Mesa 7i95

Configuration Name: HOSTMOT2 General configuration information:   BoardName : MESA7I95   FPGA Size: 9 KGates   FPGA Pins: 144   Number of IO Ports: 2   Width of one I/O port: 29   Clock Low frequency: 100.0000 MHz   Clock High frequency: 200.0000 MHz   IDROM Type: 3   Instance Stride 0: 4   Instance Stride 1: 64   Register Stride 0: 256   Register Stride 1: 256 Modules in configuration:   Module: DPLL   There are 1 of DPLL in configuration   Version: 0   Registers: 7   BaseAddress: 7000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: WatchDog   There are 1 of WatchDog in configuration   Version: 0   Registers: 3   BaseAddress: 0C00   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: IOPort   There are 2 of IOPort in configuration   Version: 0   Registers: 5   BaseAddress: 1000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: MuxedQCount   There are 6 of MuxedQCount in configuration   Version: 3   Registers: 5   BaseAddress: 3600   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: MuxedQCountSel   There are 1 of MuxedQCountSel in configuration   Version: 0   Registers: 0   BaseAddress: 0000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: SSerial   There are 1 of SSerial in configuration   Version: 0   Registers: 6   BaseAddress: 5B00   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 64 bytes   Module: StepGen   There are 6 of StepGen in configuration   Version: 2   Registers: 10   BaseAddress: 2000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: SSR   There are 1 of SSR in configuration   Version: 0   Registers: 2   BaseAddress: 7D00   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: InMux   There are 1 of InMux in configuration   Version: 0   Registers: 5   BaseAddress: 8000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: LED   There are 1 of LED in configuration   Version: 0   Registers: 1   BaseAddress: 0200   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes Configuration pin-out: IO Connections for Step/DIR+Serial+Encoders Pin#                  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir TB3-2,3                 0   IOPort       StepGen          0        Step/Table1     (Out) TB3-4,5                 1   IOPort       StepGen          0        Dir/Table2      (Out) TB3-8,9                 2   IOPort       StepGen          1        Step/Table1     (Out) TB3-10,11               3   IOPort       StepGen          1        Dir/Table2      (Out) TB3-14,15               4   IOPort       StepGen          2        Step/Table1     (Out) TB3-16,17               5   IOPort       StepGen          2        Dir/Table2      (Out) TB3-20,21               6   IOPort       StepGen          3        Step/Table1     (Out) TB3-22,23               7   IOPort       StepGen          3        Dir/Table2      (Out) TB4-2,3                 8   IOPort       StepGen          4        Step/Table1     (Out) TB4-4,5                 9   IOPort       StepGen          4        Dir/Table2      (Out) TB4-8,9                10   IOPort       StepGen          5        Step/Table1     (Out) TB4-10,11              11   IOPort       StepGen          5        Dir/Table2      (Out) TB2-14,15              12   IOPort       SSerial          0        RXData0         (In) TB4-16,17              13   IOPort       SSerial          0        TXData0         (Out) Internal               14   IOPort       SSerial          0        TXEn0           (Out) TB4-20,21              15   IOPort       SSerial          0        RXData1         (In) TB4-22,23              16   IOPort       SSerial          0        TXData1         (Out) Internal               17   IOPort       SSerial          0        TXEn1           (Out) TB1-1,2,9,10           18   IOPort       MuxedQCount      0        MuxQ-A          (In) TB1-4,5,12,13          19   IOPort       MuxedQCount      0        MuxQ-B          (In) TB1-7,8,15,16          20   IOPort       MuxedQCount      0        MuxQ-IDX        (In) TB1-17,18 TB2-1,2      21   IOPort       MuxedQCount      1        MuxQ-A          (In) TB1-20,21 TB2-4,5      22   IOPort       MuxedQCount      1        MuxQ-B          (In) TB1-23,24,TB2-7,8      23   IOPort       MuxedQCount      1        MuxQ-IDX        (In) TB2-9,10,17,18         24   IOPort       MuxedQCount      2        MuxQ-A          (In) TB2-11,12,20,21        25   IOPort       MuxedQCount      2        MuxQ-B          (In) TB2-15,16,23,24        26   IOPort       MuxedQCount      2        MuxQ-IDX        (In) Internal               27   IOPort       MuxedQCountSel   0        MuxSel0         (Out) Internal               28   IOPort       InMux            0        Addr0           (Out) IO Connections for I/O+Expansion Pin#                  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir Internal               29   IOPort       InMux            0        Addr1           (Out) Internal               30   IOPort       InMux            0        Addr2           (Out) Internal               31   IOPort       InMux            0        Addr3           (Out) Internal               32   IOPort       InMux            0        Addr4           (Out) Internal               33   IOPort       InMux            0        Data0           (In) TB3 13,14              34   IOPort       SSR              0        Out-00          (Out) TB3 15,16              35   IOPort       SSR              0        Out-01          (Out) TB3 17,18              36   IOPort       SSR              0        Out-02          (Out) TB3-19,20              37   IOPort       SSR              0        Out-03          (Out) TB3-21,22              38   IOPort       SSR              0        Out-04          (Out) TB3-23,24              39   IOPort       SSR              0        Out-05          (Out) Internal               40   IOPort       SSR              0        AC Ref          (Out) P1-01/DB25-01          41   IOPort       None            P1-02/DB25-14          42   IOPort       None            P1-03/DB25-02          43   IOPort       None            P1-04/DB25-15          44   IOPort       None            P1-05/DB25-03          45   IOPort       None            P1-06/DB25-16          46   IOPort       None            P1-07/DB25-04          47   IOPort       None            P1-08/DB25-17          48   IOPort       None            P1-09/DB25-05          49   IOPort       None            P1-11/DB25-06          50   IOPort       None            P1-13/DB25-07          51   IOPort       None            P1-15/DB25-08          52   IOPort       None            P1-17/DB25-09          53   IOPort       None            P1-19/DB25-10          54   IOPort       None            P1-21/DB25-11          55   IOPort       None            P1-23/DB25-12          56   IOPort       None            P1-25/DB25-13          57   IOPort       None 

# Erstellt von PNCconf am Sun Oct 10 09:27:11 2021 # Using LinuxCNC version:  Master (2.9) # Änderungen an dieser Datei werden beim nächsten # 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_eth board_ip="192.168.1.121" config=" num_encoders=1 num_pwmgens=0 num_stepgens=6 sserial_port_0=0xxxxx"  setp    hm2_7i95.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.a,pid.c,pid.s addf hm2_7i95.0.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.y2.do-pid-calcs      servo-thread addf pid.z.do-pid-calcs       servo-thread addf pid.a.do-pid-calcs       servo-thread addf pid.s.do-pid-calcs       servo-thread addf hm2_7i95.0.write         servo-thread # external output signals # external input signals #******************* #  AXIS X JOINT 0 #******************* 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.x.maxerror 0.012700 net x-index-enable  <=> pid.x.index-enable net x-enable        =>  pid.x.enable net x-pos-cmd       =>  pid.x.command net x-pos-fb        =>  pid.x.feedback net x-output        <=  pid.x.output # Step Gen signals/setup setp   hm2_7i95.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP setp   hm2_7i95.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD setp   hm2_7i95.0.stepgen.00.steplen         [JOINT_0]STEPLEN setp   hm2_7i95.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE setp   hm2_7i95.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE setp   hm2_7i95.0.stepgen.00.step_type        0 setp   hm2_7i95.0.stepgen.00.control-type     1 setp   hm2_7i95.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL setp   hm2_7i95.0.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_7i95.0.stepgen.00.velocity-cmd net x-pos-fb     <= hm2_7i95.0.stepgen.00.position-fb net x-pos-fb     => joint.0.motor-pos-fb net x-enable     <= joint.0.amp-enable-out net x-enable     => hm2_7i95.0.stepgen.00.enable # ---setup home / limit switch signals--- net x-home-sw     =>  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 JOINT 1 #******************* 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.y.maxerror 0.012700 net y-index-enable  <=> pid.y.index-enable net y-enable        =>  pid.y.enable net y-pos-cmd       =>  pid.y.command net y-pos-fb        =>  pid.y.feedback net y-output        <=  pid.y.output # Step Gen signals/setup setp   hm2_7i95.