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LinuxCNC-PrintNC/printnc/printnc.hal
tdehaeze 476f1d9656 Combine two probes 
Add some code (got from here: https://forum.linuxcnc.org/38-general-linuxcnc-questions/35861-tool-length-sensor-and-touch-probe-with-mesa7i76e) to combine to the probes into one.

Still have to check:
- the correct input for "probe-usb" and if it should be inverted or not
2024-07-31 19:14:42 +02:00

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# 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
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