/
my_LinuxCNC_machine.hal
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my_LinuxCNC_machine.hal
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# Generated by PNCconf at Sat Dec 12 15:09:09 2020
# Using LinuxCNC version: Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=0 num_pwmgens=1 num_stepgens=4"
setp hm2_7i80.0.pwmgen.pwm_frequency 20000
setp hm2_7i80.0.pwmgen.pdm_frequency 6000000
setp hm2_7i80.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
addf hm2_7i80.0.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.s.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_7i80.0.write servo-thread
# external output signals
loadusr -Wn vfd hy_vfd -n vfd -d /dev/ttyUSB0 -p none -r 9600 -t 1 -S 21000
net spindle-vel-cmd-rpm-abs => vfd.speed-command
net spindle-cw spindle.0.forward => vfd.spindle-forward
net spindle-ccw spindle.0.reverse => vfd.spindle-reverse
net spindle-on spindle.0.on => vfd.spindle-on
# --- for vacuum ---
setp hm2_7i80.0.gpio.005.invert_output true
setp hm2_7i80.0.gpio.005.is_output true
loadrt or2 count=2
addf or2.0 servo-thread
# --- spindle ---
#net spindle1-vel-cmd-rps <= spindle.1.speed-out-rps
#net spindle1-vel-cmd-rps-abs <= spindle.1.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-on <= spindle.0.on
# these two with the or2.0 pins for the vacuum config below
net spindle-cw or2.0.in0 <= spindle.0.forward
net spindle-ccw or2.0.in1 <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
#net spindle1-vel-fb-rps => spindle.1.speed-in
#net spindle1-index-enable <=> spindle.1.index-enable
# --- COOLANT-FLOOD ---
setp hm2_7i80.0.gpio.001.invert_output true
setp hm2_7i80.0.gpio.001.is_output true
net coolant-flood => hm2_7i80.0.gpio.001.out
# --- COOLANT-MIST ---
setp hm2_7i80.0.gpio.002.invert_output true
setp hm2_7i80.0.gpio.002.is_output true
net coolant-mist => hm2_7i80.0.gpio.002.out
# --- MACHINE-IS-ENABLED ---
setp hm2_7i80.0.gpio.003.invert_output true
setp hm2_7i80.0.gpio.003.is_output true
net machine-is-enabled => hm2_7i80.0.gpio.003.out
# --- X-ENABLE ---
setp hm2_7i80.0.gpio.050.invert_output true
setp hm2_7i80.0.gpio.050.is_output true
net x-enable => hm2_7i80.0.gpio.050.out
# --- Y-ENABLE ---
setp hm2_7i80.0.gpio.056.invert_output true
setp hm2_7i80.0.gpio.056.is_output true
net y-enable => hm2_7i80.0.gpio.056.out
# --- Z-ENABLE ---
setp hm2_7i80.0.gpio.062.invert_output true
setp hm2_7i80.0.gpio.062.is_output true
net z-enable => hm2_7i80.0.gpio.062.out
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i80.0.gpio.000.in
# --- PROBE-IN ---
net probe-in <= hm2_7i80.0.gpio.004.in
# --- HOME-X ---
net home-x <= hm2_7i80.0.gpio.051.in
# --- HOME-Y ---
net home-y <= hm2_7i80.0.gpio.057.in
# --- HOME-Z ---
net home-z <= hm2_7i80.0.gpio.063.in
#*******************
# 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500
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 hm2_7i80.0.stepgen.00.direction.invert_output true
setp hm2_7i80.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i80.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i80.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i80.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i80.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i80.0.stepgen.00.step_type 0
setp hm2_7i80.0.stepgen.00.control-type 1
setp hm2_7i80.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i80.0.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_7i80.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i80.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i80.0.stepgen.00.enable
# ---setup home / limit switch signals---
net home-x => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.000500
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 hm2_7i80.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i80.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i80.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i80.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i80.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i80.0.stepgen.01.step_type 0
setp hm2_7i80.0.stepgen.01.control-type 1
setp hm2_7i80.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i80.0.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_7i80.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i80.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i80.0.stepgen.01.enable
# ---setup home / limit switch signals---
net home-y => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => 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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
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 hm2_7i80.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i80.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i80.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i80.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i80.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i80.0.stepgen.02.step_type 0
setp hm2_7i80.0.stepgen.02.control-type 1
setp hm2_7i80.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i80.0.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_7i80.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i80.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i80.0.stepgen.02.enable
# ---setup home / limit switch signals---
net home-z => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_1]P
setp pid.s.Igain [SPINDLE_1]I
setp pid.s.Dgain [SPINDLE_1]D
setp pid.s.bias [SPINDLE_1]BIAS
setp pid.s.FF0 [SPINDLE_1]FF0
setp pid.s.FF1 [SPINDLE_1]FF1
setp pid.s.FF2 [SPINDLE_1]FF2
setp pid.s.deadband [SPINDLE_1]DEADBAND
setp pid.s.maxoutput [SPINDLE_1]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle1-index-enable <=> pid.s.index-enable
net spindle1-enable => pid.s.enable
net spindle1-vel-cmd-rpm-abs => pid.s.command
net spindle1-vel-fb-rpm-abs => pid.s.feedback
net spindle1-output <= pid.s.output
# ---PWM Generator signals/setup---
setp hm2_7i80.0.pwmgen.00.output-type 1
setp hm2_7i80.0.pwmgen.00.scale [SPINDLE_1]OUTPUT_SCALE
# M68 E0 Q0 -
net laser-pwm motion.analog-out-00 => hm2_7i80.0.pwmgen.00.value
# net laser-enable motion.digital-out-00 => hm2_7i80.0.pwmgen.00.enable
# ---setup spindle control signals---
#net spindle1-vel-cmd-rps <= spindle.1.speed-out-rps
#net spindle1-vel-cmd-rps-abs <= spindle.1.speed-out-rps-abs
#net spindle1-vel-cmd-rpm <= spindle.1.speed-out
#net spindle1-vel-cmd-rpm-abs <= spindle.1.speed-out-abs
#net spindle1-enable <= spindle.1.on
#net spindle1-cw <= spindle.1.forward
#net spindle1-ccw <= spindle.1.reverse
#net spindle1-brake <= spindle.1.brake
#net spindle1-revs => spindle.1.revs
#net spindle1-at-speed => spindle.1.at-speed
#net spindle1-vel-fb-rps => spindle.1.speed-in
#net spindle1-index-enable <=> spindle.1.index-enable
# ---Setup spindle at speed signals---
#sets spindle-at-speed true
#******************************
# 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
loadrt not count=1
loadrt and2 count=1
addf or2.1 servo-thread
addf not.0 servo-thread
# ---coolant signals---
# with or2.1 pins for vacuum config below
net coolant-mist or2.1.in0 <= iocontrol.0.coolant-mist
net coolant-flood or2.1.in1 <= iocontrol.0.coolant-flood
# --- Vacuum ---
# invert result of or2.1 so both mist and flood MUST be OFF to be TRUE
net either-coolant-on not.0.in <= or2.1.out
addf and2.0 servo-thread
# input signals from IF spindle-cw OR spindle-ccw into pin and2.0
net my_spindle_ison and2.0.in0 <= or2.0.out
# input signals from IF INVERTED coolant-mist OR coolant-flood into pin and2.0
net my_coolant_isoff and2.0.in1 <= not.0.out
# result of IF((spindle-cw OR spindle-ccw) AND NOT(coolant-mist OR coolant-flood))
net vac_sig_only hm2_7i80.0.gpio.005.out <= and2.0.out
# ---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