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP setp   hm2_7i95.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD setp   hm2_7i95.0.stepgen.01.steplen         [JOINT_1]STEPLEN setp   hm2_7i95.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE setp   hm2_7i95.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE setp   hm2_7i95.0.stepgen.01.step_type        0 setp   hm2_7i95.0.stepgen.01.control-type     1 setp   hm2_7i95.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL setp   hm2_7i95.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd    <= joint.1.motor-pos-cmd net y-vel-cmd    <= joint.1.vel-cmd net y-output     <= hm2_7i95.0.stepgen.01.velocity-cmd net y-pos-fb     <= hm2_7i95.0.stepgen.01.position-fb net y-pos-fb     => joint.1.motor-pos-fb net y-enable     <= joint.1.amp-enable-out net y-enable     => hm2_7i95.0.stepgen.01.enable # ---setup home / limit switch signals--- net y-home-sw     =>  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 #******************* #  AXIS Y JOINT 2 #******************* 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.y2.maxerror 0.012700 net y2-index-enable  <=> pid.y2.index-enable net y2-enable        =>  pid.y2.enable net y2-pos-cmd       =>  pid.y2.command net y2-pos-fb        =>  pid.y2.feedback net y2-output        <=  pid.y2.output # Step Gen signals/setup setp   hm2_7i95.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP setp   hm2_7i95.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD setp   hm2_7i95.0.stepgen.02.steplen         [JOINT_2]STEPLEN setp   hm2_7i95.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE setp   hm2_7i95.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE setp   hm2_7i95.0.stepgen.02.step_type       0 setp   hm2_7i95.0.stepgen.02.control-type    1 setp   hm2_7i95.0.stepgen.02.maxaccel        [JOINT_2]STEPGEN_MAXACCEL setp   hm2_7i95.0.stepgen.02.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_7i95.0.stepgen.02.velocity-cmd net y2-pos-fb     <= hm2_7i95.0.stepgen.02.position-fb net y2-pos-fb     => joint.2.motor-pos-fb net y2-enable     <= joint.2.amp-enable-out net y2-enable     => hm2_7i95.0.stepgen.02.enable # ---setup home / limit switch signals--- net y2-home-sw     =>  joint.2.home-sw-in net y2-neg-limit     =>  joint.2.neg-lim-sw-in net y2-pos-limit     =>  joint.2.pos-lim-sw-in #******************* #  AXIS Z JOINT 3 #******************* setp   pid.z.Pgain     [JOINT_3]P setp   pid.z.Igain     [JOINT_3]I setp   pid.z.Dgain     [JOINT_3]D setp   pid.z.bias      [JOINT_3]BIAS setp   pid.z.FF0       [JOINT_3]FF0 setp   pid.z.FF1       [JOINT_3]FF1 setp   pid.z.FF2       [JOINT_3]FF2 setp   pid.z.deadband  [JOINT_3]DEADBAND setp   pid.z.maxoutput [JOINT_3]MAX_OUTPUT setp   pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.z.maxerror 0.012700 net z-index-enable  <=> pid.z.index-enable net z-enable        =>  pid.z.enable net z-pos-cmd       =>  pid.z.command net z-pos-fb        =>  pid.z.feedback net z-output        <=  pid.z.output # Step Gen signals/setup setp   hm2_7i95.0.stepgen.03.dirsetup        [JOINT_3]DIRSETUP setp   hm2_7i95.0.stepgen.03.dirhold         [JOINT_3]DIRHOLD setp   hm2_7i95.0.stepgen.03.steplen         [JOINT_3]STEPLEN setp   hm2_7i95.0.stepgen.03.stepspace       [JOINT_3]STEPSPACE setp   hm2_7i95.0.stepgen.03.position-scale  [JOINT_3]STEP_SCALE setp   hm2_7i95.0.stepgen.03.step_type        0 setp   hm2_7i95.0.stepgen.03.control-type     1 setp   hm2_7i95.0.stepgen.03.maxaccel         [JOINT_3]STEPGEN_MAXACCEL setp   hm2_7i95.0.stepgen.03.maxvel           [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd    <= joint.3.motor-pos-cmd net z-vel-cmd    <= joint.3.vel-cmd net z-output     <= hm2_7i95.0.stepgen.03.velocity-cmd net z-pos-fb     <= hm2_7i95.0.stepgen.03.position-fb net z-pos-fb     => joint.3.motor-pos-fb net z-enable     <= joint.3.amp-enable-out net z-enable     => hm2_7i95.0.stepgen.03.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 A JOINT 4 #******************* setp   pid.a.Pgain     [JOINT_4]P setp   pid.a.Igain     [JOINT_4]I setp   pid.a.Dgain     [JOINT_4]D setp   pid.a.bias      [JOINT_4]BIAS setp   pid.a.FF0       [JOINT_4]FF0 setp   pid.a.FF1       [JOINT_4]FF1 setp   pid.a.FF2       [JOINT_4]FF2 setp   pid.a.deadband  [JOINT_4]DEADBAND setp   pid.a.maxoutput [JOINT_4]MAX_OUTPUT setp   pid.a.