# Generated by PNCconf at Thu Dec 19 01:07:24 2013 # 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=5 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=00000xxx " setp hm2_5i25.0.watchdog.timeout_ns 10000000 loadrt pid names=pid.z addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.z.do-pid-calcs servo-thread addf hm2_5i25.0.write servo-thread addf hm2_5i25.0.pet_watchdog servo-thread # external output signals # --- X-ENABLE --- net x-enable hm2_5i25.0.7i77.0.0.output-00 # external input signals # --- ABORT --- net abort <= hm2_5i25.0.7i76.0.3.input-00 # --- HOME-X --- net home-x <= hm2_5i25.0.7i76.0.3.input-02 #******************* # 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 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 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 net z-enable => pid.z.enable net z-output => pid.z.output net z-pos-cmd => pid.z.command net z-vel-fb => pid.z.feedback-deriv net z-pos-fb => pid.z.feedback # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [AXIS_2]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout5-minlim [AXIS_2]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [AXIS_2]OUTPUT_MAX_LIMIT net z-output => hm2_5i25.0.7i77.0.1.analogout5 net z-pos-cmd axis.2.motor-pos-cmd net z-enable axis.2.amp-enable-out # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.05.counter-mode 0 setp hm2_5i25.0.encoder.05.filter 1 setp hm2_5i25.0.encoder.05.index-invert 0 setp hm2_5i25.0.encoder.05.index-mask 0 setp hm2_5i25.0.encoder.05.index-mask-invert 0 setp hm2_5i25.0.encoder.05.scale [AXIS_2]ENCODER_SCALE net z-pos-fb <= hm2_5i25.0.encoder.05.position net z-vel-fb <= hm2_5i25.0.encoder.05.velocity net z-pos-fb => axis.2.motor-pos-fb net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.05.index-enable net z-pos-rawcounts <= hm2_5i25.0.encoder.05.rawcounts # ---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-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-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