Solving some lingering F_error problems

# Generated by PNCconf at Tue Oct 30 16:21:02 2018 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=16 loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="firmware=hm2/7i80/7i76e_7i76x1_7i85x1D.bit num_encoders=0 num_pwmgens=0 num_stepgens=9 sserial_port_0=00xxxx" setp hm2_7i76e.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b,pid.c,pid.u,pid.v loadrt limit3 names=limit3.a,limit3.b,limit3.c,limit3.u,limit3.v loadrt sum2 names=sum2.a-cmd,sum2.b-cmd,sum2.c-cmd,sum2.u-cmd,sum2.v-cmd,sum2.a-fb,sum2.b-fb,sum2.c-fb,sum2.u-fb,sum2.v-fb addf hm2_7i76e.0.read servo-thread addf sum2.a-fb servo-thread addf sum2.b-fb servo-thread addf sum2.c-fb servo-thread addf sum2.u-fb servo-thread addf sum2.v-fb servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf limit3.a servo-thread addf limit3.b servo-thread addf limit3.c servo-thread addf limit3.u servo-thread addf limit3.v servo-thread addf sum2.a-cmd servo-thread addf sum2.b-cmd servo-thread addf sum2.c-cmd servo-thread addf sum2.u-cmd servo-thread addf sum2.v-cmd 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 pid.c.do-pid-calcs servo-thread addf pid.u.do-pid-calcs servo-thread addf pid.v.do-pid-calcs servo-thread addf hm2_7i76e.0.write servo-thread setp hm2_7i76e.0.dpll.01.timer-us -50 setp hm2_7i76e.0.stepgen.timer-number 1 # external output signals net dout-00 hm2_7i76e.0.7i76.0.0.output-00 net dout-01 hm2_7i76e.0.7i76.0.0.output-01 net dout-02 hm2_7i76e.0.7i76.0.0.output-02 net dout-03 hm2_7i76e.0.7i76.0.0.output-03 net dout-04 hm2_7i76e.0.7i76.0.0.output-04 net dout-05 hm2_7i76e.0.7i76.0.0.output-05 net dout-06 hm2_7i76e.0.7i76.0.0.output-06 net dout-07 hm2_7i76e.0.7i76.0.0.output-07 net dout-08 hm2_7i76e.0.7i76.0.0.output-08 net dout-09 hm2_7i76e.0.7i76.0.0.output-09 net dout-10 hm2_7i76e.0.7i76.0.0.output-10 net dout-11 hm2_7i76e.0.7i76.0.0.output-11 net dout-12 hm2_7i76e.0.7i76.0.0.output-12 # external input signals net home-x <= hm2_7i76e.0.7i76.0.0.input-00 net home-y <= hm2_7i76e.0.7i76.0.0.input-01 net home-z <= hm2_7i76e.0.7i76.0.0.input-02 net home-a <= hm2_7i76e.0.7i76.0.0.input-03 net home-b <= hm2_7i76e.0.7i76.0.0.input-04 net home-c <= hm2_7i76e.0.7i76.0.0.input-05 net home-u <= hm2_7i76e.0.7i76.0.0.input-06 net home-v <= hm2_7i76e.0.7i76.0.0.input-07 #******************* # AXIS X -- Shoulder #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_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 # Step Gen signals/setup setp hm2_7i76e.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_7i76e.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_7i76e.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_7i76e.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_7i76e.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_7i76e.0.stepgen.00.step_type 0 setp hm2_7i76e.0.stepgen.00.control-type 1 setp hm2_7i76e.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_7i76e.0.stepgen.00.enable # ---setup home / limit switch signals--- net home-x => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y - Elbow #******************* setp pid.y.Pgain [AXIS_1]P setp pid.y.Igain [AXIS_1]I setp pid.y.Dgain [AXIS_1]D setp pid.y.bias [AXIS_1]BIAS setp pid.y.FF0 [AXIS_1]FF0 setp pid.y.FF1 [AXIS_1]FF1 setp pid.y.FF2 [AXIS_1]FF2 setp pid.y.deadband [AXIS_1]DEADBAND setp pid.y.maxoutput [AXIS_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 # Step Gen signals/setup setp hm2_7i76e.