# Erstellt von PNCconf am Sat May 25 10:35:49 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 num_dio=30 num_aio=30 loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx" setp [HMOT](CARD0).pwmgen.pwm_frequency 20000 setp [HMOT](CARD0).pwmgen.pdm_frequency 6000000 setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.x2,pid.y,pid.z,pid.s 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.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 [HMOT](CARD0).write servo-thread setp [HMOT](CARD0).dpll.01.timer-us -50 setp [HMOT](CARD0).stepgen.timer-number 1 # externe Signalausgänge # externe Signaleingänge # --- HOME-X seperater INI notwendig--- net home-x <= [HMOT](CARD0).inm.00.input-00 # --- HOME-X2 seperater INI notwendig--- net home-x2 <= [HMOT](CARD0).inm.00.input-01 # --- HOME-Y --- net home-y <= [HMOT](CARD0).inm.00.input-02 # --- HOME-Z --- net home-z <= [HMOT](CARD0).inm.00.input-03 #******************* # 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 # Schritt-Gen Signale/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 # ---Closed-Loop Schrittmotor-Signale--- 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 # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net home-x => joint.0.home-sw-in net x-neg-limit => joint.0.neg-lim-sw-in net x-pos-limit => 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 # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x2.maxerror 0.012700 net x2-index-enable => pid.x2.index-enable net x2-enable => pid.x2.enable net x2-pos-cmd => pid.x2.command net x2-pos-fb => pid.x2.feedback net x2-output <= pid.x2.output # Schrittgenerator Signale/Einrichtung für Tandem Achsen 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 # ---Closed-Loop Schrittmotor-Signale--- net x2-pos-cmd <= joint.1.motor-pos-cmd net x2-vel-cmd <= joint.1.vel-cmd net x2-output => [HMOT](CARD0).stepgen.01.velocity-cmd net x2-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb net x2-pos-fb => joint.1.motor-pos-fb net x2-enable <= joint.1.amp-enable-out net x2-enable => [HMOT](CARD0).stepgen.01.enable # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net home-x2 => joint.1.home-sw-in net x2-neg-limit => joint.1.neg-lim-sw-in net x2-pos-limit => 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 # 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 # Schritt-Gen Signale/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 # ---Closed-Loop Schrittmotor-Signale--- net y-pos-cmd <= joint.2.motor-pos-cmd net y-vel-cmd <= joint.2.vel-cmd net y-output => [HMOT](CARD0).stepgen.02.velocity-cmd net y-pos-fb <= [HMOT](CARD0).stepgen.02.position-fb net y-pos-fb => joint.2.motor-pos-fb net y-enable <= joint.2.amp-enable-out net y-enable => [HMOT](CARD0).stepgen.02.enable # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net home-y => joint.2.home-sw-in net y-neg-limit => joint.2.neg-lim-sw-in net y-pos-limit => 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 0.012700 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 # Schritt-Gen Signale/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 # ---Closed-Loop Schrittmotor-Signale--- net z-pos-cmd <= joint.3.motor-pos-cmd net z-vel-cmd <= joint.3.vel-cmd net z-output => [HMOT](CARD0).stepgen.03.velocity-cmd net z-pos-fb <= [HMOT](CARD0).stepgen.03.position-fb net z-pos-fb => joint.3.motor-pos-fb net z-enable <= joint.3.amp-enable-out net z-enable => [HMOT](CARD0).stepgen.03.enable # ---Einrichtung Referenzfahrt / Signale der Endschalter--- net home-z => 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 #******************* # 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 => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---Setup Spindel Steuerungs-Signale--- net spindele-cw => hm2_7i96s.0.ssr.00.out-00 net spindle-ccw => hm2_7i96s.0.ssr.00.out-01 net spindle-enabe => hm2_7i96s.0.pwmgen.00.enable net spindle-vel-cmd-rpm => hm2_7i96s.0.pwmgen.00.value 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 setp hm2_7i96s.0.pwmgen.00.scale [SPINDLE_0]MAX_OUTPUT # ---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 x2-is-homed halui.joint.1.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.2.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.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 # ---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 # ---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 net estop-ext <= [HMOT](CARD0).inm.00.input-10 net estop-ext => 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