# ####################################### # # HAL file for HostMot2 with 3 servos # # Derived from Ted Hyde's original hm2-servo config # # Based up work and discussion with Seb & Peter & Jeff # GNU license references - insert here. www.linuxcnc.org # # # ######################################## # Firmware files are in /lib/firmware/hm2/7i43/ # Must symlink the hostmot2 firmware directory of sanbox to # /lib/firmware before running EMC2... # sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2 # # See also: # # and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2 # # ##################################################################### # ################################### # Core EMC/HAL Loads # ################################### # kinematics loadrt trivkins # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES # standard components loadrt pid num_chan=3 loadrt bldc cfg=q # hostmot2 driver # if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog #loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1 loadrt hostmot2 # load low-level driver loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000 # ################################################ # THREADS # ################################################ addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf bldc.0 servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread # ###################################################### # Axis-of-motion Specific Configs (not the GUI) # ###################################################### # ################ # X [0] Axis # ################ # axis enable chain newsig emcmot.00.enable bit sets emcmot.00.enable FALSE net emcmot.00.enable => pid.0.enable net emcmot.00.enable => bldc.0.init net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.8i20.0.0.amp_enable net emcmot.00.enable <= axis.0.amp-enable-out # encoder feedback setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback net motor.00.vel-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.velocity => pid.0.feedback-deriv net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI # set PID loop gains from inifile setp pid.0.Pgain [AXIS_0]P setp pid.0.Igain [AXIS_0]I setp pid.0.Dgain [AXIS_0]D setp pid.0.bias [AXIS_0]BIAS setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 setp pid.0.deadband [AXIS_0]DEADBAND setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT #bldc setup setp bldc.0.initvalue .3 setp bldc.0.scale -4000 setp bldc.0.poles 4 # position command signals net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command net motor.00.command pid.0.output => bldc.0.value net motor.00.current bldc.0.out => hm2_[HOSTMOT2](BOARD).0.8i20.0.0.current #net motor.00.current hm2_[HOSTMOT2](BOARD).0.encoder.00.velocity => hm2_[HOSTMOT2](BOARD).0.8i20.0.0.current # commutation angle signals net motor.00.rawcounts hm2_[HOSTMOT2](BOARD).0.encoder.00.rawcounts => bldc.0.rawcounts #net motor.00.index-enable hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable => bldc.0.index-enable net motor.00.angle bldc.0.rotor-angle => hm2_[HOSTMOT2](BOARD).0.8i20.0.0.angle # ################ # Y [1] Axis # ################ # axis enable chain newsig emcmot.01.enable bit sets emcmot.01.enable FALSE net emcmot.01.enable => pid.1.enable net emcmot.01.enable <= axis.1.amp-enable-out # encoder feedback setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [AXIS_1]INPUT_SCALE net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI # set PID loop gains from inifile setp pid.1.Pgain [AXIS_1]P setp pid.1.Igain [AXIS_1]I setp pid.1.Dgain [AXIS_1]D setp pid.1.bias [AXIS_1]BIAS setp pid.1.FF0 [AXIS_1]FF0 setp pid.1.FF1 [AXIS_1]FF1 setp pid.1.FF2 [AXIS_1]FF2 setp pid.1.deadband [AXIS_1]DEADBAND setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT # position command signals net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command # ################ # Z [2] Axis # ################ # axis enable chain newsig emcmot.02.enable bit sets emcmot.02.enable FALSE net emcmot.02.enable => pid.2.enable net emcmot.02.enable <= axis.2.amp-enable-out # encoder feedback setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]INPUT_SCALE net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI # set PID loop gains from inifile setp pid.2.Pgain [AXIS_2]P setp pid.2.Igain [AXIS_2]I setp pid.2.Dgain [AXIS_2]D setp pid.2.bias [AXIS_2]BIAS setp pid.2.FF0 [AXIS_2]FF0 setp pid.2.FF1 [AXIS_2]FF1 setp pid.2.FF2 [AXIS_2]FF2 setp pid.2.deadband [AXIS_2]DEADBAND setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT # position command signals net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command # ################################################## # Standard I/O Block - EStop, Etc # ################################################## # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed # # homing # # # In this example, each of the three axes have their own home switch. All # home switches are connected to GPIO 25, though hostmot2 boards generally # have enough GPIO pins to put each axis' home switch on its own pin. # # Each switch is normally open, momentarily closed. When the switch is open, # GPIO 25 floats high (because that is the hostmot2 way). When the switch is # closed, it shorts GPIO 25 to ground. # # EMC expects the value on the .home-sw-in HAL pin to be active high, ie # True when the switch is closed and False when the switch is open. # We get this behavior by linking the GPIO .in_not pin instead of the .in # pin. # net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not net home-switch => axis.0.home-sw-in net home-switch => axis.1.home-sw-in net home-switch => axis.2.home-sw-in # only the Y servo has an index, X and Z home without using the index net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable