# 5i20 config file for 4 Axis Smithy 1240 Mill # load the hostmot2 driver, this doesn't do anything by itself, # it just waits for low-level drivers to register boards loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1 # load the low-level driver for the board # this will load the board's firmware and register it with the hostmot2 # driver loaded above, and it'll show up in HAL loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=1 num_stepgens=4 enable_raw" # 13312 = 0x3400 = Encoder Sample Rate Register setp hm2_5i20.0.raw.write_address 13312 # sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz setp hm2_5i20.0.raw.write_data 8 # write data setp hm2_5i20.0.raw.write_strobe 1 # set up the watchdog #setp hm2_5i20.0.watchdog.timeout_ns 10000000 # load kinematics loadrt [KINS]KINEMATICS # load motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS # load charge pump loadrt charge_pump # These loopbacks are usually disconnected by a postgui halfile net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared #the Enable signal is used to permanently enable things newsig Enable bit sets Enable TRUE #configure the spindle speed net scmd spindle.0.speed-out hm2_5i20.0.pwmgen.00.value setp hm2_5i20.0.pwmgen.00.scale 4000 setp hm2_5i20.0.pwmgen.00.output-type 1 setp hm2_5i20.0.pwmgen.pwm_frequency 100 # invert the step pulse polarity setp hm2_5i20.0.gpio.000.invert_output TRUE setp hm2_5i20.0.gpio.002.invert_output TRUE setp hm2_5i20.0.gpio.016.invert_output TRUE setp hm2_5i20.0.gpio.018.invert_output TRUE # configure the stepgen parameters setp hm2_5i20.0.stepgen.00.dirsetup 5000 setp hm2_5i20.0.stepgen.00.dirhold 1250 setp hm2_5i20.0.stepgen.00.steplen 1250 setp hm2_5i20.0.stepgen.00.stepspace 1250 setp hm2_5i20.0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_5i20.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL setp hm2_5i20.0.stepgen.01.dirsetup 5000 setp hm2_5i20.0.stepgen.01.dirhold 1250 setp hm2_5i20.0.stepgen.01.steplen 1250 setp hm2_5i20.0.stepgen.01.stepspace 1250 setp hm2_5i20.0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_5i20.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL setp hm2_5i20.0.stepgen.02.dirsetup 5000 setp hm2_5i20.0.stepgen.02.dirhold 1250 setp hm2_5i20.0.stepgen.02.steplen 1250 setp hm2_5i20.0.stepgen.02.stepspace 1250 setp hm2_5i20.0.stepgen.02.position-scale [JOINT_2]SCALE setp hm2_5i20.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL setp hm2_5i20.0.stepgen.03.dirsetup 5000 setp hm2_5i20.0.stepgen.03.dirhold 1250 setp hm2_5i20.0.stepgen.03.steplen 1250 setp hm2_5i20.0.stepgen.03.stepspace 1250 setp hm2_5i20.0.stepgen.03.position-scale [JOINT_3]SCALE setp hm2_5i20.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_5i20.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # connect position commands from motion module to step generator net Xpos-cmd joint.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd net Ypos-cmd joint.1.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd net Zpos-cmd joint.2.motor-pos-cmd => hm2_5i20.0.stepgen.02.position-cmd net Apos-cmd joint.3.motor-pos-cmd => hm2_5i20.0.stepgen.03.position-cmd # connect position feedback from step generators to motion module net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => joint.0.motor-pos-fb net Ypos-fb hm2_5i20.0.stepgen.01.position-fb => joint.1.motor-pos-fb net Zpos-fb hm2_5i20.0.stepgen.02.position-fb => joint.2.motor-pos-fb net Apos-fb hm2_5i20.0.stepgen.03.position-fb => joint.3.motor-pos-fb # connect enable signals for step generators net Xen joint.0.amp-enable-out => hm2_5i20.0.stepgen.00.enable net Yen joint.1.amp-enable-out => hm2_5i20.0.stepgen.01.enable net Zen joint.2.amp-enable-out => hm2_5i20.0.stepgen.02.enable net Aen joint.3.amp-enable-out => hm2_5i20.0.stepgen.03.enable # enable velocity mode jogging net Enable joint.0.jog-vel-mode net Enable joint.1.jog-vel-mode net Enable joint.2.jog-vel-mode net Enable joint.3.jog-vel-mode # enable the PWM generator net Enable => hm2_5i20.0.pwmgen.00.enable # enable the charge pump net Enable charge-pump.enable # connect the charge pump signal to an output setp hm2_5i20.0.gpio.022.is_output TRUE net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out # Safety Relay Monitoring Contacts net estop-enable hm2_5i20.0.gpio.037.in => iocontrol.0.emc-enable-in # Run Switch net machine-on hm2_5i20.0.gpio.039.in_not => halui.machine.on #connect limit switches to limit inputs net Xmax hm2_5i20.0.gpio.024.in_not => joint.0.pos-lim-sw-in net Xmin hm2_5i20.0.gpio.026.in_not => joint.0.neg-lim-sw-in net Ymax hm2_5i20.0.gpio.028.in_not => joint.1.pos-lim-sw-in net Ymin hm2_5i20.0.gpio.030.in_not => joint.1.neg-lim-sw-in net Zmax hm2_5i20.0.gpio.032.in_not => joint.2.pos-lim-sw-in net Zmin hm2_5i20.0.gpio.034.in_not => joint.2.neg-lim-sw-in #connect positive limit signals to home inputs net Xmax => joint.0.home-sw-in net Ymax => joint.1.home-sw-in net Zmax => joint.2.home-sw-in # Spindle Contactor Enable setp hm2_5i20.0.gpio.041.is_output TRUE setp hm2_5i20.0.gpio.041.invert_output TRUE # Door Closed - Energizes spindle contactor net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out # Main Contactors - True when both contactors are energized net ACOK hm2_5i20.0.gpio.035.in_not # VFD Fault Relay - True when VFD is not faulted #net VFDOK hm2_5i20.0.gpio.031.in_not # A Axis Home - On Sieg machines there is no VFD fault signal, # it is used for the A axis home sensor on 4 axis machines net VFDOK hm2_5i20.0.gpio.031.in_not #net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in # Spindle Contactor - False when spindle contactor is energized net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold # Axis Drive Status Signals # True when YAKO stepper drive is on a full step position # True when a Leadshine stepper drive is in the READY state net DRV0 hm2_5i20.0.gpio.025.in_not net DRV1 hm2_5i20.0.gpio.027.in_not net DRV2 hm2_5i20.0.gpio.036.in_not net DRV3 hm2_5i20.0.gpio.038.in_not # Output Bits # KA1 setp hm2_5i20.0.gpio.040.is_output TRUE setp hm2_5i20.0.gpio.040.invert_output TRUE net KA1 spindle.0.reverse => hm2_5i20.0.gpio.040.out # KA2 setp hm2_5i20.0.gpio.042.is_output TRUE setp hm2_5i20.0.gpio.042.invert_output TRUE net KA2 spindle.0.forward => hm2_5i20.0.gpio.042.out # Flood Coolant setp hm2_5i20.0.gpio.043.is_output TRUE setp hm2_5i20.0.gpio.043.invert_output TRUE net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood # Mist Coolant setp hm2_5i20.0.gpio.045.is_output TRUE setp hm2_5i20.0.gpio.045.invert_output TRUE net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist # hook the functions to threads # read inputs addf hm2_5i20.0.read servo-thread # handle motion commands addf motion-command-handler servo-thread # run the motion controller addf motion-controller servo-thread # write outputs addf hm2_5i20.0.write servo-thread # toggle the charge pump addf charge-pump servo-thread