182 lines
5.9 KiB
Plaintext
182 lines
5.9 KiB
Plaintext
# 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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loadrt bitslice count=1 personality=24
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loadrt conv_s32_u32 count=1
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loadrt classicladder_rt
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#loadrt spindle count=1 #halui include spindle.0
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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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loadusr classicladder --nogui CNC3LD.clp
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loadrt lcec
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loadrt cia402 count=4
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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 cia402.2.read-all servo-thread
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addf cia402.3.read-all 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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addf cia402.0.write-all servo-thread
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addf cia402.1.write-all servo-thread
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addf cia402.2.write-all servo-thread
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addf cia402.3.write-all servo-thread
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addf lcec.write-all servo-thread
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addf bitslice.0 servo-thread
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addf conv-s32-u32.0 servo-thread
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addf classicladder.0.refresh 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 4000
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# --- from stepper(ethercat) to cia402
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net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword
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net x-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
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net x-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
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net x-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity
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#net x-test1 <= lcec.0.0.test1
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# --- from cia402 to stepper(ethercat)
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net x-controlword cia402.0.controlword => lcec.0.0.cia-controlword
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net x-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
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net x-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position
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net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity
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#*******************
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# AXIS Y
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#*******************
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# --- joint signals for motion
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net y-pos-cmd <= joint.1.motor-pos-cmd
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net y-vel-cmd <= joint.1.vel-cmd
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net y-pos-fb <= joint.1.motor-pos-fb
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net y-enable <= joint.1.amp-enable-out
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# --- connect stepper driver to the joint
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net y-pos-cmd => cia402.1.pos-cmd
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net y-pos-fb => cia402.1.pos-fb
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net y-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 4000
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# --- from servo(ethercat) to cia402
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net y-statusword lcec.0.1.cia-statusword => cia402.1.statusword
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net y-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display
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net y-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position
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net y-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity
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# --- from cia402 to servo(ethercat)
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net y-controlword cia402.1.controlword => lcec.0.1.cia-controlword
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net y-modes-of-operation cia402.1.opmode => lcec.0.1.opmode
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net y-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position
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net y-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.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.2.motor-pos-cmd
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net z-vel-cmd <= joint.2.vel-cmd
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net z-pos-fb <= joint.2.motor-pos-fb
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net z-enable <= joint.2.amp-enable-out
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# --- connect stepper driver to the joint
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net z-pos-cmd => cia402.2.pos-cmd
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net z-pos-fb => cia402.2.pos-fb
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net z-enable => cia402.2.enable
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# --- ect60 settings
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setp cia402.2.csp-mode 1
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setp cia402.2.pos-scale 4000
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# --- from servo(ethercat) to cia402
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net z-statusword lcec.0.2.cia-statusword => cia402.2.statusword
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net z-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display
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net z-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position
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net z-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity
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# --- from cia402 to servo(ethercat)
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net z-controlword cia402.2.controlword => lcec.0.2.cia-controlword
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net z-modes-of-operation cia402.2.opmode => lcec.0.2.opmode
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net z-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position
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net z-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity
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#*******************
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# SPINDLE
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#*******************
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# --- joint signals for motion
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net spindle-speed-cmd spindle.0.speed-out => cia402.3.velocity-cmd
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net spindle-speed-fb cia402.3.velocity-fb => spindle.0.speed-in
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net spindle-on spindle.0.on => cia402.3.enable
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# --- ect60 settings
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setp cia402.3.csp-mode 0
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setp cia402.3.pos-scale 4000
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setp cia402.3.velo-scale 400
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# --- from servo(ethercat) to cia402
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net s-statusword lcec.0.3.cia-statusword => cia402.3.statusword
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net s-opmode-display lcec.0.3.opmode-display => cia402.3.opmode-display
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net s-drv-act-pos lcec.0.3.actual-position => cia402.3.drv-actual-position
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net s-drv-act-velo lcec.0.3.actual-velocity => cia402.3.drv-actual-velocity
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# --- from cia402 to servo(ethercat)
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net s-controlword cia402.3.controlword => lcec.0.3.cia-controlword
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net s-modes-of-operation cia402.3.opmode => lcec.0.3.opmode
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net s-drv-target-pos cia402.3.drv-target-position => lcec.0.3.target-position
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net s-drv-target-velo cia402.3.drv-target-velocity => lcec.0.3.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 lcec-z-stop <= lcec.0.2.z-estop
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net lcec-z-stop => bitslice.0.in
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net HE-estopbit bitslice.0.out-23 => iocontrol.0.emc-enable-in
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