200 lines
6.8 KiB
Plaintext
Executable File
200 lines
6.8 KiB
Plaintext
Executable File
# Generated by PNCconf at Sat Sep 10 10:10:56 2016
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# If you make changes to this file, they will be
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# overwritten when you run PNCconf again
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loadrt [KINS]KINEMATICS
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#autoconverted trivkins
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadusr -W lcec_conf ethercat-conf.xml
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loadrt lcec
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loadrt cia402 count=2
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loadrt metalmusings_encoder
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addf lcec.read-all servo-thread
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addf cia402.0.read-all servo-thread
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addf cia402.1.read-all servo-thread
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addf metalmusings-encoder.0 servo-thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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#*******************
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# AXIS X
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#*******************
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# --- joint signals for motion
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net x-pos-cmd <= joint.0.motor-pos-cmd
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net x-vel-cmd <= joint.0.vel-cmd
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net x-pos-fb <= joint.0.motor-pos-fb
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net x-enable <= joint.0.amp-enable-out
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# --- connect stepper driver to joint
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net x-pos-cmd => cia402.0.pos-cmd
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net x-pos-fb => cia402.0.pos-fb
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net x-enable => cia402.0.enable
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# --- ect60 settings
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setp cia402.0.csp-mode 1
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setp cia402.0.pos-scale 5000
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# --- from stepper(ethercat) to cia402
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net x-statusword lcec.0.4.cia-statusword => cia402.0.statusword
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net x-opmode-display lcec.0.4.opmode-display => cia402.0.opmode-display
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net x-drv-act-pos lcec.0.4.actual-position => cia402.0.drv-actual-position
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net x-drv-act-velo lcec.0.4.actual-velocity => cia402.0.drv-actual-velocity
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# --- from cia402 to stepper(ethercat)
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net x-controlword cia402.0.controlword => lcec.0.4.cia-controlword
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net x-modes-of-operation cia402.0.opmode => lcec.0.4.opmode
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net x-drv-target-pos cia402.0.drv-target-position => lcec.0.4.target-position
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net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.4.target-velocity
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#*******************
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# AXIS Z
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#*******************
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# --- joint signals for motion
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net z-pos-cmd <= joint.1.motor-pos-cmd
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net z-vel-cmd <= joint.1.vel-cmd
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net z-pos-fb <= joint.1.motor-pos-fb
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net z-enable <= joint.1.amp-enable-out
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# --- connect stepper driver to the joint
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net z-pos-cmd => cia402.1.pos-cmd
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net z-pos-fb => cia402.1.pos-fb
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net z-enable => cia402.1.enable
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# --- ect60 settings
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setp cia402.1.csp-mode 1
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setp cia402.1.pos-scale 2000
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# --- from servo(ethercat) to cia402
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net z-statusword lcec.0.5.cia-statusword => cia402.1.statusword
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net z-opmode-display lcec.0.5.opmode-display => cia402.1.opmode-display
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net z-drv-act-pos lcec.0.5.actual-position => cia402.1.drv-actual-position
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net z-drv-act-velo lcec.0.5.actual-velocity => cia402.1.drv-actual-velocity
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# --- from cia402 to servo(ethercat)
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net z-controlword cia402.1.controlword => lcec.0.5.cia-controlword
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net z-modes-of-operation cia402.1.opmode => lcec.0.5.opmode
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net z-drv-target-pos cia402.1.drv-target-position => lcec.0.5.target-position
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net z-drv-target-velo cia402.1.drv-target-velocity => lcec.0.5.target-velocity
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#*********************
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# E-STOP
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#*********************
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setp iocontrol.0.emc-enable-in 1
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#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
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#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
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setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
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#net spindle-revs <= lcec.0.3.enc-pos
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net spindle-revs <= lcec.0.6.enc-position
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loadrt invert
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loadrt mult2 names=mult2.rps,mult2.rpm
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addf invert.0 servo-thread
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addf mult2.rps servo-thread
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addf mult2.rpm servo-thread
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setp invert.0.in [SPINDLE_9]ENCODER_SCALE
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setp mult2.rpm.in0 -60.0
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setp mult2.rpm.in0 60.0
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#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
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#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
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#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
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#net spindle-vel-fb-rpm mult2.rpm.out
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#net spindle-index-enable lcec.0.3.enc-index-c-enable
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net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency
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net spindle-vel-fb-rpm mult2.rpm.out
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net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.6.enc-index-latch-enable
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net from_encoder metalmusings-encoder.0.index-status lcec.0.6.index-status
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net spindle-index-enable metalmusings-encoder.0.index-c-enable
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# ---setup spindle control signals---
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net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
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net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
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net spindle-vel-cmd-rpm <= spindle.0.speed-out
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net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
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net spindle-enable <= spindle.0.on
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net spindle-cw <= spindle.0.forward
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net spindle-ccw <= spindle.0.reverse
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net spindle-brake <= spindle.0.brake
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net spindle-revs => spindle.0.revs
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net spindle-at-speed => spindle.0.at-speed
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net spindle-vel-fb-rps => spindle.0.speed-in
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net spindle-index-enable <=> spindle.0.index-enable
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#******************************
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# connect miscellaneous signals
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#******************************
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# ---HALUI signals---
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net joint-select-a halui.axis.x.select
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net x-is-homed halui.joint.0.is-homed
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net jog-x-pos halui.axis.x.plus
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net jog-x-neg halui.axis.x.minus
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net jog-x-analog halui.axis.x.analog
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net joint-select-b halui.axis.z.select
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net z-is-homed halui.joint.1.is-homed
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net jog-z-pos halui.axis.z.plus
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net jog-z-neg halui.axis.z.minus
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net jog-z-analog halui.axis.z.analog
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net jog-selected-pos halui.axis.selected.plus
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net jog-selected-neg halui.axis.selected.minus
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net spindle-manual-cw halui.spindle.0.forward
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net spindle-manual-ccw halui.spindle.0.reverse
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net spindle-manual-stop halui.spindle.0.stop
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net machine-is-on halui.machine.is-on
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net jog-speed halui.axis.jog-speed
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net MDI-mode halui.mode.is-mdi
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# ---coolant signals---
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net coolant-mist <= iocontrol.0.coolant-mist
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net coolant-flood <= iocontrol.0.coolant-flood
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# ---probe signal---
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net probe-in => motion.probe-input
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# ---motion control signals---
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net in-position <= motion.in-position
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net machine-is-enabled <= motion.motion-enabled
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# ---digital in / out signals---
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# ---estop signals---
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net estop-out <= iocontrol.0.user-enable-out
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net estop-ext => iocontrol.0.emc-enable-in
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# ---manual tool change signals---
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loadusr -W hal_manualtoolchange
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#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
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#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
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#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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addf cia402.0.write-all servo-thread
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addf cia402.1.write-all servo-thread
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addf lcec.write-all servo-thread
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