Tool height setter and 3d probe inputs

# Generated by PNCconf at Tue Jan 18 09:12:59 2022 # Using LinuxCNC version:  2.8 # 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=30 num_aio=30 loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=5 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" setp    hm2_7i96.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s loadrt abs names=abs.0,abs.spindle loadrt lowpass names=lowpass.spindle loadrt scale names=scale.spindle loadrt near addf hm2_7i96.0.read          servo-thread addf motion-command-handler   servo-thread addf motion-controller        servo-thread addf pid.x.do-pid-calcs       servo-thread addf pid.y.do-pid-calcs       servo-thread addf pid.z.do-pid-calcs       servo-thread addf pid.s.do-pid-calcs       servo-thread addf scale.spindle            servo-thread addf abs.spindle              servo-thread addf lowpass.spindle          servo-thread addf near.0                   servo-thread addf hm2_7i96.0.write         servo-thread addf abs.0              servo-thread # external output signals # --- COOLANT-MIST --- net coolant-mist  =>     hm2_7i96.0.ssr.00.out-01 # external input signals # --- MACHINE-ON --- net external-machine-on <= hm2_7i96.0.gpio.003.in_not # --- ESTOP-EXT --- net estop-ext     <=  hm2_7i96.0.gpio.000.in # --- PROBE-IN --- #net probe-in     <=  hm2_7i96.0.gpio.001.in net toolsetter-in     <=  hm2_7i96.0.gpio.001.in => tool_probe.in0 net probe-in     <=  hm2_7i96.0.gpio.002.in => tool_probe.in1 net tool-or-probe tool_probe.out # --- Probe Blast--- #net probe-blast => hm2_7i96.0.ssr.00.out-02 #******************* #  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 0.000500 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_7i96.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP setp   hm2_7i96.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD setp   hm2_7i96.0.stepgen.00.steplen         [JOINT_0]STEPLEN setp   hm2_7i96.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE setp   hm2_7i96.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE setp   hm2_7i96.0.stepgen.00.step_type        0 setp   hm2_7i96.0.stepgen.00.control-type     1 setp   hm2_7i96.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL setp   hm2_7i96.0.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_7i96.0.stepgen.00.velocity-cmd net x-pos-fb     <= hm2_7i96.0.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_7i96.0.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 0.000500 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_7i96.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP setp   hm2_7i96.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD setp   hm2_7i96.0.stepgen.01.steplen         [JOINT_1]STEPLEN setp   hm2_7i96.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE setp   hm2_7i96.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE setp   hm2_7i96.0.stepgen.01.step_type        0 setp   hm2_7i96.0.stepgen.01.control-type     1 setp   hm2_7i96.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL setp   hm2_7i96.0.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_7i96.0.stepgen.01.velocity-cmd net y-pos-fb     <= hm2_7i96.0.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_7i96.0.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 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 0.000500 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_7i96.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP setp   hm2_7i96.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD setp   hm2_7i96.0.stepgen.02.steplen         [JOINT_2]STEPLEN setp   hm2_7i96.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE setp   hm2_7i96.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE setp   hm2_7i96.0.stepgen.02.step_type        0 setp   hm2_7i96.0.stepgen.02.control-type     1 setp   hm2_7i96.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL setp   hm2_7i96.0.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_7i96.0.stepgen.02.velocity-cmd net z-pos-fb     <= hm2_7i96.0.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_7i96.0.stepgen.02.enable # ---setup home / limit switch signals--- net z-home-sw     =>  joint.2.home-sw-in net z-neg-limit     =>  joint.2.neg-lim-sw-in net z-pos-limit     =>  joint.2.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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.s.maxerror 0.000500 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 # Step Gen signals/setup setp   hm2_7i96.0.stepgen.03.dirsetup        [SPINDLE_0]DIRSETUP setp   hm2_7i96.0.stepgen.03.dirhold         [SPINDLE_0]DIRHOLD setp   hm2_7i96.0.stepgen.03.steplen         [SPINDLE_0]STEPLEN setp   hm2_7i96.0.stepgen.03.stepspace       [SPINDLE_0]STEPSPACE setp   hm2_7i96.0.stepgen.03.position-scale  [SPINDLE_0]STEP_SCALE setp   hm2_7i96.0.stepgen.03.step_type        0 setp   hm2_7i96.0.stepgen.03.control-type     1 setp   hm2_7i96.0.stepgen.03.maxaccel         [SPINDLE_0]MAX_ACCELERATION setp   hm2_7i96.0.stepgen.03.maxvel           [SPINDLE_0]MAX_VELOCITY net spindle-vel-cmd-rps  => hm2_7i96.0.stepgen.03.velocity-cmd #(enables the DMM drive with the power button) net machine-is-on <= halui.machine.is-on net machine-is-on => hm2_7i96.0.ssr.00.out-00 #(enables the spindle stepgen) net machine-is-enabled <= motion.motion-enabled net machine-is-enabled => hm2_7i96.0.stepgen.03.enable # ---Encoder feedback signals/setup--- setp    hm2_7i96.0.encoder.04.counter-mode 0 setp    hm2_7i96.0.encoder.04.filter 1 setp    hm2_7i96.0.encoder.04.index-invert 0 setp    hm2_7i96.0.encoder.04.index-mask 0 setp    hm2_7i96.0.encoder.04.index-mask-invert 0 setp    hm2_7i96.0.encoder.04.scale  [SPINDLE_0]ENCODER_SCALE net spindle-revs             <=   hm2_7i96.0.encoder.04.position net spindle-vel-fb-rps       <=   hm2_7i96.0.encoder.04.velocity net spindle-index-enable     <=>  hm2_7i96.0.encoder.04.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             <=  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--- net spindle-vel-cmd-rps    =>  near.0.in1 net spindle-vel-fb-rps-abs =>  near.0.in2 net spindle-at-speed       <=  near.0.out net spindle-vel-fb-rps         =>  abs.0.in net spindle-vel-fb-rps-abs abs.0.out setp near.0.scale 1.000000 setp near.0.difference 2.00 #  Use ACTUAL spindle velocity from spindle encoder #  spindle-velocity bounces around so we filter it with lowpass #  spindle-velocity is signed so we use absolute component to remove sign #  ACTUAL velocity is in RPS not RPM so we scale it. setp     scale.spindle.gain 60 setp     lowpass.spindle.gain 1.000000 net spindle-vel-fb-rps        =>     scale.spindle.in net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in net spindle-fb-rpm-abs-filtered  lowpass.spindle.out   #****************************** # 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-in     =>  motion.probe-input net tool-or-probe     =>  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 #  ---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

loadrt or2 names=tool_probe addf tool_probe servo-thread