182 lines
6.8 KiB
Plaintext
182 lines
6.8 KiB
Plaintext
# 5i20 config file for Smithy 1315 Lathe
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# load the hostmot2 driver, this doesn't do anything by itself,
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# it just waits for low-level drivers to register boards
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loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
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# load the low-level driver for the board
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# this will load the board's firmware and register it with the hostmot2
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# driver loaded above, and it'll show up in HAL
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loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=2 num_pwmgens=1 num_stepgens=2 enable_raw"
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# 13312 = 0x3400 = Encoder Sample Rate Register
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setp hm2_5i20.0.raw.write_address 13312
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# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
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setp hm2_5i20.0.raw.write_data 8
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# write data
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setp hm2_5i20.0.raw.write_strobe 1
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# set up the watchdog
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#setp hm2_5i20.0.watchdog.timeout_ns 10000000
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# load kinematics
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loadrt [KINS]KINEMATICS
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# load motion controller, get name and thread periods from ini file
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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
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# classicladder for machine logic
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# (load the realtime portion)
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loadrt classicladder_rt
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# invoke the user part of CL to silently load the program
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loadusr -w classicladder --nogui 924.clp
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# load charge pump
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loadrt charge_pump
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setp charge-pump.enable TRUE
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#configure the spindle encoder
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#encoder scale was 4800 on Pete's machine
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setp hm2_5i20.0.encoder.00.scale -4096
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net Spos hm2_5i20.0.encoder.00.position spindle.0.revs
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net Svel hm2_5i20.0.encoder.00.velocity spindle.0.speed-in
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net Sidx hm2_5i20.0.encoder.00.index-enable spindle.0.index-enable
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#configure the spindle speed PWM generator
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net Scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value
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setp hm2_5i20.0.pwmgen.00.scale 3000
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setp hm2_5i20.0.pwmgen.00.output-type 1
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setp hm2_5i20.0.pwmgen.pwm_frequency 100
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# invert the step pulse polarity
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setp hm2_5i20.0.gpio.000.invert_output TRUE
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setp hm2_5i20.0.gpio.002.invert_output TRUE
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# configure the stepgen parameters
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setp hm2_5i20.0.stepgen.00.dirsetup 5000
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setp hm2_5i20.0.stepgen.00.dirhold 2000
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setp hm2_5i20.0.stepgen.00.steplen 2000
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setp hm2_5i20.0.stepgen.00.stepspace 2000
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setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE
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setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
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setp hm2_5i20.0.stepgen.01.dirsetup 5000
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setp hm2_5i20.0.stepgen.01.dirhold 2000
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setp hm2_5i20.0.stepgen.01.steplen 2000
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setp hm2_5i20.0.stepgen.01.stepspace 2000
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setp hm2_5i20.0.stepgen.01.position-scale [JOINT_2]SCALE
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setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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setp hm2_5i20.0.stepgen.01.maxvel [JOINT_2]STEPGEN_MAXVEL
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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 hm2_5i20.0.stepgen.00.position-cmd
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net Zpos-cmd joint.2.motor-pos-cmd hm2_5i20.0.stepgen.01.position-cmd
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# connect position feedback from step generators to motion module
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net Xpos-fb hm2_5i20.0.stepgen.00.position-fb joint.0.motor-pos-fb
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net Zpos-fb hm2_5i20.0.stepgen.01.position-fb joint.2.motor-pos-fb
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# connect enable signals for amplifiers and step generators
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setp hm2_5i20.0.gpio.018.is_output TRUE
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setp hm2_5i20.0.gpio.018.invert_output TRUE
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setp hm2_5i20.0.gpio.019.is_output TRUE
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setp hm2_5i20.0.gpio.019.invert_output TRUE
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net Xen joint.0.amp-enable-out hm2_5i20.0.gpio.018.out hm2_5i20.0.stepgen.00.enable
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net Zen joint.2.amp-enable-out hm2_5i20.0.gpio.019.out hm2_5i20.0.stepgen.01.enable
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# enable velocity mode jogging
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setp joint.0.jog-vel-mode TRUE
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setp joint.2.jog-vel-mode TRUE
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# enable the PWM generator
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setp hm2_5i20.0.pwmgen.00.enable TRUE
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# connect the charge pump signal to an output
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setp hm2_5i20.0.gpio.022.is_output TRUE
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net chargepump hm2_5i20.0.gpio.022.out charge-pump.out
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# Safety Relay Monitoring Contacts
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net estop-enable hm2_5i20.0.gpio.037.in iocontrol.0.emc-enable-in
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# Run Switch
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loadrt debounce cfg=1
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setp debounce.0.delay 1000
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net key-on hm2_5i20.0.gpio.039.in_not debounce.0.0.in
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net machine-on debounce.0.0.out halui.machine.on
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# Spindle Contactor - False when spindle contactor is energized
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net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
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#connect limit/home switches
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#Brown Wire - Was Zhome, now Xpos
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net Xpos_lim hm2_5i20.0.gpio.024.in joint.0.pos-lim-sw-in joint.0.home-sw-in
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#Brown/White Wire - Was Xhome, now Xneg
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net Xneg_lim hm2_5i20.0.gpio.026.in joint.0.neg-lim-sw-in
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#Green Wire - Was XZpos, now Zpos
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net Zpos_lim hm2_5i20.0.gpio.028.in joint.2.pos-lim-sw-in joint.2.home-sw-in
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#Green/White Wire - Was XZneg, now Zneg
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net Zneg_lim hm2_5i20.0.gpio.030.in joint.2.neg-lim-sw-in
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#Tool Post Control Inputs
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net PrepNo iocontrol.0.tool-prep-number classicladder.0.s32in-00
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net TC iocontrol.0.tool-change classicladder.0.in-00
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net T1 hm2_5i20.0.gpio.032.in classicladder.0.in-01
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net T2 hm2_5i20.0.gpio.034.in classicladder.0.in-02
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net T3 hm2_5i20.0.gpio.036.in classicladder.0.in-03
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net T4 hm2_5i20.0.gpio.038.in classicladder.0.in-04
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net TP iocontrol.0.tool-prepare classicladder.0.in-05
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#Door Sensor
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net SS hm2_5i20.0.gpio.029.in
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#Output Bits
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#AIN
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#setp hm2_5i20.0.gpio.041.is_output TRUE
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#setp hm2_5i20.0.gpio.041.invert_output TRUE
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#KA1
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setp hm2_5i20.0.gpio.040.is_output TRUE
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setp hm2_5i20.0.gpio.040.invert_output TRUE
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net KA1 spindle.0.forward hm2_5i20.0.gpio.040.out
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#KA2
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setp hm2_5i20.0.gpio.042.is_output TRUE
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setp hm2_5i20.0.gpio.042.invert_output TRUE
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net KA2 spindle.0.reverse hm2_5i20.0.gpio.042.out
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#Tool Post Control Outputs
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net TD classicladder.0.out-00 iocontrol.0.tool-changed
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net TQ classicladder.0.out-03 iocontrol.0.tool-prepared
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#KA3
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setp hm2_5i20.0.gpio.044.is_output TRUE
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setp hm2_5i20.0.gpio.044.invert_output TRUE
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net KA3 hm2_5i20.0.gpio.044.out classicladder.0.out-01
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#KA4
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setp hm2_5i20.0.gpio.046.is_output TRUE
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setp hm2_5i20.0.gpio.046.invert_output TRUE
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net KA4 hm2_5i20.0.gpio.046.out classicladder.0.out-02
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#Spindle Enable
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setp hm2_5i20.0.gpio.041.is_output TRUE
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setp hm2_5i20.0.gpio.041.invert_output TRUE
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setp hm2_5i20.0.gpio.041.out TRUE
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#Flood Coolant
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setp hm2_5i20.0.gpio.043.is_output TRUE
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setp hm2_5i20.0.gpio.043.invert_output TRUE
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net M8 hm2_5i20.0.gpio.043.out iocontrol.0.coolant-flood
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# Mist Coolant
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setp hm2_5i20.0.gpio.045.is_output TRUE
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setp hm2_5i20.0.gpio.045.invert_output TRUE
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net M7 hm2_5i20.0.gpio.045.out iocontrol.0.coolant-mist
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# hook the functions to threads
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# read inputs
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addf hm2_5i20.0.read servo-thread
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# handle motion commands
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addf motion-command-handler servo-thread
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# run the motion controller
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addf motion-controller servo-thread
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# debounce the keyswitch
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addf debounce.0 servo-thread
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# refresh classicladder
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addf classicladder.0.refresh servo-thread
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# write outputs
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addf hm2_5i20.0.write servo-thread
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# toggle the charge pump
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addf charge-pump servo-thread
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