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.a.maxerror 0.012700 net a-index-enable  <=> pid.a.index-enable net a-enable        =>  pid.a.enable net a-pos-cmd       =>  pid.a.command net a-pos-fb        =>  pid.a.feedback net a-output        <=  pid.a.output # Step Gen signals/setup setp   hm2_7i95.0.stepgen.04.dirsetup        [JOINT_4]DIRSETUP setp   hm2_7i95.0.stepgen.04.dirhold         [JOINT_4]DIRHOLD setp   hm2_7i95.0.stepgen.04.steplen         [JOINT_4]STEPLEN setp   hm2_7i95.0.stepgen.04.stepspace       [JOINT_4]STEPSPACE setp   hm2_7i95.0.stepgen.04.position-scale  [JOINT_4]STEP_SCALE setp   hm2_7i95.0.stepgen.04.step_type        0 setp   hm2_7i95.0.stepgen.04.control-type     1 setp   hm2_7i95.0.stepgen.04.maxaccel         [JOINT_4]STEPGEN_MAXACCEL setp   hm2_7i95.0.stepgen.04.maxvel           [JOINT_4]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd    <= joint.4.motor-pos-cmd net a-vel-cmd    <= joint.4.vel-cmd net a-output     <= hm2_7i95.0.stepgen.04.velocity-cmd net a-pos-fb     <= hm2_7i95.0.stepgen.04.position-fb net a-pos-fb     => joint.4.motor-pos-fb net a-enable     <= joint.4.amp-enable-out net a-enable     => hm2_7i95.0.stepgen.04.enable # ---setup home / limit switch signals--- net a-home-sw     =>  joint.4.home-sw-in net a-neg-limit     =>  joint.4.neg-lim-sw-in net a-pos-limit     =>  joint.4.pos-lim-sw-in #******************* #  AXIS C JOINT 5 #******************* setp   pid.c.Pgain     [JOINT_5]P setp   pid.c.Igain     [JOINT_5]I setp   pid.c.Dgain     [JOINT_5]D setp   pid.c.bias      [JOINT_5]BIAS setp   pid.c.FF0       [JOINT_5]FF0 setp   pid.c.FF1       [JOINT_5]FF1 setp   pid.c.FF2       [JOINT_5]FF2 setp   pid.c.deadband  [JOINT_5]DEADBAND setp   pid.c.maxoutput [JOINT_5]MAX_OUTPUT setp   pid.c.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.c.maxerror 0.012700 net c-index-enable  <=> pid.c.index-enable net c-enable        =>  pid.c.enable net c-pos-cmd       =>  pid.c.command net c-pos-fb        =>  pid.c.feedback net c-output        <=  pid.c.output # Step Gen signals/setup setp   hm2_7i95.0.stepgen.05.dirsetup        [JOINT_5]DIRSETUP setp   hm2_7i95.0.stepgen.05.dirhold         [JOINT_5]DIRHOLD setp   hm2_7i95.0.stepgen.05.steplen         [JOINT_5]STEPLEN setp   hm2_7i95.0.stepgen.05.stepspace       [JOINT_5]STEPSPACE setp   hm2_7i95.0.stepgen.05.position-scale  [JOINT_5]STEP_SCALE setp   hm2_7i95.0.stepgen.05.step_type       0 setp   hm2_7i95.0.stepgen.05.control-type    1 setp   hm2_7i95.0.stepgen.05.maxaccel        [JOINT_5]STEPGEN_MAXACCEL setp   hm2_7i95.0.stepgen.05.maxvel          [JOINT_5]STEPGEN_MAXVEL # ---closedloop stepper signals--- net c-pos-cmd    <= joint.5.motor-pos-cmd net c-vel-cmd    <= joint.5.vel-cmd net c-output     <= hm2_7i95.0.stepgen.05.velocity-cmd net c-pos-fb     <= hm2_7i95.0.stepgen.05.position-fb net c-pos-fb     => joint.5.motor-pos-fb net c-enable     <= joint.5.amp-enable-out net c-enable     => hm2_7i95.0.stepgen.05.enable # ---setup home / limit switch signals--- net c-home-sw     =>  joint.5.home-sw-in net c-neg-limit     =>  joint.5.neg-lim-sw-in net c-pos-limit     =>  joint.5.pos-lim-sw-in #******************* #  SPINDLE #******************* setp   pid.s.Pgain     [SPINDLE_0]P setp   pid.s.Igain     [SPINDLE_0]I setp   pid.s.Dgain     [SPINDLE_0]D setp   pid.s.bias      [SPINDLE_0]BIAS setp   pid.s.FF0       [SPINDLE_0]FF0 setp   pid.s.FF1       [SPINDLE_0]FF1 setp   pid.s.FF2       [SPINDLE_0]FF2 setp   pid.s.deadband  [SPINDLE_0]DEADBAND setp   pid.s.maxoutput [SPINDLE_0]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     => pid.s.command net spindle-vel-fb-rpm      => pid.s.feedback net spindle-output        <=  pid.s.output # ---setup spindle control signals--- net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm        <=  spindle.0.speed-out net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs net spindle-enable             <=  spindle.0.on net spindle-cw                 <=  spindle.0.forward net spindle-ccw                <=  spindle.0.reverse net spindle-brake              <=  spindle.0.brake net spindle-revs               =>  spindle.0.revs net spindle-at-speed           =>  spindle.0.at-speed net spindle-vel-fb-rps         =>  spindle.0.speed-in net spindle-index-enable      <=>  spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** #  ---HALUI signals--- net axis-select-x  halui.axis.x.select net jog-x-pos      