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_7i76e.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_7i76e.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_7i76e.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_7i76e.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_7i76e.0.stepgen.01.step_type 0 setp hm2_7i76e.0.stepgen.01.control-type 1 setp hm2_7i76e.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= axis.1.motor-pos-cmd net y-vel-cmd <= axis.1.joint-vel-cmd net y-output => hm2_7i76e.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb net y-pos-fb => axis.1.motor-pos-fb net y-enable <= axis.1.amp-enable-out net y-enable => hm2_7i76e.0.stepgen.01.enable # ---setup home / limit switch signals--- net home-y => axis.1.home-sw-in net y-neg-limit => axis.1.neg-lim-sw-in net y-pos-limit => axis.1.pos-lim-sw-in #******************* # AXIS Z -- Wrist #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_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 # Step Gen signals/setup setp hm2_7i76e.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_7i76e.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_7i76e.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_7i76e.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_7i76e.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_7i76e.0.stepgen.02.step_type 0 setp hm2_7i76e.0.stepgen.02.control-type 1 setp hm2_7i76e.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output => hm2_7i76e.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_7i76e.0.stepgen.02.enable # ---setup home / limit switch signals--- net home-z => axis.2.home-sw-in net z-neg-limit => axis.2.neg-lim-sw-in net z-pos-limit => axis.2.pos-lim-sw-in #******************* # AXIS A -- Ferris Wheel #******************* setp limit3.a.maxv [AXIS_3]MAX_VELOCITY setp limit3.a.maxa [AXIS_3]MAX_ACCELERATION setp limit3.a.min [AXIS_3]MIN_LIMIT setp limit3.a.max [AXIS_3]MAX_LIMIT setp limit3.a.in 0 #this gets set to the target number by M110 setp pid.a.Pgain [AXIS_3]P setp pid.a.Igain [AXIS_3]I setp pid.a.Dgain [AXIS_3]D setp pid.a.bias [AXIS_3]BIAS setp pid.a.FF0 [AXIS_3]FF0 setp pid.a.FF1 [AXIS_3]FF1 setp pid.a.FF2 [AXIS_3]FF2 setp pid.a.deadband [AXIS_3]DEADBAND setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT setp pid.a.error-previous-target true setp pid.a.maxerror .0005 net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-pos-cmd => pid.a.command net a-pos-fb0 => pid.a.feedback net a-output => pid.a.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP setp hm2_7i76e.0.stepgen.03.dirhold [AXIS_3]DIRHOLD setp hm2_7i76e.0.stepgen.03.steplen [AXIS_3]STEPLEN setp hm2_7i76e.0.stepgen.03.stepspace [AXIS_3]STEPSPACE setp hm2_7i76e.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE setp hm2_7i76e.0.stepgen.03.step_type 0 setp hm2_7i76e.0.stepgen.03.control-type 1 setp hm2_7i76e.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd-in0 sum2.a-cmd.in0 <= axis.3.motor-pos-cmd net a-output => hm2_7i76e.0.stepgen.03.velocity-cmd net a-pos-fb0 sum2.a-fb.in0 <= hm2_7i76e.0.stepgen.03.position-fb net a-pos-fb-out => axis.3.motor-pos-fb net a-enable <= axis.3.amp-enable-out net a-enable => hm2_7i76e.0.stepgen.03.enable # ---command summation math--- net limit-a-out sum2.a-cmd.in1 sum2.a-fb.in1 <= limit3.a.out net a-pos-cmd <= sum2.a-cmd.out # ---feedback subtraction math--- setp sum2.a-fb.gain1 -1.0 #subtract off limit3 signal net a-pos-fb-out sum2.a-fb.out # ---setup home / limit switch signals--- net home-a => axis.3.home-sw-in net a-neg-limit => axis.3.neg-lim-sw-in net a-pos-limit => axis.3.pos-lim-sw-in #******************* # AXIS B -- Tipper #******************* setp limit3.b.maxv [AXIS_4]MAX_VELOCITY setp limit3.b.maxa [AXIS_4]MAX_ACCELERATION setp limit3.b.min [AXIS_4]MIN_LIMIT setp limit3.b.max [AXIS_4]MAX_LIMIT setp limit3.b.in 0 #this gets set to the target number by M120 setp pid.b.Pgain [AXIS_4]P setp pid.b.Igain [AXIS_4]I setp pid.b.Dgain [AXIS_4]D setp pid.b.bias [AXIS_4]BIAS setp pid.b.FF0 [AXIS_4]FF0 setp pid.b.FF1 [AXIS_4]FF1 setp pid.b.FF2 [AXIS_4]FF2 setp pid.b.deadband [AXIS_4]DEADBAND setp pid.b.maxoutput [AXIS_4]MAX_OUTPUT setp pid.b.error-previous-target true setp pid.b.maxerror .0005 net b-index-enable <=> pid.b.index-enable net b-enable => pid.b.enable net b-pos-cmd => pid.b.command net b-pos-fb0 => pid.b.feedback net b-output => pid.b.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.04.dirsetup [AXIS_4]DIRSETUP setp hm2_7i76e.0.stepgen.04.dirhold [AXIS_4]DIRHOLD setp hm2_7i76e.0.stepgen.04.steplen [AXIS_4]STEPLEN setp hm2_7i76e.0.stepgen.04.stepspace [AXIS_4]STEPSPACE setp hm2_7i76e.0.stepgen.04.position-scale [AXIS_4]STEP_SCALE setp hm2_7i76e.0.stepgen.04.step_type 0 setp hm2_7i76e.0.stepgen.04.control-type 1 setp hm2_7i76e.0.stepgen.04.maxaccel [AXIS_4]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.04.maxvel [AXIS_4]STEPGEN_MAXVEL # ---closedloop stepper signals--- net b-pos-cmd-in0 sum2.b-cmd.in0 <= axis.4.motor-pos-cmd net b-output => hm2_7i76e.0.stepgen.04.velocity-cmd net b-pos-fb0 sum2.b-fb.in0 <= hm2_7i76e.0.stepgen.04.position-fb net b-pos-fb-out => axis.4.motor-pos-fb net b-enable <= axis.4.amp-enable-out net b-enable => hm2_7i76e.0.stepgen.04.enable # ---command summation math--- net limit-b-out sum2.b-cmd.in1 sum2.b-fb.in1 <= limit3.b.out net b-pos-cmd <= sum2.b-cmd.out # ---feedback subtraction math--- setp sum2.b-fb.gain1 -1.0 #subtract off limit3 signal net b-pos-fb-out sum2.b-fb.out # ---setup home / limit switch signals--- net home-b => axis.4.home-sw-in net b-neg-limit => axis.4.neg-lim-sw-in net b-pos-limit => axis.4.pos-lim-sw-in #******************* # AXIS C -- Shaker #******************* setp limit3.c.maxv [AXIS_5]MAX_VELOCITY setp limit3.c.maxa [AXIS_5]MAX_ACCELERATION setp limit3.c.min [AXIS_5]MIN_LIMIT setp limit3.c.max [AXIS_5]MAX_LIMIT setp limit3.c.in 0 #this gets set to the target number by M130 setp pid.c.Pgain [AXIS_5]P setp pid.c.Igain [AXIS_5]I setp pid.c.Dgain [AXIS_5]D setp pid.c.bias [AXIS_5]BIAS setp pid.c.FF0 [AXIS_5]FF0 setp pid.c.FF1 [AXIS_5]FF1 setp pid.c.FF2 [AXIS_5]FF2 setp pid.c.deadband [AXIS_5]DEADBAND setp pid.c.maxoutput [AXIS_5]MAX_OUTPUT setp pid.c.error-previous-target true setp pid.c.maxerror .0005 net c-index-enable <=> pid.c.index-enable net c-enable => pid.c.enable net c-pos-cmd => pid.c.command net c-pos-fb0 => pid.c.feedback net c-output => pid.c.