Тяжелые фрезерные станки по металлу.
botcman
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botcman 20 мар 2017, 20:37
Подредактировал. Как обычно не работает.
Код: Выделить всё
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# My driver
loadrt to_pci
loadrt pid names=pid.x,pid.z,pid.y
# ################################################
# THREADS
# ################################################
addf to_pci.1.update servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
# -------E-STOP--------
net estop-ext iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# external output signals
net machine-is-enabled to_pci.1.pins.pin-00-out
# external input signals
# --- MAX-X ---
#net max-x <= to_pci.1.pins.pin-00-in-n
# --- MIN-X ---
#net min-x <= to_pci.1.pins.pin-01-in-n
# --- HOME-X ---
net home-x <= to_pci.1.pins.pin-02-in-n
# --- MAX-Y ---
#net max-y <= to_pci.1.pins.pin-03-in-n
# --- MIN-Y ---
#net min-y <= to_pci.1.pins.pin-04-in-n
# --- HOME-Y ---
net home-y <= to_pci.1.pins.pin-05-in-n
# --- MAX-Z ---
#net max-z <= to_pci.1.pins.pin-06-in-n
# --- MIN-Z ---
#net min-z <= to_pci.1.pins.pin-07-in-n
# --- HOME-Z ---
net home-z <= to_pci.1.pins.pin-08-in-n
# rail lube on/off #
# смазка при включении длительностью 10 секунд
setp oneshot.0.width 10
net machine-is-on oneshot.0.in
net delay oneshot.0.out => or2.1.in0
net timer-delay => or2.1.in1
net bed-lube => or2.1.out
net bed-lube => to_pci.1.pins.pin-09-out
# интервал смазки 600 секунд длительностью 10 секунд
setp timedelay.0.on-delay 600
setp timedelay.0.off-delay 10
net machine-is-on => and2.4.in0
net timer-in => and2.4.in1
net timer-in-1 => and2.4.out
net timer-in-1 => timedelay.0.in
net timer-delay => timedelay.0.out
net timer-delay => not.0.in
net timer-in <= not.0.out
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale0 [AXIS_0]ENCODER_SCALE
net x-pos-fb <= to_pci.1.feedback.encoder0
net x-pos-fb => axis.0.motor-pos-fb
# ------PWM Generator signals/setup--------
net x-enable axis.0.amp-enable-out
net x-enable => to_pci.1.enable_drive
setp to_pci.1.out_scale0 [AXIS_0]OUTPUT_SCALE
net x-output => to_pci.1.dcontrol0
net x-pos-cmd <= axis.0.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-x => axis.0.home-sw-in
#net min-x => axis.0.neg-lim-sw-in
#net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale1 [AXIS_1]ENCODER_SCALE
net y-pos-fb <= to_pci.1.feedback.encoder1
net y-pos-fb => axis.1.motor-pos-fb
# ------PWM Generator signals/setup--------
net y-enable axis.1.amp-enable-out
setp to_pci.1.out_scale1 [AXIS_1]OUTPUT_SCALE
net y-output => to_pci.1.dcontrol1
net y-pos-cmd <= axis.1.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-y => axis.1.home-sw-in
#net min-y => axis.1.neg-lim-sw-in
#net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale2 [AXIS_2]ENCODER_SCALE
net z-pos-fb <= to_pci.1.feedback.encoder2
net z-pos-fb => axis.2.motor-pos-fb
# ------PWM Generator signals/setup--------
net z-enable axis.2.amp-enable-out
setp to_pci.1.out_scale2 [AXIS_2]OUTPUT_SCALE
net z-output => to_pci.1.dcontrol2
net z-pos-cmd <= axis.2.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-z => axis.2.home-sw-in
#net min-z => axis.2.neg-lim-sw-in
#net max-z => axis.2.pos-lim-sw-in
#----------- SIGNALS ---------------
#net buton_test => to_pci.1.feedback.index_en0
net buton_test => to_pci.1.pins.pin-01-out
botcman
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botcman 20 мар 2017, 20:38
Вот что пишет.
Вложения
nkp
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nkp 20 мар 2017, 21:08
ты "вырвал" кусок кода...
botcman
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botcman 20 мар 2017, 21:17
Кусок взял из 77-го поста. Целиком кода у меня нет.
botcman
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botcman 20 мар 2017, 22:40
Заработало
Потихоньку начинаю догонять. Вот
Код: Выделить всё
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# My driver
loadrt to_pci
loadrt pid names=pid.x,pid.z,pid.y
loadrt oneshot count=1
loadrt or2 count=1
loadrt and2 count=1
loadrt timedelay count=1
loadrt not count=1
# ################################################
# THREADS
# ################################################
addf to_pci.1.update servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf oneshot.0 servo-thread
addf or2.0 servo-thread
addf and2.0 servo-thread
addf timedelay.0 servo-thread
addf not.0 servo-thread
# -------E-STOP--------
net estop-ext iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# external output signals
net machine-is-enabled to_pci.1.pins.pin-00-out
# external input signals
# --- MAX-X ---
#net max-x <= to_pci.1.pins.pin-00-in-n
# --- MIN-X ---
#net min-x <= to_pci.1.pins.pin-01-in-n
# --- HOME-X ---
net home-x <= to_pci.1.pins.pin-02-in-n
# --- MAX-Y ---
#net max-y <= to_pci.1.pins.pin-03-in-n
# --- MIN-Y ---
#net min-y <= to_pci.1.pins.pin-04-in-n
# --- HOME-Y ---
net home-y <= to_pci.1.pins.pin-05-in-n
# --- MAX-Z ---
#net max-z <= to_pci.1.pins.pin-06-in-n
# --- MIN-Z ---
#net min-z <= to_pci.1.pins.pin-07-in-n
# --- HOME-Z ---
net home-z <= to_pci.1.pins.pin-08-in-n
# rail lube on/off #
# смазка при включении длительностью 10 секунд
setp oneshot.0.width 10
net machine-is-on oneshot.0.in
net delay oneshot.0.out => or2.0.in0
net timer-delay => or2.0.in1
net rail-lube => or2.0.out
net rail-lube => to_pci.1.pins.pin-09-out
# интервал смазки 600 секунд длительностью 10 секунд
setp timedelay.0.on-delay 600
setp timedelay.0.off-delay 10
net machine-is-on => and2.0.in0
net timer-in => and2.0.in1
net timer-in-1 => and2.0.out
net timer-in-1 => timedelay.0.in
net timer-delay => timedelay.0.out
net timer-delay => not.0.in
net timer-in <= not.0.out
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale0 [AXIS_0]ENCODER_SCALE
net x-pos-fb <= to_pci.1.feedback.encoder0
net x-pos-fb => axis.0.motor-pos-fb
# ------PWM Generator signals/setup--------
net x-enable axis.0.amp-enable-out
net x-enable => to_pci.1.enable_drive
setp to_pci.1.out_scale0 [AXIS_0]OUTPUT_SCALE
net x-output => to_pci.1.dcontrol0
net x-pos-cmd <= axis.0.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-x => axis.0.home-sw-in
#net min-x => axis.0.neg-lim-sw-in
#net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale1 [AXIS_1]ENCODER_SCALE
net y-pos-fb <= to_pci.1.feedback.encoder1
net y-pos-fb => axis.1.motor-pos-fb
# ------PWM Generator signals/setup--------
net y-enable axis.1.amp-enable-out
setp to_pci.1.out_scale1 [AXIS_1]OUTPUT_SCALE
net y-output => to_pci.1.dcontrol1
net y-pos-cmd <= axis.1.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-y => axis.1.home-sw-in
#net min-y => axis.1.neg-lim-sw-in
#net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale2 [AXIS_2]ENCODER_SCALE
net z-pos-fb <= to_pci.1.feedback.encoder2
net z-pos-fb => axis.2.motor-pos-fb
# ------PWM Generator signals/setup--------
net z-enable axis.2.amp-enable-out
setp to_pci.1.out_scale2 [AXIS_2]OUTPUT_SCALE
net z-output => to_pci.1.dcontrol2
net z-pos-cmd <= axis.2.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-z => axis.2.home-sw-in
#net min-z => axis.2.neg-lim-sw-in
#net max-z => axis.2.pos-lim-sw-in
#----------- SIGNALS ---------------
#net buton_test => to_pci.1.feedback.index_en0
net buton_test => to_pci.1.pins.pin-01-out
botcman
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botcman 20 мар 2017, 22:40
Завтра попробую родить вторую часть - смазку шпиндельной бабки.
botcman
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botcman 21 мар 2017, 23:42
Пытаюсь сообразить управление шпинделем. Не выходит.
Код: Выделить всё
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# My driver
loadrt to_pci
loadrt pid names=pid.x,pid.z,pid.y
loadrt oneshot count=1
loadrt or2 count=1
loadrt and2 count=1
loadrt timedelay count=1
loadrt not count=1
# ################################################
# THREADS
# ################################################
addf to_pci.1.update servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf oneshot.0 servo-thread
addf or2.0 servo-thread
addf and2.0 servo-thread
addf timedelay.0 servo-thread
addf not.0 servo-thread
# -------E-STOP--------
net estop-ext iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# external output signals
net machine-is-enabled to_pci.1.pins.pin-00-out
# external input signals
# --- MAX-X ---
net max-x <= to_pci.1.pins.pin-00-in-n
# --- MIN-X ---
net min-x <= to_pci.1.pins.pin-01-in-n
# --- HOME-X ---
net home-x <= to_pci.1.pins.pin-02-in-n
# --- MAX-Y ---
net max-y <= to_pci.1.pins.pin-03-in-n
# --- MIN-Y ---
net min-y <= to_pci.1.pins.pin-04-in-n
# --- HOME-Y ---
net home-y <= to_pci.1.pins.pin-05-in-n
# --- MAX-Z ---
net max-z <= to_pci.1.pins.pin-06-in-n
# --- MIN-Z ---
net min-z <= to_pci.1.pins.pin-07-in-n
# --- HOME-Z ---
net home-z <= to_pci.1.pins.pin-08-in-n
# rail lube on/off #
# смазка при включении длительностью 10 секунд
setp oneshot.0.width 10
net machine-is-on oneshot.0.in
net delay oneshot.0.out => or2.0.in0
net timer-delay => or2.0.in1
net rail-lube => or2.0.out
net rail-lube => to_pci.1.pins.pin-09-out
# интервал смазки 600 секунд длительностью 10 секунд
setp timedelay.0.on-delay 600
setp timedelay.0.off-delay 10
net machine-is-on => and2.0.in0
net timer-in => and2.0.in1
net timer-in-1 => and2.0.out
net timer-in-1 => timedelay.0.in
net timer-delay => timedelay.0.out
net timer-delay => not.0.in
net timer-in <= not.0.out
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale0 [AXIS_0]ENCODER_SCALE
net x-pos-fb <= to_pci.1.feedback.encoder0
net x-pos-fb => axis.0.motor-pos-fb
# ------PWM Generator signals/setup--------
net x-enable axis.0.amp-enable-out
net x-enable => to_pci.1.enable_drive
setp to_pci.1.out_scale0 [AXIS_0]OUTPUT_SCALE
net x-output => to_pci.1.dcontrol0
net x-pos-cmd <= axis.0.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-x => axis.0.home-sw-in
#net min-x => axis.0.neg-lim-sw-in
#net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale1 [AXIS_1]ENCODER_SCALE
net y-pos-fb <= to_pci.1.feedback.encoder1
net y-pos-fb => axis.1.motor-pos-fb
# ------PWM Generator signals/setup--------
net y-enable axis.1.amp-enable-out
setp to_pci.1.out_scale1 [AXIS_1]OUTPUT_SCALE
net y-output => to_pci.1.dcontrol1
net y-pos-cmd <= axis.1.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-y => axis.1.home-sw-in
#net min-y => axis.1.neg-lim-sw-in
#net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale2 [AXIS_2]ENCODER_SCALE
net z-pos-fb <= to_pci.1.feedback.encoder2
net z-pos-fb => axis.2.motor-pos-fb
# ------PWM Generator signals/setup--------
net z-enable axis.2.amp-enable-out
setp to_pci.1.out_scale2 [AXIS_2]OUTPUT_SCALE
net z-output => to_pci.1.dcontrol2
net z-pos-cmd <= axis.2.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-z => axis.2.home-sw-in
#net min-z => axis.2.neg-lim-sw-in
#net max-z => axis.2.pos-lim-sw-in
#_ _ _ SPINDLE _ _ _
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-enable => motion.spindle-at-speed
#============== command SPINDLE================
setp to_pci.1.PWM.out_scale3 [SPINDLE]OUTPUT_SCALE
net spindle-cmd motion.spindle-speed-out => to_pci.1.PWM.dcontrol3
net spindle-cw =>to_pci.1.pins.pin-02-out
net spindle-ccw =>to_pci.1.pins.pin-03-out
#----------- SIGNALS ---------------
#net buton_test => to_pci.1.feedback.index_en0
net buton_test => to_pci.1.pins.pin-01-out
botcman
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botcman 21 мар 2017, 23:43
Вот что пишет.
