# Generated by PNCconf at Sun Jan 12 20:34:41 2014 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hostmot2 # loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4_72_SPC.BIT num_encoders=0 num_pwmgens=1 num_3pwmgens=0 num_stepgens=4" loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 num_pwmgens=1 num_stepgens=3" #the Enable signal is used to permanently enable things newsig Enable bit sets Enable TRUE setp hm2_5i20.0.pwmgen.00.enable TRUE setp hm2_5i20.0.pwmgen.00.scale 3000 setp hm2_5i20.0.pwmgen.00.output-type 1 setp hm2_5i20.0.pwmgen.pwm_frequency 100 setp hm2_5i20.0.watchdog.timeout_ns 10000000 loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle addf hm2_5i20.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf hm2_5i20.0.write servo-thread addf hm2_5i20.0.pet_watchdog servo-thread # external output signals # external input signals #******************* # AXIS X #******************* # Step Gen signals/setup setp hm2_5i20.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i20.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i20.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i20.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i20.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_5i20.0.stepgen.00.step_type 0 setp hm2_5i20.0.stepgen.00.control-type 0 setp hm2_5i20.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL net x-pos-fb axis.0.motor-pos-fb <= hm2_5i20.0.stepgen.00.position-fb net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd net x-enable axis.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable # ---setup home / limit switch signals--- net x-home-sw => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* # Step Gen signals/setup setp hm2_5i20.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_5i20.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_5i20.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_5i20.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_5i20.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_5i20.0.stepgen.01.step_type 0 setp hm2_5i20.0.stepgen.01.control-type 0 setp hm2_5i20.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL net y-pos-fb axis.1.motor-pos-fb <= hm2_5i20.0.stepgen.01.position-fb net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd net y-enable axis.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable # ---setup home / limit switch signals--- net y-home-sw => axis.1.home-sw-in net y-neg-limit => axis.1.neg-lim-sw-in net y-pos-limit => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_5i20.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_5i20.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_5i20.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_5i20.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_5i20.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_5i20.0.stepgen.02.step_type 0 setp hm2_5i20.0.stepgen.02.control-type 0 setp hm2_5i20.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL net z-pos-fb axis.2.motor-pos-fb <= hm2_5i20.0.stepgen.02.position-fb net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd net z-enable axis.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable # ---setup home / limit switch signals--- net z-home-sw => axis.2.home-sw-in net z-neg-limit => axis.2.neg-lim-sw-in net z-pos-limit => axis.2.pos-lim-sw-in #******************* # SPINDLE S #******************* # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-on <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.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--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---toolchange signals for custom tool changer--- net tool-number <= iocontrol.0.tool-prep-number net tool-change-request <= iocontrol.0.tool-change net tool-change-confirmed => iocontrol.0.tool-changed net tool-prepare-request <= iocontrol.0.tool-prepare net tool-prepare-confirmed => iocontrol.0.tool-prepared