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Wang Dequan
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configs/by_interface/mesa/hm2-servo/hm2-servo.hal
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230
configs/by_interface/mesa/hm2-servo/hm2-servo.hal
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# #######################################
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#
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# HAL file for HostMot2 with 3 servos
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#
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# Derived from Ted Hyde's original hm2-servo config
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#
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# Based up work and discussion with Seb & Peter & Jeff
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# GNU license references - insert here. www.linuxcnc.org
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#
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#
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# ########################################
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# Firmware files are in /lib/firmware/hm2/7i43/
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# Must symlink the hostmot2 firmware directory of sanbox to
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# /lib/firmware before running EMC2...
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# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
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#
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# See also:
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# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
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# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
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#
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# #####################################################################
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# ###################################
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# Core EMC/HAL Loads
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# ###################################
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# standard components
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loadrt pid num_chan=3
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# hostmot2 driver
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# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
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#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
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loadrt hostmot2
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# load low-level driver
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loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
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# ################################################
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# THREADS
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# ################################################
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addf hm2_[HOSTMOT2](BOARD).0.read 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 pid.0.do-pid-calcs servo-thread
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addf pid.1.do-pid-calcs servo-thread
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addf pid.2.do-pid-calcs servo-thread
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addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
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# ######################################################
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# Axis-of-motion Specific Configs (not the GUI)
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# ######################################################
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# ################
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# X [0] Axis
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# ################
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# axis enable chain
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newsig emcmot.00.enable bit
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sets emcmot.00.enable FALSE
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net emcmot.00.enable => pid.0.enable
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net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
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net emcmot.00.enable <= joint.0.amp-enable-out
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# encoder feedback
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setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
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setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [JOINT_0]INPUT_SCALE
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net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
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net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
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# set PID loop gains from inifile
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setp pid.0.Pgain [JOINT_0]P
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setp pid.0.Igain [JOINT_0]I
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setp pid.0.Dgain [JOINT_0]D
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setp pid.0.bias [JOINT_0]BIAS
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setp pid.0.FF0 [JOINT_0]FF0
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setp pid.0.FF1 [JOINT_0]FF1
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setp pid.0.FF2 [JOINT_0]FF2
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setp pid.0.deadband [JOINT_0]DEADBAND
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setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
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# position command signals
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
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net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
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net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
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# ################
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# Y [1] Axis
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# ################
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# axis enable chain
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newsig emcmot.01.enable bit
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sets emcmot.01.enable FALSE
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net emcmot.01.enable => pid.1.enable
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net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
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net emcmot.01.enable <= joint.1.amp-enable-out
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# encoder feedback
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setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
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setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [JOINT_1]INPUT_SCALE
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net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
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net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
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# set PID loop gains from inifile
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setp pid.1.Pgain [JOINT_1]P
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setp pid.1.Igain [JOINT_1]I
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setp pid.1.Dgain [JOINT_1]D
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setp pid.1.bias [JOINT_1]BIAS
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setp pid.1.FF0 [JOINT_1]FF0
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setp pid.1.FF1 [JOINT_1]FF1
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setp pid.1.FF2 [JOINT_1]FF2
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setp pid.1.deadband [JOINT_1]DEADBAND
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setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
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# position command signals
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
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net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
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net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
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# ################
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# Z [2] Axis
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# ################
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# axis enable chain
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newsig emcmot.02.enable bit
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sets emcmot.02.enable FALSE
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net emcmot.02.enable => pid.2.enable
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net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
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net emcmot.02.enable <= joint.2.amp-enable-out
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# encoder feedback
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setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
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setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
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setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [JOINT_2]INPUT_SCALE
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net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
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net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
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# set PID loop gains from inifile
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setp pid.2.Pgain [JOINT_2]P
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setp pid.2.Igain [JOINT_2]I
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setp pid.2.Dgain [JOINT_2]D
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setp pid.2.bias [JOINT_2]BIAS
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setp pid.2.FF0 [JOINT_2]FF0
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setp pid.2.FF1 [JOINT_2]FF1
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setp pid.2.FF2 [JOINT_2]FF2
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setp pid.2.deadband [JOINT_2]DEADBAND
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setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
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# position command signals
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
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setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
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net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
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net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
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# ##################################################
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# Standard I/O Block - EStop, Etc
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# ##################################################
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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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#
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# homing
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#
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#
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# In this example, each of the three axes have their own home switch. All
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# home switches are connected to GPIO 25, though hostmot2 boards generally
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# have enough GPIO pins to put each axis' home switch on its own pin.
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#
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# Each switch is normally open, momentarily closed. When the switch is open,
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# GPIO 25 floats high (because that is the hostmot2 way). When the switch is
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# closed, it shorts GPIO 25 to ground.
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#
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# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
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# True when the switch is closed and False when the switch is open.
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# We get this behavior by linking the GPIO .in_not pin instead of the .in
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# pin.
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#
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net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
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net home-switch => joint.0.home-sw-in
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net home-switch => joint.1.home-sw-in
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net home-switch => joint.2.home-sw-in
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# only the Y servo has an index, X and Z home without using the index
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net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable
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