Доброе время суток. Хотел создать тему , но решил что правильнее будет свои детские вопросы задать сдесь.
В общем это проект , модернизации или постройки станка токарного с чпу, был начат 2 года назад , тогда были закуплены комплектующие , и вот только сейчас руки дошли. Почему покупалось именно так , не помню , но вот так.
1. комплект MESA 5i25+7i76. собрано воткнуто в комп поставлена ось подано питание, 5в с карты 5i25, 12в с блока питания компа, светодиоды горят на 7i76 две штуки желтым.
2. два сервокомплекта DELTA Серия ASDA-B2 . с мощностью моторов по 1квт , моторы переменного тока , блок управления , кабеля , все есть все исправно, и прям отличная инструкция на русском, не знаю почему но сразу планировал управлять этой сервой по step dir (хотя она может все). Максимальная частота входных импульсов 4MГц., наверно по этому и решил.
3.частотник , опять же DELTA. на 11квт для управления обычным асинхронным мотором. +-10в. Энкодер будет стоять на шпинделе.
4. какое то количество концевых выключателей , и кнопок.
Механика станка почти собрана ,да и не о ней речь. Много что нннепонятно.
Просьба помочь разобраться с моими вопросами:
1. В упор не могу найти частоту обработки step dir платами mesa !? перерыл мануалы от карт , невижу и все! кто знает скажите?, а лучше носом ткните в ссылку.
2.Первичная конфигурация :pncconf, после указанных в теме манипуляций, 5i25 определилась, идем дальше все нормуль , доходим до указания пинов , вот
и тут, я заистерил, с чем физически связана каждая вкладка?! что за циферки слева от строчек в которых я назначаю лимиты , там кнопки итд, с чем они физически связаны? , в какой из вкладок мне указывать концевики ?(в любой?). если я назначаю концевики , где и как мне их искать на плате 7i76? , также моторы осей? какой где будет на плате. Как говорится не пинайте сильно, но я тупо невижу где это посмотреть , и где про это почитать?!
3. Назначаю я значит концевики , оси приводов (непонимая где их потом искать на плате
) , энкодер шпинделя назначаю , и
делаю аналоговый выход для управления шпинделем, в этом случае при завершении конфигурации ,программа матерится , и не дает сохранится ,вот так :
если выход на шпиндель убрать то конфигуратор нормально заканчивает работу, и даже LCNCпотом запускается
. как и где сделать управление шпинделем потом?.
4.Энкодер для шпинделя? Станок будет резать резьбы разные(надеюсь) , какое разрешение энкодера взять , и какой тип (меса вроде любой поддерживает).
5.Во время конфигурации , разные окошки просто убивают! что за еденицы измерения в верхних строчках где вроде как перемещения должны быть? метры , дюймы, мм,?! в картинку не влезла правая часть окна , но там нет едениц измерения! или из ненадо?
Ну и на последок : вывод halcmd show > txt
Код: Выделить всё
Loaded HAL Components:
ID Type Name PID State
18 User halcmd3699 3699 ready
16 User axisui 3673 ready
15 User hal_manualtoolchange 3662 ready
13 RT pid ready
12 RT hm2_pci ready
11 RT hostmot2 ready
10 RT probe_parport ready
9 RT motmod ready
8 RT trivkins ready
7 User halui 3650 ready
5 User iocontrol 3648 ready
Component Pins:
Owner Type Dir Value Name
9 bit OUT TRUE axis.0.active
9 bit OUT FALSE axis.0.amp-enable-out ==> x-enable
9 bit IN FALSE axis.0.amp-fault-in
9 float OUT 0 axis.0.backlash-corr
9 float OUT 0 axis.0.backlash-filt
9 float OUT 0 axis.0.backlash-vel
9 float OUT 0 axis.0.coarse-pos-cmd
9 bit OUT FALSE axis.0.error
9 float OUT 0 axis.0.f-error
9 float OUT 0.0005 axis.0.f-error-lim
9 bit OUT FALSE axis.0.f-errored
9 bit OUT FALSE axis.0.faulted
9 float OUT 0 axis.0.free-pos-cmd
9 bit OUT FALSE axis.0.free-tp-enable
9 float OUT 0 axis.0.free-vel-lim
9 bit IN TRUE axis.0.home-sw-in <== min-home-x
9 bit OUT FALSE axis.0.homed
9 bit OUT FALSE axis.0.homing
9 bit OUT TRUE axis.0.in-position
9 bit I/O FALSE axis.0.index-enable
9 s32 IN 0 axis.0.jog-counts
9 bit IN FALSE axis.0.jog-enable
9 float IN 0 axis.0.jog-scale
9 bit IN FALSE axis.0.jog-vel-mode
9 float OUT 0 axis.0.joint-pos-cmd
9 float OUT 0 axis.0.joint-pos-fb
9 float OUT 0 axis.0.joint-vel-cmd
9 bit OUT FALSE axis.0.kb-jog-active
9 float OUT 0 axis.0.motor-offset
9 float OUT 0 axis.0.motor-pos-cmd ==> x-pos-cmd
9 float IN 0 axis.0.motor-pos-fb <== x-pos-fb
9 bit OUT TRUE axis.0.neg-hard-limit
9 bit IN TRUE axis.0.neg-lim-sw-in <== min-home-x
9 bit OUT TRUE axis.0.pos-hard-limit
9 bit IN TRUE axis.0.pos-lim-sw-in <== max-x
9 bit OUT FALSE axis.0.wheel-jog-active
9 bit OUT TRUE axis.1.active
9 bit OUT FALSE axis.1.amp-enable-out
9 bit IN FALSE axis.1.amp-fault-in
9 float OUT 0 axis.1.backlash-corr
9 float OUT 0 axis.1.backlash-filt
9 float OUT 0 axis.1.backlash-vel
9 float OUT 0 axis.1.coarse-pos-cmd
9 bit OUT FALSE axis.1.error
9 float OUT 0 axis.1.f-error
9 float OUT 1 axis.1.f-error-lim
9 bit OUT FALSE axis.1.f-errored
9 bit OUT FALSE axis.1.faulted
9 float OUT 0 axis.1.free-pos-cmd
9 bit OUT FALSE axis.1.free-tp-enable
9 float OUT 0 axis.1.free-vel-lim
9 bit IN FALSE axis.1.home-sw-in
9 bit OUT FALSE axis.1.homed
9 bit OUT FALSE axis.1.homing
9 bit OUT TRUE axis.1.in-position
9 bit I/O FALSE axis.1.index-enable
9 s32 IN 0 axis.1.jog-counts
9 bit IN FALSE axis.1.jog-enable
9 float IN 0 axis.1.jog-scale
9 bit IN FALSE axis.1.jog-vel-mode
9 float OUT 0 axis.1.joint-pos-cmd
9 float OUT 0 axis.1.joint-pos-fb
9 float OUT 0 axis.1.joint-vel-cmd
9 bit OUT FALSE axis.1.kb-jog-active
9 float OUT 0 axis.1.motor-offset
9 float OUT 0 axis.1.motor-pos-cmd
9 float IN 0 axis.1.motor-pos-fb
9 bit OUT FALSE axis.1.neg-hard-limit
9 bit IN FALSE axis.1.neg-lim-sw-in
9 bit OUT FALSE axis.1.pos-hard-limit
9 bit IN FALSE axis.1.pos-lim-sw-in
9 bit OUT FALSE axis.1.wheel-jog-active
9 bit OUT TRUE axis.2.active
