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9 Commits

Author SHA1 Message Date
radex e1723b6787 clean up 2021-05-16 15:23:35 +02:00
radex d534bdc8c0 Update pncconfs 2021-05-16 15:19:03 +02:00
radex 0bb007a223 2021-05-16 2021-05-16 15:18:32 +02:00
radex 6c52b55d0f 2020-01 2021-05-16 15:17:40 +02:00
radex f8f5a84080 2019-01-07 (2) 2021-05-16 15:16:32 +02:00
radex 108c7309bd 2019-01-07 2021-05-16 15:15:55 +02:00
radex 035a5e4b73 Add ORAC config 2021-05-16 15:14:35 +02:00
radex 75a6406cb0 2016-12-17 2021-05-16 15:14:07 +02:00
radex 319b33995c 2016-12-11 2021-05-16 15:12:51 +02:00
39 changed files with 11376 additions and 0 deletions

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BP.desktop Executable file
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[Desktop Entry]
Version=1.0
Terminal=false
Name=BP
Exec=linuxcnc /home/bridgeport/linuxcnc/configs/BridgeportSeries1/BridgeportSeries1.ini
Type=Application
Comment=Desktop Launcher for LinuxCNC config made by PNCconf
Icon=/usr/share/linuxcnc/linuxcncicon.png

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ORAC.desktop Normal file
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[Desktop Entry]
Version=1.0
Terminal=false
Name=ORAC
Exec=linuxcnc /home/enleth/linuxcnc/configs/ORAC/ORAC.ini
Type=Application
Comment=Desktop Launcher for LinuxCNC config made by PNCconf
Icon=/usr/share/linuxcnc/linuxcncicon.png

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# Generated by PNCconf at Tue Dec 20 17:18:29 2016
# 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_pci config=" num_encoders=3 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt classicladder_rt numPhysInputs=50 numPhysOutputs=50 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
addf hm2_5i25.0.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 classicladder.0.refresh servo-thread
addf hm2_5i25.0.write servo-thread
# external output signals
#*******************
# 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
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
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net all-home => 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
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net all-home => 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
setp pid.z.error-previous-target true
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
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net all-home => 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
#*******************
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 => 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 <= 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
#******************************
# 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
# ---jog button signals---
sets jog-speed 1000.000000
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
net din-00 => motion.digital-in-00
net din-02 => motion.digital-in-02
net din-03 => motion.digital-in-03
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => 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
# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui custom.clp

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# Generated by PNCconf at Tue Dec 20 17:18:28 2016
If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = BridgeportSeries1
DEBUG = 0
[RS274NGC]
SUBROUTINE_PATH = /usr/share/linuxcnc/ncfiles/ngcgui_lib:/usr/share/linuxcnc/ncfiles/ngcgui_lib/utilitysubs
USER_M_PATH = /usr/share/linuxcnc/ncfiles/ngcgui_lib/mfiles
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/enleth/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.666667
MAX_LINEAR_VELOCITY = 83.33
MIN_LINEAR_VELOCITY = 1.000000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
TKPKG = Ngcgui 1.0
#TKPKG = Ngcguitt 1.0
# TTT = truetype-tracer
# TTT_PREAMBLE = in_std.ngc
EMBED_TAB_NAME = Conversational
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_PREAMBLE = in_std.ngc
NGCGUI_SUBFILE = arc1.ngc
NGCGUI_SUBFILE = arc2.ngc
NGCGUI_SUBFILE = helix.ngc
NGCGUI_SUBFILE = hole_circle.ngc
NGCGUI_SUBFILE = simp.ngc
NGCGUI_SUBFILE = xyz.ngc
NGCGUI_SUBFILE = iquad.ngc
NGCGUI_SUBFILE = oquad.ngc
# NGCGUI_SUBFILE = db25.ngc
NGCGUI_SUBFILE = ihex.ngc
NGCGUI_SUBFILE = ohex.ngc
NGCGUI_SUBFILE = gosper.ngc
NGCGUI_SUBFILE = slot.ngc
NGCGUI_SUBFILE = qpocket.ngc
[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=5i25
[HAL]
HALUI = halui
HALFILE = BridgeportSeries1.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 = 8.33
MAX_LINEAR_VELOCITY = 83.33
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 445.0
FERROR = 0.1
MIN_FERROR = 0.5
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 45.0
P = 7.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.15
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 0.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -4.0
MAX_LIMIT = 450.0
HOME_OFFSET = 450.000000
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = -3
HOME_FINAL_VEL = 0.000000
HOME_IS_SHARED = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 285.0
FERROR = 0.1
MIN_FERROR = 0.7
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 30.0
P = 7.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.15
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 0.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -5.0
MAX_LIMIT = 290.0
HOME_OFFSET = 290.000000
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -3
HOME_FINAL_VEL = 0.000000
HOME_IS_SHARED = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.1
MIN_FERROR = 1
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 75.0
P = 7.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.15
FF2 = 0.025
BIAS = 0.0
DEADBAND = 0.005
MAX_OUTPUT = 0.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -118.0
MAX_LIMIT = 8.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = -3
HOME_FINAL_VEL = 0.000000
HOME_IS_SHARED = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2000.0

