# Generated by PNCconf at Fri Mar 3 16:12:30 2023 # Using LinuxCNC version: Master (2.9) # 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=1 num_pwmgens=0 num_stepgens=4 sserial_port_0=00xxxx" setp hm2_7i76e.0.watchdog.timeout_ns 5000000 loadusr -W hal_input -KRAL Logitech Gamepad F310 loadrt pid names=pid.x,pid.y1,pid.y2,pid.z,pid.s loadrt mux16 names=jogspeed addf hm2_7i76e.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.y1.do-pid-calcs servo-thread addf pid.y2.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf jogspeed 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 # --- ESTOP-OUT --- net estop-out => hm2_7i76e.0.7i76.0.0.output-00 # --- ROUTER-ON --- net coolant-mist => hm2_7i76e.0.7i76.0.0.output-08 # --- DUST-COLLECTOR-ON net coolant-flood => hm2_7i76e.0.7i76.0.0.output-01 # external input signals # --- ESTOP-EXT --- net estop-ext <= hm2_7i76e.0.7i76.0.0.input-04 # --- BOTH-HOME-X --- net both-home-x <= hm2_7i76e.0.7i76.0.0.input-05-not # --- HOME-Y1 --- net home-y1 <= hm2_7i76e.0.7i76.0.0.input-06-not # --- BOTH-HOME-Y2 --- net both-home-y2 <= hm2_7i76e.0.7i76.0.0.input-07-not # --- BOTH-HOME-Z --- net both-home-z <= hm2_7i76e.0.7i76.0.0.input-08-not #******************* # 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 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 x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i76e.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_7i76e.0.stepgen.00.enable # ---setup home / limit switch signals--- net both-home-x => joint.0.home-sw-in net both-home-x => joint.0.neg-lim-sw-in net both-home-x => joint.0.pos-lim-sw-in #******************* # AXIS Y1 JOINT 1 #******************* setp pid.y1.Pgain [JOINT_1]P setp pid.y1.Igain [JOINT_1]I setp pid.y1.Dgain [JOINT_1]D setp pid.y1.bias [JOINT_1]BIAS setp pid.y1.FF0 [JOINT_1]FF0 setp pid.y1.FF1 [JOINT_1]FF1 setp pid.y1.FF2 [JOINT_1]FF2 setp pid.y1.deadband [JOINT_1]DEADBAND setp pid.y1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y1.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y1.maxerror 0.000500 net y1-index-enable <=> pid.y1.index-enable net y1-enable => pid.y1.enable net y1-pos-cmd => pid.y1.command net y1-pos-fb => pid.y1.feedback net y1-output <= pid.y1.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 y1-pos-cmd <= joint.1.motor-pos-cmd net y1-vel-cmd <= joint.1.vel-cmd net y1-output => hm2_7i76e.0.stepgen.01.velocity-cmd net y1-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb net y1-pos-fb => joint.1.motor-pos-fb net y1-enable <= joint.1.amp-enable-out net y1-enable => hm2_7i76e.0.stepgen.01.enable # ---setup home / limit switch signals--- net home-y1 => joint.1.home-sw-in net home-y1 => joint.1.neg-lim-sw-in # net home-y1 => joint.2.pos-lim-sw-in #******************* # Tandem AXIS Y2 JOINT 2 #******************* setp pid.y2.Pgain [JOINT_2]P setp pid.y2.Igain [JOINT_2]I setp pid.y2.Dgain [JOINT_2]D setp pid.y2.bias [JOINT_2]BIAS setp pid.y2.FF0 [JOINT_2]FF0 setp pid.y2.FF1 [JOINT_2]FF1 setp pid.y2.FF2 [JOINT_2]FF2 setp pid.y2.deadband [JOINT_2]DEADBAND setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.y2.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y2.maxerror 0.000500 net y2-index-enable <=> pid.y2.index-enable net y2-enable => pid.y2.enable net y2-pos-cmd => pid.y2.command net y2-pos-fb => pid.y2.feedback net y2-output <= pid.y2.output # Step Gen signals/setup for tandem axis 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 y2-pos-cmd <= joint.2.motor-pos-cmd net y2-vel-cmd <= joint.2.vel-cmd net y2-output => hm2_7i76e.0.stepgen.02.velocity-cmd net y2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb net y2-pos-fb => joint.2.motor-pos-fb net y2-enable <= joint.2.amp-enable-out net y2-enable => hm2_7i76e.0.stepgen.02.enable # ---setup home / limit switch signals--- net both-home-y2 => joint.2.home-sw-in net both-home-y2 => joint.2.neg-lim-sw-in net both-home-y2 => joint.2.pos-lim-sw-in #******************* # AXIS Z JOINT 3 #******************* setp pid.z.Pgain [JOINT_3]P setp pid.z.Igain [JOINT_3]I setp pid.z.Dgain [JOINT_3]D setp pid.z.bias [JOINT_3]BIAS setp pid.z.FF0 [JOINT_3]FF0 setp pid.z.FF1 [JOINT_3]FF1 setp pid.z.FF2 [JOINT_3]FF2 setp pid.z.deadband [JOINT_3]DEADBAND setp pid.z.maxoutput [JOINT_3]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 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 z-pos-cmd <= joint.3.motor-pos-cmd net z-vel-cmd <= joint.3.vel-cmd net z-output => hm2_7i76e.0.stepgen.03.velocity-cmd net z-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb net z-pos-fb => joint.3.motor-pos-fb net z-enable <= joint.3.amp-enable-out net z-enable => hm2_7i76e.0.stepgen.03.enable # ---setup home / limit switch signals--- net both-home-z => joint.3.home-sw-in net both-home-z => joint.3.neg-lim-sw-in net both-home-z => joint.3.pos-lim-sw-in #****************************** # connect miscellaneous signals #****************************** # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input #limits debounce to stop false triggers loadrt debounce cfg=1 #change to the number you want setp debounce.0.delay 100 #this sets the delay 100 iterations of the servo-thread addf debounce.0 servo-thread net deb-probe-in debounce.0.0.in <= hm2_7i76e.0.7i76.0.0.input-09-not net probe-in debounce.0.0.out 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 # ---toolchange signals for custom tool changer--- net tool-number <= iocontrol.0.tool-prep-number net tool-change-request <= iocontrol.0.tool-change net tool-change-confirmed => iocontrol.0.tool-changed net tool-prepare-request <= iocontrol.0.tool-prepare net tool-prepare-confirmed => iocontrol.0.tool-prepared