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Wang Dequan
224
configs/attic/unclaimed/max/max.hal
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224
configs/attic/unclaimed/max/max.hal
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# HAL config file for MAX NC test machine
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#######################################################
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# first load all the HAL modules we're going to need
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#######################################################
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# kinematics
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loadrt [KINS]KINEMATICS
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# main motion controller module
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# using steppers....
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loadrt stepgen step_type=0,0,0,0
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# I/O thru the parport
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loadrt hal_parport cfg="0x0378"
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# counting the spindle encoder in software
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loadrt encoder num_chan=2
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# simulate the encoder
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loadrt sim_encoder num_chan=1
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# misc blocks needed to do fun things
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loadrt ddt count=8
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#######################################################
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# add realtime functions to the threads
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# first the high speed thread
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#######################################################
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# first we read parport inputs
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addf parport.0.read base-thread
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addf sim-encoder.make-pulses base-thread
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# update encoder counter
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addf encoder.update-counters base-thread
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# generate step and dir signals
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addf stepgen.make-pulses base-thread
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# write to outputs
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addf parport.0.write base-thread
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# now the servo thread
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########################################################
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# capture axis and spindle positions
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addf stepgen.capture-position servo-thread
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addf encoder.capture-position servo-thread
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# process motion commands coming from user space
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addf motion-command-handler servo-thread
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# run main motion controller
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addf motion-controller servo-thread
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# differentiators to make vel and acc signals
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addf ddt.0 servo-thread
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addf ddt.1 servo-thread
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addf ddt.2 servo-thread
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addf ddt.3 servo-thread
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addf ddt.4 servo-thread
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addf ddt.5 servo-thread
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addf ddt.6 servo-thread
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addf ddt.7 servo-thread
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# update output info, axis and spindle
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addf stepgen.update-freq servo-thread
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addf sim-encoder.update-speed servo-thread
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#######################################################
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# interconnections
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#
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# first, the basic stepper machine connections
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#######################################################
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# connect position commands from motion module to step generator
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net Xpos-cmd <= joint.0.motor-pos-cmd
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net Xpos-cmd => stepgen.0.position-cmd
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net Ypos-cmd <= joint.1.motor-pos-cmd
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net Ypos-cmd => stepgen.1.position-cmd
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net Zpos-cmd <= joint.2.motor-pos-cmd
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net Zpos-cmd => stepgen.2.position-cmd
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net Apos-cmd <= joint.3.motor-pos-cmd
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net Apos-cmd => stepgen.3.position-cmd
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# connect position feedback from step generators
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# to motion module
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net Xpos-fb <= stepgen.0.position-fb
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net Xpos-fb => joint.0.motor-pos-fb
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net Ypos-fb <= stepgen.1.position-fb
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net Ypos-fb => joint.1.motor-pos-fb
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net Zpos-fb <= stepgen.2.position-fb
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net Zpos-fb => joint.2.motor-pos-fb
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net Apos-fb <= stepgen.3.position-fb
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net Apos-fb => joint.3.motor-pos-fb
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# connect enable signals for step generators
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net Xen <= joint.0.amp-enable-out
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net Xen => stepgen.0.enable
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net Yen <= joint.1.amp-enable-out
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net Yen => stepgen.1.enable
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net Zen <= joint.2.amp-enable-out
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net Zen => stepgen.2.enable
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net Aen <= joint.3.amp-enable-out
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net Aen => stepgen.3.enable
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# connect signals to step pulse generator outputs
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net Xstep <= stepgen.0.step
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net Xdir <= stepgen.0.dir
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net Ystep <= stepgen.1.step
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net Ydir <= stepgen.1.dir
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net Zstep <= stepgen.2.step
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net Zdir <= stepgen.2.dir
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net Astep <= stepgen.3.step
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net Adir <= stepgen.3.dir
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# create a signal for the estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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# create a signal for "spindle on"
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net spindle_on <= motion.spindle-on
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# connect physical pins to the signals
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net Xstep => parport.0.pin-03-out
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net Xdir => parport.0.pin-02-out
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net Ystep => parport.0.pin-05-out
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net Ydir => parport.0.pin-04-out
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net Zstep => parport.0.pin-07-out
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net Zdir => parport.0.pin-06-out
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net Astep => parport.0.pin-09-out
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net Adir => parport.0.pin-08-out
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# amp enable (active lo)
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net Xen => parport.0.pin-01-out
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setp parport.0.pin-01-out-invert 1
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# spindle enable (active lo)
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net spindle_on => parport.0.pin-14-out
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setp parport.0.pin-14-out-invert 1
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#######################################################
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# set scaling and other parameters of the basic machine
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# set stepgen module scaling - get values from ini file
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setp stepgen.0.position-scale [AXIS_0]SCALE
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setp stepgen.1.position-scale [AXIS_1]SCALE
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setp stepgen.2.position-scale [AXIS_2]SCALE
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setp stepgen.3.position-scale [AXIS_3]SCALE
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# set stepgen module accel limits - get values from ini file
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# jmk said to set these to ini value + 5% to avoid stepgen bug
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setp stepgen.0.maxaccel [AXIS_0]HAL_MAXACCEL
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setp stepgen.1.maxaccel [AXIS_1]HAL_MAXACCEL
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setp stepgen.2.maxaccel [AXIS_2]HAL_MAXACCEL
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setp stepgen.3.maxaccel [AXIS_3]HAL_MAXACCEL
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# end of basic machine
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#######################################################
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# Beginning of threading related stuff
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#######################################################
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# spindle speed control
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net spindle-speed-cmd <= motion.spindle-speed-out
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net spindle-speed-cmd => sim-encoder.0.speed
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# spindle encoder
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# connect encoder signals to encoder counter
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net spindle-phase-A => encoder.0.phase-A
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net spindle-phase-B => encoder.0.phase-B
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net spindle-phase-Z => encoder.0.phase-Z
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net spindle-phase-A <= sim-encoder.0.phase-A
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net spindle-phase-B <= sim-encoder.0.phase-B
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net spindle-phase-Z <= sim-encoder.0.phase-Z
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# assume 120 ppr = 480 counts/rev for the spindle
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setp sim-encoder.0.ppr 120
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# iocontrol output is in rpm, but sim-encoder speed is rps
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setp sim-encoder.0.scale 60
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# scale encoder output to read in revolutions
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# (that way thread pitches can be straightforward,
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# a 20 tpi thread would multiply the encoder output
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# by 1/20, etc)
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setp encoder.0.position-scale 480
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# encoder reset control
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net spindle-index-enable <= motion.spindle-index-enable
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net spindle-index-enable <=> encoder.0.index-enable
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# report our revolution count to the motion controller
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net spindle-pos <= encoder.0.position
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net spindle-pos => motion.spindle-revs
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#######################################################
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# make vel and accel sigs for testing
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#######################################################
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# send the position commands thru differentiators to
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# generate velocity and accel signals (for testing)
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# define the signals, and hook them up
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net Xpos-cmd => ddt.0.in
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net Xvel <= ddt.0.out
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net Xvel => ddt.1.in
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net Xacc <= ddt.1.out
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net Ypos-cmd => ddt.2.in
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net Yvel <= ddt.2.out
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net Yvel => ddt.3.in
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net Yacc <= ddt.3.out
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net Zpos-cmd => ddt.4.in
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net Zvel <= ddt.4.out
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net Zvel => ddt.5.in
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net Zacc <= ddt.5.out
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net Apos-cmd => ddt.6.in
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net Avel <= ddt.6.out
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net Avel => ddt.7.in
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net Aacc <= ddt.7.out
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# for spindle velocity estimate
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loadrt lowpass count=1
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net spindle-rpm-raw encoder.0.velocity
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net spindle-rpm-raw lowpass.0.in
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net spindle-rpm-filtered lowpass.0.out
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setp lowpass.0.gain .03
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addf lowpass.0 servo-thread
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