Вложения
Фрост
Мастер
Сообщения: 393Зарегистрирован: 28 окт 2013, 00:18Репутация: 23 Настоящее имя: Сергей
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Фрост 22 мар 2017, 02:18
добавь output_scale в .ini в секцию шпинделя по аналогии с осями.
botcman
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botcman 22 мар 2017, 12:43
Вроде бы добавил, нужно проверить.
MGG
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MGG 22 мар 2017, 13:01
Можно прям в хал файле значение проставить
botcman
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botcman 22 мар 2017, 23:22
Не выходит у меня со шпинделемю Выручайте.
Код: Выделить всё
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# My driver
loadrt to_pci
loadrt pid names=pid.x,pid.z,pid.y
loadrt oneshot count=1
loadrt or2 count=1
loadrt and2 count=1
loadrt timedelay count=1
loadrt not count=1
# ################################################
# THREADS
# ################################################
addf to_pci.1.update servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf oneshot.0 servo-thread
addf or2.0 servo-thread
addf and2.0 servo-thread
addf timedelay.0 servo-thread
addf not.0 servo-thread
# -------E-STOP--------
net estop-ext iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# external output signals
net machine-is-enabled to_pci.1.pins.pin-00-out
# external input signals
# --- MAX-X ---
net max-x <= to_pci.1.pins.pin-00-in-n
# --- MIN-X ---
net min-x <= to_pci.1.pins.pin-01-in-n
# --- HOME-X ---
net home-x <= to_pci.1.pins.pin-02-in-n
# --- MAX-Y ---
net max-y <= to_pci.1.pins.pin-03-in-n
# --- MIN-Y ---
net min-y <= to_pci.1.pins.pin-04-in-n
# --- HOME-Y ---
net home-y <= to_pci.1.pins.pin-05-in-n
# --- MAX-Z ---
net max-z <= to_pci.1.pins.pin-06-in-n
# --- MIN-Z ---
net min-z <= to_pci.1.pins.pin-07-in-n
# --- HOME-Z ---
net home-z <= to_pci.1.pins.pin-08-in-n
# rail lube on/off #
# смазка при включении длительностью 10 секунд
setp oneshot.0.width 10
net machine-is-on oneshot.0.in
net delay oneshot.0.out => or2.0.in0
net timer-delay => or2.0.in1
net rail-lube => or2.0.out
net rail-lube => to_pci.1.pins.pin-09-out
# интервал смазки 600 секунд длительностью 10 секунд
setp timedelay.0.on-delay 600
setp timedelay.0.off-delay 10
net machine-is-on => and2.0.in0
net timer-in => and2.0.in1
net timer-in-1 => and2.0.out
net timer-in-1 => timedelay.0.in
net timer-delay => timedelay.0.out
net timer-delay => not.0.in
net timer-in <= not.0.out
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale0 [AXIS_0]ENCODER_SCALE
net x-pos-fb <= to_pci.1.feedback.encoder0
net x-pos-fb => axis.0.motor-pos-fb
# ------PWM Generator signals/setup--------
net x-enable axis.0.amp-enable-out
net x-enable => to_pci.1.enable_drive
setp to_pci.1.out_scale0 [AXIS_0]OUTPUT_SCALE
net x-output => to_pci.1.dcontrol0
net x-pos-cmd <= axis.0.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-x => axis.0.home-sw-in
#net min-x => axis.0.neg-lim-sw-in
#net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale1 [AXIS_1]ENCODER_SCALE
net y-pos-fb <= to_pci.1.feedback.encoder1
net y-pos-fb => axis.1.motor-pos-fb
# ------PWM Generator signals/setup--------
net y-enable axis.1.amp-enable-out
setp to_pci.1.out_scale1 [AXIS_1]OUTPUT_SCALE
net y-output => to_pci.1.dcontrol1
net y-pos-cmd <= axis.1.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-y => axis.1.home-sw-in
#net min-y => axis.1.neg-lim-sw-in
#net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale2 [AXIS_2]ENCODER_SCALE
net z-pos-fb <= to_pci.1.feedback.encoder2
net z-pos-fb => axis.2.motor-pos-fb
# ------PWM Generator signals/setup--------
net z-enable axis.2.amp-enable-out
setp to_pci.1.out_scale2 [AXIS_2]OUTPUT_SCALE
net z-output => to_pci.1.dcontrol2
net z-pos-cmd <= axis.2.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-z => axis.2.home-sw-in
#net min-z => axis.2.neg-lim-sw-in
#net max-z => axis.2.pos-lim-sw-in
#_ _ _ SPINDLE _ _ _
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-enable => motion.spindle-at-speed
#============== PWM Generator command SPINDLE================
setp to_pci.1.out_scale3 [SPINDLE]OUTPUT_SCALE
net spindle-output to_pci.1.dcontrol3
net spindle-cw =>to_pci.1.pins.pin-02-out
net spindle-ccw =>to_pci.1.pins.pin-03-out
#----------- SIGNALS ---------------
#net buton_test => to_pci.1.feedback.index_en0
net buton_test => to_pci.1.pins.pin-01-out
botcman
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botcman 22 мар 2017, 23:23
Жалоба
Вложения
MGG
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MGG 23 мар 2017, 00:17
=>to_pci.1.pins.pin-02-out
botcman
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botcman 23 мар 2017, 07:23
Работает
Спасибо!
botcman
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botcman 26 мар 2017, 16:19
Подскажите по пину Machine is enable- плюс на нем появляется тогда, когда включается сама плата? Так?
Фрост
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Фрост 26 мар 2017, 19:18
ну пин обозвать можешь как угодно, а если про сигнал halui.machine.is-on, то он включается при входном halui.machine.on, просто так ничего не произойдет
botcman
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botcman 26 мар 2017, 22:34
Я про строчку net machine is enable в самом начале Хал файла.
botcman
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botcman 27 мар 2017, 12:20
Дописал смазку шпиндельной бабки. Не могу понять в чем косяк.
Код: Выделить всё
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# My driver
loadrt to_pci
loadrt pid names=pid.x,pid.z,pid.y
loadrt oneshot count=1
loadrt or2 count=1
loadrt and2 count=2
loadrt timedelay count=2
loadrt not count=2
# ################################################
# THREADS
# ################################################
addf to_pci.1.update servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf oneshot.0 servo-thread
addf or2.0 servo-thread
addf and2.0 servo-thread
addf timedelay.0 servo-thread
addf not.0 servo-thread
addf timedelay.1 servo-thread
addf not.1 servo-thread
addf and2.1 servo-thread
# -------E-STOP--------
net estop-ext iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# external output signals
net machine-is-enabled to_pci.1.pins.pin-00-out
# external input signals
# --- MAX-X ---
net max-x <= to_pci.1.pins.pin-00-in-n
# --- MIN-X ---
net min-x <= to_pci.1.pins.pin-01-in-n
# --- HOME-X ---
net home-x <= to_pci.1.pins.pin-02-in-n
# --- MAX-Y ---
net max-y <= to_pci.1.pins.pin-03-in-n
# --- MIN-Y ---
net min-y <= to_pci.1.pins.pin-04-in-n
# --- HOME-Y ---
net home-y <= to_pci.1.pins.pin-05-in-n
# --- MAX-Z ---
net max-z <= to_pci.1.pins.pin-06-in-n
# --- MIN-Z ---
net min-z <= to_pci.1.pins.pin-07-in-n
# --- HOME-Z ---
net home-z <= to_pci.1.pins.pin-08-in-n
# rail lube on/off #
# смазка при включении длительностью 10 секунд
setp oneshot.0.width 10
net machine-is-on oneshot.0.in
net delay oneshot.0.out => or2.0.in0
net timer-delay => or2.0.in1
net rail-lube => or2.0.out
net rail-lube => to_pci.1.pins.pin-09-out
# интервал смазки 600 секунд длительностью 10 секунд
setp timedelay.0.on-delay 600
setp timedelay.0.off-delay 10
net machine-is-on => and2.0.in0
net timer-in => and2.0.in1
net timer-in-1 => and2.0.out
net timer-in-1 => timedelay.0.in
net timer-delay => timedelay.0.out
net timer-delay => not.0.in
net timer-in <= not.0.out
#spinle lube on/off#
# интервал смазки 900 секунд длительностью 10 секунд
setp timedelay.1.on-delay 900
setp timedelay.1.off-delay 10
net spindle-on => and2.1.in0
net timer-in => and2.1.in1
net timer-in-1 => and2.1.out
net timer-in-1 => timedelay.1.in
net timer-delay => timedelay.1.out
net timer-delay => not.1.in
net timer-in <= not.1.out
net spindle-lube => to_pci.1.pins.pin-08-out
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale0 [AXIS_0]ENCODER_SCALE
net x-pos-fb <= to_pci.1.feedback.encoder0
net x-pos-fb => axis.0.motor-pos-fb
# ------PWM Generator signals/setup--------
net x-enable axis.0.amp-enable-out
net x-enable => to_pci.1.enable_drive
setp to_pci.1.out_scale0 [AXIS_0]OUTPUT_SCALE
net x-output => to_pci.1.dcontrol0
net x-pos-cmd <= axis.0.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-x => axis.0.home-sw-in
#net min-x => axis.0.neg-lim-sw-in
#net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale1 [AXIS_1]ENCODER_SCALE
net y-pos-fb <= to_pci.1.feedback.encoder1
net y-pos-fb => axis.1.motor-pos-fb
# ------PWM Generator signals/setup--------
net y-enable axis.1.amp-enable-out
setp to_pci.1.out_scale1 [AXIS_1]OUTPUT_SCALE
net y-output => to_pci.1.dcontrol1
net y-pos-cmd <= axis.1.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-y => axis.1.home-sw-in
#net min-y => axis.1.neg-lim-sw-in
#net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
# --------fb--------------
setp to_pci.1.feedback.enc_scale2 [AXIS_2]ENCODER_SCALE
net z-pos-fb <= to_pci.1.feedback.encoder2
net z-pos-fb => axis.2.motor-pos-fb
# ------PWM Generator signals/setup--------
net z-enable axis.2.amp-enable-out
setp to_pci.1.out_scale2 [AXIS_2]OUTPUT_SCALE
net z-output => to_pci.1.dcontrol2
net z-pos-cmd <= axis.2.motor-pos-cmd
# ---setup home / limit switch signals---
#net home-z => axis.2.home-sw-in
#net min-z => axis.2.neg-lim-sw-in
#net max-z => axis.2.pos-lim-sw-in
#_ _ _ SPINDLE _ _ _
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-enable => motion.spindle-at-speed
#============== PWM Generator command SPINDLE================
setp to_pci.1.out_scale3 [SPINDLE]OUTPUT_SCALE
net spindle-output to_pci.1.dcontrol3
net spindle-cw => to_pci.1.pins.pin-02-out
net spindle-ccw => to_pci.1.pins.pin-03-out
#----------- SIGNALS ---------------
#net buton_test => to_pci.1.feedback.index_en0
net buton_test => to_pci.1.pins.pin-01-out
botcman
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botcman 27 мар 2017, 12:21
Ошибка
Вложения
Спасибо!