Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

# Dateiname = 8AMP-Test-Spindel-vismach.hal ############################################################ #--- 8AMP-Test-Spindel-vismach.hal ---Stand 2017-10-22 ---# ############################################################ #----------------------------------------------------------- # HAL config file for vismach simulation of vertical milling machine # This file deomstrates closed-loop spindle control in both position and # Velocity modes. # see http://wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient for a diagram # Note that the connections of the signals to "hardware" are all in the # sim_vmc.hal file rather than here # First load 2x pid components. These would normally have to be loaded at # the same time as the Axis PID components # Initialize the pwmgen ------ nachgetragen loadrt pwmgen output_type=0 addf pwmgen.update servo-thread addf pwmgen.make-pulses servo-thread setp pwmgen.0.pwm-freq 100.0 #setp pwmgen.0.min-dc 0.18 setp pwmgen.0.scale 400 #setp pwmgen.0.dither-pwm true loadrt pid num_chan=2 addf pid.0.do-pid-calcs servo-thread # Velocity addf pid.1.do-pid-calcs servo-thread # Position loadrt orient addf orient.0 servo-thread #loadrt mux2 -- This has already been loaded in the sim_vmc.hal loadrt mux2 addf mux2.0 servo-thread # chooses which pid output goes to the spindle speed control #Use this to detect that the spindle is oriented #in the 2.8 release there will be a pin for this as an output of the orient comp #and the edge-detector is not needed #loadrt near count=1 (loaded in sim_vmc.hal) loadrt near count=1 loadrt edge addf near.0 servo-thread addf edge.0 servo-thread setp edge.0.both 0 setp edge.0.in-edge 0 setp edge.0.out-width-ns 10000000 #----------nachgetragen # connect the HAL encoder inputs to the real encoder. net spindle-phase-a encoder.1.phase-A <= hm2_5i25.0.encoder.00.input-a net spindle-phase-b encoder.1.phase-B <= hm2_5i25.0.encoder.00.input-b net spindle-index encoder.1.phase-Z <= hm2_5i25.0.encoder.00.input-index net spindle-pos pid.1.feedback orient.0.position net spindle-vel pid.0.feedback hm2_5i25.0.encoder.00.velocity net spindle-vel-cmd motion.spindle-speed-out pid.0.command net spindle-vel-pid pid.0.output mux2.0.in0 net spindle-pos pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.00.position net spindle-pos-cmd orient.0.command pid.1.command near.0.in2 net spindle-angle motion.spindle-orient-angle orient.0.angle net spindle-pos-pid pid.1.output mux2.0.in1 setp near.0.difference 0.0005 net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented net spindle-in-pos edge.0.out motion.spindle-is-oriented # this switches modes net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel net velocity-mode motion.spindle-on pid.0.enable pwmgen.0.enable net orient-dir motion.spindle-orient-mode orient.0.mode # this is simple for the simulated spindle. net spindle-cmd mux2.0.out #for a real spindle run by a VFD loadrt abs count=1 addf abs.0 servo-thread net spindle-cmd mux2.0.out abs.0.in net spindle-cmd-abs abs.0.out pwmgen.0.value net spindle-pwm pwmgen.0.pwm hm2_5i25.0.7i76.0.0.spinout net spindle-fwd abs.0.is-positive hm2_5i25.0.7i76.0.0.spindir # Tune the PID from the INI values setp pid.0.Pgain [SPINDLE_9]PGAIN_V setp pid.0.Igain [SPINDLE_9]IGAIN_V setp pid.0.Dgain [SPINDLE_9]DGAIN_V setp pid.0.FF0 [SPINDLE_9]FF0_V setp pid.0.FF1 [SPINDLE_9]FF1_V setp pid.1.Pgain [SPINDLE_9]PGAIN_P setp pid.1.Igain [SPINDLE_9]IGAIN_P setp pid.1.Dgain [SPINDLE_9]DGAIN_P setp pid.1.FF0 [SPINDLE_9]FF0_P setp pid.1.FF1 [SPINDLE_9]FF1_P #-----------------------------------------------------------

#----------nachgetragen # connect the HAL encoder inputs to the real encoder. net spindle-phase-a encoder.1.phase-A <= hm2_5i25.0.encoder.00.input-a net spindle-phase-b encoder.1.phase-B <= hm2_5i25.0.encoder.00.input-b net spindle-index encoder.1.phase-Z <= hm2_5i25.0.encoder.00.input-index