```# This config was made on 09-19-2019 loadrt [KINS]KINEMATICS #autoconverted trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=20 num_aio=23 loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=5 num_pwmgens=0 num_stepgens=5 sserial_port_0=30000000" setp hm2_7i92.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt scale names=scale.spindle loadrt near loadrt xor2 count=4 addf hm2_7i92.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.a.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf scale.spindle servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf near.0 servo-thread addf hm2_7i92.0.write servo-thread addf xor2.0 servo-thread addf xor2.1 servo-thread setp hm2_7i92.0.dpll.01.timer-us -100 setp hm2_7i92.0.stepgen.timer-number 1 setp hm2_7i92.0.encoder.timer-number 1 # external output signals # --- DIGITAL OUTPUT --- net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00 net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01 # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW --- net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06 net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02 net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03 net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04 # --- SPINDLE ORIENT BEGIN --- net spindle-orient-start spindle.0.orient hm2_7i92.0.7i77.0.0.output-08 # --- SPINDLE-ENABLE --- net spindle-enable hm2_7i92.0.7i77.0.0.output-09 # --- SPINDLE lOCKED --- net spindle-locked spindle.0.locked hm2_7i92.0.7i77.0.0.output-11 # --- X-ENABLE --- net x-enable hm2_7i92.0.7i76.0.3.output-12 # --- Y-ENABLE --- net y-enable hm2_7i92.0.7i76.0.3.output-13 # --- Z-ENABLE --- net z-enable hm2_7i92.0.7i76.0.3.output-14 # --- A-ENABLE --- net a-enable hm2_7i92.0.7i76.0.3.output-15 # --- Z-ENABLE --- net z-enable hm2_7i92.0.7i76.0.3.output-01 # --- COOLANT-FLOOD --- net coolant-flood hm2_7i92.0.7i76.0.3.output-04 # external input signals # --- SPINDLE ORIENT ENDED --- net spindle-orient-end spindle.0.is-oriented hm2_7i92.0.7i77.0.0.input-31 # --- ESTOP-EXT --- net estop-ext <= hm2_7i92.0.7i76.0.3.input-21 # --- PROBE-IN --- net probe-in <= hm2_7i92.0.7i77.0.0.input-15 # --- DIGITAL INPUTS --- net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-00 net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-01 net atc-zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03 net atc-index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04 net tool-released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02 net tool-clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05 # --- HOME-Z --- net home-z <= hm2_7i92.0.7i77.0.0.input-09-not # --- LIMIT-Z --- net limit-z <= hm2_7i92.0.7i77.0.0.input-08-not # --- HOME-Y --- net home-y <= hm2_7i92.0.7i77.0.0.input-07-not # --- LIMIT-Y --- net limit-y <= hm2_7i92.0.7i77.0.0.input-06-not # --- HOME-X --- net home-x <= hm2_7i92.0.7i77.0.0.input-05-not # --- LIMIT-X --- net limit-x <= hm2_7i92.0.7i77.0.0.input-04-not #******************* # AXIS X #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror 0 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i92.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i92.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i92.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i92.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7i92.0.stepgen.00.step_type 0 setp hm2_7i92.0.stepgen.00.control-type 1 setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb ##net x-pos-fb <= hm2_7i92.0.encoder.01.position ##net x-pos-fb => joint.0.motor-pos-fb net x-encpos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_7i92.0.stepgen.00.enable # ---Encoder feedback signals/setup--- setp hm2_7i92.0.encoder.01.counter-mode 0 setp hm2_7i92.0.encoder.01.filter 1 setp hm2_7i92.0.encoder.01.index-invert 0 setp hm2_7i92.0.encoder.01.index-mask 0 setp hm2_7i92.0.encoder.01.index-mask-invert 0 setp hm2_7i92.0.encoder.01.scale [JOINT_0]ENCODER_SCALE # ****the following line is for drive tuning purposes only**** net x-encpos-fb <= hm2_7i92.0.encoder.01.position net x-vel-fb <= hm2_7i92.0.encoder.01.velocity #net x-pos-fb => joint.0.motor-pos-fb net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts # ---setup home / limit switch signals--- net home-x => joint.0.home-sw-in net limit-x => joint.0.neg-lim-sw-in #******************* # AXIS Y #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true setp pid.y.maxerror 0 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i92.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i92.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i92.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i92.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7i92.0.stepgen.01.step_type 0 setp hm2_7i92.0.stepgen.01.control-type 1 setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb ##net y-pos-fb <= hm2_7i92.0.encoder.02.position ##net y-pos-fb => joint.1.motor-pos-fb net y-encpos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => hm2_7i92.0.stepgen.01.enable # ---Encoder feedback signals/setup--- setp hm2_7i92.0.encoder.02.counter-mode 0 setp hm2_7i92.0.encoder.02.filter 1 setp hm2_7i92.0.encoder.02.index-invert 0 setp hm2_7i92.0.encoder.02.index-mask 0 setp hm2_7i92.0.encoder.02.index-mask-invert 0 setp hm2_7i92.0.encoder.02.scale [JOINT_1]ENCODER_SCALE # ****the following line is for drive tuning purposes only**** net y-encpos-fb <= hm2_7i92.0.encoder.02.position net y-vel-fb <= hm2_7i92.0.encoder.02.velocity #net y-pos-fb => joint.1.motor-pos-fb net y-index-enable joint.