Kod: Zaznacz cały

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=20
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=2 sserial_port_0=00xxxx"
setp    hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt mux16 names=soincr
# load a near component and attach it to a thread
loadrt near
addf near.0 servo-thread

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.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_5i25.0.write         servo-thread
addf soincr                   servo-thread


loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
loadusr classicladder --nogui custom.clp
addf classicladder.0.refresh  servo-thread

# external output signals

# --- COOLANT-FLOOD ---
net coolant-flood hm2_5i25.0.7i76.0.0.output-03

# --- COOLANT-MIST ---
net coolant-mist hm2_5i25.0.7i76.0.0.output-04

# --- SPINDLE-CW ---
net spindle-cw hm2_5i25.0.7i76.0.0.output-06

# --- SPINDLE-CCW ---
net spindle-ccw hm2_5i25.0.7i76.0.0.output-05

# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i76.0.0.output-07

# external input signals


# --- HOME-X ---
net max-home-x     <=  hm2_5i25.0.7i76.0.0.input-00

# --- MIN-X ---
net min-x     <=  hm2_5i25.0.7i76.0.0.input-01

# --- HOME-Z ---
net max-home-z     <=  hm2_5i25.0.7i76.0.0.input-02

#*******************
#  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_5i25.0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [AXIS_0]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [AXIS_0]STEP_SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     1
setp   hm2_5i25.0.stepgen.00.maxaccel         [AXIS_0]STEPGEN_MAXACCEL
setp   hm2_5i25.0.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_5i25.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_5i25.0.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_5i25.0.stepgen.00.enable

# ---setup home / limit switch signals---

net max-home-x     =>  axis.0.home-sw-in
net min-x     =>  axis.0.neg-lim-sw-in
net x-pos-limit     =>  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_5i25.0.stepgen.01.dirsetup        [AXIS_2]DIRSETUP
setp   hm2_5i25.0.stepgen.01.dirhold         [AXIS_2]DIRHOLD
setp   hm2_5i25.0.stepgen.01.steplen         [AXIS_2]STEPLEN
setp   hm2_5i25.0.stepgen.01.stepspace       [AXIS_2]STEPSPACE
setp   hm2_5i25.0.stepgen.01.position-scale  [AXIS_2]STEP_SCALE
setp   hm2_5i25.0.stepgen.01.step_type        0
setp   hm2_5i25.0.stepgen.01.control-type     1
setp   hm2_5i25.0.stepgen.01.maxaccel         [AXIS_2]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.01.maxvel           [AXIS_2]STEPGEN_MAXVEL
setp    hm2_5i25.0.gpio.002.invert_output true   #modification sens


# ---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_5i25.0.stepgen.01.velocity-cmd
net z-pos-fb     <= hm2_5i25.0.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_5i25.0.stepgen.01.enable

# ---setup home / limit switch signals---

net max-home-z => axis.2.home-sw-in
net max-home-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_5i25.0.7i76.0.0.spinout-minlim    [SPINDLE_9]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i76.0.0.spinout-maxlim    [SPINDLE_9]OUTPUT_MAX_LIMIT
setp   hm2_5i25.0.7i76.0.0.spinout-scalemax  [SPINDLE_9]OUTPUT_SCALE

net spindle-vel-cmd-rpm-abs     => hm2_5i25.0.7i76.0.0.spinout
net spindle-enable      => hm2_5i25.0.7i76.0.0.spinena
net spindle-ccw         => hm2_5i25.0.7i76.0.0.spindir

# ---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


# ---Setup spindle at speed signals---

net spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb         =>  near.0.in2
net spindle-at-speed       <=  near.0.out
setp near.0.scale 1.000000
setp near.0.difference 3.333333

# Spindle encoder
# ----------------

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.00.counter-mode 1
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  100

net spindle-revs              <=  hm2_5i25.0.encoder.00.position
net spindle-vel-fb            <=  hm2_5i25.0.encoder.00.velocity
net spindle-index-enable     <=>  hm2_5i25.0.encoder.00.index-enable


#******************************
# 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