0.home-sw-in net both-home-x => axis.0.neg-lim-sw-in net both-home-x => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]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 2.5 setp hm2_5i25.0.stepgen.01.maxvel 2.1 net y-pos-fb axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net both-home-y => axis.1.home-sw-in net both-home-y => axis.1.neg-lim-sw-in net both-home-y => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.02.step_type 0 setp hm2_5i25.0.stepgen.02.control-type 0 setp hm2_5i25.0.stepgen.02.maxaccel 2.5 setp hm2_5i25.0.stepgen.02.maxvel 2.1 net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable # ---setup home / limit switch signals--- net max-home-z => axis.2.home-sw-in net min-z => axis.2.neg-lim-sw-in net max-home-z => axis.2.pos-lim-sw-in #******************* # SPINDLE S #******************* # ---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 abs-vel-cmd abs.0.out => hm2_5i25.0.7i76.0.0.spinout net spindle-enable => hm2_5i25.0.7i76.0.0.spinena net spindle-cw => hm2_5i25.0.7i76.0.0.output-04 net spindle-ccw => hm2_5i25.0.7i76.0.0.output-05 # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd abs.0.in <= motion.spindle-speed-out 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 => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # 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.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 # ---jog button signals--- sets jog-speed 1.000000 # ---jogwheel signals to mesa encoder - shared MPG--- net joint-selected-count <= hm2_5i25.0.7i84.0.1.enc0 setp hm2_5i25.0.encoder.00.filter true setp hm2_5i25.0.encoder.00.counter-mode true # ---mpg signals--- # for axis x MPG setp axis.0.jog-vel-mode 0 net selected-jog-incr => axis.0.jog-scale net joint-select-a => axis.0.jog-enable net joint-selected-count => axis.0.jog-counts # for axis y MPG setp axis.1.jog-vel-mode 0 net selected-jog-incr => axis.1.jog-scale net joint-select-b => axis.1.jog-enable net joint-selected-count => axis.1.jog-counts # for axis z MPG setp axis.2.jog-vel-mode 0 net selected-jog-incr => axis.2.jog-scale net joint-select-c => axis.2.jog-enable net joint-selected-count => axis.2.jog-counts sets selected-jog-incr 0.000000 # connect feed overide increments - switches setp halui.feed-override.count-enable true setp halui.feed-override.direct-value true setp halui.feed-override.scale .01 net feedoverride-incr => halui.feed-override.counts net fo-incr-a => foincr.sel0 net fo-incr-b => foincr.sel1 net fo-incr-c => foincr.sel2 net fo-incr-d => foincr.sel3 net feedoverride-incr <= foincr.out-s setp foincr.debounce-time 0.200000 setp foincr.use-graycode False setp foincr.suppress-no-input False setp foincr.in00 0.000000 setp foincr.in01 10.000000 setp foincr.in02 20.000000 setp foincr.in03 30.000000 setp foincr.in04 40.000000 setp foincr.in05 50.000000 setp foincr.in06 60.000000 setp foincr.in07 70.000000 setp foincr.in08 80.000000 setp foincr.in09 90.000000 setp foincr.in10 100.000000 setp foincr.in11 110.000000 setp foincr.in12 120.000000 setp foincr.in13 130.000000 setp foincr.in14 140.000000 setp foincr.in15 150.000000 # connect max velocity overide increments - switches setp halui.max-velocity.count-enable true setp halui.max-velocity.direct-value true setp halui.max-velocity.scale 0.016670 net max-vel-override-incr => halui.max-velocity.counts net mvo-incr-a => mvoincr.sel0 net mvo-incr-b => mvoincr.sel1 net mvo-incr-c => mvoincr.sel2 net mvo-incr-d => mvoincr.sel3 net max-vel-override-incr <= mvoincr.out-s setp mvoincr.debounce-time 0.200000 setp mvoincr.use-graycode False setp mvoincr.suppress-no-input False setp mvoincr.in00 0.000000 setp mvoincr.in01 5.000000 setp mvoincr.in02 10.000000 setp mvoincr.in03 25.000000 setp mvoincr.in04 50.000000 setp mvoincr.in05 75.000000 setp mvoincr.in06 90.000000 setp mvoincr.in07 100.000000 setp mvoincr.in08 100.000000 setp mvoincr.in09 100.000000 setp mvoincr.in10 100.000000 setp mvoincr.in11 100.000000 setp mvoincr.in12 100.000000 setp mvoincr.in13 100.000000 setp mvoincr.in14 100.000000 setp mvoincr.in15 100.000000 # connect spindle overide increments setp halui.spindle-override.count-enable true setp halui.spindle-override.direct-value true setp halui.spindle-override.scale .01 net spindleoverride-incr => halui.spindle-override.counts net so-incr-a => soincr.sel0 net so-incr-b => soincr.sel1 net so-incr-c => soincr.sel2 net spindleoverride-incr <= soincr.out-s setp soincr.debounce-time 0.200000 setp soincr.use-graycode False setp soincr.suppress-no-input False setp soincr.in00 50.000000 setp soincr.in01 60.000000 setp soincr.in02 70.000000 setp soincr.in03 80.000000 setp soincr.in04 90.000000 setp soincr.in05 100.000000 setp soincr.in06 110.000000 setp soincr.in07 120.000000 # ---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 # ---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