230 lines
7.2 KiB
Plaintext
230 lines
7.2 KiB
Plaintext
#Real Time Modules
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loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
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loadrt hal_parport cfg="0 out"
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setp parport.0.reset-time 5000
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loadrt stepgen step_type=0,0,0,0,0 ctrl_type=p,p,p,p,v
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loadrt ilowpass count=1
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loadrt timedelay count=2
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loadrt or2 count=3
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loadrt xor2 count=2
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loadrt mux_generic config="bb2"
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loadrt dsmono count=1
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loadrt timedelta count=1
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addf parport.0.read base-thread
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addf stepgen.make-pulses base-thread
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addf parport.0.write base-thread
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addf parport.0.reset base-thread
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addf mux-gen.00 base-thread
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addf timedelta.0 base-thread
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addf stepgen.capture-position 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 stepgen.update-freq servo-thread
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addf dsmono.0 servo-thread
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#Pin Assignments
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net estop-out => parport.0.pin-01-out
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net xstep => parport.0.pin-02-out
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setp parport.0.pin-02-out-reset 1
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net xdir => parport.0.pin-03-out
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net ystep => parport.0.pin-04-out
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setp parport.0.pin-04-out-reset 1
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net ydir => parport.0.pin-05-out
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net zstep => parport.0.pin-06-out
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setp parport.0.pin-06-out-reset 1
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setp parport.0.pin-07-out-invert 1
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net zdir => parport.0.pin-07-out
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net astep => parport.0.pin-16-out
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net adir => parport.0.pin-17-out
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net estop-ext <= parport.0.pin-10-in
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net min-home-x <= parport.0.pin-11-in-not
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net min-home-y <= parport.0.pin-12-in-not
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net max-home-z <= parport.0.pin-13-in-not
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#Probe
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setp dsmono.0.deadtime-ns 50000000
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net probe-in <= parport.0.pin-15-in-not
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net probe-in => dsmono.0.in
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net probe-debounced <= dsmono.0.out
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net probe-debounced => motion.probe-input
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#X-Axis
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.0.steplen 1
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setp stepgen.0.stepspace 0
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setp stepgen.0.dirhold 36000
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setp stepgen.0.dirsetup 36000
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setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
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net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
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net xstep <= stepgen.0.step
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net xdir <= stepgen.0.dir
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net xenable joint.0.amp-enable-out => stepgen.0.enable
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net min-home-x => joint.0.home-sw-in
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net min-home-x => joint.0.neg-lim-sw-in
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#Y-Axis
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.1.steplen 1
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setp stepgen.1.stepspace 0
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setp stepgen.1.dirhold 36000
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setp stepgen.1.dirsetup 36000
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
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net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
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net ystep <= stepgen.1.step
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net ydir <= stepgen.1.dir
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net yenable joint.1.amp-enable-out => stepgen.1.enable
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net min-home-y => joint.1.home-sw-in
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net min-home-y => joint.1.neg-lim-sw-in
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#Z-Axis
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setp stepgen.2.position-scale [JOINT_2]SCALE
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setp stepgen.2.steplen 1
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setp stepgen.2.stepspace 0
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setp stepgen.2.dirhold 36000
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setp stepgen.2.dirsetup 36000
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setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
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net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
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net zstep <= stepgen.2.step
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net zdir <= stepgen.2.dir
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net zenable joint.2.amp-enable-out => stepgen.2.enable
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net max-home-z => joint.2.home-sw-in
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net max-home-z => joint.2.pos-lim-sw-in
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#A-Axis
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#Absolute
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setp stepgen.3.position-scale [JOINT_3]SCALE
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setp stepgen.3.steplen 1
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setp stepgen.3.stepspace 0
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setp stepgen.3.dirhold 36000
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setp stepgen.3.dirsetup 36000
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setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
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net astepAbs stepgen.3.step => mux-gen.00.in-bit-00
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net adir stepgen.3.dir
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net aenable joint.3.amp-enable-out => stepgen.3.enable
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net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
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net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
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net astep <= mux-gen.00.out-bit
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#Velocity
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setp stepgen.4.position-scale [JOINT_3]SCALE
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setp stepgen.4.steplen 1
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setp stepgen.4.stepspace 0
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setp stepgen.4.dirhold 36000
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setp stepgen.4.dirsetup 36000
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setp stepgen.4.maxaccel [JOINT_3]STEPGEN_MAXACCEL
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net spindle-1-enable <= spindle.1.on => mux-gen.00.sel-bit-00 stepgen.4.enable
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net spindle-1-cmd spindle.1.speed-out => stepgen.4.velocity-cmd
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net astepVel <= stepgen.4.step => mux-gen.00.in-bit-01
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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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#Toolchanger
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loadusr -W hal_manualtoolchange
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net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
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net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
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net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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#CNCExtension
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loadusr -Wn cncextension ./cncextension
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#Amp enable
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net amp-enable halui.machine.is-on => cncextension.wr0
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#Main Spindle Control
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net spindle-main-fwd spindle.0.forward
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net spindle-main-fwd => cncextension.ch0
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net spindle-main-fwd => cncextension.ch2
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net spindle-main-fwd => cncextension.opt
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addf timedelay.0 servo-thread
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setp timedelay.0.on-delay 10
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setp timedelay.0.off-delay 0
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net spindle-main-fwd => timedelay.0.in
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net spindle-on-timer <= timedelay.0.out
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addf timedelay.1 servo-thread
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setp timedelay.1.on-delay 10
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setp timedelay.1.off-delay 0
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net spindle-main-break spindle.0.brake => timedelay.1.in
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net spindle-off-timer <= timedelay.1.out
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addf or2.0 servo-thread
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net spindle-on-timer => or2.0.in0
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net spindle-off-timer => or2.0.in1
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net spindle-main-inhibit <= or2.0.out
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addf or2.1 servo-thread
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net spindle-1-enable => or2.1.in0
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net spindle-main-inhibit => or2.1.in1
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net spindle-inhibit <= or2.1.out
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net spindle-main-inhibit => spindle.0.at-speed
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net spindle-position => spindle.0.revs
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net spindle-axis-rpm => spindle.0.speed-in
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#MPG
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setp joint.0.jog-vel-mode 0
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setp axis.x.jog-vel-mode 0
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setp joint.1.jog-vel-mode 0
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setp axis.y.jog-vel-mode 0
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setp joint.2.jog-vel-mode 0
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setp axis.z.jog-vel-mode 0
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setp joint.0.jog-scale 0.0001
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setp axis.x.jog-scale 0.0001
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setp joint.1.jog-scale 0.0001
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setp axis.y.jog-scale 0.0001
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setp joint.2.jog-scale 0.00005
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setp axis.z.jog-scale 0.00005
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net x_enable cncextension.xEnable => axis.x.jog-enable
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net y_enable cncextension.yEnable => axis.y.jog-enable
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net z_enable cncextension.zEnable => axis.z.jog-enable
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net raw-encoder-counts <= cncextension.encoder
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addf ilowpass.0 servo-thread
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setp ilowpass.0.scale 1024
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setp ilowpass.0.gain 0.01
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net raw-encoder-counts => ilowpass.0.in
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net encoder-counts <= ilowpass.0.out
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net encoder-counts => axis.x.jog-counts
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net encoder-counts => axis.y.jog-counts
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net encoder-counts => axis.z.jog-counts
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#Collisionavoid
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loadusr -Wn collisionavoid ./collisionavoid
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net xpos-abs-cmd joint.0.pos-cmd => collisionavoid.xaxis
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net ypos-abs-cmd joint.1.pos-cmd => collisionavoid.yaxis
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net zpos-abs-cmd joint.2.pos-cmd => collisionavoid.zaxis
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net collision-stop collisionavoid.stop => halui.estop.activate
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#Autolevel
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loadusr -Wn compensation python3 compensation.py probe-results.txt cubic
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net xpos-abs-cmd => compensation.x-pos
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net ypos-abs-cmd => compensation.y-pos
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net zpos-abs-cmd => compensation.z-pos
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net eoffset-enable compensation.enable-out => axis.z.eoffset-enable
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net eoffset-scale compensation.scale => axis.z.eoffset-scale
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net eoffset-counts compensation.counts => axis.z.eoffset-counts
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net eoffset-clear compensation.clear => axis.z.eoffset-clear
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