RPi4 & 7i96 XY2-100 Following Error at High Velocities

[AXIS_X] MIN_LIMIT = -150.0 MAX_LIMIT = 150.0 MAX_VELOCITY = 2000 MAX_ACCELERATION = 20000 [JOINT_0] TYPE = LINEAR MAX_VELOCITY = 2400 MAX_ACCELERATION = 240000 # Set Stepgen max 20% higher than the axis #BACKLASH = 0.000 # scale is XXX step/mm SCALE = 0.01 MIN_LIMIT = -150.0 MAX_LIMIT = 150.0 FERROR = .020 MIN_FERROR = .01 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0 P = 2000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.001 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 #MAX_ERROR = 0.001

# This config file was created 2021-05-04 [EMC] # The version string for this INI file. VERSION = 1.1 # Name of machine, for use with display, etc. MACHINE = HM2-Stepper # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0 [DISPLAY] # Name of display program, e.g., tkemc #DISPLAY = tkemc DISPLAY = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.100 # Path to help file HELP_FILE = tkemc.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 30 MAX_LINEAR_VELOCITY = 350 # Prefix to be used PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [RS274NGC] # File containing interpreter variables PARAMETER_FILE = hm2-stepper.var SUBROUTINE_PATH=/home/pi/linuxcnc-dev/nc_files/remap_lib/common_nc_subs # this is important - read common_nc_subs/reset_state.ngc # ON_ABORT_COMMAND= O <RESET_STATE> call [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 # Servo task period, in nanoseconds SERVO_PERIOD = 500000 [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = hm2-pidstepper-master-pexy100.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta [HALUI] #No Content [TRAJ] AXES = 6 COORDINATES = X Y Z A B C #HOME = 0 0 0 #JOINTS=7 LINEAR_UNITS = mm ANGULAR_UNITS = degree #CYCLE_TIME = 0.1 NO_FORCE_HOMING = 1 MAX_VELOCITY = 2000 MAX_ACCELERATION = 200000 [EMCIO] # Name of IO controller program, e.g., io EMCIO = io # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = tool.tbl [KINS] KINEMATICS = trivkins #This is a best-guess at the number of joints, it should be checked JOINTS = 7 [AXIS_X] MIN_LIMIT = -150.0 MAX_LIMIT = 150.0 MAX_VELOCITY = 2000 MAX_ACCELERATION = 20000 [JOINT_0] TYPE = LINEAR MAX_VELOCITY = 2400 MAX_ACCELERATION = 240000 # Set Stepgen max 20% higher than the axis #BACKLASH = 0.000 # scale is XXX step/mm SCALE = 0.01 MIN_LIMIT = -150.0 MAX_LIMIT = 150.0 FERROR = .020 MIN_FERROR = .01 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0 P = 1900 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.001 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 #MAX_ERROR = 0.001 [AXIS_Y] MIN_LIMIT = -150.0 MAX_LIMIT = 150.0 MAX_VELOCITY = 2000 MAX_ACCELERATION = 200000 [JOINT_1] TYPE = LINEAR MAX_VELOCITY = 2400 MAX_ACCELERATION = 240000 #MAX_JERK = 2000 #BACKLASH = 0.000 SCALE = 0.01 MIN_LIMIT = -150.0 MAX_LIMIT = 150.0 FERROR = .020 MIN_FERROR = .01 # # PID tuning params DEADBAND = 0 P = 1900 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.001 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 [AXIS_Z] MIN_LIMIT = -3000.0 MAX_LIMIT = 3000.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 [JOINT_2] TYPE = LINEAR MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 MAX_JERK = 2000 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240 STEPGEN_MAX_ACC = 2400 BACKLASH = 0.000 SCALE = 334 MIN_LIMIT = -3000.0 MAX_LIMIT = 3000.0 FERROR = .020 MIN_FERROR = .0005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES # these are in nanoseconds DIRSETUP = 3000 DIRHOLD = 3000 STEPLEN = 3000 STEPSPACE = 3000 # PID tuning params DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00025 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 [AXIS_A] MIN_LIMIT = -300.0 MAX_LIMIT = 300.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 [JOINT_3] TYPE = LINEAR MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 MAX_JERK = 2000 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240 STEPGEN_MAX_ACC = 2400 BACKLASH = 0.000 SCALE = 334 MIN_LIMIT = -3000.0 MAX_LIMIT = 3000.0 FERROR = .020 MIN_FERROR = .0005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES # these are in nanoseconds DIRSETUP = 3000 DIRHOLD = 3000 STEPLEN = 3000 STEPSPACE = 3000 # PID tuning params DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00025 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 [AXIS_B] MIN_LIMIT = -3000.0 MAX_LIMIT = 3000.