loadrt scale count=1
addf scale.0 servo-thread
setp scale.0.gain 0.002
net spindle-speed-scale motion.spindle-speed-out => scale.0.in
net spindle-speed-DAC scale.0.out => <your DAC pin name>
Теперь не запускается EMC - выдает ошибку при загрузке.
Подскажите , то не так с кодом? Где ошибка?
HAL
Код: Выделить всё
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=hm2/5i20/SVST8_4.BIT num_encoders=4 num_pwmgens=4 num_3pwmgens=0 num_stepgens=0 "
setp hm2_5i20.0.pwmgen.pwm_frequency 100000
setp hm2_5i20.0.pwmgen.pdm_frequency 6000000
setp hm2_5i20.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt mux16 names=jogincr,foincr
addf hm2_5i20.0.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.s.do-pid-calcs servo-thread
addf jogincr servo-thread
addf foincr servo-thread
addf abs.spindle servo-thread
addf scale.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread
# external output signals
# external input signals
# --- PROBE-IN ---
net probe-in <= hm2_5i20.0.gpio.024.in_not
# --- SPINDLE-MANUAL-STOP ---
net spindle-manual-stop <= hm2_5i20.0.gpio.028.in
# --- CYCLE-START ---
net cycle-start <= hm2_5i20.0.gpio.031.in
# --- SPINDLE-MANUAL-CCW ---
net spindle-manual-ccw <= hm2_5i20.0.gpio.032.in
# --- ABORT ---
net abort <= hm2_5i20.0.gpio.033.in
# --- HOME-X ---
net home-x <= hm2_5i20.0.gpio.034.in
# --- SINGLE-STEP ---
net single-step <= hm2_5i20.0.gpio.035.in
# --- HOME-Y ---
net home-y <= hm2_5i20.0.gpio.036.in
# --- HOME-Z ---
net home-z <= hm2_5i20.0.gpio.037.in
# --- SPINDLE-MANUAL-CW ---
net spindle-manual-cw <= hm2_5i20.0.gpio.038.in
# --- ESTOP-EXT ---
net estop-ext <= hm2_5i20.0.gpio.039.in
# --- JOG-SELECTED-POS ---
net jog-selected-pos <= hm2_5i20.0.gpio.048.in
# --- JOG-SELECTED-NEG ---
net jog-selected-neg <= hm2_5i20.0.gpio.049.in
# --- JOINT-SELECT-A ---
net joint-select-a <= hm2_5i20.0.gpio.050.in
# --- JOINT-SELECT-B ---
net joint-select-b <= hm2_5i20.0.gpio.051.in
# --- JOINT-SELECT-C ---
net joint-select-c <= hm2_5i20.0.gpio.052.in
# --- JOINT-SELECT-D ---
net joint-select-d <= hm2_5i20.0.gpio.053.in
# --- JOG-INCR-A ---
net jog-incr-a <= hm2_5i20.0.gpio.054.in
# --- JOG-INCR-B ---
net jog-incr-b <= hm2_5i20.0.gpio.055.in
# --- JOG-INCR-C ---
net jog-incr-c <= hm2_5i20.0.gpio.056.in
# --- JOG-INCR-D ---
net jog-incr-d <= hm2_5i20.0.gpio.057.in
# --- FO-INCR-A ---
net fo-incr-a <= hm2_5i20.0.gpio.058.in
# --- FO-INCR-B ---
net fo-incr-b <= hm2_5i20.0.gpio.059.in
# --- FO-INCR-C ---
net fo-incr-c <= hm2_5i20.0.gpio.060.in
# --- FO-INCR-D ---
net fo-incr-d <= hm2_5i20.0.gpio.061.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.command-deriv
net x-pos-fb => pid.x.feedback
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.01.output-type 1
setp hm2_5i20.0.pwmgen.01.scale [AXIS_0]OUTPUT_SCALE
net x-output => hm2_5i20.0.pwmgen.01.value
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out => hm2_5i20.0.pwmgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.01.counter-mode 0
setp hm2_5i20.0.encoder.01.filter 1
setp hm2_5i20.0.encoder.01.index-invert 0
setp hm2_5i20.0.encoder.01.index-mask 0
setp hm2_5i20.0.encoder.01.index-mask-invert 0
setp hm2_5i20.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i20.0.encoder.01.position
net x-vel-fb <= hm2_5i20.0.encoder.01.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i20.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_5i20.0.encoder.01.rawcounts
# ---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 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.command-deriv
net y-pos-fb => pid.y.feedback
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.00.scale [AXIS_1]OUTPUT_SCALE
net y-output => hm2_5i20.0.pwmgen.00.value
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out => hm2_5i20.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.00.counter-mode 0
setp hm2_5i20.0.encoder.00.filter 1
setp hm2_5i20.0.encoder.00.index-invert 0
setp hm2_5i20.0.encoder.00.index-mask 0
setp hm2_5i20.0.encoder.00.index-mask-invert 0
setp hm2_5i20.0.encoder.00.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i20.0.encoder.00.position
net y-vel-fb <= hm2_5i20.0.encoder.00.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i20.0.encoder.00.index-enable
net y-pos-rawcounts <= hm2_5i20.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-y => 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.command-deriv
net z-pos-fb => pid.z.feedback
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.03.output-type 1
setp hm2_5i20.0.pwmgen.03.scale [AXIS_2]OUTPUT_SCALE
net z-output => hm2_5i20.0.pwmgen.03.value
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out => hm2_5i20.0.pwmgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.03.counter-mode 0
setp hm2_5i20.0.encoder.03.filter 1
setp hm2_5i20.0.encoder.03.index-invert 0
setp hm2_5i20.0.encoder.03.index-mask 0
setp hm2_5i20.0.encoder.03.index-mask-invert 0
setp hm2_5i20.0.encoder.03.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i20.0.encoder.03.position
net z-vel-fb <= hm2_5i20.0.encoder.03.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i20.0.encoder.03.index-enable
net z-pos-rawcounts <= hm2_5i20.0.encoder.03.rawcounts
# ---setup home / limit switch signals---
net home-z => 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
#*******************
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.02.output-type 1
setp hm2_5i20.0.pwmgen.02.scale [SPINDLE_9]OUTPUT_SCALE
loadrt scale count=1
addf scale.0 servo-thread
setp scale.0.gain 0.0033
net spindle-speed-limit motion.spindle-speed-out => scale.0.in
net spindle-speed-DAC scale.0.out => hm2_5i20.0.pwmgen.02.value
#net spindle-vel-cmd => hm2_5i20.0.pwmgen.02.value
net spindle-enable => hm2_5i20.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 0
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]ENCODER_SCALE
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---
#sets spindle-at-speed true
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.spindle.gain 0.0033
#setp lowpass.spindle.gain 0.100000
net spindle-vel-fb => lowpass.spindle.in
net spindle-fb-filtered-rps lowpass.spindle.out => abs.spindle.in
net spindle-fb-filtered-abs-rps abs.spindle.out => scale.spindle.in
net spindle-fb-filtered-abs-rpm scale.spindle.out
#******************************
# 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 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
# connect selectable mpg jog increments
net jog-incr-a => jogincr.sel0
net jog-incr-b => jogincr.sel1
net jog-incr-c => jogincr.sel2
net jog-incr-d => jogincr.sel3
net selected-jog-incr <= jogincr.out-f
setp jogincr.debounce-time 0.200000
setp jogincr.use-graycode False
setp jogincr.suppress-no-input False
setp jogincr.in00 0.000000
setp jogincr.in01 0.000100
setp jogincr.in02 0.001000
setp jogincr.in03 0.000000
setp jogincr.in04 0.010000
setp jogincr.in05 0.000000
setp jogincr.in06 0.000000
setp jogincr.in07 0.000000
setp jogincr.in08 0.000000
setp jogincr.in09 0.000000
setp jogincr.in10 0.000000
setp jogincr.in11 0.000000
setp jogincr.in12 0.000000
setp jogincr.in13 0.000000
setp jogincr.in14 0.000000
setp jogincr.in15 0.000000
# connect feed overide increments - switches
setp halui.feed-override.count-enable true
setp halui.feed-override.direct-value true
setp halui.feed-override.scale .01
net feedoverride-incr => halui.feed-override.counts
net fo-incr-a => foincr.sel0
net fo-incr-b => foincr.sel1
net fo-incr-c => foincr.sel2
net fo-incr-d => foincr.sel3
net feedoverride-incr <= foincr.out-s
setp foincr.debounce-time 0.200000
setp foincr.use-graycode False
setp foincr.suppress-no-input False
setp foincr.in00 0.000000
setp foincr.in01 5.000000
setp foincr.in02 10.000000
setp foincr.in03 25.000000
setp foincr.in04 50.000000
setp foincr.in05 75.000000
setp foincr.in06 90.000000
setp foincr.in07 100.000000
setp foincr.in08 110.000000
setp foincr.in09 125.000000
setp foincr.in10 140.000000
setp foincr.in11 150.000000
setp foincr.in12 165.000000
setp foincr.in13 180.000000
setp foincr.in14 190.000000
setp foincr.in15 200.000000
# ---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
Код: Выделить всё
[EMC]
MACHINE = CNC
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.200000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/c3640/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 30.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.170000
MAX_ANGULAR_VELOCITY = 60.000000
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=5i20
[HAL]
HALUI = halui
HALFILE = CNC.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.17
MAX_LINEAR_VELOCITY = 30.0
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOLCHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.2
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 60.0
P = 4.0
I = 0.02
D = 0.001
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 2000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -640.0
MAX_LIMIT = 640.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.2
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 60.0
P = 5.0
I = 0.03
D = 0.001
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -400.0
MAX_LIMIT = 400.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.2
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 60.0
P = 5.0
I = 0.03
D = 0.001
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = -10.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
ENCODER_SCALE = -16.67
OUTPUT_SCALE = -1.0
#MAX_VELOCITY = 50.0
#MAX_ACCELERATION = 3.0
#P = 1.0
#I = 1.0
#D = 0.000
#FF0 = 0.5
#FF1 = 0.0
#FF2 = 0.0
#BIAS = 0.0
#DEADBAND = 0.15
#OUTPUT_OFFSET = 0.0
# MAX_OUTPUT = 10.0