Orientation position problem after run Gcode

#******************* #  SPINDLE S #******************* setp   pid.s.Pgain     [SPINDLE_9]P setp   pid.s.Igain     [SPINDLE_9]I setp   pid.s.Dgain     [SPINDLE_9]D setp   pid.s.bias      [SPINDLE_9]BIAS setp   pid.s.FF0       [SPINDLE_9]FF0 setp   pid.s.FF1       [SPINDLE_9]FF1 setp   pid.s.FF2       [SPINDLE_9]FF2 setp   pid.s.deadband  [SPINDLE_9]DEADBAND setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT setp   pid.s.error-previous-target true setp   orient-pid.Pgain     [SPINDLE_ORIENT]P setp   orient-pid.Igain     [SPINDLE_ORIENT]I setp   orient-pid.Dgain     [SPINDLE_ORIENT]D setp   orient-pid.bias      [SPINDLE_ORIENT]BIAS setp   orient-pid.FF0       [SPINDLE_ORIENT]FF0 setp   orient-pid.FF1       [SPINDLE_ORIENT]FF1 setp   orient-pid.FF2       [SPINDLE_ORIENT]FF2 setp   orient-pid.deadband  [SPINDLE_ORIENT]DEADBAND setp   orient-pid.maxoutput [SPINDLE_ORIENT]MAX_OUTPUT setp   orient-pid.error-previous-target true net spindle-index-enable   <=> pid.s.index-enable <=> orient-pid.index-enable net spindle-motion-enable      spindle.0.on  =>  pid.s.enable => spindle-enable-or.in0 net spindle-vel-cmd-rpm     => pid.s.command net spindle-vel-fb-rpm      => pid.s.feedback net spindle-vel-output pid.s.output orient-mux.in0 net spindle-output         <=  orient-mux.out # ---PWM Generator signals/setup--- setp   hm2_7i96s.0.7i77.0.1.analogout5-scalemax  [SPINDLE_9]OUTPUT_SCALE setp   hm2_7i96s.0.7i77.0.1.analogout5-minlim    [SPINDLE_9]OUTPUT_MIN_LIMIT setp   hm2_7i96s.0.7i77.0.1.analogout5-maxlim    [SPINDLE_9]OUTPUT_MAX_LIMIT net spindle-output      => hm2_7i96s.0.7i77.0.1.analogout5 net spindle-enable      => hm2_7i96s.0.7i77.0.1.spinena # ---Encoder feedback signals/setup--- setp    hm2_7i96s.0.encoder.05.counter-mode 0 setp    hm2_7i96s.0.encoder.05.filter 1 setp    hm2_7i96s.0.encoder.05.index-invert 0 setp    hm2_7i96s.0.encoder.05.index-mask 0 setp    hm2_7i96s.0.encoder.05.index-mask-invert 0 setp    hm2_7i96s.0.encoder.05.scale  [SPINDLE_9]ENCODER_SCALE net spindle-revs             <=   hm2_7i96s.0.encoder.05.position net spindle-vel-fb-rps       <=   hm2_7i96s.0.encoder.05.velocity net spindle-index-enable     <=>  hm2_7i96s.0.encoder.05.index-enable # ---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-or-out spindle-enable-or.in1 spindle-enable-xor.out net spindle-enable             <=  spindle-enable-or.out 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 net spindle-is-oriented        =>  spindle.0.is-oriented net spindle-orient-fault       =>  spindle.0.orient-fault net spindle-locked             <=  spindle.0.locked net spindle-locked             =>  spindle-enable-xor.in0 => orient-mux-or.in1 net orient-angle spindle.0.orient-angle orient.angle net orient-mode spindle.0.orient-mode orient.mode net orient-enable spindle.0.orient => orient.enable orient-mux-or.in0 spindle-enable-xor.in1 net orient-mux-sel orient-mux-or.out orient-mux.sel orient-pid.enable net spindle-revs => orient.position orient-pid.feedback near-spindle.in2 net orient-command orient.command orient-pid.command near-spindle.in1 setp near-spindle.difference 0.01 #setp near-spindle.difference 0.5 #setp near-spindle.difference 1.5 #mux for switching between velocity and position pid output for the spindle# net spindle-pos-output orient-pid.output orient-mux.in1 net spindle-near near-spindle.out => debounce.0.0.in setp debounce.0.delay 20 #setp debounce.0.delay 50 net spindle-is-oriented-and0  <= debounce.0.0.out net spindle-is-oriented-and0  => spindle-is-oriented-and.in0 net orient-enable             => spindle-is-oriented-and.in1 net spindle-is-oriented-edge  <= spindle-is-oriented-and.out net spindle-is-oriented-edge  => edge.0.in net spindle-is-oriented       <= edge.0.out # rising edge #setp edge.0.in-edge false setp edge.0.in-edge true # only rising edge #setp edge.0.both false setp edge.0.both true #output pulse length setp edge.0.out-width-ns 10000000 #home the spindle during first revolution sets spindle-index-enable true #fault on unhomed spindle #net spindle-orient-fault      <= spindle.0.index-enablenet spindle-orient-fault      <= spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true

loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=34 loadrt hostmot2 loadusr io loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=000000" setp   hm2_7i96s.0.watchdog.timeout_ns 10000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s,orient-pid loadrt orient names=orient loadrt mux2 names=orient-mux,z-limit-mux loadrt or2 names=orient-mux-or,spindle-enable-or,atc-out-or,cam-out-or loadrt xor2 names=spindle-enable-xor loadrt near names=near-spindle loadrt debounce cfg=1 loadrt edge count=1 loadrt and2 names=spindle-is-oriented-and,probe-and loadrt bitwise names=probe-comp loadrt conv_s32_u32 names=conv1

# Generated by PNCconf at Tue Feb 18 06:20:29 2020 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=34 loadrt hostmot2 loadusr io loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=000000" setp   hm2_7i96s.0.watchdog.timeout_ns 10000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s,orient-pid loadrt orient names=orient loadrt mux2 names=orient-mux,z-limit-mux loadrt or2 names=orient-mux-or,spindle-enable-or,atc-out-or,cam-out-or loadrt xor2 names=spindle-enable-xor loadrt near names=near-spindle loadrt debounce cfg=1 loadrt edge count=1 loadrt and2 names=spindle-is-oriented-and,probe-and loadrt bitwise names=probe-comp loadrt conv_s32_u32 names=conv1 addf hm2_7i96s.0.read            servo-thread addf motion-command-handler     servo-thread addf motion-controller          servo-thread addf z-limit-mux        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.s.do-pid-calcs         servo-thread addf orient-pid.do-pid-calcs    servo-thread addf hm2_7i96s.0.write           servo-thread setp hm2_7i96s.0.dpll.01.timer-us -50 setp hm2_7i96s.0.stepgen.timer-number 1 addf orient         servo-thread addf orient-mux         servo-thread addf orient-mux-or      servo-thread addf spindle-enable-or      servo-thread addf spindle-enable-xor         servo-thread addf near-spindle       servo-thread addf debounce.0             servo-thread addf edge.0         servo-thread addf spindle-is-oriented-and    servo-thread addf probe-and          servo-thread addf conv1          servo-thread addf atc-out-or                 servo-thread addf cam-out-or                 servo-thread # motion controller IO: net tool-change-confirmed motion.digital-out-00 => iocontrol.0.tool-changed # switch atc ranges from toolchange subroutine net z-limit-select motion.digital-out-01        => z-limit-mux.sel # spindle index pulse wired to motion controller net spindle-index-enable                        => motion.digital-in-01       # atc-home net atc-home         motion.digital-in-16       <=  hm2_7i96s.0.7i77.0.0.input-07 net atc-home                                   =>  hm2_7i96s.0.7i77.0.0.output-02 # atc-range net atc-range                                   <=  hm2_7i96s.0.7i77.0.0.input-06 # atc-direction net atc-direction    motion.digital-out-04      =>  hm2_7i96s.0.7i77.0.0.output-03 # atc-run net atc-run          motion.digital-out-03      => hm2_7i96s.0.7i77.0.0.output-04 #net atc-run          motion.digital-out-03      =>  atc-out-or.in0 #net atc-out-or       atc-out-or.out             =>  hm2_7i96s.0.7i77.0.0.output-04 # atc-dec #net atc-dec          atc-out-or.in1             <=  hm2_7i96s.0.7i77.0.0.input-16 # encoder atc net atc-enc-1 motion.digital-in-11              <=  hm2_7i96s.0.7i77.0.0.input-11 net atc-enc-2 motion.digital-in-12              <=  hm2_7i96s.0.7i77.0.0.input-12 net atc-enc-3 motion.digital-in-13              <=  hm2_7i96s.0.7i77.0.0.input-13 net atc-enc-4 motion.digital-in-14              <=  hm2_7i96s.0.7i77.0.0.input-14 net atc-enc-5 motion.digital-in-10              <=  hm2_7i96s.0.7i77.0.0.input-15 # optical probe interface wired to motion controller for atc probe activation #net probe-touch-reset  motion.digital-out-02   <= hm2_7i96s.0.7i77.0.0.output-01 #net probe-touch-in     motion.digital-in-18 #net probe-touch-error  motion.digital-in-19 # --- ESTOP-OUT --- #net estop-out  =>     hm2_7i96s.0.7i77.0.0.output-00 # --- ESTOP-EXT --- net estop-ext     <=  hm2_7i96s.0.7i77.0.0.input-31 # --- ESTOP-EXT --- #net estop-ext     <=  hm2_7i96s.0.7i77.0.0.input-01 # --- SPINDLE-ENABLE --- #net spindle-enable  =>     hm2_7i96s.0.ssr.00.out-00 # --- MACHINE-IS-ENABLED ---Spindle_On net machine-is-enabled  =>     hm2_7i96s.0.7i77.0.0.output-00 # --- MACHINE-IS-ENABLED ---Servo_OUT #net machine-is-enabled  =>     hm2_7i96s.0.7i77.0.0.output-09 # --- MACHINE-IS-ENABLED ---Servo A_OUT #net machine-is-enabled  =>     hm2_7i96s.0.7i77.0.0.output-15 # --- MACHINE-IS-ENABLED ---Z brake #net machine-is-enabled  =>     hm2_7i96s.0.7i77.0.0.output-01 # --- COOLANT-MIST --- #net coolant-mist  =>     hm2_7i96s.0.7i77.0.0.output-06 #net coolant-mist  =>     hm2_7i96s.0.7i77.0.0.output-00 # --- COOLANT-FLOOD --- net coolant-flood  =>     hm2_7i96s.0.7i77.0.0.output-05 # --- MAX-X --- net max-x     <=  hm2_7i96s.0.7i77.0.0.input-01-not # --- MIN-X --- net min-x     <=  hm2_7i96s.0.7i77.0.0.input-00-not # --- MAX-Y --- net max-y     <=  hm2_7i96s.0.7i77.0.0.input-03-not # --- MIN-Y --- net min-y     <=  hm2_7i96s.0.7i77.0.0.input-02-not # --- MAX-Z --- net max-z     <=  hm2_7i96s.0.7i77.0.0.input-05-not # --- MIN-Z --- net min-z     <=  hm2_7i96s.0.7i77.0.0.input-04-not # --- HOME-X --- net home-x     <=  hm2_7i96s.0.7i77.0.0.input-08 # --- HOME-Y --- net home-y     <=  hm2_7i96s.0.7i77.0.0.input-09 # --- HOME-Z --- #net home-z     <=  hm2_7i96s.0.7i77.0.0.input-10 # --- HOME-A --- #net a-home-sw    <=  hm2_7i96s.0.7i77.0.0.input-31-not #******************* #  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-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_7i96s.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP setp   hm2_7i96s.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD setp   hm2_7i96s.0.stepgen.00.steplen         [JOINT_0]STEPLEN setp   hm2_7i96s.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE setp   hm2_7i96s.