#RMC Rev06 - drive enable and alarms #RMC Rev05 - machine on w estop clear #RMC Rev04 - spindle PID sorted out #RMC Rev03 - estop fiddling #RMC Rev02 - added encoders and override resets #RMC Rev01 - removed classic ladder at end #RMC Rev05 oneshot and timedelay 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=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=21xxxx" setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s loadrt near loadrt abs names=abs.spindle #RMC added for spindle PID loadrt lowpass names=lowpass.spindle loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 #RMC Rev05 loadrt oneshot count=1 loadrt timedelay count=1 addf [HMOT](CARD0).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.a.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf lowpass.spindle servo-thread addf near.0 servo-thread addf abs.spindle servo-thread addf classicladder.0.refresh servo-thread #RMC Rev05 addf oneshot.0 servo-thread addf timedelay.0 servo-thread addf [HMOT](CARD0).write servo-thread setp [HMOT](CARD0).dpll.01.timer-us -50 setp [HMOT](CARD0).stepgen.timer-number 1 # external output signals # --- COOLANT-MIST --- net coolant-mist => [HMOT](CARD0).7i76.0.0.output-00 # --- SPARE_RELAY_D05 --- net SPARE_RELAY_D05 => [HMOT](CARD0).7i76.0.0.output-01 # --- ATC_BLAST --- net ATC_BLAST => [HMOT](CARD0).7i76.0.0.output-02 # --- ATC_CYL --- net ATC_CYL => [HMOT](CARD0).7i76.0.0.output-03 # --- AIR_BLAST --- net AIR_BLAST => [HMOT](CARD0).7i76.0.0.output-04 # --- SPINDLE_FAN --- net SPINDLE_FAN => [HMOT](CARD0).7i76.0.0.output-05 # --- COOLANT_WASH --- net Coolant_Wash => [HMOT](CARD0).7i76.0.0.output-06 # --- COOLANT-FLOOD --- net coolant-flood => [HMOT](CARD0).7i76.0.0.output-07 # --- PDB_CYL --- net PDB_CYL => [HMOT](CARD0).7i76.0.0.output-08 # --- SINGLE_BLOCK_LED --- net SINGLE_BLOCK_LED => [HMOT](CARD0).7i76.0.0.output-10 # external input signals # --- VFD_ANALOG_IN --- net VFD_ANALOG_IN <= [HMOT](CARD0).7i76.0.0.input-00 # --- TOOL_SETTER_OVERTRAVEL --- net TOOL_SETTER_OVERTRAVEL <= [HMOT](CARD0).7i76.0.0.input-01 # --- TOOL_SETTER --- net TOOL_SETTER <= [HMOT](CARD0).7i76.0.0.input-02 # --- PROBE-IN --- net probe-in <= [HMOT](CARD0).7i76.0.0.input-03 # --- PDB_BUTTON --- net PDB_BUTTON <= [HMOT](CARD0).7i76.0.0.input-04 # --- ATC_TOOL_SENSOR --- net ATC_TOOL_SENSOR <= [HMOT](CARD0).7i76.0.0.input-05 # --- ATC_HOME --- net ATC_HOME <= [HMOT](CARD0).7i76.0.0.input-06 # --- ATC_RETRACT --- net ATC_RETRACT <= [HMOT](CARD0).7i76.0.0.input-07 # --- ATC_EXTEND --- net ATC_EXTEND <= [HMOT](CARD0).7i76.0.0.input-08 # --- PDB_RETRACT --- net PDB_RETRACT <= [HMOT](CARD0).7i76.0.0.input-09 #RMC Rev02 - invert pins for all NC proxys net home-a <= [HMOT](CARD0).7i76.0.0.input-10-not net min-y <= [HMOT](CARD0).7i76.0.0.input-11-not net max-home-y <= [HMOT](CARD0).7i76.0.0.input-12-not net min-x <= [HMOT](CARD0).7i76.0.0.input-13-not net max-home-x <= [HMOT](CARD0).7i76.0.0.input-14-not net max-home-z <= [HMOT](CARD0).7i76.0.0.input-15-not # --- SPARE_B18 --- net SPARE_B18 <= [HMOT](CARD0).7i76.0.0.input-22 # --- SPARE_B17 --- net SPARE_B17 <= [HMOT](CARD0).7i76.0.0.input-23 # --- AIR_PRESSURE --- net AIR_PRESSURE <= [HMOT](CARD0).7i76.0.0.input-24 #RMC Rev06 drive alarms net ALARM_VFD <= [HMOT](CARD0).7i76.0.0.input-27 net ALARM_A <= [HMOT](CARD0).7i76.0.0.input-28 net ALARM_Y <= [HMOT](CARD0).7i76.0.0.input-29 net ALARM_Z <= [HMOT](CARD0).7i76.0.0.input-30 net ALARM_X <= [HMOT](CARD0).7i76.0.0.input-31 # --- BTN_FEED_HOLD --- net BTN_FEED_HOLD <= [HMOT](CARD0).7i73.0.1.input-02 # --- BTN_CYCLE_STOP --- net BTN_CYCLE_STOP <= [HMOT](CARD0).7i73.0.1.input-04 # --- BTN_CYCLE_START --- net BTN_CYCLE_START <= [HMOT](CARD0).7i73.0.1.input-06 # --- BTN_SINGLE_BLOCK --- net BTN_SINGLE_BLOCK <= [HMOT](CARD0).7i73.0.1.input-07 # --- BTN_SW15 --- net BTN_SW15 <= [HMOT](CARD0).7i73.0.1.input-16 # --- BTN_WASH --- net BTN_WASH <= [HMOT](CARD0).7i73.0.1.input-17 # --- BTN_HOME --- net BTN_HOME <= [HMOT](CARD0).7i73.0.1.input-18 # --- BTN_PARK2 --- net BTN_PARK2 <= [HMOT](CARD0).7i73.0.1.input-19 # --- BTN_PARK1 --- net BTN_PARK1 <= [HMOT](CARD0).7i73.0.1.input-20 # --- BTN_FLOOD --- net BTN_FLOOD <= [HMOT](CARD0).7i73.0.1.input-21 # --- BTN_BLAST --- net BTN_BLAST <= [HMOT](CARD0).7i73.0.1.input-22 # --- BTN_MIST --- net BTN_MIST <= [HMOT](CARD0).7i73.0.1.input-23 #******************* # 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 0.000500 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 # Step Gen signals/setup setp [HMOT](CARD0).stepgen.00.dirsetup [JOINT_0]DIRSETUP setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_0]DIRHOLD setp [HMOT](CARD0).stepgen.00.steplen [JOINT_0]STEPLEN setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_0]STEPSPACE setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_0]STEP_SCALE setp [HMOT](CARD0).stepgen.00.step_type 0 setp [HMOT](CARD0).stepgen.00.control-type 1 setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.00.velocity-cmd net x-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => [HMOT](CARD0).stepgen.00.enable #RMC Rev06 drive alarm net ALARM_X => joint.0.amp-fault-in # ---setup home / limit switch signals--- net max-home-x => joint.0.home-sw-in net min-x => joint.0.neg-lim-sw-in net max-home-x => 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y.maxerror 0.000500 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 # Step Gen signals/setup setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_1]DIRSETUP setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_1]DIRHOLD setp [HMOT](CARD0).stepgen.01.steplen [JOINT_1]STEPLEN setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_1]STEPSPACE setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_1]STEP_SCALE setp [HMOT](CARD0).stepgen.01.step_type 0 setp [HMOT](CARD0).stepgen.01.control-type 1 setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.01.velocity-cmd net y-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => [HMOT](CARD0).stepgen.01.enable #RMC Rev06 drive alarm net ALARM_Y => joint.1.amp-fault-in # ---setup home / limit switch signals--- net max-home-y => joint.1.home-sw-in net min-y => joint.1.neg-lim-sw-in net max-home-y => 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 0.000500 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 # Step Gen signals/setup setp [HMOT](CARD0).stepgen.02.dirsetup [JOINT_2]DIRSETUP setp [HMOT](CARD0).stepgen.02.dirhold [JOINT_2]DIRHOLD setp [HMOT](CARD0).stepgen.02.steplen [JOINT_2]STEPLEN setp [HMOT](CARD0).stepgen.02.stepspace [JOINT_2]STEPSPACE setp [HMOT](CARD0).stepgen.02.position-scale [JOINT_2]STEP_SCALE setp [HMOT](CARD0).stepgen.02.step_type 0 setp [HMOT](CARD0).stepgen.02.control-type 1 setp [HMOT](CARD0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.02.velocity-cmd net z-pos-fb <= [HMOT](CARD0).stepgen.02.position-fb net z-pos-fb => joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out net z-enable => [HMOT](CARD0).stepgen.02.enable #RMC Rev06 drive alarm net ALARM_Z => joint.2.amp-fault-in # ---setup home / limit switch signals--- net max-home-z => joint.2.home-sw-in net z-neg-limit => joint.2.neg-lim-sw-in net max-home-z => joint.2.pos-lim-sw-in #******************* # AXIS A JOINT 3 #******************* setp pid.a.Pgain [JOINT_3]P setp pid.a.Igain [JOINT_3]I setp pid.a.Dgain [JOINT_3]D setp pid.a.bias [JOINT_3]BIAS setp pid.a.FF0 [JOINT_3]FF0 setp pid.a.FF1 [JOINT_3]FF1 setp pid.a.FF2 [JOINT_3]FF2 setp pid.a.deadband [JOINT_3]DEADBAND setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT setp pid.a.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.a.maxerror 0.000500 net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-pos-cmd => pid.a.command net a-pos-fb => pid.a.feedback net a-output <= pid.a.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.03.dirsetup [JOINT_3]DIRSETUP setp [HMOT](CARD0).stepgen.03.dirhold [JOINT_3]DIRHOLD setp [HMOT](CARD0).stepgen.03.steplen [JOINT_3]STEPLEN setp [HMOT](CARD0).stepgen.03.stepspace [JOINT_3]STEPSPACE setp [HMOT](CARD0).stepgen.03.position-scale [JOINT_3]STEP_SCALE setp [HMOT](CARD0).stepgen.03.step_type 0 setp [HMOT](CARD0).stepgen.03.control-type 1 setp [HMOT](CARD0).stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp [HMOT](CARD0).stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd <= joint.3.motor-pos-cmd net a-vel-cmd <= joint.3.vel-cmd net a-output <= [HMOT](CARD0).stepgen.03.velocity-cmd net a-pos-fb <= [HMOT](CARD0).stepgen.03.position-fb net a-pos-fb => joint.3.motor-pos-fb net a-enable <= joint.3.amp-enable-out net a-enable => [HMOT](CARD0).stepgen.03.enable #RMC Rev06 drive alarm net ALARM_A => joint.3.amp-fault-in # ---setup home / limit switch signals--- net home-a => joint.3.home-sw-in net a-neg-limit => joint.3.neg-lim-sw-in net a-pos-limit => joint.3.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]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 # ---digital potentionmeter output signals/setup--- setp [HMOT](CARD0).7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT setp [HMOT](CARD0).7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT setp [HMOT](CARD0).7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE net spindle-output => [HMOT](CARD0).7i76.0.0.spinout net spindle-enable => [HMOT](CARD0).7i76.0.0.spinena net spindle-ccw => [HMOT](CARD0).7i76.0.0.spindir # ---Encoder feedback signals/setup--- setp [HMOT](CARD0).encoder.00.counter-mode 0 setp [HMOT](CARD0).encoder.00.filter 1 setp [HMOT](CARD0).encoder.00.index-invert 0 setp [HMOT](CARD0).encoder.00.index-mask 0 setp [HMOT](CARD0).encoder.00.index-mask-invert 0 setp [HMOT](CARD0).encoder.00.scale [SPINDLE_0]ENCODER_SCALE net spindle-revs <= [HMOT](CARD0).encoder.00.position net spindle-vel-fb-rps <= [HMOT](CARD0).encoder.00.velocity net spindle-vel-fb-rpm <= [HMOT](CARD0).encoder.00.velocity-rpm net spindle-index-enable <=> [HMOT](CARD0).encoder.00.index-enable # ---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 #RMC Rev06 drive alarm net ALARM_VFD => spindle.0.amp-fault-in # ---Setup spindle at speed signals--- net spindle-vel-cmd-rps => near.0.in1 net spindle-vel-fb-rps => near.0.in2 net spindle-at-speed <= near.0.out setp near.0.scale 1.000000 setp near.0.difference 1.666667 #RMC added for spindle PID feedback setp lowpass.spindle.gain 1.000000 net spindle-vel-fb-rpm => abs.spindle.in net spindle-vel-fb-rpm-abs abs.spindle.out => lowpass.spindle.in net spindle-fb-rpm-abs-filtered lowpass.spindle.out #****************************** # 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 axis-select-a halui.axis.a.select net jog-a-pos halui.axis.a.plus net jog-a-neg halui.axis.a.minus net jog-a-analog halui.axis.a.analog net a-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.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 #RMC feed override signals to operator panel encoder setp halui.feed-override.direct-value false setp halui.feed-override.scale .01 setp halui.feed-override.count-enable true net fo-count <= [HMOT](CARD0).7i73.0.1.enc0.count net fo-count => halui.feed-override.counts net fo-reset <= [HMOT](CARD0).7i73.0.1.input-14 # Probe Basic reset pin is in custom_postgui.hal #RMC max velocity signals to operator panel encoder setp halui.max-velocity.direct-value false setp halui.max-velocity.scale 0.02 setp halui.max-velocity.count-enable true net mvo-count <= [HMOT](CARD0).7i73.0.1.enc2.count net mvo-count => halui.max-velocity.counts #RMC spindle override signals to operator panel encoder setp halui.spindle.0.override.direct-value false setp halui.spindle.0.override.scale .01 setp halui.spindle.0.override.count-enable true net so-count <= [HMOT](CARD0).7i73.0.1.enc1.count net so-count => halui.spindle.0.override.counts net so-reset <= [HMOT](CARD0).7i73.0.1.input-15 # Probe Basic reset pin is in custom_postgui.hal # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled net machine-is-enabled => [HMOT](CARD0).7i76.0.0.output-09 # ---digital in / out signals--- #RMC Estop relay net estop-clear <= [HMOT](CARD0).7i76.0.0.input-20 net estop-clear => iocontrol.0.emc-enable-in net estop-out <= iocontrol.0.user-enable-out net estop-out => [HMOT](CARD0).7i76.0.0.output-15 #RMC Rev05 WORKS time delay to turn machine on with estop clear setp oneshot.0.width 2 setp timedelay.0.off-delay 2 net estop-clear => oneshot.0.in net machine-on-delay <= oneshot.0.out net machine-on-delay => timedelay.0.in net machine-on-signal <= timedelay.0.out net machine-on-signal => halui.machine.on