# Généré par PNCconf le Sat Feb 18 14:47:14 2023 # Using LinuxCNC version: 2.8 # Si vous modifiez ce fichier, il sera # écrasé quand vous relancerez PNCconf loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_pci config="num_encoders=2 num_pwmgens=0 num_stepgens=4" setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s loadrt mux16 names=jogincr,foincr,mvoincr 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.s.do-pid-calcs servo-thread addf jogincr servo-thread addf foincr servo-thread addf mvoincr servo-thread addf [HMOT](CARD0).write servo-thread # external output signals # external input signals # --- JOINT-SELECT-A --- net joint-select-a <= [HMOT](CARD0).gpio.017.in # --- JOINT-SELECT-B --- net joint-select-b <= [HMOT](CARD0).gpio.018.in # --- JOINT-SELECT-C --- net joint-select-c <= [HMOT](CARD0).gpio.019.in # --- JOG-INCR-A --- net jog-incr-a <= [HMOT](CARD0).gpio.020.in # --- JOG-INCR-B --- net jog-incr-b <= [HMOT](CARD0).gpio.021.in # --- JOG-INCR-C --- net jog-incr-c <= [HMOT](CARD0).gpio.022.in # --- BOTH-X --- net both-x <= [HMOT](CARD0).gpio.024.in # --- BOTH-Y --- net both-y <= [HMOT](CARD0).gpio.025.in # --- BOTH-Z --- net both-z <= [HMOT](CARD0).gpio.026.in # --- HOME-X --- net home-x <= [HMOT](CARD0).gpio.027.in # --- HOME-Y --- net home-y <= [HMOT](CARD0).gpio.028.in # --- HOME-Z --- net home-z <= [HMOT](CARD0).gpio.029.in # --- PROBE-IN --- net probe-in <= [HMOT](CARD0).gpio.030.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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 0.012700 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 # ---setup home / limit switch signals--- net home-x => joint.0.home-sw-in net both-x => joint.0.neg-lim-sw-in net both-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 0.012700 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 # ---setup home / limit switch signals--- net home-y => joint.1.home-sw-in net both-y => joint.1.neg-lim-sw-in net both-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 0.012700 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 # ---setup home / limit switch signals--- net home-z => joint.2.home-sw-in net both-z => joint.2.neg-lim-sw-in net both-z => joint.2.pos-lim-sw-in #****************************** #connections de signaux divers #****************************** # ---signaux HALUI--- 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 # ---signaux d'arrosage--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---signal de sonde--- net probe-in => motion.probe-input # ---signaux de boutons de jog--- sets jog-speed 1.000000 # ---jogwheel signals to mesa encoder - shared MPG--- net axis-selected-count <= [HMOT](CARD0).encoder.01.count # ---signaux manivelle--- # for axis x MPG setp axis.x.jog-vel-mode 0 net selected-jog-incr => axis.x.jog-scale net axis-select-x => axis.x.jog-enable net axis-selected-count => axis.x.jog-counts # for axis y MPG setp axis.y.jog-vel-mode 0 net selected-jog-incr => axis.y.jog-scale net axis-select-y => axis.y.jog-enable net axis-selected-count => axis.y.jog-counts # for axis z MPG setp axis.z.jog-vel-mode 0 net selected-jog-incr => axis.z.jog-scale net axis-select-z => axis.z.jog-enable net axis-selected-count => axis.z.jog-counts sets selected-jog-incr 0.000000 # connect feed overide increments - MPG setp halui.feed-override.direct-value false setp halui.feed-override.scale .01 net fo-enable => halui.feed-override.count-enable net axis-selected-count => halui.feed-override.counts # connect max velocity overide increments - MPG setp halui.max-velocity.direct-value false setp halui.max-velocity.scale 20.000000 net mvo-enable => halui.max-velocity.count-enable net axis-selected-count => halui.max-velocity.counts # ---signaux contrôle mouvement--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---signaux entrée / sortie numérique--- # ---signaux d'A/U--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---signaux changeur manuel d'outil--- 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