200 lines
6.1 KiB
Plaintext
200 lines
6.1 KiB
Plaintext
# 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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# 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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loadrt hal_parport cfg=0x378
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# hostmot2 driver
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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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# Torch Height Control
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loadrt thc
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addf thc servo-thread
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# THREADS
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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 hm2_[HOSTMOT2](BOARD).0.write servo-thread
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addf parport.0.read servo-thread
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addf parport.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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# X [0] Axis
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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 <= joint.0.amp-enable-out
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net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
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# position command and feedback
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net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
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net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
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net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
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net motor.00.pos-fb => joint.0.motor-pos-fb
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# timing parameters
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel 0
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
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net both-home-x <= parport.0.pin-10-in-not
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net both-home-x => joint.0.home-sw-in
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net both-home-x => joint.0.neg-lim-sw-in
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net both-home-x => joint.0.pos-lim-sw-in
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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 <= joint.1.amp-enable-out
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net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
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# position command and feedback
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net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
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net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
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net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
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net motor.01.pos-fb => joint.1.motor-pos-fb
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# timing parameters
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel 0
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
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net both-home-y <= parport.0.pin-11-in-not
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net both-home-y => joint.1.home-sw-in
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net both-home-y => joint.1.neg-lim-sw-in
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net both-home-y => joint.1.pos-lim-sw-in
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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 <= joint.2.amp-enable-out
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net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
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# position command and feedback
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# hijack position command and feed through thc
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net emcmot.02.pos-cmd thc.z-pos-in <= joint.2.motor-pos-cmd
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net thc-pos-cmd thc.z-pos-out => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
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net motor.02.pos-fb joint.2.motor-pos-fb <= thc.z-fb-out
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net both-home-z => joint.2.home-sw-in
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net both-home-z => joint.2.neg-lim-sw-in
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net both-home-z => joint.2.pos-lim-sw-in
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# timing parameters
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel 0
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
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net both-home-z <= parport.0.pin-12-in-not
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net both-home-z => joint.2.home-sw-in
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net both-home-z => joint.2.neg-lim-sw-in
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net both-home-z => joint.2.pos-lim-sw-in
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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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# Touch Off
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net torch-probe motion.probe-input <= parport.0.pin-13-in-not
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# Set up the Encoder for the THC
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setp hm2_5i20.0.encoder.00.counter-mode 1
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net thc-vel-in hm2_5i20.0.encoder.00.velocity => thc.encoder-vel
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setp thc.scale-offset 119000
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setp thc.vel-scale 0.00037866834
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# this might need to be increased
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setp thc.correction-vel 0.0001
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# spindle on starts the arc
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net spindle-on spindle.0.on => parport.0.pin-16-out
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net spindle-on thc.torch-on
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# starts the motion when the plasma arc has transferred to the work
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net start-motion-input thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in
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# ******
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# For Joypad, the rest are in postgui.hal
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loadusr hal_input -W -KRAL Dual
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