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(ngcgui: FEATURE 200107:15.38.40)
(ngcgui: files: </usr/share/linuxcnc/ncfiles/ngcgui_lib/utilitysubs/in_std.ngc /usr/share/linuxcnc/ncfiles/ngcgui_lib/simp.ngc >)
(ngcgui: feature line added) #<_feature:> = 0
(ngcgui: preamble file: /usr/share/linuxcnc/ncfiles/ngcgui_lib/utilitysubs/in_std.ngc)
g17 (xy plane)
g20 (inches)
g40 (cancel cutter radius compensation)
g49 (cancel tool lengthoffset)
g90 (absolute distance mode)
g94 (units/min feedrate)
g54 (Coordinate system 1 default)
#<tol> = 0.001
g64 p#<tol> (path control stop)
(ngcgui: call subroutine file: /usr/share/linuxcnc/ncfiles/ngcgui_lib/simp.ngc)
(ngcgui: positional parameters:)
( #1 = ra = 2)
( #2 = radius_b = 1)
( #3 = feedrate = 100)
o<simp> call [2][1][100]
(ngcgui: m2 line added) m2 (g54 activated)

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THREAD servo-thread
MAXCHAN 1
HMULT 1
HZOOM 9
HPOS 3.832427e-01
CHAN 2
PIN axis.0.f-error
VSCALE 0
VPOS 0.500000
VOFF 0.000000e+00
CHOFF
CHAN 3
PIN axis.0.f-error-lim
VSCALE 0
VPOS 0.500000
VOFF 0.000000e+00
CHOFF
CHAN 4
SIG x-pos-cmd
VSCALE 0
VPOS 0.500000
VOFF 0.000000e+00
CHOFF
CHAN 1
PIN hm2_5i25.0.gpio.029.in
VSCALE 0
VPOS 0.466667
VOFF 0.000000e+00
TMODE 1
RMODE 0