9 bit OUT FALSE axis.2.amp-enable-out ==> z-enable
9 bit IN FALSE axis.2.amp-fault-in
9 float OUT 0 axis.2.backlash-corr
9 float OUT 0 axis.2.backlash-filt
9 float OUT 0 axis.2.backlash-vel
9 float OUT 0 axis.2.coarse-pos-cmd
9 bit OUT FALSE axis.2.error
9 float OUT 0 axis.2.f-error
9 float OUT 0.0005 axis.2.f-error-lim
9 bit OUT FALSE axis.2.f-errored
9 bit OUT FALSE axis.2.faulted
9 float OUT 0 axis.2.free-pos-cmd
9 bit OUT FALSE axis.2.free-tp-enable
9 float OUT 0 axis.2.free-vel-lim
9 bit IN TRUE axis.2.home-sw-in <== min-home-z
9 bit OUT FALSE axis.2.homed
9 bit OUT FALSE axis.2.homing
9 bit OUT TRUE axis.2.in-position
9 bit I/O FALSE axis.2.index-enable
9 s32 IN 0 axis.2.jog-counts
9 bit IN FALSE axis.2.jog-enable
9 float IN 0 axis.2.jog-scale
9 bit IN FALSE axis.2.jog-vel-mode
9 float OUT 0 axis.2.joint-pos-cmd
9 float OUT 0 axis.2.joint-pos-fb
9 float OUT 0 axis.2.joint-vel-cmd
9 bit OUT FALSE axis.2.kb-jog-active
9 float OUT 0 axis.2.motor-offset
9 float OUT 0 axis.2.motor-pos-cmd ==> z-pos-cmd
9 float IN 0 axis.2.motor-pos-fb <== z-pos-fb
9 bit OUT TRUE axis.2.neg-hard-limit
9 bit IN TRUE axis.2.neg-lim-sw-in <== min-home-z
9 bit OUT TRUE axis.2.pos-hard-limit
9 bit IN TRUE axis.2.pos-lim-sw-in <== max-z
9 bit OUT FALSE axis.2.wheel-jog-active
16 bit OUT FALSE axisui.jog.a
16 bit OUT FALSE axisui.jog.b
16 bit OUT FALSE axisui.jog.c
16 float OUT 0 axisui.jog.increment
16 bit OUT FALSE axisui.jog.u
16 bit OUT FALSE axisui.jog.v
16 bit OUT FALSE axisui.jog.w
16 bit OUT TRUE axisui.jog.x
16 bit OUT FALSE axisui.jog.y
16 bit OUT FALSE axisui.jog.z
16 bit IN FALSE axisui.notifications-clear
16 bit IN FALSE axisui.notifications-clear-error
16 bit IN FALSE axisui.notifications-clear-info
16 bit IN FALSE axisui.set-manual-mode
15 bit IN FALSE hal_manualtoolchange.change <== tool-change-request
15 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed
15 s32 IN 0 hal_manualtoolchange.number <== tool-number
7 bit IN FALSE halui.abort
7 float OUT 0 halui.axis.0.pos-commanded
7 float OUT 0 halui.axis.0.pos-feedback
7 float OUT 0 halui.axis.0.pos-relative
7 float OUT 0 halui.axis.1.pos-commanded
7 float OUT 0 halui.axis.1.pos-feedback
7 float OUT 0 halui.axis.1.pos-relative
7 float OUT 0 halui.axis.2.pos-commanded
7 float OUT 0 halui.axis.2.pos-feedback
7 float OUT 0 halui.axis.2.pos-relative
7 float OUT 0 halui.axis.3.pos-commanded
7 float OUT 0 halui.axis.3.pos-feedback
7 float OUT 0 halui.axis.3.pos-relative
7 float OUT 0 halui.axis.4.pos-commanded
7 float OUT 0 halui.axis.4.pos-feedback
7 float OUT 0 halui.axis.4.pos-relative
7 float OUT 0 halui.axis.5.pos-commanded
7 float OUT 0 halui.axis.5.pos-feedback
7 float OUT 0 halui.axis.5.pos-relative
7 float OUT 0 halui.axis.6.pos-commanded
7 float OUT 0 halui.axis.6.pos-feedback
7 float OUT 0 halui.axis.6.pos-relative
7 float OUT 0 halui.axis.7.pos-commanded
7 float OUT 0 halui.axis.7.pos-feedback
7 float OUT 0 halui.axis.7.pos-relative
7 float OUT 0 halui.axis.8.pos-commanded
7 float OUT 0 halui.axis.8.pos-feedback
7 float OUT 0 halui.axis.8.pos-relative
7 bit IN FALSE halui.estop.activate
7 bit OUT FALSE halui.estop.is-activated
7 bit IN FALSE halui.estop.reset
7 bit IN TRUE halui.feed-override.count-enable
7 s32 IN 0 halui.feed-override.counts
7 bit IN FALSE halui.feed-override.decrease
7 bit IN FALSE halui.feed-override.direct-value
7 bit IN FALSE halui.feed-override.increase
7 float IN 0.1 halui.feed-override.scale
7 float OUT 1 halui.feed-override.value
7 bit OUT FALSE halui.flood.is-on
7 bit IN FALSE halui.flood.off
7 bit IN FALSE halui.flood.on
7 bit IN FALSE halui.home-all
7 float IN 0.2 halui.jog-deadband
7 float IN 0 halui.jog-speed <== jog-speed
7 float IN 0 halui.jog.0.analog <== jog-x-analog
7 float IN 0 halui.jog.0.increment
7 bit IN FALSE halui.jog.0.increment-minus
7 bit IN FALSE halui.jog.0.increment-plus
7 bit IN FALSE halui.jog.0.minus <== jog-x-neg
7 bit IN FALSE halui.jog.0.plus <== jog-x-pos
7 float IN 0 halui.jog.1.analog
7 float IN 0 halui.jog.1.increment
7 bit IN FALSE halui.jog.1.increment-minus
7 bit IN FALSE halui.jog.1.increment-plus
7 bit IN FALSE halui.jog.1.minus
7 bit IN FALSE halui.jog.1.plus
7 float IN 0 halui.jog.2.analog <== jog-z-analog
7 float IN 0 halui.jog.2.increment
7 bit IN FALSE halui.jog.2.increment-minus
7 bit IN FALSE halui.jog.2.increment-plus
7 bit IN FALSE halui.jog.2.minus <== jog-z-neg
7 bit IN FALSE halui.jog.2.plus <== jog-z-pos
7 float IN 0 halui.jog.selected.increment
7 bit IN FALSE halui.jog.selected.increment-minus
7 bit IN FALSE halui.jog.selected.increment-plus
7 bit IN FALSE halui.jog.selected.minus <== jog-selected-neg
7 bit IN FALSE halui.jog.selected.plus <== jog-selected-pos
7 bit OUT FALSE halui.joint.0.has-fault
7 bit IN FALSE halui.joint.0.home
7 bit OUT FALSE halui.joint.0.is-homed ==> x-is-homed
7 bit OUT FALSE halui.joint.0.is-selected
7 bit OUT TRUE halui.joint.0.on-hard-max-limit
7 bit OUT TRUE halui.joint.0.on-hard-min-limit
7 bit OUT FALSE halui.joint.0.on-soft-max-limit
7 bit OUT FALSE halui.joint.0.on-soft-min-limit
7 bit IN FALSE halui.joint.0.select <== joint-select-a
7 bit IN FALSE halui.joint.0.unhome
7 bit OUT FALSE halui.joint.1.has-fault
7 bit IN FALSE halui.joint.1.home
7 bit OUT FALSE halui.joint.1.is-homed
7 bit OUT FALSE halui.joint.1.is-selected
7 bit OUT FALSE halui.joint.1.on-hard-max-limit
7 bit OUT FALSE halui.joint.1.on-hard-min-limit
7 bit OUT FALSE halui.joint.1.on-soft-max-limit
7 bit OUT FALSE halui.joint.1.on-soft-min-limit
7 bit IN FALSE halui.joint.1.select
7 bit IN FALSE halui.joint.1.unhome
7 bit OUT FALSE halui.joint.2.has-fault
7 bit IN FALSE halui.joint.2.home
7 bit OUT FALSE halui.joint.2.is-homed ==> z-is-homed
7 bit OUT FALSE halui.joint.2.is-selected
7 bit OUT TRUE halui.joint.2.on-hard-max-limit
7 bit OUT TRUE halui.joint.2.on-hard-min-limit
7 bit OUT FALSE halui.joint.2.on-soft-max-limit
7 bit OUT FALSE halui.joint.2.on-soft-min-limit
7 bit IN FALSE halui.joint.2.select <== joint-select-c
7 bit IN FALSE halui.joint.2.unhome
7 u32 OUT 0x00000000 halui.joint.selected
7 bit OUT FALSE halui.joint.selected.has-fault
7 bit IN FALSE halui.joint.selected.home
7 bit OUT FALSE halui.joint.selected.is_homed
7 bit OUT TRUE halui.joint.selected.on-hard-max-limit
7 bit OUT TRUE halui.joint.selected.on-hard-min-limit
7 bit OUT FALSE halui.joint.selected.on-soft-limit
7 bit OUT FALSE halui.joint.selected.on-soft-min-limit
7 bit IN FALSE halui.joint.selected.unhome
7 bit OUT FALSE halui.lube.is-on
7 bit IN FALSE halui.lube.off
7 bit IN FALSE halui.lube.on
7 bit OUT FALSE halui.machine.is-on ==> machine-is-on
7 bit IN FALSE halui.machine.off
7 bit IN FALSE halui.machine.on
7 bit IN TRUE halui.max-velocity.count-enable
7 s32 IN 0 halui.max-velocity.counts
7 bit IN FALSE halui.max-velocity.decrease
7 bit IN FALSE halui.max-velocity.direct-value
7 bit IN FALSE halui.max-velocity.increase
7 float IN 0 halui.max-velocity.scale
7 float OUT 1.666667 halui.max-velocity.value
7 bit OUT FALSE halui.mist.is-on
7 bit IN FALSE halui.mist.off
7 bit IN FALSE halui.mist.on
7 bit IN FALSE halui.mode.auto
7 bit OUT TRUE halui.mode.is-auto
7 bit OUT TRUE halui.mode.is-joint
7 bit OUT FALSE halui.mode.is-manual
7 bit OUT FALSE halui.mode.is-mdi ==> MDI-mode
7 bit OUT FALSE halui.mode.is-teleop
7 bit IN FALSE halui.mode.joint
7 bit IN FALSE halui.mode.manual
7 bit IN FALSE halui.mode.mdi
7 bit IN FALSE halui.mode.teleop
7 bit OUT TRUE halui.program.block-delete.is-on
7 bit IN FALSE halui.program.block-delete.off
7 bit IN FALSE halui.program.block-delete.on
7 bit OUT TRUE halui.program.is-idle
7 bit OUT FALSE halui.program.is-paused
7 bit OUT FALSE halui.program.is-running
7 bit OUT TRUE halui.program.optional-stop.is-on
7 bit IN FALSE halui.program.optional-stop.off
7 bit IN FALSE halui.program.optional-stop.on
7 bit IN FALSE halui.program.pause
7 bit IN FALSE halui.program.resume
7 bit IN FALSE halui.program.run
7 bit IN FALSE halui.program.step
7 bit IN FALSE halui.program.stop
7 bit IN TRUE halui.spindle-override.count-enable
7 s32 IN 0 halui.spindle-override.counts
7 bit IN FALSE halui.spindle-override.decrease
7 bit IN FALSE halui.spindle-override.direct-value
7 bit IN FALSE halui.spindle-override.increase
7 float IN 0.1 halui.spindle-override.scale
7 float OUT 1 halui.spindle-override.value
7 bit OUT TRUE halui.spindle.brake-is-on
7 bit IN FALSE halui.spindle.brake-off
7 bit IN FALSE halui.spindle.brake-on
7 bit IN FALSE halui.spindle.decrease
7 bit IN FALSE halui.spindle.forward <== spindle-manual-cw
7 bit IN FALSE halui.spindle.increase
7 bit OUT FALSE halui.spindle.is-on
7 bit IN FALSE halui.spindle.reverse <== spindle-manual-ccw
7 bit OUT FALSE halui.spindle.runs-backward
7 bit OUT FALSE halui.spindle.runs-forward
7 bit IN FALSE halui.spindle.start
7 bit IN FALSE halui.spindle.stop <== spindle-manual-stop
7 float OUT 0 halui.tool.length_offset.a
7 float OUT 0 halui.tool.length_offset.b
7 float OUT 0 halui.tool.length_offset.c
7 float OUT 0 halui.tool.length_offset.u
7 float OUT 0 halui.tool.length_offset.v
7 float OUT 0 halui.tool.length_offset.w
7 float OUT 0 halui.tool.length_offset.x
7 float OUT 0 halui.tool.length_offset.y
7 float OUT 0 halui.tool.length_offset.z
7 u32 OUT 0x00000000 halui.tool.number
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-00
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-00-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-01
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-01-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-02
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-02-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-03
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-03-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-04
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-04-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-05
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-05-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-06
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-06-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-07
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-07-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-08
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-08-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-09
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-09-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-10
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-10-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-11
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-11-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-12
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-12-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-13
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-13-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-14
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-14-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-15
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-15-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-16
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-16-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-17
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-17-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-18
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-18-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-19
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-19-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-20
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-20-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-21
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-21-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-22
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-22-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-23
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-23-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-24
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-24-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-25
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-25-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-26
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-26-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-27
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-27-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-28
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-28-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-29
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-29-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-30
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-30-not
12 bit OUT FALSE hm2_5i25.0.7i76.0.0.input-31
12 bit OUT TRUE hm2_5i25.0.7i76.0.0.input-31-not
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-00
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-01
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-02
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-03
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-04
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-05
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-06
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-07
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-08
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-09
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-10
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-11
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-12
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-13
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-14
12 bit IN FALSE hm2_5i25.0.7i76.0.0.output-15
12 bit IN FALSE hm2_5i25.0.7i76.0.0.spindir
12 bit IN FALSE hm2_5i25.0.7i76.0.0.spinena
12 float IN 0 hm2_5i25.0.7i76.0.0.spinout
12 s32 OUT 0 hm2_5i25.0.encoder.00.count
12 s32 OUT 0 hm2_5i25.0.encoder.00.count-latched
12 bit I/O FALSE hm2_5i25.0.encoder.00.index-enable <=> spindle-index-enable
12 bit IN FALSE hm2_5i25.0.encoder.00.latch-enable
12 bit IN FALSE hm2_5i25.0.encoder.00.latch-polarity
12 float OUT 0 hm2_5i25.0.encoder.00.position ==> spindle-revs
12 float OUT 0 hm2_5i25.0.encoder.00.position-latched
12 s32 OUT 0 hm2_5i25.0.encoder.00.rawcounts
12 s32 OUT 0 hm2_5i25.0.encoder.00.rawlatch
12 bit IN FALSE hm2_5i25.0.encoder.00.reset
12 float OUT 0 hm2_5i25.0.encoder.00.velocity ==> spindle-vel-fb
12 bit OUT FALSE hm2_5i25.0.gpio.000.in
12 bit OUT TRUE hm2_5i25.0.gpio.000.in_not
12 bit OUT FALSE hm2_5i25.0.gpio.001.in
12 bit OUT TRUE hm2_5i25.0.gpio.001.in_not
12 bit OUT FALSE hm2_5i25.0.gpio.002.in
12 bit OUT TRUE hm2_5i25.0.gpio.002.in_not
12 bit OUT FALSE hm2_5i25.0.gpio.003.in
12 bit OUT TRUE hm2_5i25.0.gpio.003.in_not
12 bit OUT TRUE hm2_5i25.0.gpio.004.in
12 bit OUT FALSE hm2_5i25.0.gpio.004.in_not
12 bit IN FALSE hm2_5i25.0.gpio.004.out
12 bit OUT TRUE hm2_5i25.0.gpio.005.in
12 bit OUT FALSE hm2_5i25.0.gpio.005.in_not
12 bit IN FALSE hm2_5i25.0.gpio.005.out
12 bit OUT TRUE hm2_5i25.0.gpio.006.in
12 bit OUT FALSE hm2_5i25.0.gpio.006.in_not
12 bit IN FALSE hm2_5i25.0.gpio.006.out
12 bit OUT TRUE hm2_5i25.0.gpio.007.in
12 bit OUT FALSE hm2_5i25.0.gpio.007.in_not
12 bit IN FALSE hm2_5i25.0.gpio.007.out
12 bit OUT TRUE hm2_5i25.0.gpio.008.in
12 bit OUT FALSE hm2_5i25.0.gpio.008.in_not
12 bit IN FALSE hm2_5i25.0.gpio.008.out
12 bit OUT TRUE hm2_5i25.0.gpio.009.in
12 bit OUT FALSE hm2_5i25.0.gpio.009.in_not
12 bit IN FALSE hm2_5i25.0.gpio.009.out
12 bit OUT TRUE hm2_5i25.0.gpio.010.in
12 bit OUT FALSE hm2_5i25.0.gpio.010.in_not
12 bit OUT TRUE hm2_5i25.0.gpio.011.in
12 bit OUT FALSE hm2_5i25.0.gpio.011.in_not
12 bit OUT TRUE hm2_5i25.0.gpio.012.in
12 bit OUT FALSE hm2_5i25.0.gpio.012.in_not
12 bit IN FALSE hm2_5i25.0.gpio.012.out
12 bit OUT TRUE hm2_5i25.0.gpio.013.in
12 bit OUT FALSE hm2_5i25.0.gpio.013.in_not
12 bit IN FALSE hm2_5i25.0.gpio.013.out
12 bit OUT FALSE hm2_5i25.0.gpio.014.in
12 bit OUT TRUE hm2_5i25.0.gpio.014.in_not
12 bit OUT FALSE hm2_5i25.0.gpio.015.in
12 bit OUT TRUE hm2_5i25.0.gpio.015.in_not
12 bit OUT FALSE hm2_5i25.0.gpio.016.in
12 bit OUT TRUE hm2_5i25.0.gpio.016.in_not
12 bit OUT TRUE hm2_5i25.0.gpio.017.in
12 bit OUT FALSE hm2_5i25.0.gpio.017.in_not
12 bit IN FALSE hm2_5i25.0.gpio.017.out
12 bit OUT TRUE hm2_5i25.0.gpio.018.in
12 bit OUT FALSE hm2_5i25.0.gpio.018.in_not
12 bit IN FALSE hm2_5i25.0.gpio.018.out
12 bit OUT TRUE hm2_5i25.0.gpio.019.in
12 bit OUT FALSE hm2_5i25.0.gpio.019.in_not
12 bit IN FALSE hm2_5i25.0.gpio.019.out
12 bit OUT TRUE hm2_5i25.0.gpio.020.in
12 bit OUT FALSE hm2_5i25.0.gpio.020.in_not
12 bit IN FALSE hm2_5i25.0.gpio.020.out
12 bit OUT TRUE hm2_5i25.0.gpio.021.in
12 bit OUT FALSE hm2_5i25.0.gpio.021.in_not
12 bit IN FALSE hm2_5i25.0.gpio.021.out
12 bit OUT TRUE hm2_5i25.0.gpio.022.in
12 bit OUT FALSE hm2_5i25.0.gpio.022.in_not
12 bit IN FALSE hm2_5i25.0.gpio.022.out
12 bit OUT TRUE hm2_5i25.0.gpio.023.in
