# Generated by PNCconf at Sun May 8 16:16:34 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_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=002xxx" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.spos,pid.svel loadrt near count=3 loadrt lowpass count=1 loadrt scale count=1 loadrt abs count=1 loadrt and2 count=15 loadrt orient count=1 loadrt mux2 count=1 loadrt or2 count=4 loadrt toggle count=2 loadrt toggle2nist count=1 loadrt not count=4 loadrt wcomp count=2 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.svel.do-pid-calcs servo-thread addf pid.spos.do-pid-calcs servo-thread addf orient.0 servo-thread addf mux2.0 servo-thread addf near.2 servo-thread addf or2.0 servo-thread addf or2.1 servo-thread addf hm2_5i25.0.write servo-thread addf scale.0 servo-thread addf lowpass.0 servo-thread addf near.0 servo-thread addf near.1 servo-thread addf abs.0 servo-thread addf and2.0 servo-thread addf and2.12 servo-thread addf toggle.1 servo-thread addf and2.13 servo-thread # external output signals # external input signals # ---estop signals--- loadrt estop_latch count=2 addf estop-latch.0 servo-thread addf estop-latch.1 servo-thread net latch-reset iocontrol.0.user-request-enable net latch-ok-in iocontrol.0.user-enable-out net latch-ok-in => estop-latch.0.ok-in net latch0-out <= estop-latch.0.ok-out net latch0-out => estop-latch.1.ok-in net latch-reset => estop-latch.0.reset net latch-reset => estop-latch.1.reset net latch-out iocontrol.0.emc-enable-in <= estop-latch.1.ok-out net estop-out estop-latch.1.fault-out # --- External E-Stop --- net pendant-estop <= hm2_5i25.0.7i77.0.0.input-06-not net pendant-estop => estop-latch.0.fault-in # --- Tool Setter Over Travel E-Stop --- net tool-setter-estop <= hm2_5i25.0.7i77.0.0.input-17-not net tool-setter-estop => estop-latch.1.fault-in # --- HOME-X --- net home-x <= hm2_5i25.0.7i77.0.0.input-03 # --- HOME-Y --- net home-y <= hm2_5i25.0.7i77.0.0.input-04 # --- HOME-Z --- net home-z <= hm2_5i25.0.7i77.0.0.input-05 # --- ALL-LIMIT --- net all-limit <= hm2_5i25.0.7i77.0.0.input-01-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 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 # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT net x-output => hm2_5i25.0.7i77.0.1.analogout0 net x-pos-cmd <= joint.0.motor-pos-cmd net x-enable <= joint.0.amp-enable-out # enable _all_ sserial pwmgens net x-enable => hm2_5i25.0.7i77.0.1.analogena # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.00.counter-mode 0 setp hm2_5i25.0.encoder.00.filter 1 setp hm2_5i25.0.encoder.00.index-invert 0 setp hm2_5i25.0.encoder.00.index-mask 0 setp hm2_5i25.0.encoder.00.index-mask-invert 0 setp hm2_5i25.0.encoder.00.scale [JOINT_0]ENCODER_SCALE net x-pos-fb <= hm2_5i25.0.encoder.00.position net x-vel-fb <= hm2_5i25.0.encoder.00.velocity net x-pos-fb => joint.0.motor-pos-fb net x-index-enable joint.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts # ---setup home / limit switch signals--- net home-x => joint.0.home-sw-in net all-limit => joint.0.neg-lim-sw-in net all-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 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 # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [JOINT_1]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT net y-output => hm2_5i25.0.7i77.0.1.analogout1 net y-pos-cmd <= joint.1.motor-pos-cmd net y-enable <= joint.1.amp-enable-out # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.01.counter-mode 0 setp hm2_5i25.0.encoder.01.filter 1 setp hm2_5i25.0.encoder.01.index-invert 0 setp hm2_5i25.0.encoder.01.index-mask 0 setp hm2_5i25.0.encoder.01.index-mask-invert 0 setp hm2_5i25.0.encoder.01.scale [JOINT_1]ENCODER_SCALE net y-pos-fb <= hm2_5i25.0.encoder.01.position net y-vel-fb <= hm2_5i25.0.encoder.01.velocity net y-pos-fb => joint.1.motor-pos-fb net y-index-enable joint.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts # ---setup home / limit switch signals--- net home-y => joint.1.home-sw-in net all-limit => joint.1.neg-lim-sw-in net all-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 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 # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [JOINT_2]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout2-minlim [JOINT_2]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [JOINT_2]OUTPUT_MAX_LIMIT net z-output => hm2_5i25.0.7i77.0.1.analogout2 net z-pos-cmd <= joint.2.motor-pos-cmd net z-enable <= joint.2.amp-enable-out # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.02.counter-mode 0 setp hm2_5i25.0.encoder.02.filter 1 setp hm2_5i25.0.encoder.02.index-invert 0 setp hm2_5i25.0.encoder.02.index-mask 0 setp hm2_5i25.0.encoder.02.index-mask-invert 0 setp hm2_5i25.0.encoder.02.scale [JOINT_2]ENCODER_SCALE net z-pos-fb <= hm2_5i25.0.encoder.02.position net z-vel-fb <= hm2_5i25.0.encoder.02.velocity net z-pos-fb => joint.2.motor-pos-fb net z-index-enable joint.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net home-z => joint.2.home-sw-in net all-limit => joint.2.neg-lim-sw-in net all-limit => joint.2.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.svel.Pgain [SPINDLE_0]Pvel setp pid.svel.Igain [SPINDLE_0]Ivel setp pid.svel.Dgain [SPINDLE_0]Dvel setp pid.svel.bias [SPINDLE_0]BIASvel setp pid.svel.FF0 [SPINDLE_0]FF0vel setp pid.svel.FF1 [SPINDLE_0]FF1vel setp pid.svel.FF2 [SPINDLE_0]FF2vel setp pid.svel.deadband [SPINDLE_0]DEADBANDvel setp pid.svel.maxoutput [SPINDLE_0]MAX_OUTPUTvel setp pid.svel.error-previous-target true setp pid.spos.Pgain [SPINDLE_0]Ppos setp pid.spos.Igain [SPINDLE_0]Ipos setp pid.spos.Dgain [SPINDLE_0]Dpos setp pid.spos.FF0 [SPINDLE_0]FF0pos setp pid.spos.FF1 [SPINDLE_0]FF1pos setp pid.svel.FF2 [SPINDLE_0]FF2pos setp pid.spos.deadband [SPINDLE_0]DEADBANDpos setp pid.spos.error-previous-target true setp pid.spos.maxerrorI [SPINDLE_0]MAXIpos setp pid.spos.maxerrorD [SPINDLE_0]MAXDpos setp pid.spos.maxerror [SPINDLE_0]MAXERRORpos setp pid.svel.maxoutput [SPINDLE_0]MAX_OUTPUTpos net spindle-index-enable <=> pid.svel.index-enable #net spindle-enable => pid.svel.enable net spindle-vel-cmd-rpm => pid.svel.command #net spindle-vel-fb-rpm => pid.svel.feedback #net spindle-output <= pid.svel.output # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout3-scalemax [SPINDLE_0]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout3-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout3-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT # ---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 hm2_5i25.0.encoder.03.index-enable net spindle-vel-pid pid.svel.output mux2.0.in0 # ---setup spindle position control signals--- net spindle-pos hm2_5i25.0.encoder.03.position pid.spos.feedback orient.0.position near.2.in1 net spindle-pos-cmd orient.0.command pid.spos.command near.2.in2 net spindle-angle spindle.0.orient-angle orient.0.angle net spindle-pos-pid pid.spos.output mux2.0.in1 net spindle-in-pos orient.0.is-oriented spindle.0.is-oriented # ---this switches modes--- net orient-mode spindle.0.orient orient.0.enable pid.spos.enable mux2.0.sel net velocity-mode spindle.0.on pid.svel.enable net orient-dir spindle.0.orient-mode orient.0.mode # ---spindle output depending on mode--- net spindle-output mux2.0.out net spindle-output => hm2_5i25.0.7i77.0.1.analogout3 #---Spindle Servo Drive Enable--- net orient-mode => or2.0.in0 net velocity-mode => or2.0.in1 net spindle-servo-drive-enable <= or2.0.out net spindle-servo-drive-enable => hm2_5i25.0.7i77.0.0.output-03 # ---Setup spindle at speed signals--- net spindle-vel-cmd-rpm-abs => near.0.in1 net spindle-fb-rpm-abs => near.0.in2 net spindle-at-speed spindle.0.at-speed <= near.0.out setp near.0.scale 1.06 # 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.0.gain 60 setp lowpass.0.gain .005 setp lowpass.0.load false net spindle-vel-fb-rps hm2_5i25.0.encoder.03.velocity => scale.0.in net spindle-fb-rpm scale.0.out => pid.svel.feedback abs.0.in spindle.0.revs net spindle-fb-rpm-abs abs.0.out => lowpass.0.in net spindle-fb-rpm-abs-filtered lowpass.0.out # --- Spindle Brake --- net spindle-fb-rpm-abs-filtered => near.1.in1 newsig spindle-zero-speed float net spindle-zero-speed => near.1.in2 net spindle-near-to-zero <= near.1.out setp near.1.difference 20 net spindle-brake => and2.0.in0 net spindle-near-to-zero => and2.0.in1 net spindle-brake-and-near and2.12.in0 <= and2.0.out net spindle-brake-button toggle.1.in hm2_5i25.0.7i84.0.2.input-31 net spindle-brake-button-tog and2.12.in1 toggle.1.out net spindle-brake-is-on => hm2_5i25.0.7i77.0.0.output-02 and2.12.out #setp hm2_5i25.0.7i77.0.0.output-02 true # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.03.counter-mode 0 setp hm2_5i25.0.encoder.03.filter 1 setp hm2_5i25.0.encoder.03.index-invert 0 setp hm2_5i25.0.encoder.03.index-mask 0 setp hm2_5i25.0.encoder.03.index-mask-invert 0 setp hm2_5i25.0.encoder.03.scale [SPINDLE_0]ENCODER_SCALE #****************************** # 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 M64-and-in motion.digital-out-00 and2.13.in0 net tool-sensor-and-in hm2_5i25.0.7i77.0.0.input-16 and2.13.in1 net tool-sensor and2.13.out or2.1.in0 net probe-sensor hm2_5i25.0.7i77.0.0.input-00 or2.1.in1 net probe-or-tool-sensor or2.1.out net probe-or-tool-sensor 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-out => 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