написать конфиг для шпинделяsysrover писал(а):Мне интересно другое как все это добавлять ?
проверить
написать конфиг для поворотки
проверить
выложить оба конфига сюда
попробуем "совместить"
написать конфиг для шпинделяsysrover писал(а):Мне интересно другое как все это добавлять ?
Код: Выделить всё
# Generated by PNCconf at Fri Jul 24 15:03:37 2015
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
[EMC]
MACHINE = my_LinuxCNC_machine
DEBUG = 0
[DISPLAY]
DISPLAY = gmoccapy
EMBED_TAB_NAME = progress_g_code_panel
EMBED_TAB_LOCATION = box_custom_4
EMBED_TAB_COMMAND = gladevcp -x {XID} -u progress.py progress.glade
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/work/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
DEFAULT_LINEAR_VELOCITY = 166.666667
MAX_LINEAR_VELOCITY = 150
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=5i23
[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_machine.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 150.00
DEFAULT_ANGULAR_VELOCITY = 15.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.67
MAX_LINEAR_VELOCITY = 16.67
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.005
MIN_FERROR = 1.0005
MAX_VELOCITY = 166.666666667
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 208.3
STEPGEN_MAXACCEL = 1000.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 200.0
ENCODER_SCALE = 2000.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 2000.0
MIN_LIMIT = 0
MAX_LIMIT = 106
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.666667
HOME_LATCH_VEL = 10.666667
HOME_FINAL_VEL = -10.666667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.005
MIN_FERROR = 1.0005
MAX_VELOCITY = 166.666666667
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 208.3
STEPGEN_MAXACCEL = 1000.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 200.0
ENCODER_SCALE = 2000.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 2000.0
MIN_LIMIT = 0
MAX_LIMIT = 248
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.666667
HOME_LATCH_VEL = 10.666667
HOME_FINAL_VEL = -10.666667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 3
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.005
MIN_FERROR = 1.0005
MAX_VELOCITY = 166.666666667
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 208.3
STEPGEN_MAXACCEL = 1000.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 200.0
ENCODER_SCALE = 2000.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = -2000.0
MIN_LIMIT = 0.0
MAX_LIMIT = 210.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.666667
HOME_LATCH_VEL = 10.666667
HOME_FINAL_VEL = -10.666667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0
#********************
# Axis A
#********************
[AXIS_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.005
MIN_FERROR = 10.0005
MAX_VELOCITY = 166.666666667
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 208.3
STEPGEN_MAXACCEL = 1000.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 200.0
ENCODER_SCALE = 2000.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = -2000.0
MIN_LIMIT = 0
MAX_LIMIT = 266
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.666667
HOME_LATCH_VEL = 10.666667
HOME_FINAL_VEL = -10.666667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 2
#********************
# Spindle
#********************
[SPINDLE_8]
MAX_VELOCITY = 53.125
MAX_ACCELERATION = 45.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 41.7
STEPGEN_MAXACCEL = 1000.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 200.0
ENCODER_SCALE = 7843.1373
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = -7843.1373
[SPINDLE_9]
MAX_VELOCITY = 53.125
MAX_ACCELERATION = 45.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 41.7
STEPGEN_MAXACCEL = 1000.0
ENCODER_SCALE = 7843.1373
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 7843.1373
Код: Выделить всё
# Generated by PNCconf at Fri Jul 24 15:03:37 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="firmware=hm2/5i23/SVST8_12_2X7I47.BIT num_encoders=6 num_pwmgens=0 num_3pwmgens=0 num_stepgens=8 "
setp hm2_5i23.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s
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.a.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i23.0.write servo-thread
addf hm2_5i23.0.pet_watchdog servo-thread
# external output signals
setp hm2_5i23.0.gpio.048.is_output true
setp hm2_5i23.0.gpio.050.is_output true
# external input signals
# --- HOME-X ---
net all-home <= hm2_5i23.0.gpio.049.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
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-vel-fb => pid.x.feedback-deriv
net x-pos-fb => pid.x.feedback
# Step Gen signals/setup
setp hm2_5i23.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i23.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i23.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i23.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i23.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i23.0.stepgen.00.step_type 0
setp hm2_5i23.0.stepgen.00.control-type 1
setp hm2_5i23.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i23.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd axis.0.motor-pos-cmd
net x-output => hm2_5i23.0.stepgen.00.velocity-cmd
net x-enable axis.0.amp-enable-out => hm2_5i23.0.stepgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.00.counter-mode 0
setp hm2_5i23.0.encoder.00.filter 1
setp hm2_5i23.0.encoder.00.index-invert 0
setp hm2_5i23.0.encoder.00.index-mask 0
setp hm2_5i23.0.encoder.00.index-mask-invert 0
setp hm2_5i23.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i23.0.encoder.00.position
net x-vel-fb <= hm2_5i23.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i23.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i23.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net all-home => 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
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-vel-fb => pid.y.feedback-deriv
net y-pos-fb => pid.y.feedback
# 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-output => hm2_5i23.0.stepgen.03.velocity-cmd
net y-enable axis.1.amp-enable-out => hm2_5i23.0.stepgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.03.counter-mode 0
setp hm2_5i23.0.encoder.03.filter 1
setp hm2_5i23.0.encoder.03.index-invert 0
setp hm2_5i23.0.encoder.03.index-mask 0
setp hm2_5i23.0.encoder.03.index-mask-invert 0
setp hm2_5i23.0.encoder.03.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i23.0.encoder.03.position
net y-vel-fb <= hm2_5i23.0.encoder.03.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i23.0.encoder.03.index-enable
net y-pos-rawcounts <= hm2_5i23.0.encoder.03.rawcounts
# ---setup home / limit switch signals---
net all-home => 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
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
# Step Gen signals/setup
setp hm2_5i23.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i23.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_5i23.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_5i23.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_5i23.0.stepgen.02.position-scale [AXIS_2]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_2]STEPGEN_MAXACCEL
setp hm2_5i23.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd axis.2.motor-pos-cmd
net z-output => hm2_5i23.0.stepgen.02.velocity-cmd
net z-enable axis.2.amp-enable-out => hm2_5i23.0.stepgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.02.counter-mode 0
setp hm2_5i23.0.encoder.02.filter 1
setp hm2_5i23.0.encoder.02.index-invert 0
setp hm2_5i23.0.encoder.02.index-mask 0
setp hm2_5i23.0.encoder.02.index-mask-invert 0
setp hm2_5i23.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i23.0.encoder.02.position
net z-vel-fb <= hm2_5i23.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i23.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i23.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net all-home => 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
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-output => pid.a.output
net a-pos-cmd => pid.a.command
net a-vel-fb => pid.a.feedback-deriv
net a-pos-fb => pid.a.feedback
# Step Gen signals/setup
setp hm2_5i23.0.stepgen.01.dirsetup [AXIS_3]DIRSETUP
setp hm2_5i23.0.stepgen.01.dirhold [AXIS_3]DIRHOLD
setp hm2_5i23.0.stepgen.01.steplen [AXIS_3]STEPLEN
setp hm2_5i23.0.stepgen.01.stepspace [AXIS_3]STEPSPACE
setp hm2_5i23.0.stepgen.01.position-scale [AXIS_3]STEP_SCALE
setp hm2_5i23.0.stepgen.01.step_type 0
setp hm2_5i23.0.stepgen.01.control-type 1
setp hm2_5i23.0.stepgen.01.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_5i23.0.stepgen.01.maxvel [AXIS_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net a-pos-cmd axis.3.motor-pos-cmd
net a-output => hm2_5i23.0.stepgen.01.velocity-cmd
net a-enable axis.3.amp-enable-out => hm2_5i23.0.stepgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.01.counter-mode 0
setp hm2_5i23.0.encoder.01.filter 1
setp hm2_5i23.0.encoder.01.index-invert 0
setp hm2_5i23.0.encoder.01.index-mask 0
setp hm2_5i23.0.encoder.01.index-mask-invert 0
setp hm2_5i23.0.encoder.01.scale [AXIS_3]ENCODER_SCALE
net a-pos-fb <= hm2_5i23.0.encoder.01.position
net a-vel-fb <= hm2_5i23.0.encoder.01.velocity
net a-pos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i23.0.encoder.01.index-enable
net a-pos-rawcounts <= hm2_5i23.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net all-home => axis.3.home-sw-in
net a-neg-limit => axis.3.neg-lim-sw-in
net a-pos-limit => axis.3.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_8]P
setp pid.s.Igain [SPINDLE_8]I
setp pid.s.Dgain [SPINDLE_8]D
setp pid.s.bias [SPINDLE_8]BIAS
setp pid.s.FF0 [SPINDLE_8]FF0
setp pid.s.FF1 [SPINDLE_8]FF1
setp pid.s.FF2 [SPINDLE_8]FF2
setp pid.s.deadband [SPINDLE_8]DEADBAND
setp pid.s.maxoutput [SPINDLE_8]MAX_OUTPUT
net s-index-enable <=> pid.s.index-enable
net s-enable => pid.s.enable
net s-output => pid.s.output
net s-pos-cmd => pid.s.command
net s-vel-fb => pid.s.feedback-deriv
net s-pos-fb => pid.s.feedback
loadrt mux2 count=2
addf mux2.0 servo-thread
addf mux2.1 servo-thread
setp hm2_5i23.0.stepgen.06.dirsetup [SPINDLE_9]DIRSETUP
setp hm2_5i23.0.stepgen.06.dirhold [SPINDLE_9]DIRHOLD
setp hm2_5i23.0.stepgen.06.steplen [SPINDLE_9]STEPLEN
setp hm2_5i23.0.stepgen.06.stepspace [SPINDLE_9]STEPSPACE
setp hm2_5i23.0.stepgen.06.position-scale [SPINDLE_9]STEP_SCALE
setp hm2_5i23.0.stepgen.06.step_type 0
setp hm2_5i23.0.stepgen.06.control-type 1
setp hm2_5i23.0.stepgen.06.maxaccel [SPINDLE_9]MAX_ACCELERATION
setp hm2_5i23.0.stepgen.06.maxvel [SPINDLE_9]MAX_VELOCITY
setp hm2_5i23.0.stepgen.07.dirsetup [SPINDLE_8]DIRSETUP
setp hm2_5i23.0.stepgen.07.dirhold [SPINDLE_8]DIRHOLD
setp hm2_5i23.0.stepgen.07.steplen [SPINDLE_8]STEPLEN
setp hm2_5i23.0.stepgen.07.stepspace [SPINDLE_8]STEPSPACE
setp hm2_5i23.0.stepgen.07.position-scale [SPINDLE_8]STEP_SCALE
setp hm2_5i23.0.stepgen.07.step_type 0
setp hm2_5i23.0.stepgen.07.control-type 1
setp hm2_5i23.0.stepgen.07.maxaccel [SPINDLE_8]MAX_ACCELERATION
setp hm2_5i23.0.stepgen.07.maxvel [SPINDLE_8]MAX_VELOCITY
net machine-is-enabled => hm2_5i23.0.stepgen.06.enable
net machine-is-enabled => hm2_5i23.0.stepgen.07.enable
#net spindle-vel-cmd-rps => hm2_5i23.0.stepgen.06.velocity-cmd
net spindle-vel-cmd-rps => mux2.0.in1
net spindle-vel-cmd-rps-mux <= mux2.0.out => hm2_5i23.0.stepgen.06.velocity-cmd
net spindle-vel-cmd-rps => mux2.1.in1
net spindle-vel-cmd-rps-mux1 <= mux2.1.out => hm2_5i23.0.stepgen.07.velocity-cmd
net spindle1-on motion.digital-out-00 => mux2.0.sel
net spindle2-on motion.digital-out-01 => mux2.1.sel
#net spindle-vel-fb <= hm2_5i23.0.stepgen.06.velocity-fb
# ---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
net spindle-revs <= hm2_5i23.0.encoder.04.position
net spindle-vel-fb <= 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 <= 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-d halui.joint.3.select
net a-is-homed halui.joint.3.is-homed
net jog-a-pos halui.jog.3.plus
net jog-a-neg halui.jog.3.minus
net jog-a-analog halui.jog.3.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
Код: Выделить всё
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.01
MIN_FERROR = 0.01
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 20.8
STEPGEN_MAXACCEL = 250.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 200.0
ENCODER_SCALE = 56.9444
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 56.9444
MIN_LIMIT = -9.999e+62
MAX_LIMIT = 9.999e+62
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
Код: Выделить всё
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-output => pid.a.output
net a-pos-cmd => pid.a.command
net a-vel-fb => pid.a.feedback-deriv
net a-pos-fb => pid.a.feedback
# Step Gen signals/setup
setp hm2_5i23.0.stepgen.06.dirsetup [AXIS_3]DIRSETUP
setp hm2_5i23.0.stepgen.06.dirhold [AXIS_3]DIRHOLD
setp hm2_5i23.0.stepgen.06.steplen [AXIS_3]STEPLEN
setp hm2_5i23.0.stepgen.06.stepspace [AXIS_3]STEPSPACE
setp hm2_5i23.0.stepgen.06.position-scale [AXIS_3]STEP_SCALE
setp hm2_5i23.0.stepgen.06.step_type 0
setp hm2_5i23.0.stepgen.06.control-type 1
setp hm2_5i23.0.stepgen.06.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_5i23.0.stepgen.06.maxvel [AXIS_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net a-pos-cmd axis.3.motor-pos-cmd
net a-output => hm2_5i23.0.stepgen.06.velocity-cmd
net a-enable axis.3.amp-enable-out => hm2_5i23.0.stepgen.06.enable
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.06.counter-mode 0
setp hm2_5i23.0.encoder.06.filter 1
setp hm2_5i23.0.encoder.06.index-invert 0
setp hm2_5i23.0.encoder.06.index-mask 0
setp hm2_5i23.0.encoder.06.index-mask-invert 0
setp hm2_5i23.0.encoder.06.scale [AXIS_3]ENCODER_SCALE
net a-pos-fb <= hm2_5i23.0.encoder.06.position
net a-vel-fb <= hm2_5i23.0.encoder.06.velocity
net a-pos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i23.0.encoder.06.index-enable
net a-pos-rawcounts <= hm2_5i23.0.encoder.06.rawcounts
# ---setup home / limit switch signals---
net home-a => axis.3.home-sw-in
net a-neg-limit => axis.3.neg-lim-sw-in
net a-pos-limit => axis.3.pos-lim-sw-in
если в #220 конфиг рабочий ,то провильно ли я понял ,что задача:sysrover писал(а):Хал и ини
"переключать" - это второй этап...sysrover писал(а):Да и иметь джикод чтобы переключать это все на ходу.
Код: Выделить всё
#*******************
# AXIS B
#*******************
setp pid.b.Pgain [AXIS_4]P
setp pid.b.Igain [AXIS_4]I
setp pid.b.Dgain [AXIS_4]D
setp pid.b.bias [AXIS_4]BIAS
setp pid.b.FF0 [AXIS_4]FF0
setp pid.b.FF1 [AXIS_4]FF1
setp pid.b.FF2 [AXIS_4]FF2
setp pid.b.deadband [AXIS_4]DEADBAND
setp pid.b.maxoutput [AXIS_4]MAX_OUTPUT
net b-index-enable <=> pid.b.index-enable
net b-enable => pid.b.enable
net b-output => pid.b.output
net b-pos-cmd => pid.b.command
net b-vel-fb => pid.b.feedback-deriv
net b-pos-fb => pid.b.feedback
# Step Gen signals/setup
setp hm2_5i23.0.stepgen.04.dirsetup [AXIS_4]DIRSETUP
setp hm2_5i23.0.stepgen.04.dirhold [AXIS_4]DIRHOLD
setp hm2_5i23.0.stepgen.04.steplen [AXIS_4]STEPLEN
setp hm2_5i23.0.stepgen.04.stepspace [AXIS_4]STEPSPACE
setp hm2_5i23.0.stepgen.04.position-scale [AXIS_4]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_4]STEPGEN_MAXACCEL
setp hm2_5i23.0.stepgen.04.maxvel [AXIS_4]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net b-pos-cmd axis.4.motor-pos-cmd
net b-output => hm2_5i23.0.stepgen.04.velocity-cmd
net b-enable axis.4.amp-enable-out => hm2_5i23.0.stepgen.04.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 [AXIS_4]ENCODER_SCALE
net b-pos-fb <= hm2_5i23.0.encoder.01.position
net b-vel-fb <= hm2_5i23.0.encoder.01.velocity
net b-pos-fb => axis.3.motor-pos-fb
net b-index-enable axis.4.index-enable <=> hm2_5i23.0.encoder.04.index-enable
net b-pos-rawcounts <= hm2_5i23.0.encoder.04.rawcounts
первый в #220sysrover писал(а):ну второй конфиг там где А он крутит на станке, главный вопрос как его скрестить.
Это я просто раньше не в курсе был, как это организовать можно .sysrover писал(а):Мы с тобой пробовали так делать но чтот не вышло с обнулением по энкодеру.