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE setp   hm2_7i96s.0.stepgen.00.step_type        0 setp   hm2_7i96s.0.stepgen.00.control-type     1 setp   hm2_7i96s.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL setp   hm2_7i96s.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_7i96s.0.stepgen.00.velocity-cmd net x-pos-fb     <= hm2_7i96s.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_7i96s.0.stepgen.00.enable # ---setup home / limit switch signals--- net home-x    =>  joint.0.home-sw-in net min-x     =>  joint.0.neg-lim-sw-in net max-x     =>  joint.0.pos-lim-sw-in # ---Encoder feedback signals/setup--- setp    hm2_7i96s.0.encoder.00.counter-mode 0 setp    hm2_7i96s.0.encoder.00.filter 1 setp    hm2_7i96s.0.encoder.00.index-invert 0 setp    hm2_7i96s.0.encoder.00.index-mask 0 setp    hm2_7i96s.0.encoder.00.index-mask-invert 0 setp    hm2_7i96s.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE #net x-pos-fb               <=  hm2_7i96s.0.encoder.00.position net x-vel-fb               <=  hm2_7i96s.0.encoder.00.velocity net x-pos-fb               =>  joint.0.motor-pos-fb net x-index-enable    joint.0.index-enable  <=>  hm2_7i96s.0.encoder.00.index-enable net x-pos-rawcounts        <=  hm2_7i96s.0.encoder.00.rawcounts #******************* #  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-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_7i96s.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP setp   hm2_7i96s.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD setp   hm2_7i96s.0.stepgen.01.steplen         [JOINT_1]STEPLEN setp   hm2_7i96s.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE setp   hm2_7i96s.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE setp   hm2_7i96s.0.stepgen.01.step_type        0 setp   hm2_7i96s.0.stepgen.01.control-type     1 setp   hm2_7i96s.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL setp   hm2_7i96s.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_7i96s.0.stepgen.01.velocity-cmd net y-pos-fb     <= hm2_7i96s.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_7i96s.0.stepgen.01.enable net y-pos-rawcounts        <=  hm2_7i96s.0.encoder.01.rawcounts # ---setup home / limit switch signals--- net home-y    =>  joint.1.home-sw-in net min-y     =>  joint.1.neg-lim-sw-in net max-y     =>  joint.1.pos-lim-sw-in # ---Encoder feedback signals/setup--- setp    hm2_7i96s.0.encoder.01.counter-mode 0 setp    hm2_7i96s.0.encoder.01.filter 1 setp    hm2_7i96s.0.encoder.01.index-invert 0 setp    hm2_7i96s.0.encoder.01.index-mask 0 setp    hm2_7i96s.0.encoder.01.index-mask-invert 0 setp    hm2_7i96s.0.encoder.01.scale  [JOINT_1]ENCODER_SCALE #net y-pos-fb               <=  hm2_7i96s.0.encoder.01.position net y-vel-fb               <=  hm2_7i96s.0.encoder.01.velocity net y-pos-fb               =>  joint.1.motor-pos-fb net y-index-enable    joint.1.index-enable  <=>  hm2_7i96s.0.encoder.01.index-enable net y-pos-rawcounts        <=  hm2_7i96s.0.encoder.01.rawcounts #******************* #  AXIS Z JOINT 2 #******************* setp   pid.z.Pgain     [JOINT_2]P setp   pid.z.Igain     [JOINT_2]I setp   pid.z.Dgain     [JOINT_2]D setp   pid.z.bias      [JOINT_2]BIAS setp   pid.z.FF0       [JOINT_2]FF0 setp   pid.z.FF1       [JOINT_2]FF1 setp   pid.z.FF2       [JOINT_2]FF2 setp   pid.z.deadband  [JOINT_2]DEADBAND setp   pid.z.maxoutput [JOINT_2]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-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_7i96s.