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_FILES_CLASSICLADDER
_FILE-rung_2.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=5
#NEXTRUNG=6
1-0-50/3 , 2-0-50/10 , 2-0-50/11 , 1-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/3
2-0-50/0 , 9-0-50/21 , 9-0-50/22 , 9-0-50/23 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/3
2-0-50/26 , 2-0-50/27 , 1-0-50/0 , 1-0-50/28 , 9-0-50/0 , 9-0-50/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/9 , 0-1-0/0
0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 1-1-50/25 , 0-1-50/12 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 99-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 1-1-50/24 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 1-1-50/12 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_2.csv
_FILE-timers_iec.csv
2,1,2
2,2,0
2,2,0
2,2,1
2,2,1
2,2,0
2,2,0
2,2,0
2,2,0
2,2,1
_/FILE-timers_iec.csv
_FILE-general.txt
PERIODIC_REFRESH=1
SIZE_NBR_RUNGS=100
SIZE_NBR_BITS=50
SIZE_NBR_WORDS=50
SIZE_NBR_TIMERS=10
SIZE_NBR_MONOSTABLES=10
SIZE_NBR_COUNTERS=10
SIZE_NBR_TIMERS_IEC=10
SIZE_NBR_PHYS_INPUTS=50
SIZE_NBR_PHYS_OUTPUTS=50
SIZE_NBR_ARITHM_EXPR=100
SIZE_NBR_SECTIONS=10
SIZE_NBR_SYMBOLS=200
_/FILE-general.txt
_FILE-rung_4.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=1
#NEXTRUNG=0
1-0-50/20 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/1 , 50-0-60/20
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
1-0-50/21 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/2 , 50-0-60/21
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_4.csv
_FILE-ioconf.csv
#VER=1.0
_/FILE-ioconf.csv
_FILE-rung_5.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=0
#NEXTRUNG=2
1-0-50/22 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/5 , 50-0-60/22
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
1-0-50/23 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/6 , 50-0-60/23
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_5.csv
_FILE-rung_0.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=4
#NEXTRUNG=5
1-0-50/2 , 2-0-50/10 , 2-0-50/12 , 1-0-0/2 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2
2-0-50/0 , 9-0-50/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/2
2-0-50/28 , 9-0-50/0 , 1-0-50/0 , 1-0-50/27 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/4 , 0-1-0/0 , 0-0-60/3
0-0-50/3 , 0-0-0/0 , 0-1-50/11 , 1-1-50/22 , 0-1-0/0 , 0-0-0/0 , 99-1-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-60/3
0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 1-1-50/23 , 0-1-0/0 , 0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 1-1-50/11 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_0.csv
_FILE-rung_3.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=-1
#NEXTRUNG=-1
1-0-50/5 , 1-0-50/7 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-50/5
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 50-1-60/7
2-0-50/5 , 9-0-0/0 , 1-0-50/7 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/6
1-0-50/6 , 0-1-0/0 , 0-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
2-0-50/7 , 99-0-0/0 , 13-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_3.csv
_FILE-symbols.csv
#VER=1.0
%I1,x-ena-req,
%I2,y-ena-req,
%I3,z-ena-req,
%I10,x-homing,
%I11,y-homing,
%I12,z-homing,
%I0,is-manual,
%I4,%I4,
%I5,s-on,
%I6,s-brake,
%I7,is-enable,
%I8,%I8,
%I9,%I9,
%I13,%I13,
%I14,%I14,
%I15,%I15,
%I16,%I16,
%I17,%I17,
%I18,%I18,
%I19,%I19,
%I20,bpj-x-pos,
%I21,bpj-x-neg,
%I22,bpj-y-pos,
%I23,bpj-y-neg,
%I24,bpj-z-neg,
%I25,bpj-z-pos,
%I26,jog-x-act,
%I27,jog-y-act,
%I28,jog-z-act,
%I29,%I29,
%I30,%I30,
%I31,%I31,
%I32,%I32,
%I33,%I33,
%I34,%I34,
%I35,%I35,
%I36,%I36,
%I37,%I37,
%I38,%I38,
%I39,%I39,
%I40,%I40,
%I41,%I41,
%I42,%I42,
%I43,%I43,
%I44,%I44,
%I45,%I45,
%I46,%I46,
%I47,%I47,
%I48,%I48,
%I49,%I49,
%Q0,%Q0,
%Q1,bp-x-ena,
