# 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES # using steppers.... loadrt stepgen step_type=0,0,0 # I/O thru the parport loadrt hal_parport cfg="0x0378" # counting the spindle counter in software loadrt counter num_chan=1 # misc blocks needed to do fun things loadrt ddt count=6 # spindle speed pwm loadrt pwmgen output_type=0 # spindle speed feedback loadrt lowpass count=1 loadrt mult2 count=1 loadrt scale count=1 ####################################################### # add realtime functions to the threads # first the high speed thread ####################################################### # first we read parport inputs addf parport.0.read base-thread # update counter addf counter.update-counters base-thread # generate step and dir signals addf stepgen.make-pulses base-thread # generate spindle pwm addf pwmgen.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 counter.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 # other misc blocks addf scale.0 servo-thread addf pwmgen.update servo-thread # update output info, axis and spindle addf stepgen.update-freq servo-thread addf lowpass.0 servo-thread addf mult2.0 servo-thread ####################################################### # interconnections # # first, the basic stepper machine connections ####################################################### # connect position commands from motion module to step generator newsig Xpos-cmd float linksp Xpos-cmd <= axis.0.motor-pos-cmd linksp Xpos-cmd => stepgen.0.position-cmd newsig Ypos-cmd float linksp Ypos-cmd <= axis.1.motor-pos-cmd linksp Ypos-cmd => stepgen.1.position-cmd newsig Zpos-cmd float linksp Zpos-cmd <= axis.2.motor-pos-cmd linksp Zpos-cmd => stepgen.2.position-cmd # connect position feedback from step generators # to motion module newsig Xpos-fb float linksp Xpos-fb <= stepgen.0.position-fb linksp Xpos-fb => axis.0.motor-pos-fb newsig Ypos-fb float linksp Ypos-fb <= stepgen.1.position-fb linksp Ypos-fb => axis.1.motor-pos-fb newsig Zpos-fb float linksp Zpos-fb <= stepgen.2.position-fb linksp Zpos-fb => axis.2.motor-pos-fb # connect enable signals for step generators newsig Xen bit linksp Xen <= axis.0.amp-enable-out linksp Xen => stepgen.0.enable newsig Yen bit linksp Yen <= axis.1.amp-enable-out linksp Yen => stepgen.1.enable newsig Zen bit linksp Zen <= axis.2.amp-enable-out linksp Zen => stepgen.2.enable # connect signals to step pulse generator outputs newsig Xstep bit newsig Xdir bit newsig Ystep bit newsig Ydir bit newsig Zstep bit newsig Zdir bit linkps stepgen.0.step => Xstep linkps stepgen.0.dir => Xdir linkps stepgen.1.step => Ystep linkps stepgen.1.dir => Ydir linkps stepgen.2.step => Zstep linkps stepgen.2.dir => Zdir ############################################################################# # Spindle Speed # The spindle goes forward only newsig spindle-forward bit linkps motion.spindle-forward => spindle-forward linksp spindle-forward => pwmgen.0.enable # PID is not used to give closed-loop spindle speed control, because at the # highest speeds the software-based counter cannot keep up (note: with 'counter', # it can) # Instead, this offset and scale have been determined emperically # -- if these numbers are accurate, then top speed at this gearing is about # 1200 rpm # # note that this does not depend on the base_period, unlike freqgen # gain = 1/1128 ~ .00089 # offset = .07 # PWM Measured RPM # 25% 200 # 50% 482 # 60% 595 setp scale.0.gain .00089 setp scale.0.offset .07 newsig spindle-speed-cmd float linkps motion.spindle-speed-out => spindle-speed-cmd linksp spindle-speed-cmd => scale.0.in newsig spindle-speed-pwm float linkps scale.0.out => spindle-speed-pwm linksp spindle-speed-pwm => pwmgen.0.value # Spindle speed feedback -- spindle-speed-fb-rpm can be metered or scoped # but beware that at the highest speeds the software-based counter cannot # keep up, and the speed is estimated incorrectly newsig spindle-speed-fb-raw float newsig spindle-speed-fb-filtered float newsig spindle-speed-fb-rpm float # The gain of the lowpass filter is a trade-off: Higher numbers track spindle # speed better when the speed changes. Lower numbers give a more steady # estimate of average spindle speed when the speed is nominally constant setp lowpass.0.gain 0.01 linkps counter.0.velocity => spindle-speed-fb-raw linksp spindle-speed-fb-raw => lowpass.0.in linkps lowpass.0.out => spindle-speed-fb-filtered setp mult2.0.in0 60 linksp spindle-speed-fb-filtered mult2.0.in1 linkps mult2.0.out spindle-speed-fb-rpm ############################################################################# # 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" newsig spindle_on bit linksp spindle_on <= motion.spindle-on # connect physical pins to the signals linksp Xstep => parport.0.pin-03-out linksp Xdir => parport.0.pin-02-out linksp Ystep => parport.0.pin-05-out linksp Ydir => parport.0.pin-04-out linksp Zstep => parport.0.pin-07-out linksp Zdir => parport.0.pin-06-out # amp enable (active lo) #linksp Xen => parport.0.pin-01-out #setp parport.0.pin-01-out-invert 1 # spindle enable linksp spindle_on => parport.0.pin-01-out setp parport.0.pin-01-out-invert 1 net pwm pwmgen.0.pwm => parport.0.pin-14-out ####################################################### # 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 # 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]STEPGEN_MAXACCEL setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL # end of basic machine newsig homeswitches bit linkps parport.0.pin-10-in => homeswitches linkps axis.0.home-sw-in <= homeswitches linkps axis.2.home-sw-in <= homeswitches ####################################################### # Beginning of threading-related stuff ####################################################### # spindle counter # connect encoder signals to counter counter # B is not used because it is the counter module, not encoder newsig spindle-phase-A bit newsig spindle-phase-B bit newsig spindle-phase-Z bit linksp spindle-phase-A => counter.0.phase-A linksp spindle-phase-Z => counter.0.phase-Z linkps parport.0.pin-11-in => spindle-phase-A linkps parport.0.pin-12-in => spindle-phase-B linkps parport.0.pin-13-in => spindle-phase-Z # (that way thread pitches can be straightforward, # a 20 tpi thread would multiply the counter output # by 1/20, etc) setp counter.0.position-scale 1024 # hook up motion controller's spindle indexing pin newsig spindle-index-enable bit linkps motion.spindle-index-enable <=> spindle-index-enable linksp spindle-index-enable <=> counter.0.index-enable # report our revolution count to the motion controller newsig spindle-pos float linkps counter.0.position => spindle-pos linksp 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 newsig Xvel float newsig Xacc float linksp Xpos-cmd => ddt.0.in linkps ddt.0.out => Xvel linksp Xvel => ddt.1.in linkps ddt.1.out => Xacc newsig Yvel float newsig Yacc float linksp Ypos-cmd => ddt.2.in linkps ddt.2.out => Yvel linksp Yvel => ddt.3.in linkps ddt.3.out => Yacc newsig Zvel float newsig Zacc float linksp Zpos-cmd => ddt.4.in linkps ddt.4.out => Zvel linksp Zvel => ddt.5.in linkps ddt.5.out => Zacc