blob: d39e62314a0df3c4b2bf63e26616ae092b6c049e (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
|
# ---------------------------------------
# --- PROFIBUS DP
# --- LinuxCNC HAL configuration file
# ------
# --- Load the pyprofibus HAL userspace module ---
#
# Parameters:
# --loglevel LVL : Change the log level.
#
# --nice NICE : Renice the process. -20 <= NICE <= 19.
# Default: Do not renice.
#
# The last parameter is the configuration file describing the PROFIBUS.
#
loadusr -Wn profibus pyprofibus-linuxcnc-hal pyprofibus.conf
# --- Enable the used master-to-slave pins ---
# MOSI = MasterOutputSlaveInput = Data flow from PB master to PB slave.
# All master-to-slave pins are deactivated by default.
# So all master-to-slave pins connected below, should be activated here by writing
# a '1' to the '.active' pin.
# Deactivated master-to-slave pins will not be forwarded from LinuxCNC to the PROFIBUS.
setp profibus.slave.8.mosi.bit.0.0.active 1
setp profibus.slave.8.mosi.bit.0.1.active 1
setp profibus.slave.8.mosi.bit.1.0.active 1
setp profibus.slave.8.mosi.bit.1.1.active 1
setp profibus.slave.8.mosi.bit.1.2.active 1
setp profibus.slave.8.mosi.bit.1.3.active 1
setp profibus.slave.8.mosi.bit.1.4.active 1
setp profibus.slave.8.mosi.float.4.active 1
setp profibus.slave.8.mosi.float.8.active 1
setp profibus.slave.8.mosi.float.12.active 1
setp profibus.slave.8.mosi.u8.16.active 1
setp profibus.slave.8.mosi.u16.18.active 1
setp profibus.slave.8.mosi.s16.20.active 1
setp profibus.slave.8.mosi.u31.22.active 1
setp profibus.slave.8.mosi.s32.26.active 1
# --- Connect master-to-slave pins ---
# MOSI = MasterOutputSlaveInput = Data flow from PB master to PB slave.
net heartbeat => profibus.slave.8.mosi.bit.0.0
net estop-out-not => profibus.slave.8.mosi.bit.0.1
net spindle-cw => profibus.slave.8.mosi.bit.1.0
net spindle-ccw => profibus.slave.8.mosi.bit.1.1
net xpos-cmd => profibus.slave.8.mosi.float.4
net ypos-cmd => profibus.slave.8.mosi.float.8
net zpos-cmd => profibus.slave.8.mosi.float.12
setp profibus.slave.8.mosi.bit.1.2 1 # limit-x inverted dummy loopback
setp profibus.slave.8.mosi.bit.1.3 1 # limit-y inverted dummy loopback
setp profibus.slave.8.mosi.bit.1.4 1 # limit-z inverted dummy loopback
setp profibus.slave.8.mosi.bit.1.5 0 # estop-in-not inverted dummy loopback
# --- Enable the used slave-to-master pins ---
# MISO = MasterInputSlaveOutput = Data flow from PB slave to PB master.
# All slave-to-master pins are deactivated by default.
# So all slave-to-master pins connected below, should be activated here by writing
# a '1' to the '.active' pin.
# Deactivated slave-to-master pins will not be forwarded from the PROFIBUS to LinuxCNC.
setp profibus.slave.8.miso.bit.0.0.active 1
setp profibus.slave.8.miso.bit.0.1.active 1
setp profibus.slave.8.miso.bit.1.0.active 1
setp profibus.slave.8.miso.bit.1.1.active 1
setp profibus.slave.8.miso.bit.1.2.active 1
setp profibus.slave.8.miso.bit.1.3.active 1
setp profibus.slave.8.miso.bit.1.4.active 1
setp profibus.slave.8.miso.bit.1.5.active 1
setp profibus.slave.8.miso.float.4.active 1
setp profibus.slave.8.miso.float.8.active 1
setp profibus.slave.8.miso.float.12.active 1
setp profibus.slave.8.miso.u8.16.active 1
setp profibus.slave.8.miso.u16.18.active 1
setp profibus.slave.8.miso.s16.20.active 1
setp profibus.slave.8.miso.u31.22.active 1
setp profibus.slave.8.miso.s32.26.active 1
# If the slave disconnects, then reset all slave-to-master pins to zero.
setp profibus.slave.8.config.disconnect-clear-pins 1
# --- Connect slave-to-master pins ---
# MISO = MasterInputSlaveOutput = Data flow from PB slave to PB master.
net limit-x <= profibus.slave.8.miso.bit.1.2
net limit-y <= profibus.slave.8.miso.bit.1.3
net limit-z <= profibus.slave.8.miso.bit.1.4
net estop-in-not <= profibus.slave.8.miso.bit.1.5
# Always keep this at the end of this file.
# This will activate data transfer between pyprofibus and LinuxCNC.
setp profibus.config.ready 1
|
