#RMC Rev41.1 - Add spindle lock interlock, PDB M-code, angular jog scale, switch SRO/FRO inputs on MPG #RMC Rev41 - Added 4th axis back #RMC Rev40 - 7i73 & new control panel #RMC Rev32 - ATC4 loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=20 num_aio=64 #ATC loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=10xxxx" setp [HMOT](CARD0).watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s,pid.o #ORIENT loadrt abs count=2 #SPINDLE ORIENT loadrt lowpass names=lowpass.spindle loadrt scale count=5 #SPINDLE LOAD / JOG SPEED loadrt orient count=1 #ORIENT loadrt mux2 count=5 #ORIENT FRO SRO loadrt mux4 names=mux4.rro #RRO loadrt mux16 names=mux16.jogincr #MPG loadrt and2 count=16 loadrt or2 count=10 #ORIENT2 loadrt not count=10 loadrt toggle count=7 loadrt toggle2nist count=3 #MIST FLOOD loadrt dbounce count=4 loadrt encoder num_chan=1 #MAXVEL OVERRIDE loadrt multiclick count=1 #BLAST loadrt near count=1 loadrt oneshot count=1 loadrt timedelay count=6 loadrt xor2 count=1 #ATC loadrt carousel pockets=18 encoding=counts num_sense=2 dir=2 #ATC loadrt conv_float_s32 count=2 #ATC RRO loadrt lincurve personality=6 #ORIENT loadrt tristate_bit count=1 #ORIENT2 loadrt matrix_kb config=4x8 #OPERATOR PANEL KEYPAD loadrt wcomp count=3 #OVERRIDES loadrt time count=1 #PROBE BASIC loadrt blink count=2 #RRO SRO LEDS loadrt knob2float count=1 #MPG JOG-CONT loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 addf [HMOT](CARD0).read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf orient.0 servo-thread #ORIENT addf mux2.0 servo-thread #ORIENT addf mux2.1 servo-thread #FRO addf mux2.2 servo-thread #SRO addf mux2.3 servo-thread #JOG-SPEED SCALE SWITCH addf mux2.4 servo-thread #SPARE addf mux4.rro servo-thread #RRO addf mux16.jogincr servo-thread #MPG 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 pid.o.do-pid-calcs servo-thread #ORIENT addf lowpass.spindle servo-thread addf near.0 servo-thread #SPINDLE addf abs.0 servo-thread #SPINDLE addf abs.1 servo-thread #ORIENT addf classicladder.0.refresh servo-thread addf oneshot.0 servo-thread #ESTOP RELAY addf timedelay.0 servo-thread #MACHINE ON addf timedelay.1 servo-thread #SPARE addf timedelay.2 servo-thread #SPARE addf timedelay.3 servo-thread #SPINDLE FAN addf timedelay.4 servo-thread #SPARE addf timedelay.5 servo-thread #SPARE addf and2.0 servo-thread #AIR PRESSURE addf and2.1 servo-thread #PDB ENABLE addf and2.2 servo-thread #MPG JOG-CONT addf and2.3 servo-thread #RRO100 addf and2.4 servo-thread #RRO20 addf and2.5 servo-thread #RRO5 addf and2.6 servo-thread #ORIENT addf and2.7 servo-thread #BLINK FRO addf and2.8 servo-thread #BLINK SRO addf and2.9 servo-thread #MODE MANUAL addf and2.10 servo-thread #MODE MDI addf and2.11 servo-thread #MODE AUTO addf and2.12 servo-thread #CYCSTOP addf and2.13 servo-thread #SNGLBLK addf and2.14 servo-thread #SPINDLE INHIBIT addf and2.15 servo-thread #SPINDLE INHIBIT addf or2.0 servo-thread #PDB addf or2.1 servo-thread #AUTO MODE FROM LADDER OR BTN addf or2.2 servo-thread #FRO BLINK addf or2.3 servo-thread #FRO BLINK addf or2.4 