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CNCmakina.hal
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CNCmakina.hal
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# BASIC HAL File for CNC GROOT
# First, load kins, hostmot2 and mesa stuff
# This file also loads ALL additional LOADRT Components with names!
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=9 num_aio=1
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=0 num_pwmgens=0 num_stepgens=4 sserial_port_0=00000000"
loadrt estop_latch
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
setp hm2_7i76e.0.sserial.port-0.run 1
addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_7i76e.0.write servo-thread
addf estop-latch.0 servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
# --- AIR-MAIN ---
net air-main motion.digital-out-05 => hm2_7i76e.0.7i76.0.0.output-00
# --- AIR-RETURN ---
net air-return motion.digital-out-04 => hm2_7i76e.0.7i76.0.0.output-01
# --- AIR_SEAL ---
net air-seal motion.digital-out-03 => hm2_7i76e.0.7i76.0.0.output-02
# --- WATER-PUMP ---
net water-pump motion.digital-out-02 => hm2_7i76e.0.7i76.0.0.output-03
#sets water-pump true
# --- AIR COOLANT/MIST ---
net air-cooling motion.digital-out-01 => hm2_7i76e.0.7i76.0.0.output-04
# --- RACK MOTOR SET---
net rack-motor-set motion.digital-out-00 => hm2_7i76e.0.7i76.0.0.output-05
# --- SPINDLE-SENSOR-11 ---
net spindle-sensor-11 motion.digital-in-00 <= hm2_7i76e.0.7i76.0.0.input-08
# --- SPINDLE-SENSOR-22 ---
net spindle-sensor-22 motion.digital-in-01 <= hm2_7i76e.0.7i76.0.0.input-09
# external input signals
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out <= estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable <= estop-latch.0.reset
net remote-estop estop-latch.0.fault-in <= hm2_7i76e.0.7i76.0.0.input-15
# --- MIN-X ---
net min-home-x <= hm2_7i76e.0.7i76.0.0.input-04
# --- MIN-Y ---
net min-home-y <= hm2_7i76e.0.7i76.0.0.input-05
# --- MAX-Z ---
net max-home-z <= hm2_7i76e.0.7i76.0.0.input-06
#*******************
# AXIS X JOINT 0
#*******************
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 0
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---motor signals---
net x-pos-cmd hm2_7i76e.0.stepgen.00.position-cmd <= joint.0.motor-pos-cmd
net x-pos-fb hm2_7i76e.0.stepgen.00.position-fb => joint.0.motor-pos-fb
net x-enable hm2_7i76e.0.stepgen.00.enable <= joint.0.amp-enable-out
# ---setup home / limit switch signals---
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net max-home-x => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 0
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---motor signals---
net y-pos-cmd hm2_7i76e.0.stepgen.01.position-cmd <= joint.1.motor-pos-cmd
net y-pos-fb hm2_7i76e.0.stepgen.01.position-fb => joint.1.motor-pos-fb
net y-enable hm2_7i76e.0.stepgen.01.enable <= joint.1.amp-enable-out
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net max-home-y => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 0
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---motor signals---
net z-pos-cmd hm2_7i76e.0.stepgen.02.position-cmd <= joint.2.motor-pos-cmd
net z-pos-fb hm2_7i76e.0.stepgen.02.position-fb => joint.2.motor-pos-fb
net z-enable hm2_7i76e.0.stepgen.02.enable <= joint.2.amp-enable-out
# ---setup home / limit switch signals---
net max-home-z => joint.2.home-sw-in
net max-home-z => joint.2.neg-lim-sw-in
net min-home-z => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
# net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
# net spindle-vel-cmd-rpm <= spindle.0.speed-out
# net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enabled <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
#net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
#net x-is-homed halui.joint.0.is-homed
#net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
#net y-is-homed halui.joint.1.is-homed
#net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
#net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
#net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
#net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# net dout-00 <= motion.digital-out-00
# net dout-01 <= motion.digital-out-01
# net dout-02 <= motion.digital-out-02
# net dout-03 <= motion.digital-out-03
# ---estop signals---
#net estop-out <= iocontrol.0.user-enable-out
#net estop-out => iocontrol.0.emc-enable-in
## --- TOOLCHANGER LOOP --- #
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed