Code:
# Generated by PNCconf at Tue Nov 10 10:24:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
# Generated by PNCconf at Tue Nov 10 10:24:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt delta_AAB_inv
#loadusr halui -ini /home/k1/linuxcnc/configs/n/n.ini
setp delta_AAB_inv.e 340.00 #LATO TRIANGOLO BASSO (174.598422 lato tri) (138.564064606 lato tri)
setp delta_AAB_inv.f 848.704896 #LATO TRIANGOLO ALTO (375.60 lato TRI == 1/2) (187.80 1/2 h) 200.42165552 848.704896
setp delta_AAB_inv.re 1000.00 #link 02 (850.00 orinario) 852.1150157
setp delta_AAB_inv.rf 416.012 #link 01 (390.00 originario, 416.012 versione k1V2) [test k1v1 calcolato 394.5883931]
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=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b
loadrt mux4 names=jogincr
loadrt ilowpass
loadrt conv_s32_float names=c32f.0,c32f.1,c32f.2,c32f.3,c32f.4
loadrt logic count=1 personality=0x203
loadrt and2 count=6
loadrt or2 count=7
loadrt mux2 count=3
loadrt sum2 count=4
loadrt offset 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.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.b.do-pid-calcs servo-thread
addf offset.0.update-output servo-thread
addf offset.0.update-feedback servo-thread
addf jogincr servo-thread
addf ilowpass.0 servo-thread
addf c32f.0 servo-thread
addf c32f.1 servo-thread
addf c32f.2 servo-thread
addf c32f.3 servo-thread
addf c32f.4 servo-thread
addf logic.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 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 mux2.0 servo-thread
addf mux2.1 servo-thread
addf mux2.2 servo-thread
addf sum2.0 servo-thread
addf sum2.1 servo-thread
addf sum2.2 servo-thread
addf sum2.3 servo-thread
addf hm2_5i25.0.write servo-thread
setp ilowpass.0.scale 1000
setp ilowpass.0.gain 0.01
& motor contro session ...
Code:
#*******************
# 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
# ---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
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
I don't now ... is the config that have 1 year .... I use custom comp for modbus comunication and alui... some remapped... but in hal file not see base-thread trace....
in attachment latency test nobase whit:
1- 10 glxgear and youtube 2 video run
2- same but only 4 glxgear
3- no ethernet connections and 1 glxgears
I hope was a positive value ...
Regards giorgio
