# Generated by PNCconf at Sat Sep 10 10:10:56 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt bitslice count=1 personality=24 loadrt conv_s32_u32 count=1 loadrt classicladder_rt #loadrt spindle count=1 #halui include spindle.0 #autoconverted trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadusr -W lcec_conf ethercat-conf.xml loadusr classicladder --nogui CNC3LD.clp loadrt lcec loadrt cia402 count=4 addf lcec.read-all servo-thread addf cia402.0.read-all servo-thread addf cia402.1.read-all servo-thread addf cia402.2.read-all servo-thread addf cia402.3.read-all servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf cia402.0.write-all servo-thread addf cia402.1.write-all servo-thread addf cia402.2.write-all servo-thread addf cia402.3.write-all servo-thread addf lcec.write-all servo-thread addf bitslice.0 servo-thread addf conv-s32-u32.0 servo-thread addf classicladder.0.refresh servo-thread #******************* # AXIS X #******************* # --- joint signals for motion net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-pos-fb <= joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out # --- connect stepper driver to joint net x-pos-cmd => cia402.0.pos-cmd net x-pos-fb => cia402.0.pos-fb net x-enable => cia402.0.enable # --- ect60 settings setp cia402.0.csp-mode 1 setp cia402.0.pos-scale 4000 # --- from stepper(ethercat) to cia402 net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword net x-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display net x-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position net x-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity #net x-test1 <= lcec.0.0.test1 # --- from cia402 to stepper(ethercat) net x-controlword cia402.0.controlword => lcec.0.0.cia-controlword net x-modes-of-operation cia402.0.opmode => lcec.0.0.opmode net x-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity #******************* # AXIS Y #******************* # --- joint signals for motion net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-pos-fb <= joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out # --- connect stepper driver to the joint net y-pos-cmd => cia402.1.pos-cmd net y-pos-fb => cia402.1.pos-fb net y-enable => cia402.1.enable # --- ect60 settings setp cia402.1.csp-mode 1 setp cia402.1.pos-scale 4000 # --- from servo(ethercat) to cia402 net y-statusword lcec.0.1.cia-statusword => cia402.1.statusword net y-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display net y-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position net y-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity # --- from cia402 to servo(ethercat) net y-controlword cia402.1.controlword => lcec.0.1.cia-controlword net y-modes-of-operation cia402.1.opmode => lcec.0.1.opmode net y-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position net y-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.target-velocity #******************* # AXIS Z #******************* # --- joint signals for motion net z-pos-cmd <= joint.2.motor-pos-cmd net z-vel-cmd <= joint.2.vel-cmd net z-pos-fb <= joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out # --- connect stepper driver to the joint net z-pos-cmd => cia402.2.pos-cmd net z-pos-fb => cia402.2.pos-fb net z-enable => cia402.2.enable # --- ect60 settings setp cia402.2.csp-mode 1 setp cia402.2.pos-scale 4000 # --- from servo(ethercat) to cia402 net z-statusword lcec.0.2.cia-statusword => cia402.2.statusword net z-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display net z-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position net z-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity # --- from cia402 to servo(ethercat) net z-controlword cia402.2.controlword => lcec.0.2.cia-controlword net z-modes-of-operation cia402.2.opmode => lcec.0.2.opmode net z-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position net z-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity #******************* # SPINDLE #******************* # --- joint signals for motion net spindle-speed-cmd spindle.0.speed-out => cia402.3.velocity-cmd net spindle-speed-fb cia402.3.velocity-fb => spindle.0.speed-in net spindle-on spindle.0.on => cia402.3.enable # --- ect60 settings setp cia402.3.csp-mode 0 setp cia402.3.pos-scale 4000 setp cia402.3.velo-scale 400 # --- from servo(ethercat) to cia402 net s-statusword lcec.0.3.cia-statusword => cia402.3.statusword net s-opmode-display lcec.0.3.opmode-display => cia402.3.opmode-display net s-drv-act-pos lcec.0.3.actual-position => cia402.3.drv-actual-position net s-drv-act-velo lcec.0.3.actual-velocity => cia402.3.drv-actual-velocity # --- from cia402 to servo(ethercat) net s-controlword cia402.3.controlword => lcec.0.3.cia-controlword net s-modes-of-operation cia402.3.opmode => lcec.0.3.opmode net s-drv-target-pos cia402.3.drv-target-position => lcec.0.3.target-position net s-drv-target-velo cia402.3.drv-target-velocity => lcec.0.3.target-velocity #********************* # E-STOP #********************* #setp iocontrol.0.emc-enable-in 1 net lcec-z-stop <= lcec.0.2.z-estop net lcec-z-stop => bitslice.0.in net HE-estopbit bitslice.0.out-23 => iocontrol.0.emc-enable-in