# Generated by PNCconf at Sat Feb 24 07:57:58 2018 # 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 loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="firmware=hm2/7i76/7i76e.BIT num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" setp hm2_7i76e.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.0,pid.1,pid.2,pid.3,pid.s loadrt estop_latch count=1 addf estop-latch.0 servo-thread addf hm2_7i76e.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf pid.3.do-pid-calcs servo-thread addf pid.s.do-pid-calcs 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 # --- MACHINE-IS-ENABLED --- net machine-is-enabled hm2_7i76e.0.7i76.0.0.output-01 # --- SPINDLE-ON --- net spindle-on hm2_7i76e.0.7i76.0.0.output-03 # external input signals # --- HOME-0 --- net home-0 <= hm2_7i76e.0.7i76.0.0.input-11-not # --- MIN-0 --- net min-0 <= hm2_7i76e.0.7i76.0.0.input-12-not # --- MAX-0--- net max-0 <= hm2_7i76e.0.7i76.0.0.input-13-not # --- HOME-1 --- net home-1 <= hm2_7i76e.0.7i76.0.0.input-14-not # --- MAX-1 --- net max-1 <= hm2_7i76e.0.7i76.0.0.input-15-not # --- MIN-1 --- net min-1 <= hm2_7i76e.0.7i76.0.0.input-20-not # --- HOME-2 --- net home-2 <= hm2_7i76e.0.7i76.0.0.input-03 # --- MIN-2 --- net min-2 <= hm2_7i76e.0.7i76.0.0.input-04 # --- MAX-2 --- net max-2 <= hm2_7i76e.0.7i76.0.0.input-05 # --- MIN-3 --- net min-3 <= hm2_7i76e.0.7i76.0.0.input-07-not # --- MIN-3 --- net min-3 <= hm2_7i76e.0.7i76.0.0.input-07-not # --- MAX-HOME-3 --- net max-home-3 <= hm2_7i76e.0.7i76.0.0.input-08 # --- ESTOP-EXT --- net estop-ext <= hm2_7i76e.0.7i76.0.0.input-31 #******************* # JOINT 0 = Y #******************* setp pid.0.Pgain [JOINT_0]P setp pid.0.Igain [JOINT_0]I setp pid.0.Dgain [JOINT_0]D setp pid.0.bias [JOINT_0]BIAS setp pid.0.FF0 [JOINT_0]FF0 setp pid.0.FF1 [JOINT_0]FF1 setp pid.0.FF2 [JOINT_0]FF2 setp pid.0.deadband [JOINT_0]DEADBAND setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT setp pid.0.error-previous-target true setp pid.0.maxerror .0005 net 0-index-enable <=> pid.0.index-enable net 0-enable => pid.0.enable net 0-pos-cmd => pid.0.command net 0-vel-cmd => pid.0.command-deriv net 0-pos-fb => pid.0.feedback net 0-output => pid.0.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 0-pos-cmd <= joint.0.motor-pos-cmd net 0-vel-cmd <= joint.0.vel-cmd net 0-output <= hm2_7i76e.0.stepgen.00.velocity-cmd net 0-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb net 0-pos-fb => joint.0.motor-pos-fb net 0-enable <= joint.0.amp-enable-out net 0-enable => hm2_7i76e.0.stepgen.00.enable # ---setup home / limit switch signals--- net home-0 => joint.0.home-sw-in net min-0 => joint.0.neg-lim-sw-in net max-0 => joint.0.pos-lim-sw-in #******************* # JOINT 1 = Y1 #******************* setp pid.1.Pgain [JOINT_1]P setp pid.1.Igain [JOINT_1]I setp pid.1.Dgain [JOINT_1]D setp pid.1.bias [JOINT_1]BIAS setp pid.1.FF0 [JOINT_1]FF0 setp pid.1.FF1 [JOINT_1]FF1 setp pid.1.FF2 [JOINT_1]FF2 setp pid.1.deadband [JOINT_1]DEADBAND setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.1.error-previous-target true setp pid.1.maxerror .0005 net 1-index-enable <=> pid.1.index-enable net 1-enable => pid.1.enable net 1-pos-cmd => pid.1.command net 1-vel-cmd => pid.1.command-deriv net 1-pos-fb => pid.1.feedback net 1-output => pid.1.