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