# HAL config file for MAX NC test machine ####################################################### # first load all the HAL modules we're going to need ####################################################### # kinematics loadrt trivkins # main motion controller module loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES # using steppers.... loadrt stepgen step_type=0,0,0,0 # I/O thru the parport loadrt hal_parport cfg="0x0378" # counting the spindle encoder in software loadrt encoder num_chan=2 # simulate the encoder loadrt sim_encoder num_chan=1 # misc blocks needed to do fun things loadrt ddt count=8 ####################################################### # add realtime functions to the threads # first the high speed thread ####################################################### # first we read parport inputs addf parport.0.read base-thread addf sim-encoder.make-pulses base-thread # update encoder counter addf encoder.update-counters base-thread # generate step and dir signals addf stepgen.make-pulses base-thread # write to outputs addf parport.0.write base-thread # now the servo thread ######################################################## # capture axis and spindle positions addf stepgen.capture-position servo-thread addf encoder.capture-position servo-thread # process motion commands coming from user space addf motion-command-handler servo-thread # run main motion controller addf motion-controller servo-thread # differentiators to make vel and acc signals addf ddt.0 servo-thread addf ddt.1 servo-thread addf ddt.2 servo-thread addf ddt.3 servo-thread addf ddt.4 servo-thread addf ddt.5 servo-thread addf ddt.6 servo-thread addf ddt.7 servo-thread # update output info, axis and spindle addf stepgen.update-freq servo-thread addf sim-encoder.update-speed servo-thread ####################################################### # interconnections # # first, the basic stepper machine connections ####################################################### # connect position commands from motion module to step generator net Xpos-cmd <= axis.0.motor-pos-cmd net Xpos-cmd => stepgen.0.position-cmd net Ypos-cmd <= axis.1.motor-pos-cmd net Ypos-cmd => stepgen.1.position-cmd net Zpos-cmd <= axis.2.motor-pos-cmd net Zpos-cmd => stepgen.2.position-cmd net Apos-cmd <= axis.3.motor-pos-cmd net Apos-cmd => stepgen.3.position-cmd # connect position feedback from step generators # to motion module net Xpos-fb <= stepgen.0.position-fb net Xpos-fb => axis.0.motor-pos-fb net Ypos-fb <= stepgen.1.position-fb net Ypos-fb => axis.1.motor-pos-fb net Zpos-fb <= stepgen.2.position-fb net Zpos-fb => axis.2.motor-pos-fb net Apos-fb <= stepgen.3.position-fb net Apos-fb => axis.3.motor-pos-fb # connect enable signals for step generators net Xen <= axis.0.amp-enable-out net Xen => stepgen.0.enable net Yen <= axis.1.amp-enable-out net Yen => stepgen.1.enable net Zen <= axis.2.amp-enable-out net Zen => stepgen.2.enable net Aen <= axis.3.amp-enable-out net Aen => stepgen.3.enable # connect signals to step pulse generator outputs net Xstep <= stepgen.0.step net Xdir <= stepgen.0.dir net Ystep <= stepgen.1.step net Ydir <= stepgen.1.dir net Zstep <= stepgen.2.step net Zdir <= stepgen.2.dir net Astep <= stepgen.3.step net Adir <= stepgen.3.dir # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed # create a signal for "spindle on" net spindle_on <= motion.spindle-on # connect physical pins to the signals net Xstep => parport.0.pin-03-out net Xdir => parport.0.pin-02-out net Ystep => parport.0.pin-05-out net Ydir => parport.0.pin-04-out net Zstep => parport.0.pin-07-out net Zdir => parport.0.pin-06-out net Astep => parport.0.pin-09-out net Adir => parport.0.pin-08-out # amp enable (active lo) net Xen => parport.0.pin-01-out setp parport.0.pin-01-out-invert 1 # spindle enable (active lo) net spindle_on => parport.0.pin-14-out setp parport.0.pin-14-out-invert 1 ####################################################### # set scaling and other parameters of the basic machine # set stepgen module scaling - get values from ini file setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.3.position-scale [AXIS_3]SCALE # set stepgen module accel limits - get values from ini file # jmk said to set these to ini value + 5% to avoid stepgen bug setp stepgen.0.maxaccel [AXIS_0]HAL_MAXACCEL setp stepgen.1.maxaccel [AXIS_1]HAL_MAXACCEL setp stepgen.2.maxaccel [AXIS_2]HAL_MAXACCEL setp stepgen.3.maxaccel [AXIS_3]HAL_MAXACCEL # end of basic machine ####################################################### # Beginning of threading related stuff ####################################################### # spindle speed control net spindle-speed-cmd <= motion.spindle-speed-out net spindle-speed-cmd => sim-encoder.0.speed # spindle encoder # connect encoder signals to encoder counter net spindle-phase-A => encoder.0.phase-A net spindle-phase-B => encoder.0.phase-B net spindle-phase-Z => encoder.0.phase-Z net spindle-phase-A <= sim-encoder.0.phase-A net spindle-phase-B <= sim-encoder.0.phase-B net spindle-phase-Z <= sim-encoder.0.phase-Z # assume 120 ppr = 480 counts/rev for the spindle setp sim-encoder.0.ppr 120 # iocontrol output is in rpm, but sim-encoder speed is rps setp sim-encoder.0.scale 60 # scale encoder output to read in revolutions # (that way thread pitches can be straightforward, # a 20 tpi thread would multiply the encoder output # by 1/20, etc) setp encoder.0.position-scale 480 # encoder reset control net spindle-index-enable <= motion.spindle-index-enable net spindle-index-enable <=> encoder.0.index-enable # report our revolution count to the motion controller net spindle-pos <= encoder.0.position net spindle-pos => motion.spindle-revs ####################################################### # make vel and accel sigs for testing ####################################################### # send the position commands thru differentiators to # generate velocity and accel signals (for testing) # define the signals, and hook them up net Xpos-cmd => ddt.0.in net Xvel <= ddt.0.out net Xvel => ddt.1.in net Xacc <= ddt.1.out net Ypos-cmd => ddt.2.in net Yvel <= ddt.2.out net Yvel => ddt.3.in net Yacc <= ddt.3.out net Zpos-cmd => ddt.4.in net Zvel <= ddt.4.out net Zvel => ddt.5.in net Zacc <= ddt.5.out net Apos-cmd => ddt.6.in net Avel <= ddt.6.out net Avel => ddt.7.in net Aacc <= ddt.7.out # for spindle velocity estimate loadrt lowpass count=1 net spindle-rpm-raw encoder.0.velocity net spindle-rpm-raw lowpass.0.in net spindle-rpm-filtered lowpass.0.out setp lowpass.0.gain .03 addf lowpass.0 servo-thread