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 [JOINT_4] TYPE = LINEAR MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 MAX_JERK = 2000 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240 STEPGEN_MAX_ACC = 2400 BACKLASH = 0.000 SCALE = 40 MIN_LIMIT = -3000.0 MAX_LIMIT = 3000.0 FERROR = .020 MIN_FERROR = .0005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 4000 STEPSPACE = 4000 # PID tuning params DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00025 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 [AXIS_C] MIN_LIMIT = -300.0 MAX_LIMIT = 300.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 [JOINT_5] TYPE = LINEAR MAX_VELOCITY = 200 MAX_ACCELERATION = 2000 MAX_JERK = 2000 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240 STEPGEN_MAX_ACC = 2400 BACKLASH = 0.000 SCALE = 40 MIN_LIMIT = -300.0 MAX_LIMIT = 300.0 FERROR = .020 MIN_FERROR = .0005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 4000 STEPSPACE = 4000 # PID tuning params DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00025 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0 [HOSTMOT2] DRIVER=hm2_eth board_ip="10.10.10.10" # DRIVER=hm2_eth board_ip="10.10.10.10" debug=-1 BOARD=7i96 CONFIG="num_encoders=1 num_stepgens=5 num_pwmgens=0 sserial_port_0=0000xxxx enable_raw" [SPINDLE_9] # PID tuning params DEADBAND = 0 P = 50 I = 200 D = 0.2 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 50 SCALE = 6000 MINLIM = 0 MAXLIM = 6000

# ####################################### # # HAL file for HostMot2 with 3 steppers # # Derived from Ted Hyde's original hm2-servo config # # Based up work and discussion with Seb & Peter & Jeff # GNU license references - insert here. www.linuxcnc.org # # # ######################################## # Firmware files are in /lib/firmware/hm2/7i43/ # Must symlink the hostmot2 firmware directory of sanbox to # /lib/firmware before running EMC2... # sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2 # # See also: # <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam> # and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2 # # ##################################################################### # ################################### # Core EMC/HAL Loads # ################################### # kinematics loadrt [KINS]KINEMATICS #autoconverted trivkins # motion controller loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=1 # standard components loadrt pid num_chan=7 loadrt mux2 count=7 loadrt oneshot count=1 loadrt and2 count=1 loadrt comp count=1 # hostmot2 driver loadrt hostmot2 # load low-level driver loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 # ################################################ # THREADS # ################################################ addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf mux2.0 servo-thread addf mux2.1 servo-thread addf mux2.2 servo-thread addf mux2.3 servo-thread addf mux2.4 servo-thread addf mux2.5 servo-thread addf mux2.6 servo-thread addf and2.0 servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf pid.3.do-pid-calcs servo-thread addf pid.4.do-pid-calcs servo-thread addf pid.5.do-pid-calcs servo-thread addf pid.6.do-pid-calcs servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread #addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread addf oneshot.0 servo-thread addf comp.0 servo-thread # latch 50 usec before nominal read time: setp hm2_[HOSTMOT2](BOARD).0.dpll.01.timer-us -100 setp hm2_[HOSTMOT2](BOARD).0.stepgen.timer-number -1 ## orig setp hm2_[HOSTMOT2](BOARD).0.xy2mod.timer-number 1 setp hm2_[HOSTMOT2](BOARD).0.xy2mod.read-timer-number 1 setp hm2_[HOSTMOT2](BOARD).0.xy2mod.write-timer-number 1 setp hm2_[HOSTMOT2](BOARD).0.packet-read-timeout 80 setp hm2_[HOSTMOT2](BOARD).0.packet-error-limit 50 # ###################################################### # Axis-of-motion Specific Configs (not the GUI) # ###################################################### # switch fb data to command on packet error: net perror hm2_[HOSTMOT2](BOARD).0.packet-error => mux2.0.sel mux2.1.sel mux2.2.sel mux2.3.sel # ################ # X [0] Axis # ################ # axis enable chain newsig emcmot.00.enable bit sets emcmot.00.enable FALSE net emcmot.00.enable <= joint.0.amp-enable-out net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.xy2mod.00.enable pid.0.enable pid.1.enable # position command and feedback net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command mux2.0.in1 net fb0 mux2.0.in0 <= hm2_[HOSTMOT2](BOARD).0.xy2mod.00.posx-fb # feedback position to motion is forced to be commanded position if theres a packet error net motor.00.pos-fb <= mux2.0.out joint.0.motor-pos-fb pid.0.feedback net motor.00.command pid.0.output hm2_[HOSTMOT2](BOARD).0.xy2mod.00.velx-cmd setp pid.0.error-previous-target true # timing parameters setp hm2_[HOSTMOT2](BOARD).0.xy2mod.00.posx-scale [JOINT_0]SCALE # set PID loop gains from inifile setp pid.0.Pgain [JOINT_0]P setp pid.0.Igain [JOINT_0]I setp pid.0.Dgain [JOINT_0]D setp pid.0.bias [JOINT_0]BIAS setp pid.0.FF0 [JOINT_0]FF0 setp pid.0.FF1 [JOINT_0]FF1 setp pid.0.FF2 [JOINT_0]FF2 setp pid.0.deadband [JOINT_0]DEADBAND setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT setp pid.0.maxerror [JOINT_0]MAX_ERROR # ################ # Y [1] Axis # ################ # position command and feedback net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command mux2.1.in1 net fb1 mux2.1.in0 <= hm2_[HOSTMOT2](BOARD).0.xy2mod.00.posy-fb # feedback position to motion is forced to be commanded position if theres a packet error net motor.01.pos-fb <= mux2.1.out joint.1.motor-pos-fb pid.1.feedback net motor.01.command pid.1.output hm2_[HOSTMOT2](BOARD).0.xy2mod.00.vely-cmd setp pid.1.error-previous-target true # timing parameters setp hm2_[HOSTMOT2](BOARD).0.xy2mod.00.posy-scale [JOINT_1]SCALE # set PID loop gains from inifile setp pid.1.Pgain [JOINT_1]P setp pid.1.Igain [JOINT_1]I setp pid.1.Dgain [JOINT_1]D setp pid.1.bias [JOINT_1]BIAS setp pid.1.FF0 [JOINT_1]FF0 setp pid.1.FF1 [JOINT_1]FF1 setp pid.1.FF2 [JOINT_1]FF2 setp pid.1.deadband [JOINT_1]DEADBAND setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.1.maxerror [JOINT_1]MAX_ERROR # ################ # Z [2] Axis -Build Platform # ################ # axis enable chain newsig emcmot.02.enable bit sets emcmot.02.enable FALSE net emcmot.02.enable <= joint.2.amp-enable-out net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable pid.2.enable # position command and feedback net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command mux2.2.in1 #net emcmot.02.vel-cmd joint.2.vel-cmd => pid.2.command-deriv net fb2 mux2.2.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb # feedback position to motion is forced to be commanded position if theres a packet error net motor.02.pos-fb <= mux2.2.out joint.2.motor-pos-fb pid.2.feedback net motor.02.command pid.2.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd setp pid.2.error-previous-target true # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_2]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_2]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 # set PID loop gains from inifile setp pid.2.Pgain [JOINT_2]P setp pid.2.Igain [JOINT_2]I setp pid.2.Dgain [JOINT_2]D setp pid.2.bias [JOINT_2]BIAS setp pid.2.FF0 [JOINT_2]FF0 setp pid.2.FF1 [JOINT_2]FF1 setp pid.2.FF2 [JOINT_2]FF2 setp pid.2.deadband [JOINT_2]DEADBAND setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.2.maxerror [JOINT_2]MAX_ERROR # ################ # A [3] Axis - Supply Platform # ################ # axis enable chain newsig emcmot.03.enable bit sets emcmot.03.enable FALSE net emcmot.03.enable <= joint.3.amp-enable-out net emcmot.03.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable pid.3.enable # position command and feedback net emcmot.03.pos-cmd joint.3.motor-pos-cmd => pid.3.command mux2.3.in1 #net emcmot.03.vel-cmd joint.3.vel-cmd => pid.3.command-deriv net fb3 mux2.3.