halui.axis.x.plus net jog-x-neg      halui.axis.x.minus net jog-x-analog   halui.axis.x.analog net x-is-homed     halui.joint.0.is-homed net axis-select-y  halui.axis.y.select net jog-y-pos      halui.axis.y.plus net jog-y-neg      halui.axis.y.minus net jog-y-analog   halui.axis.y.analog net y-is-homed     halui.joint.1.is-homed net axis-select-z  halui.axis.z.select net jog-z-pos      halui.axis.z.plus net jog-z-neg      halui.axis.z.minus net jog-z-analog   halui.axis.z.analog net z-is-homed     halui.joint.2.is-homed net axis-select-a  halui.axis.a.select net jog-a-pos      halui.axis.a.plus net jog-a-neg      halui.axis.a.minus net jog-a-analog   halui.axis.a.analog net a-is-homed     halui.joint.3.is-homed net axis-select-c  halui.axis.c.select net jog-c-pos      halui.axis.c.plus net jog-c-neg      halui.axis.c.minus net jog-c-analog   halui.axis.c.analog net c-is-homed     halui.joint.4.is-homed net jog-selected-pos      halui.axis.selected.plus net jog-selected-neg      halui.axis.selected.minus net spindle-manual-cw     halui.spindle.0.forward net spindle-manual-ccw    halui.spindle.0.reverse net spindle-manual-stop   halui.spindle.0.stop net machine-is-on         halui.machine.is-on net jog-speed             halui.axis.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 #  ---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

# Erstellt von PNCconf am Sun Oct 10 09:27:11 2021 # Using LinuxCNC version:  Master (2.9) # Änderungen an dieser Datei werden beim nächsten # overwritten when you run PNCconf again [EMC] MACHINE = my-mill DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/tim/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 6.000000 MAX_LINEAR_VELOCITY = 25.000000 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xyzac CYCLE_TIME = 100 [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 [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HMOT] # **** This is for info only **** CARD0=hm2_7i95.0 [HAL] HALUI = halui HALFILE = my-mill.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 6 KINEMATICS = trivkins coordinates=XYYZAC [TRAJ] COORDINATES =  XYYZAC MAX_ANGULAR_VELOCITY = 360.00 DEFAULT_ANGULAR_VELOCITY = 36.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 25.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -0.01 MAX_LIMIT = 200.01 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 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 = 31.25 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -0.01 MAX_LIMIT = 200.01 HOME_OFFSET = 0.0 #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 5.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -0.01 MAX_LIMIT = 1000 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 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 =  10 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -0.01 MAX_LIMIT = 1001 HOME_OFFSET = 0.0 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 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 = 10 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -0.01 MAX_LIMIT = 1001 HOME_OFFSET = 0.0 #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -100.01 MAX_LIMIT = 0.01 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 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 = 31.25 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -100.01 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 #****************************************** #****************************************** [AXIS_A] MAX_VELOCITY = 3.60 MAX_ACCELERATION = 1200.0 MIN_LIMIT = -1e+59 MAX_LIMIT = 1e+55 [JOINT_4] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 # 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 = 50.00 STEPGEN_MAXACCEL = 1500.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -1e+59 MAX_LIMIT = 1e+55 HOME_OFFSET = 0.0 #****************************************** #****************************************** [AXIS_C] MAX_VELOCITY = 3.6 MAX_ACCELERATION = 1200.0 MIN_LIMIT = -1e+59 MAX_LIMIT = 1e+55 [JOINT_5] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 # 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 = 50.00 STEPGEN_MAXACCEL = 1500.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP   = 10000 DIRHOLD    = 10000 STEPLEN    = 5000 STEPSPACE  = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -1e+59 MAX_LIMIT = 1e+55 HOME_OFFSET = 0.0 #****************************************** [SPINDLE_0] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000