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.05.dirsetup [AXIS_5]DIRSETUP setp hm2_7i76e.0.stepgen.05.dirhold [AXIS_5]DIRHOLD setp hm2_7i76e.0.stepgen.05.steplen [AXIS_5]STEPLEN setp hm2_7i76e.0.stepgen.05.stepspace [AXIS_5]STEPSPACE setp hm2_7i76e.0.stepgen.05.position-scale [AXIS_5]STEP_SCALE setp hm2_7i76e.0.stepgen.05.step_type 0 setp hm2_7i76e.0.stepgen.05.control-type 1 setp hm2_7i76e.0.stepgen.05.maxaccel [AXIS_5]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.05.maxvel [AXIS_5]STEPGEN_MAXVEL # ---closedloop stepper signals--- net c-pos-cmd-in0 sum2.c-cmd.in0 <= axis.5.motor-pos-cmd net c-output => hm2_7i76e.0.stepgen.05.velocity-cmd net c-pos-fb0 sum2.c-fb.in0 <= hm2_7i76e.0.stepgen.05.position-fb net c-pos-fb-out => axis.5.motor-pos-fb net c-enable <= axis.5.amp-enable-out net c-enable => hm2_7i76e.0.stepgen.05.enable # ---command summation math--- net limit-c-out sum2.c-cmd.in1 sum2.c-fb.in1 <= limit3.c.out net c-pos-cmd <= sum2.c-cmd.out # ---feedback subtraction math--- setp sum2.c-fb.gain1 -1.0 #subtract off limit3 signal net c-pos-fb-out sum2.c-fb.out # ---setup home / limit switch signals--- net home-c => axis.5.home-sw-in net c-neg-limit => axis.5.neg-lim-sw-in net c-pos-limit => axis.5.pos-lim-sw-in #******************* # AXIS U -- EyeLean #******************* setp limit3.u.maxv [AXIS_6]MAX_VELOCITY setp limit3.u.maxa [AXIS_6]MAX_ACCELERATION setp limit3.u.min [AXIS_6]MIN_LIMIT setp limit3.u.max [AXIS_6]MAX_LIMIT setp limit3.u.in 0 #this gets set to the target number by M140 setp pid.u.Pgain [AXIS_6]P setp pid.u.Igain [AXIS_6]I setp pid.u.Dgain [AXIS_6]D setp pid.u.bias [AXIS_6]BIAS setp pid.u.FF0 [AXIS_6]FF0 setp pid.u.FF1 [AXIS_6]FF1 setp pid.u.FF2 [AXIS_6]FF2 setp pid.u.deadband [AXIS_6]DEADBAND setp pid.u.maxoutput [AXIS_6]MAX_OUTPUT setp pid.u.error-previous-target true setp pid.u.maxerror .0005 net u-index-enable <=> pid.u.index-enable net u-enable => pid.u.enable net u-pos-cmd => pid.u.command net u-pos-fb0 => pid.u.feedback net u-output => pid.u.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.06.dirsetup [AXIS_6]DIRSETUP setp hm2_7i76e.0.stepgen.06.dirhold [AXIS_6]DIRHOLD setp hm2_7i76e.0.stepgen.06.steplen [AXIS_6]STEPLEN setp hm2_7i76e.0.stepgen.06.stepspace [AXIS_6]STEPSPACE setp hm2_7i76e.0.stepgen.06.position-scale [AXIS_6]STEP_SCALE setp hm2_7i76e.0.stepgen.06.step_type 0 setp hm2_7i76e.0.stepgen.06.control-type 1 setp hm2_7i76e.0.stepgen.06.maxaccel [AXIS_6]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.06.maxvel [AXIS_6]STEPGEN_MAXVEL # ---closedloop stepper signals--- net u-pos-cmd-in0 sum2.u-cmd.in0 <= axis.6.motor-pos-cmd net u-output => hm2_7i76e.0.stepgen.06.velocity-cmd net u-pos-fb0 sum2.u-fb.in0 <= hm2_7i76e.0.stepgen.06.position-fb net u-pos-fb-out => axis.6.motor-pos-fb net u-enable <= axis.6.amp-enable-out net u-enable => hm2_7i76e.0.stepgen.06.enable # ---command summation math--- net limit-u-out sum2.u-cmd.in1 sum2.u-fb.in1 <= limit3.u.out net u-pos-cmd <= sum2.u-cmd.out # ---feedback subtraction math--- setp sum2.u-fb.gain1 -1.0 #subtract off limit3 signal net u-pos-fb-out sum2.u-fb.out # ---setup home / limit switch signals--- net home-u => axis.6.home-sw-in net u-neg-limit => axis.6.neg-lim-sw-in net u-pos-limit => axis.6.pos-lim-sw-in #******************* # AXIS V -- Bowtie #******************* setp limit3.v.maxv [AXIS_7]MAX_VELOCITY setp limit3.v.maxa [AXIS_7]MAX_ACCELERATION setp limit3.v.min [AXIS_7]MIN_LIMIT setp limit3.v.max [AXIS_7]MAX_LIMIT setp limit3.v.in 0 #this gets set to the target number by M140 setp pid.v.Pgain [AXIS_7]P setp pid.v.Igain [AXIS_7]I setp pid.v.Dgain [AXIS_7]D setp pid.v.bias [AXIS_7]BIAS setp pid.v.FF0 [AXIS_7]FF0 setp pid.v.FF1 [AXIS_7]FF1 setp pid.v.FF2 [AXIS_7]FF2 setp pid.v.deadband [AXIS_7]DEADBAND setp pid.v.maxoutput [AXIS_7]MAX_OUTPUT setp pid.v.error-previous-target true setp pid.v.maxerror .0005 net v-index-enable <=> pid.v.index-enable net v-enable => pid.v.enable net v-pos-cmd => pid.v.command net v-pos-fb0 => pid.v.feedback net v-output => pid.v.