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koppi-cnc-spindle.hal
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koppi-cnc-spindle.hal
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######################################################################
#
# Spindle HAL file for koppi's CNC
#
# Created 2015/05/09 by Jakob Flierl <[email protected]>
#
# Spindle Interface
#
######################################################################
# motion interface
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
# coolant
net coolant-on <= iocontrol.0.coolant-flood
# spindle encoder
# add scale and lowpass, these will be used in custom_postgui.hal
loadrt scale count=1
loadrt lowpass count=1
loadrt abs count=1# add the encoder to HAL and attach it to threads.
loadrt encoder num_chan=1
addf scale.0 servo-thread
addf lowpass.0 servo-thread
addf abs.0 servo-thread
addf encoder.update-counters servo-thread
addf encoder.capture-position servo-thread
# set the HAL encoder to 1 pulse per revolution.
setp encoder.0.position-scale 1
# set the HAL encoder to non-quadrature simple counting using A only.
setp encoder.0.counter-mode 1
# connect the HAL encoder outputs to LinuxCNC.
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
# connect the HAL encoder inputs to the real encoder.
net spindle-phase-a encoder.0.phase-A <= lcec.0.8.din-0
# net for the spindle speed out
net spindle-cmd <= motion.spindle-speed-out-abs