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb # feedback position to motion is forced to be commanded position if theres a packet error net motor.03.pos-fb <= mux2.3.out joint.3.motor-pos-fb pid.3.feedback net motor.03.command pid.3.output hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd setp pid.3.error-previous-target true # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_3]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_3]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_3]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_3]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_3]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_3]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_3]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1 # set PID loop gains from inifile setp pid.3.Pgain [JOINT_3]P setp pid.3.Igain [JOINT_3]I setp pid.3.Dgain [JOINT_3]D setp pid.3.bias [JOINT_3]BIAS setp pid.3.FF0 [JOINT_3]FF0 setp pid.3.FF1 [JOINT_3]FF1 setp pid.3.FF2 [JOINT_3]FF2 setp pid.3.deadband [JOINT_3]DEADBAND setp pid.3.maxoutput [JOINT_3]MAX_OUTPUT setp pid.3.maxerror [JOINT_3]MAX_ERROR # ################ # B [4] Axis - Roller # ################ # axis enable chain newsig emcmot.04.enable bit sets emcmot.04.enable FALSE net emcmot.04.enable <= joint.4.amp-enable-out net emcmot.04.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable pid.4.enable # position command and feedback net emcmot.04.pos-cmd joint.4.motor-pos-cmd => pid.4.command mux2.4.in1 #net emcmot.04.vel-cmd joint.4.vel-cmd => pid.4.command-deriv net fb4 mux2.4.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb # feedback position to motion is forced to be commanded position if theres a packet error net motor.04.pos-fb <= mux2.4.out joint.4.motor-pos-fb pid.4.feedback net motor.04.command pid.4.output hm2_[HOSTMOT2](BOARD).0.stepgen.02.velocity-cmd setp pid.4.error-previous-target true # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_4]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_4]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_4]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_4]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_4]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_4]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_4]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.control-type 1 # set PID loop gains from inifile setp pid.4.Pgain [JOINT_4]P setp pid.4.Igain [JOINT_4]I setp pid.4.Dgain [JOINT_4]D setp pid.4.bias [JOINT_4]BIAS setp pid.4.FF0 [JOINT_4]FF0 setp pid.4.FF1 [JOINT_4]FF1 setp pid.4.FF2 [JOINT_4]FF2 setp pid.4.deadband [JOINT_4]DEADBAND setp pid.4.maxoutput [JOINT_4]MAX_OUTPUT setp pid.4.maxerror [JOINT_4]MAX_ERROR # ################ # C [5] Axis - Scraper # ################ # axis enable chain newsig emcmot.05.enable bit sets emcmot.05.enable FALSE net emcmot.05.enable <= joint.5.amp-enable-out net emcmot.05.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.03.enable pid.5.enable # position command and feedback net emcmot.05.pos-cmd joint.5.motor-pos-cmd => pid.5.command mux2.5.in1 #net emcmot.05.vel-cmd joint.5.vel-cmd => pid.5.command-deriv net fb5 mux2.5.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb # feedback position to motion is forced to be commanded position if theres a packet error net motor.05.pos-fb <= mux2.5.out joint.5.motor-pos-fb pid.5.feedback net motor.05.command pid.5.output hm2_[HOSTMOT2](BOARD).0.stepgen.03.velocity-cmd setp pid.5.error-previous-target true # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirsetup [JOINT_5]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.dirhold [JOINT_5]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.steplen [JOINT_5]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.stepspace [JOINT_5]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-scale [JOINT_5]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxvel [JOINT_5]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.maxaccel [JOINT_5]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.03.control-type 1 # set PID loop gains from inifile setp pid.5.Pgain [JOINT_5]P setp pid.5.Igain [JOINT_5]I setp pid.5.Dgain [JOINT_5]D setp pid.5.bias [JOINT_5]BIAS setp pid.5.FF0 [JOINT_5]FF0 setp pid.5.FF1 [JOINT_5]FF1 setp pid.5.FF2 [JOINT_5]FF2 setp pid.5.deadband [JOINT_5]DEADBAND setp pid.5.maxoutput [JOINT_5]MAX_OUTPUT setp pid.5.maxerror [JOINT_5]MAX_ERROR # ############# # Laser controls # ############# # set soft limits on frequency setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.maxvel 600000 setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.maxaccel 0 # Set stepgen to quadrature (ie. A AB B 0) setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.step_type 2 # set the spacing/timing small so as not to interfere when frequency gets large setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.stepspace 10 setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.steplen 10 # set the scale. should be 1:1 in quadrature mode setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.position-scale 1 # set the control type to velocity. this should allow it to keep going setp hm2_[HOSTMOT2](BOARD).0.stepgen.04.control-type 1 # ### signals to wire everything up # turn on PRR when machine is enabled net PRR_on motion.motion-enabled net PRR_on hm2_[HOSTMOT2](BOARD).0.stepgen.04.enable net PRR_freq hm2_[HOSTMOT2](BOARD).0.stepgen.04.velocity-cmd # set an initial value. to be adjusted by M102 sets PRR_freq 200000 # Set up one shot to latch power setp oneshot.0.width .00000001 setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_output TRUE # one shot sends signal to GPIO pin net power_latch oneshot.0.out net power_latch hm2_7i96.0.gpio.048.out # set up signal to drive oneshot net latch_trig oneshot.0.in # setup spindle 0 as main power spindle # ################################## # Read laser fault codes setp hm2_[HOSTMOT2](BOARD).0.gpio.010.is_output False setp hm2_[HOSTMOT2](BOARD).0.gpio.009.is_output False # connect AP laser pins setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_output True net Main_laser_on spindle.0.on net Main_laser_on hm2_[HOSTMOT2](BOARD).0.gpio.049.out # Emergency Stop safety feature # Estop pin needs to be high for normal operation. 7i96 IO pins initalize to HIGH. During an error all pins go high and the laser turns on # To stop this, SSR0+ will be connected to 5V, SSR0- connect to laser Estop pin. Thereby, the pin will be forced high as long as the board is connected net emcmot.00.enable hm2_7i96.0.ssr.00.out-00 # MO needs to be high before laser emits. basically laser power turned on. If joints are not on, no reason to be powered setp hm2_[HOSTMOT2](BOARD).0.gpio.039.is_output True # logic to make sure red laser is off net emcmot.00.enable and2.0.in0 net mo_in_1 and2.0.in1 sets mo_in_1 True net mo_out and2.0.out hm2_7i96.0.ssr.00.out-01 # setup GPIO as red laser dot # ############################## # red laser will be called via M103 instead of spindle # Must be turned off with M104 to return to normal setp hm2_[HOSTMOT2](BOARD).0.gpio.050.is_output TRUE net red_laser_on hm2_[HOSTMOT2](BOARD).0.gpio.050.out setp pid.6.Pgain [SPINDLE_9]P setp pid.6.Igain [SPINDLE_9]I setp pid.6.Dgain [SPINDLE_9]D setp pid.6.bias [SPINDLE_9]BIAS setp pid.6.FF0 [SPINDLE_9]FF0 setp pid.6.FF1 [SPINDLE_9]FF1 setp pid.6.FF2 [SPINDLE_9]FF2 setp pid.6.deadband [SPINDLE_9]DEADBAND setp pid.6.maxoutput [SPINDLE_9]MAX_OUTPUT setp pid.6.maxerror [SPINDLE_9]MAX_ERROR #setp hm2_[HOSTMOT2](BOARD).0.7i76.0.0.spinout-scalemax [SPINDLE_9]SCALE #setp hm2_[HOSTMOT2](BOARD).0.7i76.0.0.spinout-minlim [SPINDLE_9]MINLIM #setp hm2_[HOSTMOT2](BOARD).0.7i76.0.0.spinout-maxlim [SPINDLE_9]MAXLIM net spindle-index-enable <=> hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable <=> spindle.0.index-enable # ################################################## # Standard I/O Block - EStop, Etc # ################################################## # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed # ################################################## # 8 bit power signal to laser # ################################################## # set up pins for 8 bit logic # pin 040 is bit 0, pin 047 is bit 7(128) setp hm2_[HOSTMOT2](BOARD).0.gpio.040.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.041.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.042.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.043.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.044.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.045.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.046.is_output TRUE setp hm2_[HOSTMOT2](BOARD).0.gpio.047.is_output TRUE