128 lines
4.3 KiB
Plaintext
128 lines
4.3 KiB
Plaintext
# Include your custom HAL commands here
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# This file will not be overwritten when you run stepconf again
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loadrt near names=spindle-at-speed
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loadrt siggen num_chan=1 #spincle speed control
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loadrt and2 count=4 # 0 used in e-stop chain,
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# 1,2,3 used för connecting spindle speed gain selection
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loadrt classicladder_rt
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loadrt timedelay count=1
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addf spindle-at-speed servo-thread
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addf scale.1 servo-thread
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addf scale.2 servo-thread
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addf scale.3 servo-thread
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addf scale.4 servo-thread
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addf siggen.0.update servo-thread
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addf and2.0 servo-thread
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addf and2.1 servo-thread
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addf and2.2 servo-thread
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addf and2.3 servo-thread
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addf classicladder.0.refresh servo-thread
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addf timedelay.0 servo-thread
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loadusr -Wn my-mpg python3 serialEventHandler.py --port=/dev/ttyUSB0 -c my-mpg mpg.xml
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loadusr classicladder test_ladder.clp --nogui
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#loadusr classicladder test_ladder.clp
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### spindle at speed monitoring ###
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setp spindle-at-speed.scale 0.98
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setp spindle-at-speed.difference 10
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net spindle-cmd-rpm => spindle-at-speed.in1
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#net spindle-rpm-filtered-low-res => spindle-at-speed.in2 # moved to postgui
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### temp... until encoder works...
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#net spindle-ready <= spindle-at-speed.out => spindle.0.at-speed
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net spindle-ready => spindle.0.at-speed
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sets spindle-ready 1
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###
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### spindle cw start/stop ###
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net spindle-cw <= spindle.0.forward
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net spindle-cw => parport.0.pin-14-out # turn on spindle
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### spindle ccw start/stop ###
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net spindle-ccw <= spindle.0.reverse
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net spindle-ccw => parport.0.pin-17-out # turn on spindle ccw
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### spindle speed ctrl ###
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# gain and offset is set via M199/O<myspindlegain> when homed
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#setp scale.1.gain 0.473
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#setp scale.1.offset 26.5
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setp siggen.0.amplitude 1
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setp siggen.0.offset 0
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net spindle-cmd-rpm-abs => scale.1.in
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net scaled-spindle-cmd scale.1.out => siggen.0.frequency
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net spindle-freq siggen.0.clock => parport.0.pin-16-out
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### e-stop chain ###
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net estop-internal <= iocontrol.0.user-enable-out
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#estop-external connected to parport.0.pin-11-in-not
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net estop-internal => and2.0.in0
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net estop-external => and2.0.in1
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net estop-chain and2.0.out => iocontrol.0.emc-enable-in
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### pendant ##########################################
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# mpg spindle speed control
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net spindle-rpm-cmd-up classicladder.0.out-08 halui.mdi-command-00
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net spindle-rpm-cmd-down classicladder.0.out-09 halui.mdi-command-01
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# axis selector connects to x, z axis enable
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net jog-axis-sel my-mpg.axis-selector
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net jog-axis-sel classicladder.0.s32in-00
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net jog-x-enable classicladder.0.out-00
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net jog-z-enable classicladder.0.out-01
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net jog-x-enable halui.axis.x.select
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net jog-z-enable halui.axis.z.select
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# jog scale selector/velocity mode
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setp scale.2.gain 0.01
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setp scale.2.offset 0
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net jog-scale-sel my-mpg.scale-selector
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net jog-scale-sel classicladder.0.s32in-01
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net jog-increment-100 classicladder.0.floatout-00 scale.2.in
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net jog-increment halui.axis.selected.increment scale.2.out
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# jogging plus and minus
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setp halui.axis.jog-speed 800
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net mpg-jog-plus-in my-mpg.jog-pos-btn => classicladder.0.in-00
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net mpg-jog-minus-in my-mpg.jog-neg-btn => classicladder.0.in-01
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net mpg-jog-plus-inc classicladder.0.out-04 => halui.axis.selected.increment-plus
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net mpg-jog-minus-inc classicladder.0.out-06 => halui.axis.selected.increment-minus
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net mpg-jog-plus classicladder.0.out-05 => halui.axis.selected.plus
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net mpg-jog-minus classicladder.0.out-07 => halui.axis.selected.minus
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# connect Func-button
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net func-button my-mpg.func-btn halui.mdi-command-02
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# connect E-Stop button
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net estop-button halui.estop.activate <= my-mpg.estop-btn
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# joystic
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setp scale.3.gain 0.01
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setp scale.3.offset 0
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setp scale.4.gain 0.01
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setp scale.4.offset 0
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net joystick-x my-mpg.joystick-x scale.3.in
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net joystick-x-scaled scale.3.out halui.axis.x.analog
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net joystick-z my-mpg.joystick-z scale.4.in
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net joystick-z-scaled scale.4.out halui.axis.z.analog
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### Misc #################################################
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# all-homed used to enable some of the panels and trigger some other stuff
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net all-homed motion.is-all-homed
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# set the saved spindle speed selection gain
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#setp timedelay.0.on-delay 1
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net all-homed timedelay.0.in
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net all-homed-delayed timedelay.0.out
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net all-homed-delayed halui.mdi-command-06
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