# Generated by PNCconf at Sun Apr 21 10:53:07 2024 # Using LinuxCNC version: Master (2.9) # If you make changes to this file, they will be # overwritten when you run PNCconf again loadusr -Wn pyvcp pyvcp -c pyvcp [DISPLAY](PYVCP) loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx" setp hm2_7i96s.0.pwmgen.pwm_frequency 20000 setp hm2_7i96s.0.pwmgen.pdm_frequency 6000000 setp hm2_7i96s.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt or2 addf or2.0 servo-thread addf hm2_7i96s.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.y2.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf hm2_7i96s.0.write servo-thread setp hm2_7i96s.0.dpll.01.timer-us -50 setp hm2_7i96s.0.stepgen.timer-number 1 # external output signals # external input signals # --- HOME-X --- net home-x <= hm2_7i96s.0.inm.00.input-00-not # --- HOME-Y --- net home-y <= hm2_7i96s.0.inm.00.input-01-not # --- HOME-Y2 --- net home-y2 <= hm2_7i96s.0.inm.00.input-02-not # --- HOME-Z --- net home-z <= hm2_7i96s.0.inm.00.input-03-not # --- ESTOP-EXT --- net estop-ext <= hm2_7i96s.0.inm.00.input-06 # --- PROBE-IN --- net probe-in <= hm2_7i96s.0.inm.00.input-07 net probe-usb-in <= hm2_7i96s.0.inm.00.input-04 net probe-in => or2.0.in0 net probe-usb-in => or2.0.in1 net probe-merge or2.0.out net probe-merge motion.probe-input #******************* # AXIS X JOINT 0 #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 0.012700 net x-index-enable => pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # Step Gen signals/setup setp hm2_7i96s.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i96s.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i96s.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i96s.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i96s.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7i96s.0.stepgen.00.step_type 0 setp hm2_7i96s.0.stepgen.00.control-type 1 setp hm2_7i96s.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i96s.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output => hm2_7i96s.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i96s.0.stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_7i96s.0.stepgen.00.enable # ---setup home / limit switch signals--- net home-x => joint.0.home-sw-in net x-neg-limit => joint.0.neg-lim-sw-in net x-pos-limit => joint.0.pos-lim-sw-in #******************* # AXIS Y JOINT 1 #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y.maxerror 0.012700 net y-index-enable => pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup setp hm2_7i96s.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i96s.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i96s.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i96s.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i96s.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7i96s.0.stepgen.01.step_type 0 setp hm2_7i96s.0.stepgen.01.control-type 1 setp hm2_7i96s.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i96s.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-output => hm2_7i96s.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i96s.0.stepgen.01.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => hm2_7i96s.0.stepgen.01.enable # ---setup home / limit switch signals--- net home-y => joint.1.home-sw-in net y-neg-limit => joint.1.neg-lim-sw-in net y-pos-limit => joint.1.pos-lim-sw-in #******************* # Tandem AXIS Y2 JOINT 2 #******************* setp pid.y2.Pgain [JOINT_2]P setp pid.y2.Igain [JOINT_2]I setp pid.y2.Dgain [JOINT_2]D setp pid.y2.bias [JOINT_2]BIAS setp pid.y2.FF0 [JOINT_2]FF0 setp pid.y2.FF1 [JOINT_2]FF1 setp pid.y2.FF2 [JOINT_2]FF2 setp pid.y2.deadband [JOINT_2]DEADBAND setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.y2.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y2.maxerror 0.012700 net y2-index-enable => pid.y2.index-enable net y2-enable => pid.y2.enable net y2-pos-cmd => pid.y2.command net y2-pos-fb => pid.y2.feedback net y2-output <= pid.y2.output # Step Gen signals/setup for tandem axis setp hm2_7i96s.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i96s.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i96s.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i96s.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i96s.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7i96s.0.stepgen.02.step_type 0 setp hm2_7i96s.0.stepgen.02.control-type 1 setp hm2_7i96s.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i96s.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y2-pos-cmd <= joint.2.motor-pos-cmd net y2-vel-cmd <= joint.2.vel-cmd net y2-output => hm2_7i96s.0.stepgen.02.velocity-cmd net y2-pos-fb <= hm2_7i96s.0.stepgen.02.position-fb net y2-pos-fb => joint.2.motor-pos-fb net y2-enable <= joint.2.amp-enable-out net y2-enable => hm2_7i96s.0.stepgen.02.enable # ---setup home / limit switch signals--- net home-y2 => joint.2.home-sw-in net y2-neg-limit => joint.2.neg-lim-sw-in net y2-pos-limit => joint.2.pos-lim-sw-in #******************* # AXIS Z JOINT 3 #******************* setp pid.z.Pgain [JOINT_3]P setp pid.z.Igain [JOINT_3]I setp pid.z.Dgain [JOINT_3]D setp pid.z.bias [JOINT_3]BIAS setp pid.z.FF0 [JOINT_3]FF0 setp pid.z.FF1 [JOINT_3]FF1 setp pid.z.FF2 [JOINT_3]FF2 setp pid.z.deadband [JOINT_3]DEADBAND setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT setp pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 0.012700 net z-index-enable => pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup setp hm2_7i96s.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_7i96s.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_7i96s.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_7i96s.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_7i96s.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_7i96s.0.stepgen.03.step_type 0 setp hm2_7i96s.0.stepgen.03.control-type 1 setp hm2_7i96s.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_7i96s.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.3.motor-pos-cmd net z-vel-cmd <= joint.3.vel-cmd net z-output => hm2_7i96s.0.stepgen.03.velocity-cmd net z-pos-fb <= hm2_7i96s.0.stepgen.03.position-fb net z-pos-fb => joint.3.motor-pos-fb net z-enable <= joint.3.amp-enable-out net z-enable => hm2_7i96s.0.stepgen.03.enable # ---setup home / limit switch signals--- net home-z => joint.3.home-sw-in net z-neg-limit => joint.3.neg-lim-sw-in net z-pos-limit => joint.3.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable => pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---setup spindle control signals--- #net spindle-vel-cmd-rps <= spindle.0.speed-out-rps #net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs #net spindle-vel-cmd-rpm <= spindle.0.speed-out #net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs #net spindle-enable <= spindle.0.on #net spindle-cw <= spindle.0.forward #net spindle-ccw <= spindle.0.reverse #net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net axis-select-x halui.axis.x.select net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog net x-is-homed halui.joint.0.is-homed net axis-select-y halui.axis.y.select net jog-y-pos halui.axis.y.plus net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog net y-is-homed halui.joint.1.is-homed net y2-is-homed halui.joint.2.is-homed net axis-select-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.3.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on net jog-speed halui.axis.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-merge => 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-ext => iocontrol.0.emc-enable-in # ---manual tool change signals--- net tool-change-request <= iocontrol.0.tool-change net tool-change-confirmed => iocontrol.0.tool-changed net tool-number <= iocontrol.0.tool-prep-number # ---ignore tool prepare requests--- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared # ADDED for YL620A loadrt classicladder_rt numS32out=100 addf classicladder.0.refresh servo-thread loadusr classicladder --modmaster vfd.clp net spindle-on classicladder.0.in-00 spindle.0.on net spindle-brake classicladder.0.in-01 spindle.0.brake net spindle-forward classicladder.0.in-02 spindle.0.forward net spindle-reverse classicladder.0.in-03 spindle.0.reverse net spindle-cmd-rpm <= spindle.0.speed-out net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-cmd-rps <= spindle.0.speed-out-rps net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs classicladder.0.floatin-00