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP setp   hm2_7i96s.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD setp   hm2_7i96s.0.stepgen.02.steplen         [JOINT_2]STEPLEN setp   hm2_7i96s.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE setp   hm2_7i96s.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE setp   hm2_7i96s.0.stepgen.02.step_type        0 setp   hm2_7i96s.0.stepgen.02.control-type     1 setp   hm2_7i96s.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL setp   hm2_7i96s.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd    <= joint.2.motor-pos-cmd net z-vel-cmd    <= joint.2.vel-cmd net z-output     => hm2_7i96s.0.stepgen.02.velocity-cmd net z-pos-fb     <= hm2_7i96s.0.stepgen.02.position-fb net z-pos-fb     => joint.2.motor-pos-fb net z-enable     <= joint.2.amp-enable-out net z-enable     => hm2_7i96s.0.stepgen.02.enable # ---setup home / limit switch signals--- net atc-range     =>  joint.2.home-sw-in #net home-z    =>  joint.2.home-sw-in net min-z     =>  joint.2.neg-lim-sw-in net max-z     =>  joint.2.pos-lim-sw-in # switch z-axis soft limits setp z-limit-mux.in0 [JOINT_2]MAX_LIMIT setp z-limit-mux.in1 [JOINT_2]MAX_LIMIT_ATC net z-limit-out <= z-limit-mux.out # ini.2.max_limit is connectedd in custom_postgui.hal # ---setup home / limit switch signals--- net a-home-sw     =>  joint.3.home-sw-in net a-neg-limit     =>  joint.3.neg-lim-sw-in net a-pos-limit     =>  joint.3.pos-lim-sw-in #MPG ENC #setp    hm2_7i96s.0.encoder.04.counter-mode 0 #setp    hm2_7i96s.0.encoder.04.scale  [JOINT_4]ENCODER_SCALE # ---Encoder feedback signals/setup--- net y-pos-rawcounts        <=  hm2_7i96s.0.encoder.01.rawcounts setp    hm2_7i96s.0.encoder.02.counter-mode 0 setp    hm2_7i96s.0.encoder.02.filter 1 setp    hm2_7i96s.0.encoder.02.index-invert 0 setp    hm2_7i96s.0.encoder.02.index-mask 0 setp    hm2_7i96s.0.encoder.02.index-mask-invert 0 setp    hm2_7i96s.0.encoder.02.scale  [JOINT_2]ENCODER_SCALE #net z-pos-fb               <=  hm2_7i96s.0.encoder.02.position net z-vel-fb               <=  hm2_7i96s.0.encoder.02.velocity net z-pos-fb               =>  joint.2.motor-pos-fb net z-index-enable    joint.2.index-enable  <=>  hm2_7i96s.0.encoder.02.index-enable net y-pos-rawcounts        <=  hm2_7i96s.0.encoder.01.rawcounts #******************* #  SPINDLE S #******************* setp   pid.s.Pgain     [SPINDLE_9]P setp   pid.s.Igain     [SPINDLE_9]I setp   pid.s.Dgain     [SPINDLE_9]D setp   pid.s.bias      [SPINDLE_9]BIAS setp   pid.s.FF0       [SPINDLE_9]FF0 setp   pid.s.FF1       [SPINDLE_9]FF1 setp   pid.s.FF2       [SPINDLE_9]FF2 setp   pid.s.deadband  [SPINDLE_9]DEADBAND setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT setp   pid.s.error-previous-target true setp   orient-pid.Pgain     [SPINDLE_ORIENT]P setp   orient-pid.Igain     [SPINDLE_ORIENT]I setp   orient-pid.Dgain     [SPINDLE_ORIENT]D setp   orient-pid.bias      [SPINDLE_ORIENT]BIAS setp   orient-pid.FF0       [SPINDLE_ORIENT]FF0 setp   orient-pid.FF1       [SPINDLE_ORIENT]FF1 setp   orient-pid.FF2       [SPINDLE_ORIENT]FF2 setp   orient-pid.deadband  [SPINDLE_ORIENT]DEADBAND setp   orient-pid.maxoutput [SPINDLE_ORIENT]MAX_OUTPUT setp   orient-pid.error-previous-target true net spindle-index-enable   <=> pid.s.index-enable <=> orient-pid.index-enable net spindle-motion-enable      spindle.0.on  =>  pid.s.enable => spindle-enable-or.in0 net spindle-vel-cmd-rpm     => pid.s.command net spindle-vel-fb-rpm      => pid.s.feedback net spindle-vel-output pid.s.output orient-mux.in0 net spindle-output         <=  orient-mux.out # ---PWM Generator signals/setup--- setp   hm2_7i96s.0.7i77.0.1.analogout5-scalemax  [SPINDLE_9]OUTPUT_SCALE setp   hm2_7i96s.0.7i77.0.1.analogout5-minlim    [SPINDLE_9]OUTPUT_MIN_LIMIT setp   hm2_7i96s.0.7i77.0.1.analogout5-maxlim    [SPINDLE_9]OUTPUT_MAX_LIMIT net spindle-output      => hm2_7i96s.0.7i77.0.1.analogout5 net spindle-enable      => hm2_7i96s.0.7i77.0.1.spinena # ---Encoder feedback signals/setup--- setp    hm2_7i96s.0.encoder.05.counter-mode 0 setp    hm2_7i96s.0.encoder.05.filter 1 setp    hm2_7i96s.0.encoder.05.index-invert 0 setp    hm2_7i96s.0.encoder.05.index-mask 0 setp    hm2_7i96s.0.encoder.05.index-mask-invert 0 setp    hm2_7i96s.0.encoder.05.scale  [SPINDLE_9]ENCODER_SCALE net spindle-revs             <=   hm2_7i96s.0.encoder.05.position net spindle-vel-fb-rps       <=   hm2_7i96s.0.encoder.05.velocity net spindle-index-enable     <=>  hm2_7i96s.0.encoder.05.index-enable # ---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-or-out spindle-enable-or.in1 spindle-enable-xor.out net spindle-enable             <=  spindle-enable-or.out 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 net spindle-is-oriented        =>  spindle.0.is-oriented net spindle-orient-fault       =>  spindle.0.orient-fault net spindle-locked             <=  spindle.0.locked net spindle-locked             =>  spindle-enable-xor.in0 => orient-mux-or.in1 net orient-angle spindle.0.orient-angle orient.angle net orient-mode spindle.0.orient-mode orient.mode net orient-enable spindle.0.orient => orient.enable orient-mux-or.in0 spindle-enable-xor.in1 net orient-mux-sel orient-mux-or.out orient-mux.sel orient-pid.enable net spindle-revs => orient.position orient-pid.feedback near-spindle.in2 net orient-command orient.command orient-pid.command near-spindle.in1 setp near-spindle.difference 0.01 #setp near-spindle.difference 0.5 #setp near-spindle.difference 1.5 #mux for switching between velocity and position pid output for the spindle# net spindle-pos-output orient-pid.output orient-mux.in1 net spindle-near near-spindle.out => debounce.0.0.in setp debounce.0.delay 20 #setp debounce.0.delay 50 net spindle-is-oriented-and0  <= debounce.0.0.out net spindle-is-oriented-and0  => spindle-is-oriented-and.in0 net orient-enable             => spindle-is-oriented-and.in1 net spindle-is-oriented-edge  <= spindle-is-oriented-and.out net spindle-is-oriented-edge  => edge.0.in net spindle-is-oriented       <= edge.0.out # rising edge #setp edge.0.in-edge false setp edge.0.in-edge true # only rising edge #setp edge.0.both false setp edge.0.both true #output pulse length setp edge.0.out-width-ns 10000000 #home the spindle during first revolution sets spindle-index-enable true #fault on unhomed spindle #net spindle-orient-fault      <= spindle.0.index-enablenet spindle-orient-fault      <= 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 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-touch-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-ext     =>  iocontrol.0.emc-enable-in #  --- tool change signals--- net tool-prepare-loopback   iocontrol.0.tool-prepare     =>     iocontrol.0.tool-prepared