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Wabeco-D6000.hal
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Wabeco-D6000.hal
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# Generated by PNCconf at Sat May 8 21:41:42 2021
# Using LinuxCNC version: 2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" 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.a,pid.s
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.a.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs 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
# external input signals
# --- HOME-Z ---
net home-z <= hm2_7i76e.0.7i76.0.0.input-01
# --- HOME-X ---
net home-x <= hm2_7i76e.0.7i76.0.0.input-00
#*******************
# 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_7i76e.0.stepgen.01.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_0]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 [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.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_7i76e.0.stepgen.01.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.01.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 Z JOINT 1
#*******************
setp pid.z.Pgain [JOINT_1]P
setp pid.z.Igain [JOINT_1]I
setp pid.z.Dgain [JOINT_1]D
setp pid.z.bias [JOINT_1]BIAS
setp pid.z.FF0 [JOINT_1]FF0
setp pid.z.FF1 [JOINT_1]FF1
setp pid.z.FF2 [JOINT_1]FF2
setp pid.z.deadband [JOINT_1]DEADBAND
setp pid.z.maxoutput [JOINT_1]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_7i76e.0.stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_1]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 [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-output <= hm2_7i76e.0.stepgen.00.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net z-pos-fb => joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net home-z => joint.1.home-sw-in
net z-neg-limit => joint.1.neg-lim-sw-in
net z-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS A JOINT 3
#*******************
setp pid.a.Pgain [JOINT_2]P
setp pid.a.Igain [JOINT_2]I
setp pid.a.Dgain [JOINT_2]D
setp pid.a.bias [JOINT_2]BIAS
setp pid.a.FF0 [JOINT_2]FF0
setp pid.a.FF1 [JOINT_2]FF1
setp pid.a.FF2 [JOINT_2]FF2
setp pid.a.deadband [JOINT_2]DEADBAND
setp pid.a.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.a.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.a.maxerror 0.012700
# net a-index-enable <=> pid.a.index-enable
# net a-enable => pid.a.enable
# net a-pos-cmd => pid.a.command
# net a-pos-fb => pid.a.feedback
# net a-output <= pid.a.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 0
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
# net a-pos-cmd <= joint.2.motor-pos-cmd
# net a-vel-cmd <= joint.2.vel-cmd
# net a-output <= hm2_7i76e.0.stepgen.02.velocity-cmd
# net a-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
# net a-pos-fb => joint.2.motor-pos-fb
# net a-enable <= joint.2.amp-enable-out
# net a-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
# net home-a => joint.2.home-sw-in
# net a-neg-limit => joint.2.neg-lim-sw-in
# net a-pos-limit => joint.2.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
# ---digital potentionmeter output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
net spindle-output => 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
# ---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-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.1.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-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-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadrt toolchanger
addf toolchanger servo-thread
net tool-change-request iocontrol.0.tool-change => halui.mdi-command-02 => toolchanger.tool-change
net tool-change-confirmed iocontrol.0.tool-changed <= toolchanger.tool-changed
net tool-number iocontrol.0.tool-prep-number => toolchanger.tool-requested
net tool-oldnumber iocontrol.0.tool-number => toolchanger.tool-current
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tc-position-cmd toolchanger.position-cmd => hm2_7i76e.0.stepgen.02.position-cmd
net tc-position-fb <= hm2_7i76e.0.stepgen.02.position-fb => toolchanger.position-fb
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in => toolchanger.enable => hm2_7i76e.0.stepgen.02.enable
net toolchanger-limit hm2_7i76e.0.7i76.0.0.input-02 => toolchanger.atc-limit
loadrt or2 count=1
loadrt and2 count=1
addf or2.0 servo-thread
addf and2.0 servo-thread
net x-homing or2.0.in0 <= joint.0.homing
net z-homing or2.0.in1 <= joint.1.homing
net axis-homing or2.0.out => toolchanger.axis-homing
net x-homed and2.0.in0 <= joint.0.homed
net z-homed and2.0.in1 <= joint.1.homed
net axis-homed and2.0.out => toolchanger.axis-homed
net tc-homed-set-tool toolchanger.homed => halui.mdi-command-00 => halui.mdi-command-01