.ini
Код: Выделить всё
#********************
# Spindle
#********************
[SPINDLE_9]
MAX_VELOCITY = 41.6666666667
MAX_ACCELERATION = 100.0
OUTPUT_SCALE = 4500
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
INPUT_SCALE = 2500
Код: Выделить всё
loadrt abs count=2
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle,scale.gear
loadrt near
loadrt mux4 names=mux4.gear
addf scale.gear servo-thread
addf mux4.gear servo-thread
addf abs.0 servo-thread
addf abs.1 servo-thread
addf scale.spindle servo-thread
addf lowpass.spindle servo-thread
addf near.0 servo-thread
#*******************
# SPINDLE S
#*******************
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd => abs.1.in
net spindle-vel-abs abs.1.out => scale.gear.in
net Spindle-motor-command scale.gear.out hm2_5i20.0.pwmgen.00.value
net spindle-enable => hm2_5i20.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 1
setp hm2_5i20.0.encoder.02.filter 1
setp hm2_5i20.0.encoder.02.index-invert 0
setp hm2_5i20.0.encoder.02.index-mask 0
setp hm2_5i20.0.encoder.02.index-mask-invert 0
setp hm2_5i20.0.encoder.02.scale [SPINDLE_9]INPUT_SCALE
setp hm2_5i20.0.encoder.02.index-enable TRUE
net spindle-revs <= hm2_5i20.0.encoder.02.position
net spindle-vel-fb <= hm2_5i20.0.encoder.02.velocity
net spindle-index-enable <=> hm2_5i20.0.encoder.02.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---
net spindle-vel-cmd-rps => near.0.in1
net spindle-vel-fb => near.0.in2
net spindle-at-speed <= near.0.out
setp near.0.scale 1.3
#---Setup spindle scale for gear change----
net Gear_selected mux4.gear.out => scale.gear.gain
net Gear1 => mux4.gear.sel0
net Gear2 => mux4.gear.sel1
setp mux4.gear.in0 4.47
setp mux4.gear.in2 1.789
setp mux4.gear.in3 12.964