# Erstellt von PNCconf am Sat Jan 27 00:14:26 2024 # Verwendete LinuxCNC version: Master (2.9) # Änderungen an dieser Datei werden beim nächsten # wird überschrieben sobald Sie PNCconf erneut ausführen 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=4 num_pwmgens=3 num_stepgens=0" setp hm2_7i80.0.pwmgen.pwm_frequency 20000 setp hm2_7i80.0.pwmgen.pdm_frequency 6000000 setp hm2_7i80.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.z,pid.s loadrt mux16 names=jogincr addf hm2_7i80.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf jogincr servo-thread addf hm2_7i80.0.write servo-thread # externe Signalausgänge # --- COOLANT-MIST --- setp hm2_7i80.0.gpio.045.is_output true net coolant-mist => hm2_7i80.0.gpio.045.out # --- COOLANT-MIST --- setp hm2_7i80.0.gpio.046.is_output true net coolant-mist => hm2_7i80.0.gpio.046.out # --- COOLANT-FLOOD --- setp hm2_7i80.0.gpio.047.is_output true net coolant-flood => hm2_7i80.0.gpio.047.out # externe Signaleingänge #******************* # 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 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 # ---PWM Generator Signale/Setup--- setp hm2_7i80.0.pwmgen.00.output-type 1 setp hm2_7i80.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE net x-output => hm2_7i80.0.pwmgen.00.value net x-pos-cmd joint.0.motor-pos-cmd net x-enable joint.0.amp-enable-out => hm2_7i80.0.pwmgen.00.enable # ---Encoder Feedback Signale/Setup--- setp hm2_7i80.0.encoder.00.counter-mode 0 setp hm2_7i80.0.encoder.00.filter 1 setp hm2_7i80.0.encoder.00.index-invert 0 setp hm2_7i80.0.encoder.00.index-mask 0 setp hm2_7i80.0.encoder.00.index-mask-invert 0 setp hm2_7i80.0.encoder.00.scale [JOINT_0]ENCODER_SCALE net x-pos-fb <= hm2_7i80.0.encoder.00.position net x-vel-fb <= hm2_7i80.0.encoder.00.velocity net x-pos-fb => joint.0.motor-pos-fb net x-index-enable joint.0.index-enable <=> hm2_7i80.0.encoder.00.index-enable net x-pos-rawcounts <= hm2_7i80.0.encoder.00.rawcounts # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net x-home-sw => joint.0.home-sw-in net x-home-sw <= hm2_7i80.0.gpio.024.in ###net x-neg-limit => joint.0.neg-lim-sw-in ###net x-pos-limit => joint.0.pos-lim-sw-in #******************* # AXIS Z JOINT 1 #******************* setp pid.z.Pgain [JOINT_1]P setp pid.z.Igain [JOINT_1]I setp pid.z.Dgain [JOINT_1]D setp pid.z.bias [JOINT_1]BIAS setp pid.z.FF0 [JOINT_1]FF0 setp pid.z.FF1 [JOINT_1]FF1 setp pid.z.FF2 [JOINT_1]FF2 setp pid.z.deadband [JOINT_1]DEADBAND setp pid.z.maxoutput [JOINT_1]MAX_OUTPUT setp pid.z.error-previous-target true 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 # ---PWM Generator Signale/Setup--- setp hm2_7i80.0.pwmgen.01.output-type 1 setp hm2_7i80.0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE net z-output => hm2_7i80.0.pwmgen.01.value net z-pos-cmd joint.1.motor-pos-cmd net z-enable joint.1.amp-enable-out => hm2_7i80.0.pwmgen.01.enable # ---Encoder Feedback Signale/Setup--- setp hm2_7i80.0.encoder.01.counter-mode 0 setp hm2_7i80.0.encoder.01.filter 1 setp hm2_7i80.0.encoder.01.index-invert 0 setp hm2_7i80.0.encoder.01.index-mask 0 setp hm2_7i80.0.encoder.01.index-mask-invert 0 setp hm2_7i80.0.encoder.01.scale [JOINT_1]ENCODER_SCALE net z-pos-fb <= hm2_7i80.0.encoder.01.position net z-vel-fb <= hm2_7i80.0.encoder.01.velocity net z-pos-fb => joint.1.motor-pos-fb net z-index-enable joint.1.index-enable <=> hm2_7i80.0.encoder.01.index-enable net z-pos-rawcounts <= hm2_7i80.0.encoder.01.rawcounts # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net z-home-sw => joint.1.home-sw-in net z-home-sw <= hm2_7i80.0.gpio.026.in ###net z-neg-limit => joint.1.neg-lim-sw-in ###net z-pos-limit => joint.1.pos-lim-sw-in #******************* # SPINDEL #******************* 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-abs => pid.s.command net spindle-vel-fb-rpm-abs => pid.s.feedback net spindle-output <= pid.s.output # ---PWM Generator Signale/Setup--- setp hm2_7i80.0.pwmgen.02.output-type 1 setp hm2_7i80.0.pwmgen.02.scale [SPINDLE_0]OUTPUT_SCALE net spindle-output => hm2_7i80.0.pwmgen.02.value net spindle-enable => hm2_7i80.0.pwmgen.02.enable # ---Encoder Feedback Signale/Setup--- setp hm2_7i80.0.encoder.02.counter-mode 0 setp hm2_7i80.0.encoder.02.filter 1 setp hm2_7i80.0.encoder.02.index-invert 0 setp hm2_7i80.0.encoder.02.index-mask 0 setp hm2_7i80.0.encoder.02.index-mask-invert 0 setp hm2_7i80.0.encoder.02.scale [SPINDLE_0]ENCODER_SCALE net spindle-revs <= hm2_7i80.0.encoder.02.position net spindle-vel-fb-rps <= hm2_7i80.0.encoder.02.velocity net spindle-vel-fb-rpm <= hm2_7i80.0.encoder.02.velocity-rpm net spindle-index-enable <=> hm2_7i80.0.encoder.02.index-enable setp hm2_7i80.0.gpio.040.is_output true setp hm2_7i80.0.gpio.042.is_output true # ---Setup Spindel Steuerungs-Signale--- 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 net spindle-cw => hm2_7i80.0.gpio.040.out net spindle-ccw => hm2_7i80.0.gpio.042.out # ---Einrichtung der Signale zur Spindel-Geschwindigkeits-Steuerung--- sets spindle-at-speed true #****************************** # Verbinden verschiedener Signale #****************************** # ---HALUI Signale--- 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-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.1.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 # ---Kühlmittel-Signale--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---Sonde/Taster Signal (probe signal)--- net probe-in => motion.probe-input # ---Handrad-Signale zu Mesa Encoder - shared MPG--- net axis-selected-count <= hm2_7i80.0.encoder.03.count # --- Signale der Handsteuerung--- # for Achse x Handsteuerung 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 Achse z Handsteuerung 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 1.000000 # ---Signale zur Bewegungs-Steuerung--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---Digitale ein-/ausgehende-Signale--- # ---Notaus-Signale--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---Signale zum manuellen Werkzeugwechsel--- net tool-change-request <= iocontrol.0.tool-change net tool-change-confirmed => iocontrol.0.tool-changed net tool-number <= iocontrol.0.tool-prep-number # ---Nutze externen Dialog zum Werkzeugwechsel--- loadusr -W hal_manualtoolchange net tool-change-request => hal_manualtoolchange.change net tool-change-confirmed <= hal_manualtoolchange.changed net tool-number => hal_manualtoolchange.number # ---ignoriere Anfragen zu Werkzeug-Vorbereitungen--- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared