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Biesse_Rover_342.hal
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# Generated by PNCconf at Mon May 8 15:27:52 2017
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=48
loadrt hostmot2
#loadrt hm2_spi spidev_path=/dev/spidev0.0 spidev_rate=32000
#loadrt hm2_rpspi spiclk_rate=60000 spiclk_rate_rd=29000
#loadrt hm2_rpspi spiclk_rate=63000 spiclk_rate_rd=33000
loadrt hm2_eth board_ip=192.168.1.121
loadrt classicladder_rt numRungs=200 numTimersIec=20 numPhysInputs=100 numPhysOutputs=100 numSections=10
setp hm2_7i93.0.pwmgen.pwm_frequency 24000
setp hm2_7i93.0.pwmgen.pdm_frequency 6000000
setp hm2_7i93.0.watchdog.timeout_ns 5000000
# set encoder filter frequency
# clock is 33MHz
# set divisor to 8 --> sampling clock is 4,125MHz
# --> max encoder rate ca. 275kHz, 68,75U/s
# from https://forum.linuxcnc.org/27-driver-boards/1137-mesa-5i20-servo-configuration?start=20#1631
# 0x3400 QfilterRate 12 bit Quadrature counter filter rate
# count rate is ClockLow/(QFilterRate+2).
# Any divisor with MSb set = divide by 1
#
#setp hm2_7i93.0.raw.write-address 13312 # (0x3400)
#setp hm2_7i93.0.raw.write-data 6
#setp hm2_7i93.0.raw.write-strobe TRUE
setp hm2_7i93.0.encoder.muxed-sample-frequency 2083333
loadrt pid names=pid.x,pid.y,pid.z,pid.s debug=1
addf hm2_7i93.0.read-request servo-thread
addf hm2_7i93.0.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 hm2_7i93.0.write servo-thread
addf classicladder.0.refresh servo-thread
source rawio.hal
source custom.hal
# external output signals
# external input signals
# --- MIN-HOME-X ---
net min-home-x <= X.I104.0
# --- MAX-X ---
#net max-x <= hm2_7i93.0.gpio.025.in
# --- MIN-HOME-Y ---
net min-home-y <= X.I104.1
# --- MAX-Y ---
#net max-y <= hm2_7i93.0.gpio.027.in
# --- MAX-HOME-Z ---
net max-home-z <= X.I104.2
# --- MIN-Z ---
#net min-z <= hm2_7i93.0.gpio.029.in
# --- HOME-A ---
net home-a <= X.I104.3
# --- CYCLE-START ---
net cycle-start <= X.I103.4
# --- ABORT ---
net abort <= X.I103.5
# --- SINGLE-STEP ---
net single-step <= X.I103.6
#*******************
# JOINT X
#*******************
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 false
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-vel-fb => pid.x.feedback-deriv
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_7i93.0.pwmgen.00.output-type 2
setp hm2_7i93.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
net x-output => hm2_7i93.0.pwmgen.00.value
net x-pos-cmd joint.0.motor-pos-cmd
#net x-vel-cmd joint.0.motor-vel-cmd
net x-enable joint.0.amp-enable-out => hm2_7i93.0.pwmgen.00.enable
# ---Encoder feedback signals/setup---
#
# positive count direction: right, away from calibration
#
setp hm2_7i93.0.encoder.00.counter-mode 0
setp hm2_7i93.0.encoder.00.filter 1
setp hm2_7i93.0.encoder.00.index-invert 0
setp hm2_7i93.0.encoder.00.index-mask 0
setp hm2_7i93.0.encoder.00.index-mask-invert 0
setp hm2_7i93.0.encoder.00.scale [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_7i93.0.encoder.00.position
net x-vel-fb <= hm2_7i93.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i93.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i93.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net min-home-x => joint.0.home-sw-in
#net min-home-x => joint.0.neg-lim-sw-in
#net max-x => joint.0.pos-lim-sw-in
#*******************
# JOINT Y
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target false
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-vel-fb => pid.y.feedback-deriv
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_7i93.0.pwmgen.01.output-type 2
setp hm2_7i93.0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
net y-output => hm2_7i93.0.pwmgen.01.value
net y-pos-cmd joint.1.motor-pos-cmd
#net y-vel-cmd joint.1.motor-vel-cmd
net y-enable joint.1.amp-enable-out => hm2_7i93.0.pwmgen.01.enable
# ---Encoder feedback signals/setup---
#
# positive count direction: towards user, away from calibration
#
setp hm2_7i93.0.encoder.01.counter-mode 0
setp hm2_7i93.0.encoder.01.filter 1
setp hm2_7i93.0.encoder.01.index-invert 0
setp hm2_7i93.0.encoder.01.index-mask 0
setp hm2_7i93.0.encoder.01.index-mask-invert 0
setp hm2_7i93.0.encoder.01.scale [JOINT_1]ENCODER_SCALE
net y-pos-fb <= hm2_7i93.0.encoder.01.position
net y-vel-fb <= hm2_7i93.0.encoder.01.velocity
net y-pos-fb => joint.1.motor-pos-fb
net y-index-enable joint.1.index-enable <=> hm2_7i93.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_7i93.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
#net min-home-y => joint.1.neg-lim-sw-in
#net max-y => joint.1.pos-lim-sw-in
#*******************
# JOINT Z
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target false
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-vel-fb => pid.z.feedback-deriv
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_7i93.0.pwmgen.02.output-type 2
setp hm2_7i93.0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
net z-output => hm2_7i93.0.pwmgen.02.value
net z-pos-cmd joint.2.motor-pos-cmd
#net z-vel-cmd joint.2.motor-vel-cmd
net z-enable joint.2.amp-enable-out => hm2_7i93.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
#
# positive count direction: down, away from calibration
#
setp hm2_7i93.0.encoder.02.counter-mode 0
setp hm2_7i93.0.encoder.02.filter 1
setp hm2_7i93.0.encoder.02.index-invert 0
setp hm2_7i93.0.encoder.02.index-mask 0
setp hm2_7i93.0.encoder.02.index-mask-invert 0
setp hm2_7i93.0.encoder.02.scale [JOINT_2]ENCODER_SCALE
net z-pos-fb <= hm2_7i93.0.encoder.02.position
net z-vel-fb <= hm2_7i93.0.encoder.02.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_7i93.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_7i93.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net max-home-z => joint.2.home-sw-in
#net min-z => joint.2.neg-lim-sw-in
#net max-home-z => joint.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 <= 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
setp hm2_7i93.0.pwmgen.05.output-type 2
setp hm2_7i93.0.pwmgen.05.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd-rpm => hm2_7i93.0.pwmgen.05.value
net spindle-enable => hm2_7i93.0.pwmgen.05.enable
#******************************
# 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-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.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.2.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-mist s.3991 <= 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
net user-enable s.122 <= iocontrol.0.user-enable-out
net motion-enabled s.1251 <= motion.motion-enabled
net emc-enable-in => iocontrol.0.emc-enable-in
net axis-reset => s.8042
source manual_toolchange.hal
source toolchanger.hal
source xhc.hal