# Generated by PNCconf at Wed Mar 30 20:00:36 2016 Edited 12-22-2021 EJE # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS #autoconverted trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS #loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 #loadrt hm2_pci config=" num_encoders=0 num_pwmgens=0 num_stepgens=3 sserial_port_0=2xxxxx" loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=3 sserial_port_0=20xxxx" #setp hm2_5i25.0.watchdog.timeout_ns 5000000 setp hm2_7i76e.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle #loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 loadrt mux16 names=jogincr #Spindle Spin Up Delay loadrt timedelay count=1 addf timedelay.0 servo-thread setp timedelay.0.on-delay 5 setp timedelay.0.off-delay 0 loadrt ilowpass addf ilowpass.0 servo-thread setp ilowpass.0.scale 1000 setp ilowpass.0.gain .01 #addf hm2_5i25.0.read servo-thread addf hm2_7i76e.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 jogincr servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread #addf hm2_5i25.0.write 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 # external input signals # --- BOTH-HOME-X --- net both-home-x <= hm2_7i76e.0.7i76.0.0.input-00-not # --- BOTH-HOME-Y --- net both-home-y <= hm2_7i76e.0.7i76.0.0.input-01-not # --- MAX-HOME-Z --- net max-home-z <= hm2_7i76e.0.7i76.0.0.input-02-not # --- MIN-Z --- net min-z <= hm2_7i76e.0.7i76.0.0.input-03-not # --- JOINT-SELECT-C --- net joint-select-c <= hm2_7i76e.0.7i76.0.0.input-20 # --- JOINT-SELECT-D --- net joint-select-d <= hm2_7i76e.0.7i76.0.0.input-21 # --- JOG-INCR-A --- net jog-incr-a <= hm2_7i76e.0.7i76.0.0.input-22 # --- JOG-INCR-B --- net jog-incr-b <= hm2_7i76e.0.7i76.0.0.input-23 # --- JOG-INCR-C --- net jog-incr-c <= hm2_7i76e.0.7i76.0.0.input-24 # --- ESTOP-EXT --- net estop-ext <= hm2_7i76e.0.7i76.0.0.input-25 # --- SPINDLE-AT-SPEED --- #net spindle-at-speed <= hm2_7i76e.0.7i76.0.0.input-26 net spindle-almost-speed <= hm2_7i76e.0.7i76.0.0.input-26 net spindle-almost-speed => timedelay.0.in net spindle-at-speed <= timedelay.0.out #******************* # AXIS 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_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_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 [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i76e.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_7i76e.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i76e.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_7i76e.0.stepgen.00.enable # ---setup home / limit switch signals--- net both-home-x => joint.0.home-sw-in net both-home-x => joint.0.neg-lim-sw-in net both-home-x => joint.0.pos-lim-sw-in #******************* # AXIS 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_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_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 [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i76e.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_7i76e.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i76e.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_7i76e.0.stepgen.01.enable # ---setup home / limit switch signals--- net both-home-y => joint.1.home-sw-in net both-home-y => joint.1.neg-lim-sw-in net both-home-y => joint.1.pos-lim-sw-in #******************* # AXIS 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_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_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 [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i76e.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_7i76e.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i76e.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_7i76e.0.stepgen.02.enable # ---setup home / limit switch signals--- net max-home-z => joint.2.home-sw-in net min-z => joint.2.neg-lim-sw-in net max-home-z => joint.2.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 net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm-abs => pid.s.command net spindle-vel-fb-rpm-abs => pid.s.feedback net spindle-output <= pid.s.output # ---digital potentionmeter output signals/setup--- setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd-rpm-abs => hm2_7i76e.0.7i76.0.0.spinout net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir # ---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--- #sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.axis.x.select net x-is-homed halui.joint.0.is-homed 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 joint-select-b halui.axis.y.select net y-is-homed halui.joint.1.is-homed 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 joint-select-c halui.axis.z.select net z-is-homed halui.joint.2.is-homed 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 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 # ---jogwheel signals to mesa encoder - shared MPG--- #net joint-selected-count <= hm2_7i76e.0.7i76.0.0.enc0.count #net mpg-out ilowpass.0.in <= hm2_7i76e.0.encoder.00.count net mpg-out ilowpass.0.in <= hm2_7i76e.0.7i76.0.0.enc0.count net joint-selected-count <= ilowpass.0.out # ---mpg signals--- # for axis x MPG setp joint.0.jog-vel-mode 1 setp axis.x.jog-vel-mode 1 net selected-jog-incr => joint.0.jog-scale axis.x.jog-scale net joint-select-a => axis.x.jog-enable net joint-selected-count => joint.0.jog-counts axis.x.jog-counts # for axis y MPG setp joint.1.jog-vel-mode 1 setp axis.y.jog-vel-mode 1 net selected-jog-incr => joint.1.jog-scale axis.y.jog-scale net joint-select-b => axis.y.jog-enable net joint-selected-count => joint.1.jog-counts axis.y.jog-counts # for axis z MPG setp joint.2.jog-vel-mode 1 setp axis.z.jog-vel-mode 1 net selected-jog-incr => joint.2.jog-scale axis.z.jog-scale net joint-select-c => axis.z.jog-enable net joint-selected-count => joint.2.jog-counts axis.z.jog-counts # connect selectable mpg jog increments net jog-incr-a => jogincr.sel0 net jog-incr-b => jogincr.sel1 net jog-incr-c => jogincr.sel2 net jog-incr-d => jogincr.sel3 net selected-jog-incr <= jogincr.out-f setp jogincr.debounce-time 0.010000 setp jogincr.use-graycode False setp jogincr.suppress-no-input True setp jogincr.in00 0.000000 setp jogincr.in01 0.000000100 setp jogincr.in02 0.000001000 setp jogincr.in03 0.000001000 setp jogincr.in04 0.000010000 setp jogincr.in05 0.000010000 setp jogincr.in06 0.050000 setp jogincr.in07 0.100000 setp jogincr.in08 0.125000 setp jogincr.in09 0.125000 setp jogincr.in10 0.125000 setp jogincr.in11 0.125000 setp jogincr.in12 0.125000 setp jogincr.in13 0.125000 setp jogincr.in14 0.125000 setp jogincr.in15 0.125000 # ---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 # Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI #loadusr classicladder --nogui custom.clp