# Generated by PNCconf at Fri Nov 12 17:58:03 2021 # 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 hostmot2 loadrt hm2_pci config="firmware=hm2/5i23/radek1_72.BIT num_encoders=8 num_pwmgens=7 num_stepgens=6 sserial_port_0=0000xx" setp hm2_5i23.0.pwmgen.pwm_frequency 20000 setp hm2_5i23.0.pwmgen.pdm_frequency 6000000 setp hm2_5i23.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt scale names=scale.spindle loadrt limit2 names=spindle-ramp # loadrt near names=spindle-at-speed,spindle-at-pos loadrt timedelay names=spindle-active-delay # addf hm2_5i23.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf scale.spindle servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf hm2_5i23.0.write servo-thread addf spindle-ramp servo-thread # addf spindle-at-speed servo-thread addf spindle-at-pos servo-thread addf spindle-active-delay servo-thread # #addf spindle-pid.do-pid-calcs servo-thread #addf spindle-pwm-switch servo-thread #addf or2.0 servo-thread #addf not.0 servo-thread #addf and2.0 servo-thread #addf offset.0.update-output servo-thread # # external output signals # --- COOLANT-MIST --- setp hm2_5i23.0.gpio.064.is_output true net coolant-flood hm2_5i23.0.gpio.064.out setp hm2_5i23.0.gpio.064.invert_output true # --- SPINDLE-ON --- setp hm2_5i23.0.gpio.070.is_output true net spindle-on hm2_5i23.0.gpio.070.out setp hm2_5i23.0.gpio.070.invert_output true # --- ESTOP-OUT --- setp hm2_5i23.0.gpio.071.is_output true net estop-out hm2_5i23.0.gpio.071.out setp hm2_5i23.0.gpio.071.invert_output true # external input signals # --- HOME-X --- net home-x <= hm2_5i23.0.gpio.050.in_not # --- HOME-Z --- net home-z <= hm2_5i23.0.gpio.054.in # --- HOME-Y --- net home-y <= hm2_5i23.0.gpio.056.in #******************* # 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 setp pid.x.error-previous-target true setp pid.x.maxerror .01 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # Step Gen signals/setup setp hm2_5i23.0.stepgen.02.dirsetup [AXIS_0]DIRSETUP setp hm2_5i23.0.stepgen.02.dirhold [AXIS_0]DIRHOLD setp hm2_5i23.0.stepgen.02.steplen [AXIS_0]STEPLEN setp hm2_5i23.0.stepgen.02.stepspace [AXIS_0]STEPSPACE setp hm2_5i23.0.stepgen.02.position-scale [AXIS_0]STEP_SCALE setp hm2_5i23.0.stepgen.02.step_type 0 setp hm2_5i23.0.stepgen.02.control-type 1 setp hm2_5i23.0.stepgen.02.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i23.0.stepgen.02.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output => hm2_5i23.0.stepgen.02.velocity-cmd net x-pos-fb <= hm2_5i23.0.stepgen.02.position-fb net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_5i23.0.stepgen.02.enable # ---setup home / limit switch signals--- net home-x => 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 setp pid.y.error-previous-target true setp pid.y.maxerror .01 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output # Step Gen signals/setup setp hm2_5i23.0.stepgen.03.dirsetup [AXIS_1]DIRSETUP setp hm2_5i23.0.stepgen.03.dirhold [AXIS_1]DIRHOLD setp hm2_5i23.0.stepgen.03.steplen [AXIS_1]STEPLEN setp hm2_5i23.0.stepgen.03.stepspace [AXIS_1]STEPSPACE setp hm2_5i23.0.stepgen.03.position-scale [AXIS_1]STEP_SCALE setp hm2_5i23.0.stepgen.03.step_type 0 setp hm2_5i23.0.stepgen.03.control-type 1 setp hm2_5i23.0.stepgen.03.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_5i23.0.stepgen.03.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= axis.1.motor-pos-cmd net y-vel-cmd <= axis.1.joint-vel-cmd net y-output => hm2_5i23.0.stepgen.03.velocity-cmd net y-pos-fb <= hm2_5i23.0.stepgen.03.position-fb net y-pos-fb => axis.1.motor-pos-fb net y-enable <= axis.1.amp-enable-out net y-enable => hm2_5i23.0.stepgen.03.enable # ---setup home / limit switch signals--- net home-y => 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 setp pid.z.error-previous-target true setp pid.z.maxerror .01 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_5i23.0.stepgen.04.dirsetup [AXIS_2]DIRSETUP setp hm2_5i23.0.stepgen.04.dirhold [AXIS_2]DIRHOLD setp hm2_5i23.0.stepgen.04.steplen [AXIS_2]STEPLEN setp hm2_5i23.0.stepgen.04.stepspace [AXIS_2]STEPSPACE setp hm2_5i23.0.stepgen.04.position-scale [AXIS_2]STEP_SCALE setp hm2_5i23.0.stepgen.04.step_type 0 setp hm2_5i23.0.stepgen.04.control-type 1 setp hm2_5i23.0.stepgen.04.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i23.0.stepgen.04.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output => hm2_5i23.0.stepgen.04.velocity-cmd net z-pos-fb <= hm2_5i23.0.stepgen.04.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_5i23.0.stepgen.04.enable # ---setup home / limit switch signals--- net home-z => 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 #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT setp pid.s.error-previous-target true setp spindle-ramp.maxv [SPINDLE_9]ACCELERATION # setp spindle-at-speed.difference [SPINDLE_9]MAX_ERROR setp spindle-at-pos.difference 0.01 setp spindle-at-pos.in1 0 setp spindle-active-delay.on-delay 0 setp spindle-active-delay.off-delay [SPINDLE_9]OFF_DELAY # 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 # orient mit motion verknuepfen #net orient-angle motion.spindle-orient-angle => spindle-orient.angle #net orient-mode motion.spindle-orient-mode => spindle-orient.mode #net orient-enable motion.spindle-orient => => and2.0.in1 # Position vom Encoder in den pid / orient und motion schieben #net spindle-pos => spindle-pid.feedback => spindle-orient.position #net spindle-pos <= motion.spindle-revs <= hm2_5i23.0.encoder.04.position # Encodergeschwindigkeit U/sek in den near und motion schieben #net spindle-fb-rps motion.spindle-speed-in <= hm2_5i23.0.encoder.04.velocity => spindle-at-speed.in2 # Positionsvorgabe vom orient in den pid schieben #setp offset.0.offset 1 #net spindle.otient-cmd spindle-orient.command => offset.0.in #net spindle-orient-cmd1 offset.0.out => spindle-pid.command # Drehzahlvorgabe U/min aus motion in das limit2 schieben #net spindle-speed-rpm motion.spindle-speed-out => spindle-ramp.in # Drehzahlvorgabe U/sek aus motion in das near schieben #net spindle-speed-rps motion.spindle-speed-out-rps => spindle-at-speed.in1 # Wenn Solldrehzahl gleich Istdrehzahl dann aus near das bit in motion schieben #net spindle-at-speed spindle-at-speed.out => motion.spindle-at-speed # Wenn Sollpositon gleich Istpositon dann aus near das bit in motion schieben #net spindle-pos-err spindle-at-pos.in2 <= spindle-pid.error #net spindle-at-pos spindle-at-pos.out => #net spindle-on0 motion.spindle-on => spindle-active-delay.in #net spindel-on1 spindle-active-delay.out => or2.0.in0 => not.0.in #net spindel-on2 and2.0.in0 <= not.0.out # orient und pid aktivieren #net orient-active and2.0.out => or2.0.in1 => spindle-pwm-switch.sel #net orient-active => spindle-pid.enable => spindle-orient.enable #net spindle-enable or2.0.out => hm2_5i23.0.pwmgen.04.enable # motion gibt Signal an Encoder das beim naechsten Z Signal auf 0 gestellt werden soll #net spindle-sync motion.spindle-index-enable => hm2_5i23.0.encoder.04.index-enable #sets spindle-sync 1 # pwm Signal entweder vom motion oder orient #net pwm-switch-in0 spindle-pwm-switch.in0 <= spindle-ramp.out #net pwm-switch-in1 spindle-pwm-switch.in1 <= spindle-pid.output #net pwm-switch-out spindle-pwm-switch.out => hm2_5i23.0.pwmgen.04.value # ---PWM Generator signals/setup--- setp hm2_5i23.0.pwmgen.01.output-type 1 setp hm2_5i23.0.pwmgen.01.scale [SPINDLE_9]OUTPUT_SCALE net spindle-output => hm2_5i23.0.pwmgen.01.value net spindle-enable => hm2_5i23.0.pwmgen.01.enable # ---Encoder feedback signals/setup--- setp hm2_5i23.0.encoder.04.counter-mode 0 setp hm2_5i23.0.encoder.04.filter 1 setp hm2_5i23.0.encoder.04.index-invert 0 setp hm2_5i23.0.encoder.04.index-mask 0 setp hm2_5i23.0.encoder.04.index-mask-invert 0 setp hm2_5i23.0.encoder.04.scale [SPINDLE_9]ENCODER_SCALE setp hm2_5i23.0.pwmgen.04.output-type 1 # uprava setp hm2_5i23.0.pwmgen.04.scale [SPINDLE_9]OUTPUT_SCALE # uprava net spindle-revs <= hm2_5i23.0.encoder.04.position net spindle-vel-fb-rps <= hm2_5i23.0.encoder.04.velocity net spindle-index-enable <=> hm2_5i23.0.encoder.04.index-enable # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs 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-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true # Use ACTUAL spindle velocity from spindle encoder # spindle-velocity bounces around so we filter it with lowpass # spindle-velocity is signed so we use absolute component to remove sign # ACTUAL velocity is in RPS not RPM so we scale it. setp scale.spindle.gain 60 setp lowpass.spindle.gain 1.000000 net spindle-vel-fb-rps => scale.spindle.in net spindle-fb-rpm scale.spindle.out => abs.spindle.in net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in net spindle-fb-rpm-abs-filtered lowpass.spindle.out #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- 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-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