# Generated by PNCconf at Thu Aug 4 07:47:57 2016 # Änderungen an dieser Datei werden beim nächsten # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" #setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s addf hm2_5i25.0.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.a.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_5i25.0.write servo-thread # external output signals # --- SPINDLE-ON --- net spindle-on hm2_5i25.0.7i76.0.0.output-12 # --- MACHINE-IS-ENABLED --- net machine-is-enabled hm2_5i25.0.7i76.0.0.output-15 # --- X-ENABLE --- net x-enable hm2_5i25.0.7i76.0.0.output-08 # --- Y-ENABLE --- net y-enable hm2_5i25.0.7i76.0.0.output-09 # --- Z-ENABLE --- net z-enable hm2_5i25.0.7i76.0.0.output-10 # --- A-ENABLE --- net a-enable hm2_5i25.0.7i76.0.0.output-11 # --- COOLANT-FLOOD --- net coolant-flood hm2_5i25.0.7i76.0.0.output-13 # external input signals # --- JOG-X-POS --- net jog-0-pos <= hm2_5i25.0.7i76.0.0.input-18 # --- JOG-X-NEG --- net jog-0-neg <= hm2_5i25.0.7i76.0.0.input-19 # --- JOG-Y-POS --- net jog-1-pos <= hm2_5i25.0.7i76.0.0.input-21 # --- JOG-Y-NEG --- net jog-1-neg <= hm2_5i25.0.7i76.0.0.input-20 # --- JOG-Z-POS --- net jog-2-pos <= hm2_5i25.0.7i76.0.0.input-22 # --- JOG-Z-NEG --- net jog-2-neg <= hm2_5i25.0.7i76.0.0.input-23 # --- JOG-A-POS --- net jog-3-pos <= hm2_5i25.0.7i76.0.0.input-16 # --- JOG-A-NEG --- net jog-3-neg <= hm2_5i25.0.7i76.0.0.input-24 #net probe motion.probe-input <= hm2_5i25.0.7i76.0.0.input-27 net estop-ext <= hm2_5i25.0.7i76.0.0.input-17 # external input signals #******************* # JOINT X #******************* 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 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_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 setp hm2_5i25.0.stepgen.00.control-type 1 setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_5i25.0.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_5i25.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_5i25.0.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_5i25.0.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 #******************* # JOINT Y #******************* 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 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_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 1 setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_5i25.0.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_5i25.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_5i25.0.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_5i25.0.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 #******************* # JOINT Z #******************* 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 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_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_5i25.0.stepgen.02.step_type 0 setp hm2_5i25.0.stepgen.02.control-type 1 setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_5i25.0.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_5i25.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_5i25.0.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_5i25.0.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 #******************* # JOINT B #******************* setp pid.a.Pgain [JOINT_3]P setp pid.a.Igain [JOINT_3]I setp pid.a.Dgain [JOINT_3]D setp pid.a.bias [JOINT_3]BIAS setp pid.a.FF0 [JOINT_3]FF0 setp pid.a.FF1 [JOINT_3]FF1 setp pid.a.FF2 [JOINT_3]FF2 setp pid.a.deadband [JOINT_3]DEADBAND setp pid.a.maxoutput [JOINT_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-vel-cmd => pid.a.command-deriv net a-pos-fb => pid.a.feedback net a-output => pid.a.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_5i25.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_5i25.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_5i25.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_5i25.0.stepgen.03.step_type 0 setp hm2_5i25.0.stepgen.03.control-type 1 setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd <= joint.3.motor-pos-cmd net a-vel-cmd <= joint.3.vel-cmd net a-output <= hm2_5i25.0.stepgen.03.velocity-cmd net a-pos-fb <= hm2_5i25.0.stepgen.03.position-fb net a-pos-fb => joint.3.motor-pos-fb net a-enable <= joint.3.amp-enable-out net a-enable => hm2_5i25.0.stepgen.03.enable # ---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 #******************* # 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 pid.s.maxerror .0005 setp hm2_5i25.0.stepgen.04.dirsetup [SPINDLE_9]DIRSETUP setp hm2_5i25.0.stepgen.04.dirhold [SPINDLE_9]DIRHOLD setp hm2_5i25.0.stepgen.04.steplen [SPINDLE_9]STEPLEN setp hm2_5i25.0.stepgen.04.stepspace [SPINDLE_9]STEPSPACE setp hm2_5i25.0.stepgen.04.position-scale [SPINDLE_9]STEP_SCALE setp hm2_5i25.0.stepgen.04.step_type 0 setp hm2_5i25.0.stepgen.04.control-type 1 setp hm2_5i25.0.stepgen.04.maxaccel [SPINDLE_9]MAX_ACCELERATION setp hm2_5i25.0.stepgen.04.maxvel [SPINDLE_9]MAX_VELOCITY net machine-is-enabled => hm2_5i25.0.stepgen.04.enable net spindle-vel-cmd-rps => hm2_5i25.0.stepgen.04.velocity-cmd 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 <= spindle.0.speed-out net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-on <= 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 => spindle.0.speed-in #net spindle-index-enable <=> spindle.0.index-enable #****************************** # 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 axis-select-a halui.axis.a.select net jog-a-pos halui.axis.a.plus net jog-a-neg halui.axis.a.minus net jog-a-analog halui.axis.a.analog net a-is-homed halui.joint.3.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 # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled net estop-out <= iocontrol.0.user-enable-out net estop-ext => iocontrol.0.emc-enable-in #loadusr -Wn tools pyvcp -c tools tools.xml sets jog-speed 30.000000 loadusr classicladder --nogui custom.clp