# Generated by PNCconf at Sat Jul 6 15:18:32 2019 # If you make changes to this file, they will be # overwritten when you run PNCconf again #loadusr -Wn pyvcp pyvcp -c pyvcp [DISPLAY](PYVCP) #source pyvcp_options.hal #loadrt abs names=abs.spindle #loadrt lowpass names=lowpass.spindle loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=0 num_pwmgens=2 num_stepgens=5" #setp hm2_7i92.0.watchdog.timeout_ns 15000000 loadrt estop_latch #loadrt pid names=pid.x,pid.y,pid.z,pid.b setp hm2_7i92.0.pwmgen.pwm_frequency 20000 setp hm2_7i92.0.pwmgen.pdm_frequency 6000000 setp hm2_7i92.0.watchdog.timeout_ns 15000000 #loadrt lut5 #addf lut5.0 servo-thread loadrt debounce cfg=3 addf debounce.0 servo-thread #addf debounce.1 servo-thread setp debounce.0.delay 15 #addf hm2_7i92.0.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.b.do-pid-calcs servo-thread #addf hm2_7i92.0.write servo-thread #setp hm2_7i92.0.dpll.01.timer-us -50 #setp hm2_7i92.0.stepgen.timer-number 1 addf hm2_7i92.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf hm2_7i92.0.write servo-thread #addf hm2_7i92.0.pet_watchdog servo-thread addf estop-latch.0 servo-thread ########### egantry ########################### loadrt egantry count=1 personality=2 addf egantry.0 servo-thread setp egantry.0.align-vel 200 setp egantry.0.align-acc 1000 setp egantry.0.align-hyst 0.05 #setp egantry.0.align-hyst 0.05 setp egantry.0.joint.01.correct 3 #setp egantry.0.joint.00.max_acceleration [AXIS_1]MAX_ACCELERATION #setp egantry.0.joint.00.max_velocity [AXIS_1]MAX_VELOCITY #setp egantry.0.joint.00.ferror [AXIS_1]FERROR #setp egantry.0.joint.01.max_acceleration [AXIS_1]MAX_ACCELERATION #setp egantry.0.joint.01.max_velocity [AXIS_1]MAX_VELOCITY #setp egantry.0.joint.01.ferror [AXIS_1]FERROR # position & feedback #net y-pos-cmd egantry.0.axis.motor-pos-cmd => axis.1.motor-pos-cmd #net y-pos-fb egantry.0.axis.motor-pos-fb => axis.1.motor-pos-fb #net y1-pos-cmd egantry.0.joint.00.pos-cmd => pid.y.command #net y1-pos-fb egantry.0.joint.00.pos-fb <= pid.y.feedback #net y2-pos-cmd egantry.0.joint.01.pos-cmd => pid.a.command #net y2-pos-fb egantry.0.joint.01.pos-fb <= pid.a.feedback # enables #net y-enable egantry.0.axis.amp-enable <= axis.1.amp-enable-out #net y1-enable egantry.0.joint.00.enable => pid.y.enable #net y2-enable egantry.0.joint.01.enable => pid.a.enable # index_ENC #net y-index-enable egantry.0.axis.index-enable <= axis.1.index-enable #net y1-index-enable egantry.0.joint.00.index-enable => pid.y.index-enable #net y2-index-enable egantry.0.joint.01.index-enable => pid.a.index-enable # home switches & othrs net y-home-sw <= egantry.0.axis.home-sw => axis.1.home-sw-in net y1-home-sw <= egantry.0.joint.00.home-sw <= hm2_7i92.0.gpio.015.in_not net y2-home-sw egantry.0.joint.01.home-sw <= hm2_7i92.0.gpio.032.in_not net y-home-state axis.1.home-state => egantry.0.axis.home-state net y-homed axis.1.homed => egantry.0.axis.homed ########## egantry ########################### # external output signals # external input signals # --- ESTOP-EXT --- net estop-ext <= hm2_7i92.0.gpio.013.in # --- BOTH-HOME-B --- net home-b <= hm2_7i92.0.gpio.014.in_not net home-b => axis.4.home-sw-in #gantry switches # y-axis switches and connect them to signals #net home-switch-y1 <= hm2_7i92.0.gpio.015.in_not #net home-switch-y2 <= hm2_7i92.0.gpio.032.in_not # join the home switch signals so that both switches have to be closed to trigger a home position #net home-switch-y1 => egantry.0.joint.00.home-sw #net home-switch-y2 => egantry.0.joint.01.home-sw #net home-y <= egantry.0.axis.home-sw #net home-y => axis.1.home-sw-in #net y-home-start axis.1.home-state => egantry.0.axis.home-state #setp gantry.0.search-vel [AXIS_1]HOME_SEARCH_VEL #net limit-y <= gantry.0.limit #net limit-y => axis.1.neg-lim-sw-in #net all-limit-home-x-y-debounce <= home-switch-y1 net all-limit-home-z-debounce <= hm2_7i92.0.gpio.003.in_not #net all-limit-x-y-debounce <= hm2_7i92.0.gpio.015.in_not => all-home-x-y #net all-limit-home-z <= hm2_7i92.0.gpio.003.in_not #net all-limit-home-x-y <= hm2_7i92.0.gpio.015.in_not net x-home-sw => debounce.0.0.in net y1-home-sw => debounce.0.1.in net all-limit-home-z-debounce => debounce.0.2.in net all-limit-home-x <= debounce.0.0.out net all-limit-home-y <= debounce.0.1.out net all-limit-home-z <= debounce.0.2.out #setp lut5.0.function 0x10000 #net all-limit-home-x-y => lut5.0.in-4 #net all-limit-home-x-y-debounce => lut5.0.in-4 #net all-limit <= lut5.0.out #net homing-x <= axis.0.homing => lut5.0.in-0 #net homing-y <= axis.1.homing => lut5.0.in-1 #net all-limit-home-x-y => axis.0.home-sw-in net x-home-sw <= hm2_7i92.0.gpio.031.in_not net x-home-sw => axis.0.home-sw-in net all-limit-home-x => axis.0.neg-lim-sw-in net all-limit-home-x => axis.0.pos-lim-sw-in #net all-limit-home-x-y => axis.1.home-sw-in #net all-limit-home-x-y-debounce => axis.1.home-sw-in net all-limit-home-y => axis.1.neg-lim-sw-in net all-limit-home-y => axis.1.pos-lim-sw-in #net all-limit-home-z => axis.2.home-sw-in net all-limit-home-z-debounce => axis.2.home-sw-in net all-limit-home-z => axis.2.neg-lim-sw-in net all-limit-home-z => axis.2.pos-lim-sw-in # --- PROBE-IN --- #setp hm2_7i92.0.gpio.016.in true net probe-in <= hm2_7i92.0.gpio.016.in_not #******************* # AXIS X #******************* newsig emcmot.00.enable bit sets emcmot.00.enable FALSE net emcmot.00.enable <= axis.0.amp-enable-out net emcmot.00.enable => hm2_7i92.0.stepgen.00.enable # position command and feedback net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd net emcmot.00.pos-cmd => hm2_7i92.0.stepgen.00.position-cmd net motor.00.pos-fb <= hm2_7i92.0.stepgen.00.position-fb net motor.00.pos-fb => axis.0.motor-pos-fb setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_7i92.0.stepgen.00.step_type 0 setp hm2_7i92.0.stepgen.00.control-type 0 setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL #******************* # AXIS Y #******************* # axis enable chain newsig emcmot.01.enable bit sets emcmot.01.enable FALSE newsig emcmot.03.enable bit sets emcmot.03.enable FALSE #emcmot.01.enable net emcmot.01.enable egantry.0.axis.amp-enable <= axis.1.amp-enable-out #net emcmot.01.enable net yoo-enable <= egantry.0.joint.00.enable net yol-enable <= egantry.0.joint.01.enable net yoo-enable => hm2_7i92.0.stepgen.01.enable net yol-enable => hm2_7i92.0.stepgen.04.enable # position command and feedback net emcmot.01.pos-cmd egantry.0.axis.motor-pos-cmd <= axis.1.motor-pos-cmd #net emcmot.01.pos-cmd net yoo-pos-cmd <= egantry.0.joint.00.pos-cmd net yol-pos-cmd <= egantry.0.joint.01.pos-cmd net yoo-pos-cmd => hm2_7i92.0.stepgen.01.position-cmd net yol-pos-cmd => hm2_7i92.0.stepgen.04.position-cmd #net motor.01.pos-fb <= hm2_7i92.0.stepgen.04.position-fb net yoo-pos-fb <= hm2_7i92.0.stepgen.01.position-fb net yol-pos-fb <= hm2_7i92.0.stepgen.04.position-fb net yoo-pos-fb => egantry.0.joint.00.pos-fb net yol-pos-fb => egantry.0.joint.01.pos-fb #net motor.01.pos-fb net y-pos-fb <= egantry.0.axis.motor-pos-fb net y-pos-fb => axis.1.motor-pos-fb setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_7i92.0.stepgen.01.step_type 0 setp hm2_7i92.0.stepgen.01.control-type 0 setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL setp hm2_7i92.0.stepgen.04.dirsetup [AXIS_1]DIRSETUP setp hm2_7i92.0.stepgen.04.dirhold [AXIS_1]DIRHOLD setp hm2_7i92.0.stepgen.04.steplen [AXIS_1]STEPLEN setp hm2_7i92.0.stepgen.04.stepspace [AXIS_1]STEPSPACE setp hm2_7i92.0.stepgen.04.position-scale [AXIS_1]STEP_SCALE setp hm2_7i92.0.stepgen.04.step_type 0 setp hm2_7i92.0.stepgen.04.control-type 0 setp hm2_7i92.0.stepgen.04.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.04.maxvel [AXIS_1]STEPGEN_MAXVEL #******************* # AXIS Z #******************* # axis enable chain newsig emcmot.02.enable bit sets emcmot.02.enable FALSE net emcmot.02.enable <= axis.2.amp-enable-out net emcmot.02.enable => hm2_7i92.0.stepgen.02.enable # position command and feedback net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd net emcmot.02.pos-cmd => hm2_7i92.0.stepgen.02.position-cmd net motor.02.pos-fb <= hm2_7i92.0.stepgen.02.position-fb net motor.02.pos-fb => axis.2.motor-pos-fb setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 0 setp hm2_7i92.0.stepgen.02.control-type 0 setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL #******************* # AXIS B #******************* net emcmot.04.enable <= axis.4.amp-enable-out net emcmot.04.enable => hm2_7i92.0.stepgen.03.enable # position command and feedback net emcmot.04.pos-cmd <= axis.4.motor-pos-cmd net emcmot.04.pos-cmd => hm2_7i92.0.stepgen.03.position-cmd net motor.04.pos-fb <= hm2_7i92.0.stepgen.03.position-fb net motor.04.pos-fb => axis.4.motor-pos-fb # Step Gen signals/setup setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_4]DIRSETUP setp hm2_7i92.0.stepgen.03.dirhold [AXIS_4]DIRHOLD setp hm2_7i92.0.stepgen.03.steplen [AXIS_4]STEPLEN setp hm2_7i92.0.stepgen.03.stepspace [AXIS_4]STEPSPACE setp hm2_7i92.0.stepgen.03.position-scale [AXIS_4]STEP_SCALE setp hm2_7i92.0.stepgen.03.step_type 0 setp hm2_7i92.0.stepgen.03.control-type 0 setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_4]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.03.maxvel [AXIS_4]STEPGEN_MAXVEL #******************* # SPINDLE S #******************* # --- SPINDLE-ON --- #loadrt pwmgen output_type=1 #addf pwmgen.make-pulses servo-thread #addf pwmgen.update servo-thread #net spindle-cmd-rpm => pwmgen.0.value #net spindle-on <= motion.spindle-on => pwmgen.0.enable #net spindle-pwm <= pwmgen.0.pwm #setp pwmgen.0.pwm-freq 400.0 #setp pwmgen.0.scale 33970.2760085 #setp pwmgen.0.offset 0.1985 #setp pwmgen.0.dither-pwm true #net spindle-cmd-rpm <= motion.spindle-speed-out #net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs #net spindle-cmd-rps <= motion.spindle-speed-out-rps #net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs #net spindle-at-speed => motion.spindle-at-speed setp hm2_7i92.0.gpio.007.is_output true net spindle-on => hm2_7i92.0.gpio.007.out #setp hm2_7i92.0.gpio.000.is_output true setp hm2_7i92.0.gpio.000.invert_output true #net spindle-pwm => hm2_7i92.0.gpio.000.out # ---PWM Generator signals/setup--- setp hm2_7i92.0.pwmgen.00.output-type 1 setp hm2_7i92.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd => hm2_7i92.0.pwmgen.00.value net machine-is-enabled => hm2_7i92.0.pwmgen.00.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 <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-on <= 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-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 joint-select-e halui.joint.4.select net b-is-homed halui.joint.4.is-homed net jog-b-pos halui.jog.4.plus net jog-b-neg halui.jog.4.minus net jog-b-analog halui.jog.4.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 user-enable iocontrol.0.user-request-enable => estop-latch.0.reset #net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in net watchdog hm2_7i92.0.watchdog.has_bit => estop-latch.0.fault-in net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---toolchange signals for custom tool changer--- #net tool-number <= iocontrol.0.tool-prep-number #net tool-change-request <= iocontrol.0.tool-change #net tool-change-confirmed => iocontrol.0.tool-changed #net tool-prepare-request <= iocontrol.0.tool-prepare #net tool-prepare-confirmed => iocontrol.0.tool-prepared loadusr linuxcncrsh --port 5007 --name k1 --connectpw pw --enablepw pw