12 bit OUT FALSE hm2_5i25.0.gpio.023.in_not
12 bit IN FALSE hm2_5i25.0.gpio.023.out
12 bit OUT TRUE hm2_5i25.0.gpio.024.in ==> min-home-x
12 bit OUT FALSE hm2_5i25.0.gpio.024.in_not
12 bit IN FALSE hm2_5i25.0.gpio.024.out
12 bit OUT TRUE hm2_5i25.0.gpio.025.in ==> min-home-z
12 bit OUT FALSE hm2_5i25.0.gpio.025.in_not
12 bit IN FALSE hm2_5i25.0.gpio.025.out
12 bit OUT TRUE hm2_5i25.0.gpio.026.in ==> max-x
12 bit OUT FALSE hm2_5i25.0.gpio.026.in_not
12 bit IN FALSE hm2_5i25.0.gpio.026.out
12 bit OUT TRUE hm2_5i25.0.gpio.027.in ==> max-z
12 bit OUT FALSE hm2_5i25.0.gpio.027.in_not
12 bit IN FALSE hm2_5i25.0.gpio.027.out
12 bit OUT TRUE hm2_5i25.0.gpio.028.in ==> estop-ext
12 bit OUT FALSE hm2_5i25.0.gpio.028.in_not
12 bit IN FALSE hm2_5i25.0.gpio.028.out
12 bit OUT TRUE hm2_5i25.0.gpio.029.in ==> cycle-start
12 bit OUT FALSE hm2_5i25.0.gpio.029.in_not
12 bit IN FALSE hm2_5i25.0.gpio.029.out
12 bit OUT TRUE hm2_5i25.0.gpio.030.in ==> abort
12 bit OUT FALSE hm2_5i25.0.gpio.030.in_not
12 bit IN FALSE hm2_5i25.0.gpio.030.out
12 bit OUT TRUE hm2_5i25.0.gpio.031.in
12 bit OUT FALSE hm2_5i25.0.gpio.031.in_not
12 bit IN TRUE hm2_5i25.0.gpio.031.out <== spindle-brake
12 bit OUT FALSE hm2_5i25.0.gpio.032.in
12 bit OUT TRUE hm2_5i25.0.gpio.032.in_not
12 bit IN FALSE hm2_5i25.0.gpio.032.out <== coolant-mist
12 bit OUT TRUE hm2_5i25.0.gpio.033.in
12 bit OUT FALSE hm2_5i25.0.gpio.033.in_not
12 bit IN FALSE hm2_5i25.0.gpio.033.out
12 bit IN FALSE hm2_5i25.0.led.CR01
12 bit IN FALSE hm2_5i25.0.led.CR02
12 u32 IN 0x00000000 hm2_5i25.0.sserial.channel
12 u32 IN 0x00000000 hm2_5i25.0.sserial.parameter
12 u32 IN 0x00000000 hm2_5i25.0.sserial.port
12 u32 OUT 0x00000000 hm2_5i25.0.sserial.port-0.fault-count
12 u32 OUT 0x00000001 hm2_5i25.0.sserial.port-0.port_state
12 bit IN TRUE hm2_5i25.0.sserial.port-0.run
12 bit IN FALSE hm2_5i25.0.sserial.read
12 u32 OUT 0x00000000 hm2_5i25.0.sserial.state
12 u32 IN 0x00000000 hm2_5i25.0.sserial.value
12 bit IN FALSE hm2_5i25.0.sserial.write
12 bit IN FALSE hm2_5i25.0.stepgen.00.control-type
12 s32 OUT 0 hm2_5i25.0.stepgen.00.counts
12 float OUT 0 hm2_5i25.0.stepgen.00.dbg_err_at_match
12 float OUT 0 hm2_5i25.0.stepgen.00.dbg_ff_vel
12 float OUT 0 hm2_5i25.0.stepgen.00.dbg_pos_minus_prev_
12 float OUT 0 hm2_5i25.0.stepgen.00.dbg_s_to_match
12 s32 OUT 0 hm2_5i25.0.stepgen.00.dbg_step_rate
12 float OUT 0 hm2_5i25.0.stepgen.00.dbg_vel_error
12 bit IN FALSE hm2_5i25.0.stepgen.00.enable <== x-enable
12 float IN 0 hm2_5i25.0.stepgen.00.position-cmd <== x-pos-cmd
12 float OUT 0 hm2_5i25.0.stepgen.00.position-fb ==> x-pos-fb
12 float IN 0 hm2_5i25.0.stepgen.00.velocity-cmd
12 float OUT 0 hm2_5i25.0.stepgen.00.velocity-fb
12 bit IN FALSE hm2_5i25.0.stepgen.01.control-type
12 s32 OUT 0 hm2_5i25.0.stepgen.01.counts
12 float OUT 0 hm2_5i25.0.stepgen.01.dbg_err_at_match
12 float OUT 0 hm2_5i25.0.stepgen.01.dbg_ff_vel
12 float OUT 0 hm2_5i25.0.stepgen.01.dbg_pos_minus_prev_
12 float OUT 0 hm2_5i25.0.stepgen.01.dbg_s_to_match
12 s32 OUT 0 hm2_5i25.0.stepgen.01.dbg_step_rate
12 float OUT 0 hm2_5i25.0.stepgen.01.dbg_vel_error
12 bit IN FALSE hm2_5i25.0.stepgen.01.enable <== z-enable
12 float IN 0 hm2_5i25.0.stepgen.01.position-cmd <== z-pos-cmd
12 float OUT 0 hm2_5i25.0.stepgen.01.position-fb ==> z-pos-fb
12 float IN 0 hm2_5i25.0.stepgen.01.velocity-cmd
12 float OUT 0 hm2_5i25.0.stepgen.01.velocity-fb
12 bit I/O FALSE hm2_5i25.0.watchdog.has_bit
5 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood
5 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist
5 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
5 bit OUT FALSE iocontrol.0.lube
5 bit IN FALSE iocontrol.0.lube_level
5 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request
5 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed
5 s32 OUT 0 iocontrol.0.tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-pocket
5 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
5 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
5 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out
5 bit OUT FALSE iocontrol.0.user-request-enable
9 float IN 1 motion.adaptive-feed
9 float IN 0 motion.analog-in-00
9 float IN 0 motion.analog-in-01
9 float IN 0 motion.analog-in-02
9 float IN 0 motion.analog-in-03
9 float OUT 0 motion.analog-out-00
9 float OUT 0 motion.analog-out-01
9 float OUT 0 motion.analog-out-02
9 float OUT 0 motion.analog-out-03
9 bit OUT FALSE motion.coord-error
9 bit OUT TRUE motion.coord-mode
9 float OUT 0 motion.current-vel
9 bit IN FALSE motion.digital-in-00
9 bit IN FALSE motion.digital-in-01
9 bit IN FALSE motion.digital-in-02
9 bit IN FALSE motion.digital-in-03
9 bit OUT FALSE motion.digital-out-00
9 bit OUT FALSE motion.digital-out-01
9 bit OUT FALSE motion.digital-out-02
9 bit OUT FALSE motion.digital-out-03
9 float OUT 0 motion.distance-to-go
9 bit IN TRUE motion.enable
9 bit IN FALSE motion.feed-hold
9 bit OUT TRUE motion.in-position ==> in-position
9 bit IN FALSE motion.motion-enabled <== machine-is-enabled
9 bit OUT FALSE motion.on-soft-limit
9 bit IN FALSE motion.probe-input <== probe-in
9 s32 OUT 0 motion.program-line
9 float OUT 0 motion.requested-vel
9 bit IN TRUE motion.spindle-at-speed <== spindle-at-speed
9 bit OUT TRUE motion.spindle-brake ==> spindle-brake
9 bit OUT FALSE motion.spindle-forward ==> spindle-cw
9 bit I/O FALSE motion.spindle-index-enable <=> spindle-index-enable
9 bit OUT FALSE motion.spindle-on ==> spindle-enable
9 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw
9 float IN 0 motion.spindle-revs <== spindle-revs
9 float OUT 0 motion.spindle-speed-cmd-rps
9 float IN 0 motion.spindle-speed-in <== spindle-vel-fb
9 float OUT 0 motion.spindle-speed-out ==> spindle-vel-cmd
9 float OUT 0 motion.spindle-speed-out-rps ==> spindle-vel-cmd-rps
9 bit OUT FALSE motion.teleop-mode
9 float OUT 0 motion.tooloffset.a
9 float OUT 0 motion.tooloffset.b
9 float OUT 0 motion.tooloffset.c
9 float OUT 0 motion.tooloffset.u
9 float OUT 0 motion.tooloffset.v
9 float OUT 0 motion.tooloffset.w
9 float OUT 0 motion.tooloffset.x
9 float OUT 0 motion.tooloffset.y
9 float OUT 0 motion.tooloffset.z
13 float I/O 0 pid.s.Dgain
13 float I/O 0 pid.s.FF0
13 float I/O 0 pid.s.FF1
13 float I/O 0 pid.s.FF2
13 float I/O 0 pid.s.Igain
13 float I/O 1 pid.s.Pgain
13 float I/O 0 pid.s.bias
13 float IN 0 pid.s.command
13 float IN 0 pid.s.command-deriv
13 float I/O 0 pid.s.deadband
13 bit IN FALSE pid.s.enable
13 float OUT 0 pid.s.error
13 float IN 0 pid.s.feedback
13 float IN 0 pid.s.feedback-deriv
13 bit IN FALSE pid.s.index-enable
13 float I/O 0 pid.s.maxcmdD
13 float I/O 0 pid.s.maxcmdDD
13 float I/O 0 pid.s.maxerror
13 float I/O 0 pid.s.maxerrorD
13 float I/O 0 pid.s.maxerrorI
13 float I/O 0 pid.s.maxoutput
13 float OUT 0 pid.s.output
13 bit OUT FALSE pid.s.saturated
13 s32 OUT 0 pid.s.saturated-count
13 float OUT 0 pid.s.saturated-s
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE MDI-mode
<== halui.mode.is-mdi
bit TRUE abort
<== hm2_5i25.0.gpio.030.in
bit FALSE coolant-flood
<== iocontrol.0.coolant-flood
bit FALSE coolant-mist
==> hm2_5i25.0.gpio.032.out
<== iocontrol.0.coolant-mist
bit TRUE cycle-start
<== hm2_5i25.0.gpio.029.in
bit TRUE estop-ext
<== hm2_5i25.0.gpio.028.in
==> iocontrol.0.emc-enable-in
bit FALSE estop-out
<== iocontrol.0.user-enable-out
bit TRUE in-position
<== motion.in-position
bit FALSE jog-selected-neg
==> halui.jog.selected.minus
bit FALSE jog-selected-pos
==> halui.jog.selected.plus
float 0 jog-speed
==> halui.jog-speed
float 0 jog-x-analog
==> halui.jog.0.analog
bit FALSE jog-x-neg
==> halui.jog.0.minus
bit FALSE jog-x-pos
==> halui.jog.0.plus
float 0 jog-z-analog
==> halui.jog.2.analog
bit FALSE jog-z-neg
==> halui.jog.2.minus
bit FALSE jog-z-pos
==> halui.jog.2.plus
bit FALSE joint-select-a
==> halui.joint.0.select
bit FALSE joint-select-c
==> halui.joint.2.select
bit FALSE machine-is-enabled
==> motion.motion-enabled
bit FALSE machine-is-on
<== halui.machine.is-on
bit TRUE max-x
==> axis.0.pos-lim-sw-in
<== hm2_5i25.0.gpio.026.in
bit TRUE max-z
==> axis.2.pos-lim-sw-in
<== hm2_5i25.0.gpio.027.in
bit TRUE min-home-x
==> axis.0.home-sw-in
==> axis.0.neg-lim-sw-in
<== hm2_5i25.0.gpio.024.in
bit TRUE min-home-z
==> axis.2.home-sw-in
==> axis.2.neg-lim-sw-in
<== hm2_5i25.0.gpio.025.in
bit FALSE probe-in
==> motion.probe-input
bit TRUE spindle-at-speed
==> motion.spindle-at-speed
bit TRUE spindle-brake
==> hm2_5i25.0.gpio.031.out
<== motion.spindle-brake
bit FALSE spindle-ccw
<== motion.spindle-reverse
bit FALSE spindle-cw
<== motion.spindle-forward
bit FALSE spindle-enable
<== motion.spindle-on
bit FALSE spindle-index-enable
<=> hm2_5i25.0.encoder.00.index-enable
<=> motion.spindle-index-enable
bit FALSE spindle-manual-ccw
==> halui.spindle.reverse
bit FALSE spindle-manual-cw
==> halui.spindle.forward
bit FALSE spindle-manual-stop
==> halui.spindle.stop
float 0 spindle-revs
<== hm2_5i25.0.encoder.00.position
==> motion.spindle-revs
float 0 spindle-vel-cmd
<== motion.spindle-speed-out
float 0 spindle-vel-cmd-rps
<== motion.spindle-speed-out-rps
float 0 spindle-vel-fb
<== hm2_5i25.0.encoder.00.velocity
==> motion.spindle-speed-in
bit FALSE tool-change-confirmed
<== hal_manualtoolchange.changed
==> iocontrol.0.tool-changed
bit FALSE tool-change-request
==> hal_manualtoolchange.change
<== iocontrol.0.tool-change
s32 0 tool-number
==> hal_manualtoolchange.number
<== iocontrol.0.tool-prep-number
bit FALSE tool-prepare-loopback
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared
bit FALSE x-enable
<== axis.0.amp-enable-out
==> hm2_5i25.0.stepgen.00.enable
bit FALSE x-is-homed
<== halui.joint.0.is-homed
float 0 x-pos-cmd
<== axis.0.motor-pos-cmd
==> hm2_5i25.0.stepgen.00.position-cmd
float 0 x-pos-fb
==> axis.0.motor-pos-fb
<== hm2_5i25.0.stepgen.00.position-fb
bit FALSE z-enable
<== axis.2.amp-enable-out
==> hm2_5i25.0.stepgen.01.enable
bit FALSE z-is-homed
<== halui.joint.2.is-homed
float 0 z-pos-cmd
<== axis.2.motor-pos-cmd
==> hm2_5i25.0.stepgen.01.position-cmd
float 0 z-pos-fb
==> axis.2.motor-pos-fb
<== hm2_5i25.0.stepgen.01.position-fb
Parameters:
Owner Type Dir Value Name
9 s32 RO 0 axis.0.home-state
9 s32 RO 0 axis.1.home-state
9 s32 RO 0 axis.2.home-state
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-00-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-01-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-02-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-03-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-04-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-05-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-06-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-07-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-08-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-09-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-10-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-11-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-12-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-13-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-14-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.output-15-invert
12 u32 RO 0x10000043 hm2_5i25.0.7i76.0.0.serial-number
12 bit RW FALSE hm2_5i25.0.7i76.0.0.spindir-invert
12 bit RW FALSE hm2_5i25.0.7i76.0.0.spinena-invert
12 float RW 100 hm2_5i25.0.7i76.0.0.spinout-maxlim
12 float RW 0 hm2_5i25.0.7i76.0.0.spinout-minlim
12 float RW 100 hm2_5i25.0.7i76.0.0.spinout-scalemax
12 u32 RO 0x00420000 hm2_5i25.0.7i76.0.0.status
12 bit RW FALSE hm2_5i25.0.encoder.00.counter-mode
12 bit RW TRUE hm2_5i25.0.encoder.00.filter
12 bit RW FALSE hm2_5i25.0.encoder.00.index-invert
12 bit RW FALSE hm2_5i25.0.encoder.00.index-mask
12 bit RW FALSE hm2_5i25.0.encoder.00.index-mask-invert
12 float RW 4000 hm2_5i25.0.encoder.00.scale
12 float RW 0.5 hm2_5i25.0.encoder.00.vel-timeout
12 bit RW FALSE hm2_5i25.0.gpio.000.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.000.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.001.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.001.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.002.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.002.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.003.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.003.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.004.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.004.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.004.is_output
12 bit RW FALSE hm2_5i25.0.gpio.005.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.005.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.005.is_output
12 bit RW FALSE hm2_5i25.0.gpio.006.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.006.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.006.is_output
12 bit RW FALSE hm2_5i25.0.gpio.007.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.007.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.007.is_output
12 bit RW FALSE hm2_5i25.0.gpio.008.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.008.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.008.is_output
12 bit RW FALSE hm2_5i25.0.gpio.009.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.009.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.009.is_output
12 bit RW FALSE hm2_5i25.0.gpio.010.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.010.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.012.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.012.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.012.is_output
12 bit RW FALSE hm2_5i25.0.gpio.013.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.013.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.013.is_output
12 bit RW FALSE hm2_5i25.0.gpio.017.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.017.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.017.is_output
12 bit RW FALSE hm2_5i25.0.gpio.018.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.018.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.018.is_output
12 bit RW FALSE hm2_5i25.0.gpio.019.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.019.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.019.is_output
12 bit RW FALSE hm2_5i25.0.gpio.020.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.020.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.020.is_output
12 bit RW FALSE hm2_5i25.0.gpio.021.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.021.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.021.is_output
12 bit RW FALSE hm2_5i25.0.gpio.022.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.022.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.022.is_output
12 bit RW FALSE hm2_5i25.0.gpio.023.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.023.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.023.is_output
12 bit RW FALSE hm2_5i25.0.gpio.024.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.024.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.024.is_output
12 bit RW FALSE hm2_5i25.0.gpio.025.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.025.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.025.is_output
12 bit RW FALSE hm2_5i25.0.gpio.026.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.026.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.026.is_output
12 bit RW FALSE hm2_5i25.0.gpio.027.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.027.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.027.is_output
12 bit RW FALSE hm2_5i25.0.gpio.028.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.028.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.028.is_output
12 bit RW FALSE hm2_5i25.0.gpio.029.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.029.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.029.is_output
12 bit RW FALSE hm2_5i25.0.gpio.030.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.030.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.030.is_output
12 bit RW FALSE hm2_5i25.0.gpio.031.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.031.is_opendrain
12 bit RW TRUE hm2_5i25.0.gpio.031.is_output
12 bit RW FALSE hm2_5i25.0.gpio.032.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.032.is_opendrain
12 bit RW TRUE hm2_5i25.0.gpio.032.is_output
12 bit RW FALSE hm2_5i25.0.gpio.033.invert_output
12 bit RW FALSE hm2_5i25.0.gpio.033.is_opendrain
12 bit RW FALSE hm2_5i25.0.gpio.033.is_output
12 bit RW FALSE hm2_5i25.0.io_error
12 s32 RO 399 hm2_5i25.0.pet_watchdog.time
12 s32 RW 5460 hm2_5i25.0.pet_watchdog.tmax
12 s32 RO 32711 hm2_5i25.0.read.time
12 s32 RW 146608 hm2_5i25.0.read.tmax
12 s32 RO 0 hm2_5i25.0.read_gpio.time
12 s32 RW 0 hm2_5i25.0.read_gpio.tmax
12 u32 RW 0x00000001 hm2_5i25.0.sserial.port-0.fault-dec
12 u32 RW 0x0000000A hm2_5i25.0.sserial.port-0.fault-inc
12 u32 RW 0x000000C8 hm2_5i25.0.sserial.port-0.fault-lim
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.00.dirhold
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.00.dirsetup
12 float RW 2.5 hm2_5i25.0.stepgen.00.maxaccel
12 float RW 2.1 hm2_5i25.0.stepgen.00.maxvel
12 float RW 200 hm2_5i25.0.stepgen.00.position-scale
12 u32 RW 0x00000000 hm2_5i25.0.stepgen.00.step_type
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.00.steplen
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.00.stepspace
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.01.dirhold
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.01.dirsetup
12 float RW 2.5 hm2_5i25.0.stepgen.01.maxaccel
12 float RW 2.1 hm2_5i25.0.stepgen.01.maxvel
12 float RW 200 hm2_5i25.0.stepgen.01.position-scale
12 u32 RW 0x00000000 hm2_5i25.0.stepgen.01.step_type
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.01.steplen
12 u32 RW 0x000003E8 hm2_5i25.0.stepgen.01.stepspace
12 u32 RW 0x00989680 hm2_5i25.0.watchdog.timeout_ns
12 s32 RO 12971 hm2_5i25.0.write.time
12 s32 RW 64001 hm2_5i25.0.write.tmax
12 s32 RO 0 hm2_5i25.0.write_gpio.time
12 s32 RW 0 hm2_5i25.0.write_gpio.tmax
9 s32 RO 441 motion-command-handler.time
9 s32 RW 8834 motion-command-handler.tmax
9 s32 RO 9604 motion-controller.time
9 s32 RW 93044 motion-controller.tmax
9 bit RO FALSE motion.debug-bit-0
9 bit RO FALSE motion.debug-bit-1
9 float RO 1 motion.debug-float-0
9 float RO 0 motion.debug-float-1
9 float RO 0 motion.debug-float-2
9 float RO 1 motion.debug-float-3
9 s32 RO 0 motion.debug-s32-0
9 s32 RO 0 motion.debug-s32-1
9 u32 RO 0x001C7D04 motion.servo.last-period
9 float RO 1000226 motion.servo.last-period-ns
9 u32 RW 0x00000000 motion.servo.overruns
13 s32 RO 1015 pid.s.do-pid-calcs.time
13 s32 RW 12866 pid.s.do-pid-calcs.tmax
9 float RO 0 tc.0.acc
9 float RO 0 tc.0.pos
9 float RO 0 tc.0.vel
9 float RO 0 tc.1.acc
9 float RO 0 tc.1.pos
9 float RO 0 tc.1.vel
9 float RO 0 tc.2.acc
9 float RO 0 tc.2.pos
9 float RO 0 tc.2.vel
9 float RO 0 tc.3.acc
9 float RO 0 tc.3.pos
9 float RO 0 tc.3.vel
9 u32 RO 0x00000000 traj.active_tc
9 float RO 0 traj.pos_out
9 float RO 0 traj.vel_out
Parameter Aliases:
Alias Original Name
Exported Functions:
Owner CodeAddr Arg FP Users Name
00012 f95c3552 f50ea000 NO 1 hm2_5i25.0.pet_watchdog
00012 f95b59dc f50ea000 YES 1 hm2_5i25.0.read
00012 f95b5906 f50ea000 YES 0 hm2_5i25.0.read_gpio
00012 f95b5936 f50ea000 YES 1 hm2_5i25.0.write
00012 f95b58d6 f50ea000 YES 0 hm2_5i25.0.write_gpio
00009 f92e9759 00000000 YES 1 motion-command-handler
00009 f92ebcb2 00000000 YES 1 motion-controller
00013 f809d000 f9282918 YES 1 pid.s.do-pid-calcs
Realtime Threads:
Period FP Name ( Time, Max-Time )
999815 YES servo-thread ( 57141, 320047 )
1 hm2_5i25.0.read
2 motion-command-handler
3 motion-controller
4 pid.s.do-pid-calcs
5 hm2_5i25.0.write
6 hm2_5i25.0.pet_watchdog
ну и hal
Код: Выделить всё
# Generated by PNCconf at Fri Oct 30 16:16:49 2015
# Все изменения в этом файле будут перезаписаны
# 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_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=2 sserial_port_0=00xxxxxx "
setp hm2_5i25.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.s
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write servo-thread
addf hm2_5i25.0.pet_watchdog servo-thread
# external output signals
# --- SPINDLE-BRAKE ---
setp hm2_5i25.0.gpio.031.is_output true
net spindle-brake hm2_5i25.0.gpio.031.out
# --- COOLANT-MIST ---
setp hm2_5i25.0.gpio.032.is_output true
net coolant-mist hm2_5i25.0.gpio.032.out
# external input signals
# --- MIN-HOME-X ---
net min-home-x <= hm2_5i25.0.gpio.024.in
# --- MIN-HOME-Z ---
net min-home-z <= hm2_5i25.0.gpio.025.in
# --- MAX-X ---
net max-x <= hm2_5i25.0.gpio.026.in
# --- MAX-Z ---
net max-z <= hm2_5i25.0.gpio.027.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_5i25.0.gpio.028.in
# --- CYCLE-START ---
net cycle-start <= hm2_5i25.0.gpio.029.in
# --- ABORT ---
net abort <= hm2_5i25.0.gpio.030.in
#*******************
# AXIS X
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 0
setp hm2_5i25.0.stepgen.00.maxaccel 2.5
setp hm2_5i25.0.stepgen.00.maxvel 2.1
net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
# ---setup home / limit switch signals---
net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 0
setp hm2_5i25.0.stepgen.01.maxaccel 2.5
setp hm2_5i25.0.stepgen.01.maxvel 2.1
net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-z => axis.2.home-sw-in
net min-home-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_5i25.0.encoder.00.position
net spindle-vel-fb <= hm2_5i25.0.encoder.00.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.00.index-enable
# ---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
#******************************
# ---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-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-ext => 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
ini
Код: Выделить всё
# Generated by PNCconf at Fri Oct 30 16:15:16 2015
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
[EMC]
MACHINE = htc_cnc
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/ihter/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = htc_cnc.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.17
MAX_LINEAR_VELOCITY = 1.67
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 5.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 200.0
MIN_LIMIT = -5.0
MAX_LIMIT = 5.01
HOME_OFFSET = 5.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 10.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.667
MAX_ACCELERATION = 2.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 200.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.01
HOME_OFFSET = 10.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
ENCODER_SCALE = 4000.0
OUTPUT_SCALE = 10.0
прошу по возможности ответить , ну или закидать ссылками. спасибо.