113 lines
4.2 KiB
Plaintext
113 lines
4.2 KiB
Plaintext
# HAL config file for vismach simulation of max5 - 9-axis version
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# first load all the RT modules that will be needed
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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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# load five limit3 blocks to simulate the accel and vel limits of the motors
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loadrt limit3 count=5
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# load window comparators for home/limit switches
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loadrt wcomp count=5
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loadrt not count=5
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# load the vismach model
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loadusr -W max5gui
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# set a visible tool
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#setp max5gui.tool-length 35
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setp max5gui.tool-radius 3
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net tool-len motion.tooloffset.w max5gui.tool-length
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# add motion controller functions to 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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# add other functions
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addf limit3.0 servo-thread
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addf limit3.1 servo-thread
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addf limit3.2 servo-thread
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addf limit3.3 servo-thread
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addf limit3.4 servo-thread
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addf wcomp.0 servo-thread
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addf wcomp.1 servo-thread
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addf wcomp.2 servo-thread
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addf wcomp.3 servo-thread
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addf wcomp.4 servo-thread
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addf not.0 servo-thread
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addf not.1 servo-thread
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addf not.2 servo-thread
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addf not.3 servo-thread
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addf not.4 servo-thread
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# create HAL signals for position commands from motion module
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# send them to limit blocks so it will ferror if it exceeds a limit
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net table-pos-cmd joint.0.motor-pos-cmd => limit3.0.in
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net saddle-pos-cmd joint.1.motor-pos-cmd => limit3.1.in
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net head-pos-cmd joint.2.motor-pos-cmd => limit3.2.in
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net tilt-pos-cmd joint.4.motor-pos-cmd => limit3.3.in
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net rotate-pos-cmd joint.5.motor-pos-cmd => limit3.4.in
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# set the limit block parameters from the ini file
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setp limit3.0.maxv [JOINT_0]MAX_VELOCITY
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setp limit3.0.maxa [JOINT_0]MAX_ACCELERATION
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setp limit3.1.maxv [JOINT_1]MAX_VELOCITY
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setp limit3.1.maxa [JOINT_1]MAX_ACCELERATION
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setp limit3.2.maxv [JOINT_2]MAX_VELOCITY
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setp limit3.2.maxa [JOINT_2]MAX_ACCELERATION
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setp limit3.3.maxv [JOINT_4]MAX_VELOCITY
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setp limit3.3.maxa [JOINT_4]MAX_ACCELERATION
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setp limit3.4.maxv [JOINT_5]MAX_VELOCITY
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setp limit3.4.maxa [JOINT_5]MAX_ACCELERATION
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# loop limited position commands back to motion module feedback
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# also send them to the vismach model and to the "limit switches"
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net table-pos-fb limit3.0.out => joint.0.motor-pos-fb max5gui.table wcomp.0.in
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net saddle-pos-fb limit3.1.out => joint.1.motor-pos-fb max5gui.saddle wcomp.1.in
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net head-pos-fb limit3.2.out => joint.2.motor-pos-fb max5gui.head wcomp.2.in
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net tilt-pos-fb limit3.3.out => joint.4.motor-pos-fb max5gui.tilt wcomp.3.in
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net rotate-pos-fb limit3.4.out => joint.5.motor-pos-fb max5gui.rotate wcomp.4.in
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# route home/limit switch signals to EMC
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net table-limits-ok wcomp.0.out => not.0.in
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net table-limits-tripped not.0.out => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
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net saddle-limits-ok wcomp.1.out => not.1.in
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net saddle-limits-tripped not.1.out => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
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net head-limits-ok wcomp.2.out => not.2.in
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net head-limits-tripped not.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
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net tilt-limits-ok wcomp.3.out => not.3.in
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net tilt-limits-tripped not.3.out => joint.4.neg-lim-sw-in joint.4.pos-lim-sw-in joint.4.home-sw-in
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net rotate-home-tripped wcomp.4.out => joint.5.home-sw-in
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# set location of switches
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# these positions are in vismach coords - they can be are offset from machine coords
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# these hardware limits are set to allow 2mm more overall travel than the soft limits
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setp wcomp.0.min -101
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setp wcomp.0.max 101
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setp wcomp.1.min -101
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setp wcomp.1.max 21
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setp wcomp.2.min -96
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setp wcomp.2.max 57
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setp wcomp.3.min -91
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setp wcomp.3.max 91
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setp wcomp.4.min 90
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setp wcomp.4.max 100
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# kins needs this value
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setp maxkins.pivot-length [MAX]B_PIVOT_LENGTH
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# 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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net spindle-fwd spindle.0.forward
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net spindle-rev spindle.0.reverse
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net spindle-speed spindle.0.speed-out
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net flood iocontrol.0.coolant-flood
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net mist iocontrol.0.coolant-mist
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net Aloop joint.3.motor-pos-cmd joint.3.motor-pos-fb
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