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 1-pos-cmd <= joint.1.motor-pos-cmd net 1-vel-cmd <= joint.1.vel-cmd net 1-output <= hm2_7i76e.0.stepgen.01.velocity-cmd net 1-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb net 1-pos-fb => joint.1.motor-pos-fb net 1-enable <= joint.1.amp-enable-out net 1-enable => hm2_7i76e.0.stepgen.01.enable # ---setup home / limit switch signals--- net home-1 => joint.1.home-sw-in net min-1 => joint.1.neg-lim-sw-in net max-1 => joint.1.pos-lim-sw-in #******************* # JOINT 2 X #******************* setp pid.2.Pgain [JOINT_2]P setp pid.2.Igain [JOINT_2]I setp pid.2.Dgain [JOINT_2]D setp pid.2.bias [JOINT_2]BIAS setp pid.2.FF0 [JOINT_2]FF0 setp pid.2.FF1 [JOINT_2]FF1 setp pid.2.FF2 [JOINT_2]FF2 setp pid.2.deadband [JOINT_2]DEADBAND setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.2.error-previous-target true setp pid.2.maxerror .0005 net 2-index-enable <=> pid.2.index-enable net 2-enable => pid.2.enable net 2-pos-cmd => pid.2.command net 2-vel-cmd => pid.2.command-deriv net 2-pos-fb => pid.2.feedback net 2-output => pid.2.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 2-pos-cmd <= joint.2.motor-pos-cmd net 2-vel-cmd <= joint.2.vel-cmd net 2-output <= hm2_7i76e.0.stepgen.02.velocity-cmd net 2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb net 2-pos-fb => joint.2.motor-pos-fb net 2-enable <= joint.2.amp-enable-out net 2-enable => hm2_7i76e.0.stepgen.02.enable # ---setup home / limit switch signals--- net home-2 => joint.2.home-sw-in net min-2 => joint.2.neg-lim-sw-in net max-2 => joint.2.pos-lim-sw-in #******************* # JOINT 3 Z #******************* setp pid.3.Pgain [JOINT_3]P setp pid.3.Igain [JOINT_3]I setp pid.3.Dgain [JOINT_3]D setp pid.3.bias [JOINT_3]BIAS setp pid.3.FF0 [JOINT_3]FF0 setp pid.3.FF1 [JOINT_3]FF1 setp pid.3.FF2 [JOINT_3]FF2 setp pid.3.deadband [JOINT_3]DEADBAND setp pid.3.maxoutput [JOINT_3]MAX_OUTPUT setp pid.3.error-previous-target true setp pid.3.maxerror .0005 net 3-index-enable <=> pid.3.index-enable net 3-enable => pid.3.enable net 3-pos-cmd => pid.3.command net 3-vel-cmd => pid.3.command-deriv net 3-pos-fb => pid.3.feedback net 3-output => pid.3.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_7i76e.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_7i76e.0.stepgen.03.step_type 0 setp hm2_7i76e.0.stepgen.03.control-type 1 setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net 3-pos-cmd <= joint.3.motor-pos-cmd net 3-vel-cmd <= joint.3.vel-cmd net 3-output <= hm2_7i76e.0.stepgen.03.velocity-cmd net 3-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb net 3-pos-fb => joint.3.motor-pos-fb net 3-enable <= joint.3.amp-enable-out net 3-enable => hm2_7i76e.0.stepgen.03.enable # ---setup home / limit switch signals--- net max-home-3 => joint.3.home-sw-in net min-3 => joint.3.neg-lim-sw-in net max-3 => 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 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 # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # 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 0-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 1-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 2-is-homed halui.joint.2.is-homed net 3-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.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.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 # ---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