################### # MOTION REALTIME # ################### loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO-THREAD num_joints=3 ############### # ETHERCAT # ############### loadrt threads name1=master-thread period1=500000 name2=servo-thread period1=1000000 loadusr -W lcec_conf /home/robert/linuxcnc/configs/ethercat-conf.xml loadrt lcec addf lcec.read-all master-thread addf lcec.write-all master-thread net ec-slaves-responding lcec.slaves-responding net ec-link-up lcec.link-up net ec-all-op lcec.all-op ########################## # E-STOP/MACHINE POWER # ########################## net voltage-on iocontrol.0.emc-enable-in lcec.0.D6.din-0 ################################### # OUTPUT TO EMERGENCY STOP LIGHT # ################################### setp lcec.0.D11.dout-1 true ################### # limit Switches # ################### net x-pos-lim-in axis.0.pos-lim-sw-in lcec.0.D6.din-2 net x-neg-lim-in axis.0.neg-lim-sw-in lcec.0.D6.din-3 net y-pos-lim-in axis.1.pos-lim-sw-in lcec.0.D7.din-0 net y-neg-lim-in axis.1.neg-lim-sw-in lcec.0.D7.din-1 net z-pos-lim-in axis.2.pos-lim-sw-in lcec.0.D7.din-2 net z-neg-lim-in axis.2.neg-lim-sw-in lcec.0.D7.din-3 ################## # Halui Signals # ################## net joint-select-a halui.joint.0.select net joint-select-a lcec.0.D2.din-0 net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-pos lcec.0.D8.din-0 net jog-x-neg halui.jog.0.minus net jog-x-neg lcec.0.D8.din-1 net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net joint-select-b lcec.0.D2.din-1 net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-pos lcec.0.D8.din-2 net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.2.select net joint-select-c lcec.0.D2.din-2 net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-pos lcec.0.D3.din-0 net jog-z-neg halui.jog.2.minus net jog-z-neg lcec.0.D3.din-1 net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-cw lcec.0.D9.din-1 net spindle-manual-ccw halui.spindle.reverse net spindle-manual-ccw lcec.0.D9.din-2 net spindle-manual-stop halui.spindle.stop net spindle-manual-stop lcec.0.D9.din-3-not net spindle-brake halui.spindle.brake-on # net spindle.brake lcec.0.D9.din-0 net machine-is-on halui.machine.is-on lcec.0.D10.dout-0 net machine-on halui.machine.on net machine-on lcec.0.D9.din-0 net machine-off halui.machine.off lcec.0.D11.dout-3 net machine-off lcec.0.D8.din-3 net jog-speed halui.jog-speed net MDI-mode halui.mode.is-mdi ################### # spindle control # ################### 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 motion.spindle-speed-out net spindle-vel-cmd-rpm-abs motion.spindle-speed-out-abs net spindle-on motion.spindle-on lcec.0.D11.dout-0 net spindle-cw motion.spindle-forward lcec.0.D10.dout-1 net spindle-ccw motion.spindle-reverse lcec.0.D10.dout-2 net spindle-brake motion.spindle-brake lcec.0.D10.dout-3 net spindle-revs motion.spindle-revs net spindle-at-speed motion.spindle-at-speed net spindle-vel-fb motion.spindle-speed-in net spindle-index-enable motion.spindle-index-enable ################################### # Setup spindle at speed signals # ################################### sets spindle-at-speed true ############## # COOOLANT # ############## net coolant-on iocontrol.0.coolant-flood lcec.0.D11.dout-2 ####################### # MOTION