servo-thread #ORIENT addf or2.5 servo-thread #ORIENT addf or2.6 servo-thread #ORIENT2 addf or2.7 servo-thread #SRO BLINK addf or2.8 servo-thread #SRO BLINK addf or2.9 servo-thread #RRO addf not.0 servo-thread #PDB ENABLE addf not.1 servo-thread #OPTSTOP addf not.2 servo-thread #BLKSKIP addf not.3 servo-thread #FRO addf not.4 servo-thread #PROBE BASIC POSTGUI addf not.5 servo-thread #SPARE addf not.6 servo-thread #SPARE addf not.7 servo-thread #SPARE addf not.8 servo-thread #SPINDLE INHIBIT addf not.9 servo-thread #SPARE addf toggle.0 servo-thread #OPTSTOP addf toggle.1 servo-thread #BLKSKIP addf toggle.2 servo-thread #MIST addf toggle.3 servo-thread #FLOOD addf toggle.4 servo-thread #SPARE addf toggle.5 servo-thread #SGLBLK addf toggle.6 servo-thread #SPARE addf toggle2nist.0 servo-thread #MIST addf toggle2nist.1 servo-thread #FLOOD addf toggle2nist.2 servo-thread #SPARE addf dbounce.0 servo-thread #SPARE addf dbounce.1 servo-thread #SPARE addf dbounce.2 servo-thread #SPARE addf dbounce.3 servo-thread #SPARE addf encoder.update-counters servo-thread addf encoder.capture-position servo-thread addf scale.0 servo-thread #SPINDLE LOAD addf scale.1 servo-thread #JOG SPEED addf scale.2 servo-thread #FRO TO GUI addf scale.3 servo-thread #SRO TO GUI addf scale.4 servo-thread #RRO TO GUI addf multiclick.0 servo-thread #SPARE addf xor2.0 servo-thread #PDB addf carousel.0 servo-thread #ATC addf conv-float-s32.0 servo-thread #ATC (G-code analogue outputs are floats) addf conv-float-s32.1 servo-thread #RRO addf lincurve.0 servo-thread #ORIENT addf tristate-bit.0 servo-thread #ORIENT (REQUIRED TO RESET ENCODER INDEX FOR HOMING) addf matrix_kb.0 servo-thread #OPERATOR PANEL KEYPAD addf wcomp.0 servo-thread #FRO addf wcomp.1 servo-thread #SRO addf wcomp.2 servo-thread #SPARE addf blink.0 servo-thread #RRO addf blink.1 servo-thread #SRO addf knob2float.0 servo-thread #MPG JOG-CONT addf time.0 servo-thread #PROBE BASIC POSTGUI addf [HMOT](CARD0).write servo-thread setp dbounce.0.delay 5 #SPARE setp dbounce.1.delay 5 #SPARE setp dbounce.2.delay 5 #SPARE setp dbounce.3.delay 5 #SPARE setp [HMOT](CARD0).dpll.01.timer-us -50 setp [HMOT](CARD0).stepgen.timer-number 1 #LIMIT SWITCHES (invert pins for all NC proxys) net HOME-A-SENS <= [HMOT](CARD0).7i76.0.0.input-10-not net MIN-Y <= [HMOT](CARD0).7i76.0.0.input-11-not net MAX-HOME-Y <= [HMOT](CARD0).7i76.0.0.input-12-not net MIN-X <= [HMOT](CARD0).7i76.0.0.input-14-not net MAX-HOME-X <= [HMOT](CARD0).7i76.0.0.input-13-not net MAX-HOME-Z <= [HMOT](CARD0).7i76.0.0.input-15-not #AIR SAFETY (AIR SAFETY ENABLED) net AIR-PRESSURE-OK <= [HMOT](CARD0).7i76.0.0.input-24 net ESTOP-RELAY <= [HMOT](CARD0).7i76.0.0.input-16 net AIR-PRESSURE-OK => and2.0.in0 net ESTOP-RELAY => and2.0.in1 net ESTOP-CLEAR <= and2.0.out net ESTOP-CLEAR => iocontrol.0.emc-enable-in net ESTOP-OUT <= iocontrol.0.user-enable-out #AIR SAFETY (AIR SAFETY DISABLED) #net ESTOP-RELAY <= [HMOT](CARD0).7i76.0.0.input-16 #net ESTOP-RELAY => iocontrol.0.emc-enable-in #net ESTOP-OUT <= iocontrol.0.user-enable-out #MACHINE-ON WITH ESTOP