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.07.dirsetup [AXIS_7]DIRSETUP setp hm2_7i76e.0.stepgen.07.dirhold [AXIS_7]DIRHOLD setp hm2_7i76e.0.stepgen.07.steplen [AXIS_7]STEPLEN setp hm2_7i76e.0.stepgen.07.stepspace [AXIS_7]STEPSPACE setp hm2_7i76e.0.stepgen.07.position-scale [AXIS_7]STEP_SCALE setp hm2_7i76e.0.stepgen.07.step_type 0 setp hm2_7i76e.0.stepgen.07.control-type 1 #PID control => 1 setp hm2_7i76e.0.stepgen.07.maxaccel [AXIS_7]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.07.maxvel [AXIS_7]STEPGEN_MAXVEL # ---closedloop stepper signals--- net v-pos-cmd-in0 sum2.v-cmd.in0 <= axis.7.motor-pos-cmd net v-output => hm2_7i76e.0.stepgen.07.velocity-cmd net v-pos-fb0 sum2.v-fb.in0 <= hm2_7i76e.0.stepgen.07.position-fb net v-pos-fb-out => axis.7.motor-pos-fb net v-enable <= axis.7.amp-enable-out net v-enable => hm2_7i76e.0.stepgen.07.enable # ---command summation math--- net limit-v-out sum2.v-cmd.in1 sum2.v-fb.in1 <= limit3.v.out net v-pos-cmd <= sum2.v-cmd.out # ---feedback subtraction math--- setp sum2.v-fb.gain1 -1.0 #subtract off limit3 signal net v-pos-fb-out sum2.v-fb.out # ---setup home / limit switch signals--- net home-v => axis.7.home-sw-in net v-neg-limit => axis.7.neg-lim-sw-in net v-pos-limit => axis.7.pos-lim-sw-in #****************************** # 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 joint-select-d halui.joint.3.select net a-is-homed halui.joint.3.is-homed net jog-a-pos halui.jog.3.plus net jog-a-neg halui.jog.3.minus net jog-a-analog halui.jog.3.analog net joint-select-e halui.joint.4.select net b-is-homed halui.joint.4.is-homed net jog-b-pos halui.jog.4.plus net jog-b-neg halui.jog.4.minus net jog-b-analog halui.jog.4.analog net joint-select-f halui.joint.5.select net c-is-homed halui.joint.5.is-homed net jog-c-pos halui.jog.5.plus net jog-c-neg halui.jog.5.minus net jog-c-analog halui.jog.5.analog net joint-select-g halui.joint.6.select net u-is-homed halui.joint.6.is-homed net jog-u-pos halui.jog.6.plus net jog-u-neg halui.jog.6.minus net jog-u-analog halui.jog.6.analog net joint-select-h halui.joint.7.select net v-is-homed halui.joint.7.is-homed net jog-v-pos halui.jog.7.plus net jog-v-neg halui.jog.7.minus net jog-v-analog halui.jog.7.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net machine-is-on halui.machine.is-on net jog-speed halui.jog-speed net MDI-mode halui.mode.is-mdi # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # Outputs: # 3 for pneumatics # 1 for motor # 6 pumps # 3 light show # # Inputs: # 8 Home Switch inputs # 1 E-stop input net dout-00 <= motion.digital-out-00 net dout-01 <= motion.digital-out-01 net dout-02 <= motion.digital-out-02 net dout-03 <= motion.digital-out-03 net dout-04 <= motion.digital-out-04 net dout-05 <= motion.digital-out-05 net dout-06 <= motion.digital-out-06 net dout-07 <= motion.digital-out-07 net dout-08 <= motion.digital-out-08 net dout-09 <= motion.digital-out-09 net dout-10 <= motion.digital-out-10 net dout-11 <= motion.digital-out-11 net dout-12 <= motion.digital-out-12 # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # --- ESTOP-EXT --- #net estop-ext <= hm2_7i76e.0.7i76.0.0.input-04 #net estop-ext => iocontrol.0.emc-enable-in