CONTROLLER # ####################### loadrt pid names=x-pid,y-pid,z-pid addf motion-command-handler servo-thread addf motion-controller servo-thread addf x-pid.do-pid-calcs servo-thread addf y-pid.do-pid-calcs servo-thread addf z-pid.do-pid-calcs servo-thread ############ # ENCODERS # ############ loadrt encoder num_chan=3 addf encoder.capture-position servo-thread addf encoder.update-counters master-thread setp encoder.0.position-scale [AXIS_0]SCALE setp lcec.0.D18.aout-0-scale [AXIS_0]ENC_SCALE net x-pos-fb lcec.0.D19.enc-pos-scale net y-pos-fb lcec.0.D20.enc-pos-scale ########################################################### # X axis ########################################################### # position controller setp x-pid.Pgain [AXIS_0]P setp x-pid.Igain [AXIS_0]I setp x-pid.Dgain [AXIS_0]D setp x-pid.FF0 [AXIS_0]FF0 setp x-pid.FF1 [AXIS_0]FF1 setp x-pid.FF2 [AXIS_0]FF2 setp x-pid.deadband [AXIS_0]DEADBAND setp x-pid.maxoutput [AXIS_0]MAX_OUTPUT net x-enable => x-pid.enable net x-pos-cmd => x-pid.command net x-pos-fb => x-pid.feedback net x-vel-cmd <= x-pid.output # axis interface net x-neg-lim-in => axis.0.home-sw-in net x-enable <= axis.0.amp-enable-out #net x-enable => lcec.0.D18.aout-0-enable net x-amp-fault => axis.0.amp-fault-in net x-pos-cmd <= axis.0.motor-pos-cmd net x-pos-fb => axis.0.motor-pos-fb net x-pos-joint <= axis.0.joint-pos-fb net x-homed <= axis.0.homed net x-homing <= axis.0.homing net x-neg-lim-in => axis.0.neg-lim-sw-in net x-pos-lim-in => axis.0.pos-lim-sw-in ########################################################### # Y axis ########################################################### # position controller setp y-pid.Pgain [AXIS_1]P setp y-pid.Igain [AXIS_1]I setp y-pid.Dgain [AXIS_1]D setp y-pid.FF0 [AXIS_1]FF0 setp y-pid.FF1 [AXIS_1]FF1 setp y-pid.FF2 [AXIS_1]FF2 setp y-pid.deadband [AXIS_1]DEADBAND setp y-pid.maxoutput [AXIS_1]MAX_OUTPUT net y-enable => y-pid.enable net y-pos-cmd => y-pid.command net y-pos-fb => y-pid.feedback net y-vel-cmd <= y-pid.output # axis interface net y-pos-lim-in => axis.1.home-sw-in net y-enable <= axis.1.amp-enable-out net y-amp-fault => axis.1.amp-fault-in net y-pos-cmd <= axis.1.motor-pos-cmd net y-pos-fb => axis.1.motor-pos-fb net y-pos-joint <= axis.1.joint-pos-fb net y-homed <= axis.1.homed net y-homing <= axis.1.homing net y-neg-lim-in => axis.1.neg-lim-sw-in net y-pos-lim-in => axis.1.pos-lim-sw-in ########################################################### # Z axis ########################################################### # position controller setp z-pid.Pgain [AXIS_2]P setp z-pid.Igain [AXIS_2]I setp z-pid.Dgain [AXIS_2]D setp z-pid.FF0 [AXIS_2]FF0 setp z-pid.FF1 [AXIS_2]FF1 setp z-pid.FF2 [AXIS_2]FF2 setp z-pid.deadband [AXIS_2]DEADBAND setp z-pid.maxoutput [AXIS_2]MAX_OUTPUT net z-enable => z-pid.enable net z-pos-cmd => z-pid.command net z-pos-fb => z-pid.feedback net z-vel-cmd <= z-pid.output # axis interface net z-pos-lim-in => axis.2.home-sw-in net z-enable <= axis.2.amp-enable-out net z-amp-fault => axis.2.amp-fault-in net z-pos-cmd <= axis.2.motor-pos-cmd net z-pos-fb => axis.2.motor-pos-fb net z-pos-joint <= axis.2.joint-pos-fb net z-homed <= axis.2.homed net z-homing <= axis.2.homing net z-neg-lim-in => axis.2.neg-lim-sw-in net z-pos-lim-in => axis.2.pos-lim-sw-in