CLEAR setp oneshot.0.width 2 setp timedelay.0.off-delay 0.1 net ESTOP-RELAY => oneshot.0.in net MACHINE-ON-DELAY <= oneshot.0.out net MACHINE-ON-DELAY => timedelay.0.in net MACHINE-ON <= timedelay.0.out net MACHINE-ON => halui.machine.on net MACHINE-IS-ON <= halui.machine.is-on #SPINDLE FAN setp timedelay.3.on-delay 5 setp timedelay.3.off-delay 30 net SPINDLE-ENABLE => timedelay.3.in net SPINDLE-FAN <= timedelay.3.out net SPINDLE-FAN => [HMOT](CARD0).7i76.0.0.output-05 #ENABLE SIGNAL TO STEPPER DRIVES net MACHINE-IS-ENABLED <= motion.motion-enabled net MACHINE-IS-ENABLED => [HMOT](CARD0).7i76.0.0.output-09 #******************* # AXIS X JOINT 0 #******************* 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 0.000500 # This setting is to limit bogus stepgen velocity corrections caused by position feedback sample time jitter. net X-INDEX-ENABLE <=> pid.x.index-enable net X-ENABLE => pid.x.enable net X-POS-CMD => pid.x.command net X-POS-FB => pid.x.feedback net X-OUTPUT <= pid.x.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.00.dirsetup [JOINT_0]DIRSETUP setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_0]DIRHOLD setp [HMOT](CARD0).stepgen.00.steplen [JOINT_0]STEPLEN setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_0]STEPSPACE setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_0]STEP_SCALE setp [HMOT](CARD0).stepgen.00.step_type 0 setp [HMOT](CARD0).stepgen.00.control-type 1 setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.00.velocity-cmd net X-POS-FB <= [HMOT](CARD0).stepgen.00.position-fb net X-POS-FB => joint.0.motor-pos-fb net X-ENABLE <= joint.0.amp-enable-out net X-ENABLE => [HMOT](CARD0).stepgen.00.enable net ALARM-X <= [HMOT](CARD0).7i76.0.0.input-31 net ALARM-X => joint.0.amp-fault-in # ---setup home / limit switch signals--- net MAX-HOME-X => joint.0.home-sw-in net MIN-X => joint.0.neg-lim-sw-in net MAX-HOME-X => joint.0.pos-lim-sw-in #******************* # AXIS Y JOINT 1 #******************* 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 0.000500 # This setting is to limit bogus stepgen velocity corrections caused by position feedback sample time jitter. net Y-INDEX-ENABLE <=> pid.y.index-enable net Y-ENABLE => pid.y.enable net Y-POS-CMD => pid.y.command net Y-POS-FB => pid.y.feedback net Y-OUTPUT <= pid.y.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_1]DIRSETUP setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_1]DIRHOLD setp [HMOT](CARD0).stepgen.01.steplen [JOINT_1]STEPLEN setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_1]STEPSPACE setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_1]STEP_SCALE setp [HMOT](CARD0).stepgen.01.step_type 0 setp [HMOT](CARD0).stepgen.01.control-type 1 setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.01.velocity-cmd net Y-POS-FB <= [HMOT](CARD0).stepgen.01.position-fb net Y-POS-FB => joint.1.motor-pos-fb net Y-ENABLE <= joint.1.amp-enable-out net Y-ENABLE => [HMOT](CARD0).stepgen.01.enable net ALARM-Y <= [HMOT](CARD0).7i76.0.0.input-30 net ALARM-Y => joint.1.amp-fault-in # ---setup home / limit switch signals--- net MAX-HOME-Y => joint.1.home-sw-in net MIN-Y => joint.1.neg-lim-sw-in net MAX-HOME-Y => joint.1.pos-lim-sw-in #******************* # AXIS Z JOINT 2 #******************* 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 0.000500 # This setting is to limit bogus stepgen velocity corrections caused by position feedback sample time jitter. net Z-INDEX-ENABLE <=> pid.z.index-enable net Z-ENABLE => pid.z.enable net Z-POS-CMD => pid.z.command net Z-POS-FB => pid.z.feedback net Z-OUTPUT <= pid.z.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.02.dirsetup [JOINT_2]DIRSETUP setp [HMOT](CARD0).stepgen.02.dirhold [JOINT_2]DIRHOLD setp [HMOT](CARD0).stepgen.02.steplen [JOINT_2]STEPLEN setp [HMOT](CARD0).stepgen.02.stepspace [JOINT_2]STEPSPACE setp [HMOT](CARD0).stepgen.02.position-scale [JOINT_2]STEP_SCALE setp [HMOT](CARD0).stepgen.02.step_type 0 setp [HMOT](CARD0).stepgen.02.control-type 1 setp [HMOT](CARD0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.02.velocity-cmd net Z-POS-FB <= [HMOT](CARD0).stepgen.02.position-fb net Z-POS-FB => joint.2.motor-pos-fb net Z-ENABLE <= joint.2.amp-enable-out net Z-ENABLE => [HMOT](CARD0).stepgen.02.enable net ALARM-Z <= [HMOT](CARD0).7i76.0.0.input-29 net ALARM-Z => joint.2.amp-fault-in # ---setup home / limit switch signals--- net MAX-HOME-Z => joint.2.home-sw-in net Z-NEG-LIMIT => joint.2.neg-lim-sw-in net MAX-HOME-Z => joint.2.pos-lim-sw-in #******************* # AXIS A JOINT 3 #******************* 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 0.000500 # This setting is to limit bogus stepgen velocity corrections caused by position feedback sample time jitter. net A-INDEX-ENABLE <=> pid.a.index-enable net A-ENABLE => pid.a.enable net A-POS-CMD => pid.a.command net A-POS-FB => pid.a.feedback net A-OUTPUT <= pid.a.output # Step Gen signals/setup setp [HMOT](CARD0).stepgen.03.dirsetup [JOINT_3]DIRSETUP setp [HMOT](CARD0).stepgen.03.dirhold [JOINT_3]DIRHOLD setp [HMOT](CARD0).stepgen.03.steplen [JOINT_3]STEPLEN setp [HMOT](CARD0).stepgen.03.stepspace [JOINT_3]STEPSPACE setp [HMOT](CARD0).stepgen.03.position-scale [JOINT_3]STEP_SCALE setp [HMOT](CARD0).stepgen.03.step_type 0 setp [HMOT](CARD0).stepgen.03.control-type 1 setp [HMOT](CARD0).stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp [HMOT](CARD0).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 <= [HMOT](CARD0).stepgen.03.velocity-cmd net A-POS-FB <= [HMOT](CARD0).stepgen.03.position-fb net A-POS-FB => joint.3.motor-pos-fb net A-ENABLE <= joint.3.amp-enable-out net A-ENABLE => [HMOT](CARD0).stepgen.03.enable net A-ENABLE => [HMOT](CARD0).7i76.0.0.output-13 net ESTOP-CLEAR => [HMOT](CARD0).7i76.0.0.output-14 net ALARM-A <= [HMOT](CARD0).7i76.0.0.input-19 net ALARM-A => joint.3.amp-fault-in # ---setup home / limit switch signals--- # HOMING SEQUENCE INTERNAL TO DRIVE net BTN-HOME-A => halui.joint.3.home net HOME-A-OUT <= joint.3.homing net HOME-A-OUT => [HMOT](CARD0).7i76.0.0.output-11 net HOME-A-SENS => [HMOT](CARD0).7i76.0.0.output-12 net HOME-A-SENS => joint.3.home-sw-in