# Generated by PNCconf at Thu Jul 26 23:34:56 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=" num_encoders=0 num_pwmgens=0 num_stepgens=4 num_ssrs=1" setp hm2_7i96.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.x2,pid.y,pid.z,pid.s addf hm2_7i96.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.x2.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 hm2_7i96.0.write servo-thread setp hm2_7i96.0.dpll.01.timer-us -50 setp hm2_7i96.0.stepgen.timer-number 1 #set rate for 7i96 ssr output setp hm2_7i96.0.ssr.0.rate 1000000 # external output signals # external input signals # --- MIN-HOME-X --- net min-home-x <= hm2_7i96.0.gpio.000.in_not # --- MAX-X --- net max-x <= hm2_7i96.0.gpio.001.in_not # --- MIN-HOME-X2 --- net min-home-x2 <= hm2_7i96.0.gpio.002.in_not # --- MAX-X2 --- net max-x2 <= hm2_7i96.0.gpio.003.in_not # --- MIN-HOME-Y --- net min-home-y <= hm2_7i96.0.gpio.004.in_not # --- MAX-Y --- #net min-home-z <= hm2_7i96.0.gpio.005.in # --- ESTOP-EXT --- # this is wrong if the wire is connected to P3 on your 7I96 board #net estop-ext <= hm2_7i96.0.gpio.040.in #******************* # 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 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_7i96.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i96.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i96.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i96.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i96.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7i96.0.stepgen.00.step_type 0 setp hm2_7i96.0.stepgen.00.control-type 1 setp hm2_7i96.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i96.0.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_7i96.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i96.0.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_7i96.0.stepgen.00.enable # ---setup home / limit switch signals--- net min-home-x => joint.0.home-sw-in net min-home-x => joint.0.neg-lim-sw-in net max-x => joint.0.pos-lim-sw-in #******************* # Tandem AXIS X2 JOINT 1 #******************* setp pid.x2.Pgain [JOINT_1]P setp pid.x2.Igain [JOINT_1]I setp pid.x2.Dgain [JOINT_1]D setp pid.x2.bias [JOINT_1]BIAS setp pid.x2.FF0 [JOINT_1]FF0 setp pid.x2.FF1 [JOINT_1]FF1 setp pid.x2.FF2 [JOINT_1]FF2 setp pid.x2.deadband [JOINT_1]DEADBAND setp pid.x2.maxoutput [JOINT_1]MAX_OUTPUT setp pid.x2.error-previous-target true setp pid.x2.maxerror .0005 net x2-index-enable <=> pid.x2.index-enable net x2-enable => pid.x2.enable net x2-pos-cmd => pid.x2.command net x2-vel-cmd => pid.x2.command-deriv net x2-pos-fb => pid.x2.feedback net x2-output <= pid.x2.output # Step Gen signals/setup for tandem axis setp hm2_7i96.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i96.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i96.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i96.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i96.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7i96.0.stepgen.01.step_type 0 setp hm2_7i96.0.stepgen.01.control-type 1 setp hm2_7i96.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i96.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x2-pos-cmd <= joint.1.motor-pos-cmd net x2-vel-cmd <= joint.1.vel-cmd net x2-output <= hm2_7i96.0.stepgen.01.velocity-cmd net x2-pos-fb <= hm2_7i96.0.stepgen.01.position-fb net x2-pos-fb => joint.1.motor-pos-fb net x2-enable <= joint.1.amp-enable-out net x2-enable => hm2_7i96.0.stepgen.01.enable # ---setup home / limit switch signals--- net min-home-x2 => joint.1.home-sw-in net min-home-x2 => joint.1.neg-lim-sw-in net max-x2 => joint.1.pos-lim-sw-in #******************* # AXIS Y JOINT 2 #******************* setp pid.y.Pgain [JOINT_2]P setp pid.y.Igain [JOINT_2]I setp pid.y.Dgain [JOINT_2]D setp pid.y.bias [JOINT_2]BIAS setp pid.y.FF0 [JOINT_2]FF0 setp pid.y.FF1 [JOINT_2]FF1 setp pid.y.FF2 [JOINT_2]FF2 setp pid.y.deadband [JOINT_2]DEADBAND setp pid.y.maxoutput [JOINT_2]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_7i96.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i96.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i96.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i96.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i96.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7i96.0.stepgen.02.step_type 0 setp hm2_7i96.0.stepgen.02.control-type 1 setp hm2_7i96.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i96.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.2.motor-pos-cmd net y-vel-cmd <= joint.2.vel-cmd net y-output <= hm2_7i96.0.stepgen.02.velocity-cmd net y-pos-fb <= hm2_7i96.0.stepgen.02.position-fb net y-pos-fb => joint.2.motor-pos-fb net y-enable <= joint.2.amp-enable-out net y-enable => hm2_7i96.0.stepgen.02.enable # ---setup home / limit switch signals--- net min-home-y => joint.2.home-sw-in net min-home-y => joint.2.neg-lim-sw-in net max-y => joint.2.pos-lim-sw-in #******************* # AXIS Z JOINT 3 #******************* # Step Gen signals/setup setp hm2_7i96.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_7i96.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_7i96.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_7i96.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_7i96.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_7i96.0.stepgen.03.step_type 0 # Control type of 0 is needed because Toma THC wants a position type stepgen setp hm2_7i96.0.stepgen.03.control-type 0 setp hm2_7i96.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_7i96.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---setup home / limit switch signals--- #net z-home-sw => joint.3.home-sw-in #net z-neg-limit => joint.3.neg-lim-sw-in #net z-pos-limit => joint.3.pos-lim-sw-in #****************************** # 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.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