rendered paste body# 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