# Generated by PNCconf at Sat Aug 6 15:53:41 2011 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hostmot2 loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=4 num_pwmgens=4 num_stepgens=0" setp hm2_7i43.0.pwmgen.pwm_frequency 100000 setp hm2_7i43.0.pwmgen.pdm_frequency 100000 setp hm2_7i43.0.watchdog.timeout_ns 10000000 loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt scale names=scale.spindle loadrt near addf hm2_7i43.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf abs.spindle servo-thread addf scale.spindle servo-thread addf lowpass.spindle servo-thread loadrt pid num_chan=3 addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread alias pin pid.0.Pgain pid.x.Pgain alias pin pid.0.Igain pid.x.Igain alias pin pid.0.Dgain pid.x.Dgain alias pin pid.0.bias pid.x.bias alias pin pid.0.FF0 pid.x.FF0 alias pin pid.0.FF1 pid.x.FF1 alias pin pid.0.FF2 pid.x.FF2 alias pin pid.0.deadband pid.x.deadband alias pin pid.0.maxoutput pid.x.maxoutput alias pin pid.0.enable pid.x.enable alias pin pid.0.command pid.x.command alias pin pid.0.feedback pid.x.feedback alias pin pid.0.output pid.x.output alias pin pid.0.index-enable pid.x.index-enable alias pin pid.1.Pgain pid.y.Pgain alias pin pid.1.Igain pid.y.Igain alias pin pid.1.Dgain pid.y.Dgain alias pin pid.1.bias pid.y.bias alias pin pid.1.FF0 pid.y.FF0 alias pin pid.1.FF1 pid.y.FF1 alias pin pid.1.FF2 pid.y.FF2 alias pin pid.1.deadband pid.y.deadband alias pin pid.1.maxoutput pid.y.maxoutput alias pin pid.1.enable pid.y.enable alias pin pid.1.command pid.y.command alias pin pid.1.feedback pid.y.feedback alias pin pid.1.output pid.y.output alias pin pid.1.index-enable pid.y.index-enable alias pin pid.2.Pgain pid.z.Pgain alias pin pid.2.Igain pid.z.Igain alias pin pid.2.Dgain pid.z.Dgain alias pin pid.2.bias pid.z.bias alias pin pid.2.FF0 pid.z.FF0 alias pin pid.2.FF1 pid.z.FF1 alias pin pid.2.FF2 pid.z.FF2 alias pin pid.2.deadband pid.z.deadband alias pin pid.2.maxoutput pid.z.maxoutput alias pin pid.2.enable pid.z.enable alias pin pid.2.command pid.z.command alias pin pid.2.feedback pid.z.feedback alias pin pid.2.output pid.z.output alias pin pid.2.index-enable pid.z.index-enable addf near.0 servo-thread addf hm2_7i43.0.write servo-thread addf hm2_7i43.0.pet_watchdog servo-thread # external output signals # external input signals #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT net x-index-enable <=> pid.x.index-enable # ---PWM Generator signals/setup--- setp hm2_7i43.0.pwmgen.01.output-type 1 setp hm2_7i43.0.pwmgen.01.scale [AXIS_0]OUTPUT_SCALE net xenable => pid.x.enable net xoutput pid.x.output => hm2_7i43.0.pwmgen.01.value net xpos-cmd axis.0.motor-pos-cmd => pid.x.command net xenable axis.0.amp-enable-out => hm2_7i43.0.pwmgen.01.enable # ---Encoder feedback signals/setup--- setp hm2_7i43.0.encoder.01.counter-mode 0 setp hm2_7i43.0.encoder.01.filter 1 setp hm2_7i43.0.encoder.01.index-invert 0 setp hm2_7i43.0.encoder.01.index-mask 0 setp hm2_7i43.0.encoder.01.index-mask-invert 0 setp hm2_7i43.0.encoder.01.scale [AXIS_0]INPUT_SCALE net xpos-fb <= hm2_7i43.0.encoder.01.position net xpos-fb => pid.x.feedback net xpos-fb => axis.0.motor-pos-fb net x-index-enable axis.0.index-enable <=> hm2_7i43.0.encoder.01.index-enable # ---setup home / limit switch signals--- net x-home-sw => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* setp pid.y.Pgain [AXIS_1]P setp pid.y.Igain [AXIS_1]I setp pid.y.Dgain [AXIS_1]D setp pid.y.bias [AXIS_1]BIAS setp pid.y.FF0 [AXIS_1]FF0 setp pid.y.FF1 [AXIS_1]FF1 setp pid.y.FF2 [AXIS_1]FF2 setp pid.y.deadband [AXIS_1]DEADBAND setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT net y-index-enable <=> pid.y.index-enable # ---PWM Generator signals/setup--- setp hm2_7i43.0.pwmgen.03.output-type 1 setp hm2_7i43.0.pwmgen.03.scale [AXIS_1]OUTPUT_SCALE net yenable => pid.y.enable net youtput pid.y.output => hm2_7i43.0.pwmgen.03.value net ypos-cmd axis.1.motor-pos-cmd => pid.y.command net yenable axis.1.amp-enable-out => hm2_7i43.0.pwmgen.03.enable # ---Encoder feedback signals/setup--- setp hm2_7i43.0.encoder.03.counter-mode 0 setp hm2_7i43.0.encoder.03.filter 1 setp hm2_7i43.0.encoder.03.index-invert 0 setp hm2_7i43.0.encoder.03.index-mask 0 setp hm2_7i43.0.encoder.03.index-mask-invert 0 setp hm2_7i43.0.encoder.03.scale [AXIS_1]INPUT_SCALE net ypos-fb <= hm2_7i43.0.encoder.03.position net ypos-fb => pid.y.feedback net ypos-fb => axis.1.motor-pos-fb net y-index-enable axis.1.index-enable <=> hm2_7i43.0.encoder.03.index-enable # ---setup home / limit switch signals--- net y-home-sw => axis.1.home-sw-in net y-neg-limit => axis.1.neg-lim-sw-in net y-pos-limit => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT net z-index-enable <=> pid.z.index-enable # ---PWM Generator signals/setup--- setp hm2_7i43.0.pwmgen.02.output-type 1 setp hm2_7i43.0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE net zenable => pid.z.enable net zoutput pid.z.output => hm2_7i43.0.pwmgen.02.value net zpos-cmd axis.2.motor-pos-cmd => pid.z.command net zenable axis.2.amp-enable-out => hm2_7i43.0.pwmgen.02.enable # ---Encoder feedback signals/setup--- setp hm2_7i43.0.encoder.02.counter-mode 0 setp hm2_7i43.0.encoder.02.filter 1 setp hm2_7i43.0.encoder.02.index-invert 0 setp hm2_7i43.0.encoder.02.index-mask 0 setp hm2_7i43.0.encoder.02.index-mask-invert 0 setp hm2_7i43.0.encoder.02.scale [AXIS_2]INPUT_SCALE net zpos-fb <= hm2_7i43.0.encoder.02.position net zpos-fb => pid.z.feedback net zpos-fb => axis.2.motor-pos-fb net z-index-enable axis.2.index-enable <=> hm2_7i43.0.encoder.02.index-enable # ---setup home / limit switch signals--- net z-home-sw => axis.2.home-sw-in net z-neg-limit => axis.2.neg-lim-sw-in net z-pos-limit => axis.2.pos-lim-sw-in #******************* # SPINDLE S #******************* # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd <= motion.spindle-speed-out net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # 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 # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- 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