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bridgeport/configs/ORAC/ORAC.hal

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# Generated by PNCconf at Tue Apr 18 20:41:04 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="firmware=hm2/7i76/7i76e.BIT num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
addf hm2_7i76e.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.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf scale.spindle servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
# --- SPINDLE-CW ---
net spindle-cw hm2_7i76e.0.7i76.0.0.output-08
# --- SPINDLE-CCW ---
net spindle-ccw hm2_7i76e.0.7i76.0.0.output-09
# --- SPINDLE-BRAKE ---
net spindle-brake hm2_7i76e.0.7i76.0.0.output-10
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_7i76e.0.7i76.0.0.output-11
# external input signals
# --- SPINDLE-MANUAL-CW ---
net spindle-manual-cw <= hm2_7i76e.0.7i76.0.0.input-00
# --- SPINDLE-MANUAL-CCW ---
net spindle-manual-ccw <= hm2_7i76e.0.7i76.0.0.input-01
# --- SPINDLE-MANUAL-STOP ---
net spindle-manual-stop <= hm2_7i76e.0.7i76.0.0.input-02
# --- CYCLE-START ---
net cycle-start <= hm2_7i76e.0.7i76.0.0.input-03
# --- ABORT ---
net abort <= hm2_7i76e.0.7i76.0.0.input-04
# --- JOG-Z-NEG ---
net jog-z-neg <= hm2_7i76e.0.7i76.0.0.input-20
# --- JOG-Z-POS ---
net jog-z-pos <= hm2_7i76e.0.7i76.0.0.input-21
# --- JOG-X-NEG ---
net jog-x-neg <= hm2_7i76e.0.7i76.0.0.input-22
# --- JOG-X-POS ---
net jog-x-pos <= hm2_7i76e.0.7i76.0.0.input-23
# --- MIN-HOME-Z ---
net min-home-z <= hm2_7i76e.0.7i76.0.0.input-24
# --- MAX-Z ---
net max-z <= hm2_7i76e.0.7i76.0.0.input-25
# --- BOTH-HOME-X ---
net both-home-x <= hm2_7i76e.0.7i76.0.0.input-26-not
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i76e.0.7i76.0.0.input-27-not
#*******************
# 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
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net both-home-x => axis.0.home-sw-in
net both-home-x => axis.0.neg-lim-sw-in
net both-home-x => axis.0.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
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [AXIS_2]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [AXIS_2]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [AXIS_2]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [AXIS_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [AXIS_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output <= hm2_7i76e.0.stepgen.01.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-z => axis.2.home-sw-in
net min-home-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]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-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentionmeter output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd-rpm-abs => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---Encoder feedback signals/setup---
setp hm2_7i76e.0.encoder.00.counter-mode 1
setp hm2_7i76e.0.encoder.00.filter 1
setp hm2_7i76e.0.encoder.00.index-invert 0
setp hm2_7i76e.0.encoder.00.index-mask 0
setp hm2_7i76e.0.encoder.00.index-mask-invert 0
setp hm2_7i76e.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_7i76e.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i76e.0.encoder.00.velocity
net spindle-index-enable <=> hm2_7i76e.0.encoder.00.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-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
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-rps => 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 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.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-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
# ---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
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