%Q2,bp-y-ena,
%Q3,bp-z-ena,
%Q4,%Q4,
%Q5,s-start,
%Q6,s-stop,
%Q7,s-strobe,
%Q8,%Q8,
%Q9,%Q9,
%Q10,%Q10,
%Q11,%Q11,
%Q12,%Q12,
%Q13,%Q13,
%Q14,%Q14,
%Q15,%Q15,
%Q16,%Q16,
%Q17,%Q17,
%Q18,%Q18,
%Q19,%Q19,
%Q20,jog-x-pos,
%Q21,jog-x-neg,
%Q22,jog-y-pos,
%Q23,jog-y-neg,
%Q24,jog-z-neg,
%Q25,jog-z-pos,
%Q26,%Q26,
%Q27,%Q27,
%Q28,%Q28,
%Q29,%Q29,
%Q30,%Q30,
%Q31,%Q31,
%Q32,%Q32,
%Q33,%Q33,
%Q34,%Q34,
%Q35,%Q35,
%Q36,%Q36,
%Q37,%Q37,
%Q38,%Q38,
%Q39,%Q39,
%Q40,%Q40,
%Q41,%Q41,
%Q42,%Q42,
%Q43,%Q43,
%Q44,%Q44,
%Q45,%Q45,
%Q46,%Q46,
%Q47,%Q47,
%Q48,%Q48,
%Q49,%Q49,
%B0,jog-xy-r,
%B1,jog-x-int,
%B2,jog-y-int,
%B3,jog-z-int,
%B4,%B4,
%B5,%B5,
%B6,%B6,
%B7,%B7,
%B8,%B8,
%B9,%B9,
%B10,%B10,
%B11,%B11,
%B12,%B12,
%B13,%B13,
%B14,%B14,
%B15,%B15,
%B16,%B16,
%B17,%B17,
%B18,%B18,
%B19,%B19,
%B20,%B20,
%B21,%B21,
%B22,%B22,
%B23,%B23,
%B24,%B24,
%B25,%B25,
%B26,%B26,
%B27,%B27,
%B28,%B28,
%B29,%B29,
%B30,%B30,
%B31,%B31,
%B32,%B32,
%B33,%B33,
%B34,%B34,
%B35,%B35,
%B36,%B36,
%B37,%B37,
%B38,%B38,
%B39,%B39,
%B40,%B40,
%B41,%B41,
%B42,%B42,
%B43,%B43,
%B44,%B44,
%B45,%B45,
%B46,%B46,
%B47,%B47,
%B48,%B48,
%B49,%B49,
%W0,%W0,
%W1,%W1,
%W2,%W2,
%W3,%W3,
%W4,%W4,
%W5,%W5,
%W6,%W6,
%W7,%W7,
%W8,%W8,
%W9,%W9,
%W10,%W10,
%W11,%W11,
%W12,%W12,
%W13,%W13,
%W14,%W14,
%W15,%W15,
%W16,%W16,
%W17,%W17,
%W18,%W18,
%W19,%W19,
%W20,%W20,
%W21,%W21,
%W22,%W22,
%W23,%W23,
%W24,%W24,
%W25,%W25,
%W26,%W26,
%W27,%W27,
%W28,%W28,
%W29,%W29,
%W30,%W30,
%W31,%W31,
%W32,%W32,
%W33,%W33,
%W34,%W34,
%W35,%W35,
%W36,%W36,
%W37,%W37,
%W38,%W38,
%W39,%W39,
%W40,%W40,
%W41,%W41,
%W42,%W42,
%W43,%W43,
%W44,%W44,
%W45,%W45,
%W46,%W46,
%W47,%W47,
%W48,%W48,
%W49,%W49,
_/FILE-symbols.csv
_FILE-counters.csv
0
0
0
0
0
0
0
0
0
0
_/FILE-counters.csv
_FILE-modbusioconf.csv
#VER=1.0
_/FILE-modbusioconf.csv
_FILE-com_params.txt
MODBUS_MASTER_SERIAL_PORT=
MODBUS_MASTER_SERIAL_SPEED=9600
MODBUS_MASTER_SERIAL_DATABITS=8
MODBUS_MASTER_SERIAL_STOPBITS=1
MODBUS_MASTER_SERIAL_PARITY=0
MODBUS_ELEMENT_OFFSET=0
MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
MODBUS_MASTER_TIME_INTER_FRAME=100
MODBUS_MASTER_TIME_OUT_RECEIPT=500
MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
MODBUS_DEBUG_LEVEL=0
MODBUS_MAP_COIL_READ=0
MODBUS_MAP_COIL_WRITE=0
MODBUS_MAP_INPUT=0
MODBUS_MAP_HOLDING=0
MODBUS_MAP_REGISTER_READ=0
MODBUS_MAP_REGISTER_WRITE=0
_/FILE-com_params.txt
_FILE-arithmetic_expressions.csv
#VER=2.0
_/FILE-arithmetic_expressions.csv
_FILE-sequential.csv
#VER=1.0
_/FILE-sequential.csv
_FILE-rung_1.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=-1
#NEXTRUNG=4
1-0-50/1 , 2-0-50/11 , 2-0-50/12 , 1-0-0/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/1
2-0-50/0 , 9-0-50/0 , 9-0-50/0 , 9-0-50/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/1
2-0-50/28 , 9-0-50/0 , 1-0-50/0 , 1-0-50/26 , 9-0-50/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/3 , 0-1-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-1-50/10 , 1-1-50/20 , 9-0-0/0 , 9-0-0/0 , 99-1-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-1-50/10 , 1-1-50/21 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 1-1-50/10 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_1.csv
_FILE-monostables.csv
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-monostables.csv
_FILE-sections.csv
#VER=1.0
#NAME000=spindle
#NAME001=axis-enable
000,0,-1,3,3,0
001,0,-1,1,6,0
_/FILE-sections.csv
_FILE-rung_6.csv
#VER=2.0
#LABEL=
#COMMENT=
#PREVRUNG=2
#NEXTRUNG=-1
1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/7 , 50-0-60/25
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
1-0-50/24 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/8 , 50-0-60/24
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
_/FILE-rung_6.csv
_FILE-timers.csv
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
1,0
_/FILE-timers.csv
_/FILES_CLASSICLADDER

View File

@ -0,0 +1,69 @@
# --- AXIS-ENABLE ---
net x-enable classicladder.0.in-01
net y-enable classicladder.0.in-02
net z-enable classicladder.0.in-03
# --- SPINDLE ---
net spindle-enable classicladder.0.in-05
net spindle-brake classicladder.0.in-06
net x-homing axis.0.homing => classicladder.0.in-10
net y-homing axis.1.homing => classicladder.0.in-11
net z-homing axis.2.homing => classicladder.0.in-12
net x-jogging axis.0.kb-jog-active => classicladder.0.in-26
net y-jogging axis.1.kb-jog-active => classicladder.0.in-27
net z-jogging axis.2.kb-jog-active => classicladder.0.in-28
net mode-manual halui.mode.is-manual => classicladder.0.in-00
net machine-is-enabled classicladder.0.in-07
# external input signals
# --- ALL-HOME ---
net all-home <= hm2_5i25.0.7i77.0.0.input-01
# --- CYCLE-START ---
net cycle-start <= hm2_5i25.0.7i77.0.0.input-08
# --- ABORT ---
net abort <= hm2_5i25.0.7i77.0.0.input-09-not
net jog-x-pos classicladder.0.out-20
net jog-x-neg classicladder.0.out-21
net jog-y-pos classicladder.0.out-22
net jog-y-neg classicladder.0.out-23
net jog-z-neg classicladder.0.out-24
net jog-z-pos classicladder.0.out-25
# Machine I/O
#net bp-jog-inhibit-out hm2_5i25.0.7i77.0.0.output-08 <= classicladder.0.out-00
net bp-x-enable-out hm2_5i25.0.7i77.0.0.output-09 <= classicladder.0.out-01
net bp-y-enable-out hm2_5i25.0.7i77.0.0.output-10 <= classicladder.0.out-02
net bp-z-enable-out hm2_5i25.0.7i77.0.0.output-11 <= classicladder.0.out-03
net bp-jog-x-pos classicladder.0.in-20 <= hm2_5i25.0.7i77.0.0.input-24
net bp-jog-x-neg classicladder.0.in-21 <= hm2_5i25.0.7i77.0.0.input-25
net bp-jog-y-pos classicladder.0.in-22 <= hm2_5i25.0.7i77.0.0.input-26
net bp-jog-y-neg classicladder.0.in-23 <= hm2_5i25.0.7i77.0.0.input-27
net bp-jog-z-neg classicladder.0.in-24 <= hm2_5i25.0.7i77.0.0.input-28
net bp-jog-z-pos classicladder.0.in-25 <= hm2_5i25.0.7i77.0.0.input-29
net bp-spindle-start-out hm2_5i25.0.7i77.0.0.output-12 <= classicladder.0.out-05
net bp-spindle-stop-out hm2_5i25.0.7i77.0.0.output-13 <= classicladder.0.out-06
net bp-m-strobe-out hm2_5i25.0.7i77.0.0.output-14 <= classicladder.0.out-07
net bp-aux-verification-in <= hm2_5i25.0.7i77.0.0.input-00
#net bp-home-shared-in <= hm2_5i25.0.7i77.0.0.input-01
net bp-handwheels-engaged-in <= hm2_5i25.0.7i77.0.0.input-02
net bp-rapid-engage-in <= hm2_5i25.0.7i77.0.0.input-30
#net bp-cycle-start-in <= hm2_5i25.0.7i77.0.0.input-08
#net bp-cycle-abort-in <= hm2_5i25.0.7i77.0.0.input-09

View File

@ -0,0 +1,2 @@
# Include your custom_gvcp HAL commands here
# This file will not be overwritten when you run PNCconf again

View File

@ -0,0 +1,2 @@
# Include your custom_postgui HAL commands here
# This file will not be overwritten when you run PNCconf again

View File

@ -0,0 +1,119 @@
5161 0.000000
5162 0.000000
5163 0.000000
5164 0.000000
5165 0.000000
5166 0.000000
5167 0.000000
5168 0.000000
5169 0.000000
5181 0.000000
5182 0.000000
5183 0.000000
5184 0.000000
5185 0.000000
5186 0.000000
5187 0.000000
5188 0.000000
5189 0.000000
5210 0.000000
5211 0.000000
5212 0.000000
5213 0.000000
5214 0.000000
5215 0.000000
5216 0.000000
5217 0.000000
5218 0.000000
5219 0.000000
5220 1.000000
5221 306.850013
5222 150.082333
5223 -105.517550
5224 0.000000
5225 0.000000
5226 0.000000
5227 0.000000
5228 0.000000
5229 0.000000
5230 0.000000
5241 404.514033
5242 249.344933
5243 -100.239267
5244 0.000000
5245 0.000000
5246 0.000000
5247 0.000000
5248 0.000000
5249 0.000000
5250 0.000000
5261 0.000000
5262 0.000000
5263 0.000000
5264 0.000000
5265 0.000000
5266 0.000000
5267 0.000000
5268 0.000000
5269 0.000000
5270 0.000000
5281 0.000000
5282 0.000000
5283 0.000000
5284 0.000000
5285 0.000000
5286 0.000000
5287 0.000000
5288 0.000000
5289 0.000000
5290 0.000000
5301 0.000000
5302 0.000000
5303 0.000000
5304 0.000000
5305 0.000000
5306 0.000000
5307 0.000000
5308 0.000000
5309 0.000000
5310 0.000000
5321 0.000000
5322 0.000000
5323 0.000000
5324 0.000000
5325 0.000000
5326 0.000000
5327 0.000000
5328 0.000000
5329 0.000000
5330 0.000000
5341 0.000000
5342 0.000000
5343 0.000000
5344 0.000000
5345 0.000000
5346 0.000000
5347 0.000000
5348 0.000000
5349 0.000000
5350 0.000000
5361 0.000000
5362 0.000000
5363 0.000000
5364 0.000000
5365 0.000000
5366 0.000000
5367 0.000000
5368 0.000000
5369 0.000000
5370 0.000000
5381 0.000000
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@ -0,0 +1,3 @@
# These files are loaded post GUI, in the order they appear
source custom_postgui.hal

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@ -0,0 +1,119 @@
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@ -0,0 +1,2 @@
# Include your shutdown HAL commands here
# This file will not be overwritten when you run PNCconf again

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@ -0,0 +1,8 @@
T0 P0 ;
T1 P1 Y-29.176000 Z-17.434100 ;
T2 P2 Z+54.090900 ;
T3 P3 ;
T10 P10 Z-106.805000 ;added 20170529
T11 P11 Z-46.259700 ;added 20170529
T12 P12 Z-64.735700 ;added 20170529
T4 P4 ;Added 20200114

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@ -0,0 +1,7 @@
T0 P0 ;
T1 P1 Z-17.434125 ;
T2 P2 Z+54.090875 ;
T3 P3 ;
T10 P10 Z-106.805000 ;added 20170529
T11 P11 Z-46.259700 ;added 20170529
T12 P12 Z-64.735700 ;added 20170529

315
configs/ORAC/ORAC.hal Normal file
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@ -0,0 +1,315 @@
# 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