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qtDrago4xyz.hal
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qtDrago4xyz.hal
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# 由PNCconf在Fri Apr 12 00:45:45 2024生成
# 使用的 LinuxCNC 版本: Master (2.10)
# 如果您对此文件进行了更改，那么
# 再次运行PNCconf时会被覆盖
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=2
loadrt hostmot2
#loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=0xxxxx"
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=-1 num_pwmgens=-1 num_stepgens=-1"
setp hm2_lite.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s
addf hm2_lite.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.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_lite.0.write servo-thread
setp hm2_lite.0.dpll.01.timer-us -100
setp hm2_lite.0.stepgen.timer-number 1
# 输出信号---
setp hm2_lite.0.gpio.000.is_output 1
setp hm2_lite.0.gpio.000.invert_output 0
setp hm2_lite.0.gpio.001.is_output 1
setp hm2_lite.0.gpio.001.invert_output 0
setp hm2_lite.0.gpio.002.is_output 1
setp hm2_lite.0.gpio.002.invert_output 0
setp hm2_lite.0.gpio.003.is_output 1
setp hm2_lite.0.gpio.003.invert_output 0
setp hm2_lite.0.gpio.004.is_output 1
setp hm2_lite.0.gpio.004.invert_output 0
setp hm2_lite.0.gpio.005.is_output 1
setp hm2_lite.0.gpio.005.invert_output 0
setp hm2_lite.0.gpio.006.is_output 1
setp hm2_lite.0.gpio.006.invert_output 0
setp hm2_lite.0.gpio.007.is_output 1
setp hm2_lite.0.gpio.007.invert_output 0
setp hm2_lite.0.gpio.008.is_output 1
setp hm2_lite.0.gpio.008.invert_output 0
setp hm2_lite.0.gpio.009.is_output 1
setp hm2_lite.0.gpio.009.invert_output 0
setp hm2_lite.0.gpio.010.is_output 1
setp hm2_lite.0.gpio.010.invert_output 0
setp hm2_lite.0.gpio.011.is_output 1
setp hm2_lite.0.gpio.011.invert_output 0
# 外部输出信号
# --- COOLANT-MIST ---
net coolant-mist => hm2_lite.0.gpio.001.out
# --- COOLANT-FLOOD ---
net coolant-flood => hm2_lite.0.gpio.002.out
# --- ESTOP-OUT ---
#net estop-out => hm2_lite.0.gpio.003.out
# ---machine on signals---
net machine-is-on => hm2_lite.0.gpio.004.out
# 外部输入信号
# --- MIN-HOME-X ---
net min-home-x <= hm2_lite.0.gpio.018.in_not
# --- MIN-HOME-Y ---
net min-home-y <= hm2_lite.0.gpio.019.in_not
# --- MIN-HOME-Y2 ---
net min-home-y2 <= hm2_lite.0.gpio.021.in_not
# --- MIN-HOME-Z ---
net min-home-z <= hm2_lite.0.gpio.020.in_not
# --- ESTOP-EXT ---
net estop-ext <= hm2_lite.0.gpio.022.in_not
#*******************
# 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 0.012700
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
# 步进发生器信号/设置
setp hm2_lite.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_lite.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_lite.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_lite.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_lite.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_lite.0.stepgen.00.step_type 0
setp hm2_lite.0.stepgen.00.control-type 1
setp hm2_lite.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_lite.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---闭环步进信号---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_lite.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_lite.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_lite.0.stepgen.00.enable
# ---设置归零/限位开关信号---
net min-home-x => joint.0.home-sw-in
net min-home-x => 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 0.012700
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
# 步进发生器信号/设置
setp hm2_lite.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_lite.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_lite.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_lite.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_lite.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_lite.0.stepgen.01.step_type 0
setp hm2_lite.0.stepgen.01.control-type 1
setp hm2_lite.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_lite.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---闭环步进信号---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => hm2_lite.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_lite.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_lite.0.stepgen.01.enable
# ---设置归零/限位开关信号---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable => pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# 同步轴步进发生器信号/设置
setp hm2_lite.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_lite.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_lite.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_lite.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_lite.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_lite.0.stepgen.02.step_type 0
setp hm2_lite.0.stepgen.02.control-type 1
setp hm2_lite.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_lite.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---闭环步进信号---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_lite.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_lite.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_lite.0.stepgen.02.enable
# ---设置归零/限位开关信号---
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]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 0.012700
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
# 步进发生器信号/设置
setp hm2_lite.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_lite.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_lite.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_lite.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_lite.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_lite.0.stepgen.03.step_type 0
setp hm2_lite.0.stepgen.03.control-type 1
setp hm2_lite.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_lite.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---闭环步进信号---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output => hm2_lite.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_lite.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_lite.0.stepgen.03.enable
# ---设置归零/限位开关信号---
net min-home-z => joint.3.home-sw-in
net min-home-z => joint.3.neg-lim-sw-in
net z-pos-limit => joint.3.pos-lim-sw-in
#*******************
# 主轴
#*******************
#***********************************************************************
# 模拟主轴（0-10V信号）
#***********************************************************************
#set pwm frequency: 20Khz
setp hm2_lite.0.pwmgen.pwm_frequency 20000
net spindle-enable => hm2_lite.0.gpio.005.out
net spindle-cw => hm2_lite.0.gpio.006.out
net spindle-ccw => hm2_lite.0.gpio.007.out
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---PWM 发生器信号/设置---
setp hm2_lite.0.pwmgen.00.output-type 1
setp hm2_lite.0.pwmgen.00.scale [SPINDLE_0]OUTPUT_SCALE
net spindle-vel-cmd-rpm => hm2_lite.0.pwmgen.00.value
net spindle-enable => hm2_lite.0.pwmgen.00.enable
# ---设置主轴控制信号---
#net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.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-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-speed-feedback spindle.0.speed-out-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---设置主轴转速信号---
sets spindle-at-speed true
#******************************
# 连接杂项信号
#******************************
# ---HALUI 信号---
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 y2-is-homed halui.joint.2.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.3.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
# ---冷却水信号---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---探针信号---
net probe-in <= hm2_lite.0.gpio.023.in_not
net probe-in => motion.probe-input
# ---运动控制信号---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---数字输入/输出信号---
# ---急停信号---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---手动换刀信号---
#loadusr -W hal_manualtoolchange
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-prep-number
# ---忽略刀具准备请求---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared