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Код: Выделить всё

#!/bin/sh
halcmd setp gearchange.0.sel 0
sleep 0.25
exit 0

Код: Выделить всё

#ориентация шпинделя
 #Необходимые компоненты.
 #scale0 = Spindle RPM Scale
 #scale1 = Spindle ABS
 #scale6 = Spindle Deg to Rev
 #scale7 spindle load


loadrt scale count=8

 addf scale.0 servo-thread
 addf scale.6 servo-thread
 addf scale.7 servo-thread
 addf scale.1 servo-thread 

 setp scale.1.gain 0.16667
 #spindle speed gain
 #pwm/speed=1/6000=0.0001667
 #6k
 setp scale.0.gain 0.003333333

 #load abs comp make spindle pos
 loadrt abs count=3
 addf abs.0 servo-thread
 addf abs.1 servo-thread
 addf abs.2 servo-thread

 #convert spindle speed to s32
 loadrt conv_float_s32 count=1
 addf conv-float-s32.0 servo-thread
 #covert spindle s32 to float
 loadrt conv_s32_float count=1
 addf conv-s32-float.0 servo-thread 

 #comp for sp ori
 loadrt wcomp count=1
 addf wcomp.0 servo-thread 

 loadrt mux2 count=10
 addf mux2.0 servo-thread
 loadrt mux4 count=1
 addf mux4.0 servo-thread

 loadrt tristate_bit count=1
 addf tristate-bit.0 servo-thread

 

 #set scale and pwm
setp    hm2_5i25.0.encoder.00.counter-mode 0
setp    hm2_5i25.0.encoder.00.filter 1
setp    hm2_5i25.0.encoder.00.index-invert 0
setp    hm2_5i25.0.encoder.00.index-mask 0
setp    hm2_5i25.0.encoder.00.index-mask-invert 0
setp    hm2_5i25.0.encoder.00.scale  [SPINDLE_9]ENCODER_SCALE

# ---setup spindle control signals--- 

 setp pid.4.Pgain [SPINDLE_9]P
 setp pid.4.Igain [SPINDLE_9]I
 setp pid.4.Dgain [SPINDLE_9]D
 setp pid.4.bias [SPINDLE_9]BIAS
 setp pid.4.FF0 [SPINDLE_9]FF0
 setp pid.4.FF1 [SPINDLE_9]FF1
 setp pid.4.FF2 [SPINDLE_9]FF2
 setp pid.4.deadband [SPINDLE_9]DEADBAND
 #limit spindle speed 
 setp pid.4.maxoutput [SPINDLE_9]MAX_OUTPUT
 #set ori postion
 setp pid.4.command [SPINDLE_9]ORIENT_POS 

 # prevent integrator windup at the beginning of an orient
 # after running the spindle for a long time.  The error is
 # very high before the first index happens.
 setp pid.4.maxerrorI [SPINDLE_9]MAXI
 setp pid.4.maxerrorD [SPINDLE_9]MAXD
 setp pid.4.maxerror [SPINDLE_9]MAXERROR

 #spindle sync

 # net ori-index <= classicladder.0.out-17 

 #spindle sync
 newsig tristate.index bit
 sets tristate.index true
 net tristate.index => tristate-bit.0.in 
 net spindle-index <= tristate-bit.0.out
setp tristate-bit.0.enable 1
 net spindle-index <= motion.spindle-index-enable
 net spindle-index <=> hm2_5i25.0.encoder.00.index-enable

 net spindle-velocity motion.spindle-speed-in <= hm2_5i25.0.encoder.00.velocity
 net spindle-deg <= hm2_5i25.0.encoder.00.position 

 #convert degrees to revs for spindle sync moves
 #1/360=0.002777778
 #deg*0.002777778=revs
 setp scale.6.gain 0.002777778
 net spindle-deg <= scale.6.in
 net spinde-revs scale.6.out => motion.spindle-revs

 #ori
 net spindle-deg => pid.4.feedback 

 # check position error with window comparator
 # set a +/- 2 degree window
 setp wcomp.0.min [SPINDLE_9]WCOMP_MIN
 setp wcomp.0.max  [SPINDLE_9]WCOMP_MAX
 net sp-orient-pos-err wcomp.0.in <= pid.4.error
 # net ori-finish classicladder.0.in-17 <= wcomp.0.out 

 #spindle enable
 #net spindle-enable-out classicladder.0.out-04 => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.enable
 #net spindle-enable-in motion.spindle-on => classicladder.0.in-16  

 #for pyvcp
 net spindle-velocity => abs.1.in
 net spindle-s-abs abs.1.out => scale.1.in
 net spindle-s-abs-out <= scale.1.out 



#net ori-enable pid.4.enable 
setp pid.4.enable 1
 #output
net sp-orient-rpm-cmd scale.0.in <= pid.4.output

 # select between normal speed and orient speed
 # based on ori-enable (M119) command
 #net sp-orient-rpm-cmd => mux2.0.in1
 #net spindle-rpm-in => mux2.0.in0
 #net ori-enable => mux2.0.sel
 # output of mux is desired spindle RPM
 #net spindle-rpm-out mux2.0.out => scale.0.in
#net spindle-rpm-out sp-orient-rpm-cmd => scale.0.in
 net spindle-speed-DAC scale.0.out => hm2_5i25.0.7i77.0.1.analogout0