Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
187
configs/by_machine/smithy/1240_4axis.hal
Normal file
187
configs/by_machine/smithy/1240_4axis.hal
Normal file
@@ -0,0 +1,187 @@
|
||||
# 5i20 config file for 4 Axis Smithy 1240 Mill
|
||||
|
||||
# load the hostmot2 driver, this doesn't do anything by itself,
|
||||
# it just waits for low-level drivers to register boards
|
||||
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
|
||||
|
||||
# load the low-level driver for the board
|
||||
# this will load the board's firmware and register it with the hostmot2
|
||||
# driver loaded above, and it'll show up in HAL
|
||||
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4 enable_raw"
|
||||
|
||||
# 13312 = 0x3400 = Encoder Sample Rate Register
|
||||
setp hm2_5i20.0.raw.write_address 13312
|
||||
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
|
||||
setp hm2_5i20.0.raw.write_data 8
|
||||
# write data
|
||||
setp hm2_5i20.0.raw.write_strobe 1
|
||||
|
||||
# set up the watchdog
|
||||
#setp hm2_5i20.0.watchdog.timeout_ns 10000000
|
||||
|
||||
# load kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# load motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
|
||||
|
||||
# load charge pump
|
||||
loadrt charge_pump
|
||||
|
||||
# These loopbacks are usually disconnected by a postgui halfile
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
|
||||
#the Enable signal is used to permanently enable things
|
||||
newsig Enable bit
|
||||
sets Enable TRUE
|
||||
|
||||
#configure the spindle speed
|
||||
net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
|
||||
setp hm2_5i20.0.pwmgen.00.scale 4000
|
||||
setp hm2_5i20.0.pwmgen.00.output-type 1
|
||||
setp hm2_5i20.0.pwmgen.pwm_frequency 100
|
||||
|
||||
# invert the step pulse polarity
|
||||
setp hm2_5i20.0.gpio.000.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.002.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.016.invert_output TRUE
|
||||
setp hm2_5i20.0.gpio.018.invert_output TRUE
|
||||
|
||||
# configure the stepgen parameters
|
||||
setp hm2_5i20.0.stepgen.00.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.00.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.00.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.00.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.01.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.01.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.01.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.01.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.02.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.02.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.02.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.02.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
|
||||
setp hm2_5i20.0.stepgen.03.dirsetup 5000
|
||||
setp hm2_5i20.0.stepgen.03.dirhold 1250
|
||||
setp hm2_5i20.0.stepgen.03.steplen 1250
|
||||
setp hm2_5i20.0.stepgen.03.stepspace 1250
|
||||
setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE
|
||||
setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
|
||||
setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
|
||||
|
||||
# connect position commands from motion module to step generator
|
||||
net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
|
||||
net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd
|
||||
net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd
|
||||
net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd
|
||||
|
||||
# connect position feedback from step generators to motion module
|
||||
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb
|
||||
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb
|
||||
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb
|
||||
net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb
|
||||
|
||||
# connect enable signals for step generators
|
||||
net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable
|
||||
net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable
|
||||
net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable
|
||||
net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable
|
||||
|
||||
# enable velocity mode jogging
|
||||
net Enable joint.0.jog-vel-mode
|
||||
net Enable joint.1.jog-vel-mode
|
||||
net Enable joint.2.jog-vel-mode
|
||||
net Enable joint.3.jog-vel-mode
|
||||
|
||||
# enable the PWM generator
|
||||
net Enable => hm2_5i20.0.pwmgen.00.enable
|
||||
|
||||
# enable the charge pump
|
||||
net Enable charge-pump.enable
|
||||
|
||||
# connect the charge pump signal to an output
|
||||
setp hm2_5i20.0.gpio.022.is_output TRUE
|
||||
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out
|
||||
|
||||
# Safety Relay Monitoring Contacts
|
||||
net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in
|
||||
# Run Switch
|
||||
net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on
|
||||
|
||||
#connect limit switches to limit inputs
|
||||
net Xmax hm2_5i20.0.gpio.024.in_not => joint.0.pos-lim-sw-in
|
||||
net Xmin hm2_5i20.0.gpio.026.in_not => joint.0.neg-lim-sw-in
|
||||
net Ymax hm2_5i20.0.gpio.028.in_not => joint.1.pos-lim-sw-in
|
||||
net Ymin hm2_5i20.0.gpio.030.in_not => joint.1.neg-lim-sw-in
|
||||
net Zmax hm2_5i20.0.gpio.032.in_not => joint.2.pos-lim-sw-in
|
||||
net Zmin hm2_5i20.0.gpio.034.in_not => joint.2.neg-lim-sw-in
|
||||
|
||||
#connect positive limit signals to home inputs
|
||||
net Xmax => joint.0.home-sw-in
|
||||
net Ymax => joint.1.home-sw-in
|
||||
net Zmax => joint.2.home-sw-in
|
||||
|
||||
# Spindle Contactor Enable
|
||||
setp hm2_5i20.0.gpio.041.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.041.invert_output TRUE
|
||||
# Door Closed - Energizes spindle contactor
|
||||
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out
|
||||
|
||||
# Main Contactors - True when both contactors are energized
|
||||
net ACOK hm2_5i20.0.gpio.035.in_not
|
||||
# VFD Fault Relay - True when VFD is not faulted
|
||||
#net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
# A Axis Home - On Sieg machines there is no VFD fault signal,
|
||||
# it is used for the A axis home sensor on 4 axis machines
|
||||
net VFDOK hm2_5i20.0.gpio.031.in_not
|
||||
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in
|
||||
# Spindle Contactor - False when spindle contactor is energized
|
||||
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
|
||||
|
||||
# Axis Drive Status Signals
|
||||
# True when YAKO stepper drive is on a full step position
|
||||
# True when a Leadshine stepper drive is in the READY state
|
||||
net DRV0 hm2_5i20.0.gpio.025.in_not
|
||||
net DRV1 hm2_5i20.0.gpio.027.in_not
|
||||
net DRV2 hm2_5i20.0.gpio.036.in_not
|
||||
net DRV3 hm2_5i20.0.gpio.038.in_not
|
||||
|
||||
# Output Bits
|
||||
# KA1
|
||||
setp hm2_5i20.0.gpio.040.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.040.invert_output TRUE
|
||||
net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out
|
||||
# KA2
|
||||
setp hm2_5i20.0.gpio.042.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.042.invert_output TRUE
|
||||
net KA2 spindle.0.forward => hm2_5i20.0.gpio.042.out
|
||||
# Flood Coolant
|
||||
setp hm2_5i20.0.gpio.043.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.043.invert_output TRUE
|
||||
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
|
||||
# Mist Coolant
|
||||
setp hm2_5i20.0.gpio.045.is_output TRUE
|
||||
setp hm2_5i20.0.gpio.045.invert_output TRUE
|
||||
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist
|
||||
|
||||
# hook the functions to threads
|
||||
# read inputs
|
||||
addf hm2_5i20.0.read servo-thread
|
||||
# handle motion commands
|
||||
addf motion-command-handler servo-thread
|
||||
# run the motion controller
|
||||
addf motion-controller servo-thread
|
||||
# write outputs
|
||||
addf hm2_5i20.0.write servo-thread
|
||||
# toggle the charge pump
|
||||
addf charge-pump servo-thread
|
||||
|
||||
Reference in New Issue
Block a user