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net home-y => joint.1.home-sw-in net limit-y => joint.1.neg-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [JOINT_2]P setp pid.z.Igain [JOINT_2]I setp pid.z.Dgain [JOINT_2]D setp pid.z.bias [JOINT_2]BIAS setp pid.z.FF0 [JOINT_2]FF0 setp pid.z.FF1 [JOINT_2]FF1 setp pid.z.FF2 [JOINT_2]FF2 setp pid.z.deadband [JOINT_2]DEADBAND setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT setp pid.z.error-previous-target true setp pid.z.maxerror 0 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 0 setp hm2_7i92.0.stepgen.02.control-type 1 setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.2.motor-pos-cmd net z-vel-cmd <= joint.2.vel-cmd net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb ##net z-pos-fb <= hm2_7i92.0.encoder.03.position ##net z-pos-fb => joint.2.motor-pos-fb net z-encpos-fb => joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out net z-enable => hm2_7i92.0.stepgen.02.enable # ---Encoder feedback signals/setup--- setp hm2_7i92.0.encoder.03.counter-mode 0 setp hm2_7i92.0.encoder.03.filter 1 setp hm2_7i92.0.encoder.03.index-invert 0 setp hm2_7i92.0.encoder.03.index-mask 0 setp hm2_7i92.0.encoder.03.index-mask-invert 0 setp hm2_7i92.0.encoder.03.scale [JOINT_2]ENCODER_SCALE # ****the following line is for drive tuning purposes only**** net z-encpos-fb <= hm2_7i92.0.encoder.03.position net z-vel-fb <= hm2_7i92.0.encoder.03.velocity #net z-pos-fb => joint.2.motor-pos-fb net z-index-enable joint.2.index-enable <=> hm2_7i92.0.encoder.03.index-enable net z-pos-rawcounts <= hm2_7i92.0.encoder.03.rawcounts # ---setup home / limit switch signals--- net home-z => joint.2.home-sw-in net limit-z => joint.2.neg-lim-sw-in #******************* # AXIS A #******************* setp pid.a.Pgain [JOINT_3]P setp pid.a.Igain [JOINT_3]I setp pid.a.Dgain [JOINT_3]D setp pid.a.bias [JOINT_3]BIAS setp pid.a.FF0 [JOINT_3]FF0 setp pid.a.FF1 [JOINT_3]FF1 setp pid.a.FF2 [JOINT_3]FF2 setp pid.a.deadband [JOINT_3]DEADBAND setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT setp pid.a.error-previous-target true setp pid.a.maxerror 0 net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-pos-cmd => pid.a.command net a-vel-cmd => pid.a.command-deriv net a-pos-fb => pid.a.feedback net a-output => pid.a.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_7i92.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_7i92.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_7i92.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_7i92.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_7i92.0.stepgen.03.step_type 0 setp hm2_7i92.0.stepgen.03.control-type 1 setp hm2_7i92.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd <= joint.3.motor-pos-cmd net a-vel-cmd <= joint.3.vel-cmd net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd net a-pos-fb <= hm2_7i92.0.encoder.04.position net a-pos-fb => joint.3.motor-pos-fb net a-enable <= joint.3.amp-enable-out net a-enable => hm2_7i92.0.stepgen.03.enable # ---Encoder feedback signals/setup--- setp hm2_7i92.0.encoder.04.counter-mode 0 setp hm2_7i92.0.encoder.04.filter 1 setp hm2_7i92.0.encoder.04.index-invert 0 setp hm2_7i92.0.encoder.04.index-mask 0 setp hm2_7i92.0.encoder.04.index-mask-invert 0 setp hm2_7i92.0.encoder.04.scale [JOINT_3]ENCODER_SCALE net a-vel-fb <= hm2_7i92.0.encoder.04.velocity net a-pos-fb => joint.3.motor-pos-fb net a-index-enable joint.3.index-enable <=> hm2_7i92.0.encoder.04.index-enable net a-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts # ---setup home / limit switch signals--- net a-home-sw => joint.3.home-sw-in net a-neg-limit => joint.3.neg-lim-sw-in net a-pos-limit => joint.3.pos-lim-sw-in #******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm-abs => pid.s.feedback net spindle-output <= pid.s.output # ---PWM Generator signals/setup--- setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT net spindle-output => hm2_7i92.0.7i77.0.1.analogout0 net spindle-enable hm2_7i92.0.7i77.0.1.analogena # ---Encoder feedback signals/setup--- setp hm2_7i92.0.encoder.00.counter-mode 0 setp hm2_7i92.0.encoder.00.filter 1 setp hm2_7i92.0.encoder.00.index-invert 0 setp hm2_7i92.0.encoder.00.index-mask 0 setp hm2_7i92.0.encoder.00.index-mask-invert 0 setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE net spindle-revs <= hm2_7i92.0.encoder.00.position net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable # ---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-enable <= 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 # ---Setup spindle at speed signals--- net spindle-vel-cmd-rps => near.0.in1 net spindle-vel-fb-rps => near.0.in2 ########################## net spindle-at-speed <= near.0.out ########################## setp near.0.scale 1.000000 ########################## setp near.0.difference 5 ##sets spindle-at-speed true # Use ACTUAL spindle velocity from spindle encoder # spindle-velocity bounces around so we filter it with lowpass # spindle-velocity is signed so we use absolute component to remove sign # ACTUAL velocity is in RPS not RPM so we scale it. setp scale.spindle.gain 60 setp lowpass.spindle.gain 1.000000 net spindle-vel-fb-rps => scale.spindle.in net spindle-fb-rpm scale.spindle.out => abs.spindle.in net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in net spindle-fb-rpm-abs-filtered lowpass.spindle.out # ---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-ext => iocontrol.0.emc-enable-in # ---manual tool change signals--- #loadusr -W hal_manualtoolchange #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed