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linuxcnc retrofit
Commit 4ea1d2d6 authored by electrolab's avatar electrolab
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Working mb2halV2 

 On branch master
 Changes to be committed:
	modified:   lcec.hal
	modified:   maurice.hal
	modified:   mb2hal.hal
	modified:   mb2hal.ini
parent 05b86275
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lcec.hal
View file @ 4ea1d2d6
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W mb2hal config=mb2hal.ini
#loadusr -W mb2hal config=mb2hal.ini
loadusr -Wn mb2hal /home/electrolab/cnc/maurice/mb2halv2/mb2halv2 config=mb2hal.ini
loadusr -W lcec_conf maurice.xml
loadrt lcec
......
maurice.hal
View file @ 4ea1d2d6
......@@ -61,7 +61,7 @@ net Z-posfb => joint.2.motor-pos-fb
# Components declaration
#==========================================
loadrt classicladder_rt
loadrt classicladder_rt numPhysInputs=50 numPhysOutputs=50
addf classicladder.0.refresh servo-thread
loadusr classicladder maurice.clp
......
mb2hal.hal
View file @ 4ea1d2d6
loadrt bitslice count=6 personality=16,16,6,6,6,2
loadrt weighted_sum wsum_sizes=16,6,2,2
loadrt conv_s32_float count=4
loadrt conv_s32_u32 count=6
#loadusr -W mb2hal config=mb2hal.ini
addf conv-s32-u32.0 servo-thread
addf conv-s32-u32.1 servo-thread
addf conv-s32-u32.2 servo-thread
addf conv-s32-u32.3 servo-thread
addf conv-s32-u32.4 servo-thread
addf conv-s32-u32.5 servo-thread
addf bitslice.0 servo-thread
addf bitslice.1 servo-thread
addf bitslice.2 servo-thread
addf bitslice.3 servo-thread
addf bitslice.4 servo-thread
addf bitslice.5 servo-thread
addf process_wsums servo-thread
addf conv-s32-float.0 servo-thread
addf conv-s32-float.1 servo-thread
addf conv-s32-float.2 servo-thread
addf conv-s32-float.3 servo-thread
#==================================================
#Slicing Register Inputs
#==================================================
# mb2hal.STBin.00.int
net ConvSU0 mb2hal.STBIn.00.int => conv-s32-u32.0.in
net StbDDI3725-1 conv-s32-u32.0.out => bitslice.0.in
net ConvSU1 mb2hal.STBIn.01.int => conv-s32-u32.1.in
net StbDDI3725-2 conv-s32-u32.1.out => bitslice.1.in
net ConvSU2 mb2hal.STBIn.02.int => conv-s32-u32.2.in
net StbDDI3610-1 conv-s32-u32.2.out => bitslice.2.in
net ConvSU3 mb2hal.STBIn.03.int => conv-s32-u32.3.in
net StbDDO3610-2 conv-s32-u32.3.out => bitslice.3.in
net ConvSU4 mb2hal.STBIn.04.int => conv-s32-u32.4.in
net StbDDI3610-3 conv-s32-u32.4.out => bitslice.4.in
net ConvSU5 mb2hal.STBIn.05.int => conv-s32-u32.5.in
net StnDAI7220 conv-s32-u32.5.out => bitslice.5.in
net PowerOnSwitch bitslice.0.out-00
net SpindleNormal bitslice.0.out-01
net SpindleOff bitslice.0.out-02
net SpindleReverse bitslice.0.out-03
net TurretShift bitslice.0.out-04
net CoolantReqOn bitslice.0.out-05
net CoolantReqOff bitslice.0.out-06
net CycleStart bitslice.0.out-07
net FeedHoldbtn bitslice.0.out-08
net EStop bitslice.0.out-09
net XaxisMPG bitslice.0.out-10
net YaxisMPG bitslice.0.out-11
net XplusJOG bitslice.0.out-12
net XminusJog bitslice.0.out-13
net ZplusJOG bitslice.0.out-14
net ZminusJOG bitslice.0.out-15
net ModeSelect-1 bitslice.1.out-00
net ModeSelect-2 bitslice.1.out-01
net ModeSelect-3 bitslice.1.out-02
net ModeSelect-4 bitslice.1.out-03
net TurretN-1 bitslice.1.out-04
net TurretN-2 bitslice.1.out-05
net TurretN-3 bitslice.1.out-06
net TurretN-4 bitslice.1.out-07
net FeedOv-1 bitslice.1.out-08
net FeedOv-2 bitslice.1.out-09
net FeedOv-3 bitslice.1.out-10
net FeedOv-4 bitslice.1.out-11
net RapidOv-1 bitslice.1.out-12
net RapidOv-2 bitslice.1.out-13
net MachineLock bitslice.1.out-14
net DryRun bitslice.1.out-15
net BlockDelete bitslice.2.out-00
net OptStop bitslice.2.out-01
net SingleBlock bitslice.2.out-02
net FootSwitch1 bitslice.2.out-03
net FootSwitch2 bitslice.2.out-04
net ChuckInside bitslice.2.out-05
net TurretLS9 bitslice.3.out-00
net TurretLS10 bitslice.3.out-01
net TurretLS11 bitslice.3.out-02
net TurretLS12 bitslice.3.out-03
net TurretLS13 bitslice.3.out-04
net TurretIndex bitslice.3.out-05
net MachineError bitslice.4.out-00
net MachineReadyFin bitslice.4.out-01
net ChuckCloseFin bitslice.4.out-02
net FeedHoldFin bitslice.4.out-03
net SpindleIlk bitslice.4.out-04
net StartIlk bitslice.4.out-05
net ChuckLm1 bitslice.5.out-00
net ChuckLm2 bitslice.5.out-01
#==================================================
#Summing Register Outputs
#==================================================
net PgmEnd wsum.0.bit.0.in
net SpindleAlarm wsum.0.bit.1.in
net XZeroReturnLamp wsum.0.bit.2.in
net ZZeroReturnLamp wsum.0.bit.3.in
net MachineReadyLamp wsum.0.bit.4.in
net OptionnalStop wsum.0.bit.5.in
net FeedHoldLamp wsum.0.bit.6.in
net CycleStartLamp wsum.0.bit.7.in
net TurretIndexLamp wsum.0.bit.8.in
net CoolantPumpOnLamp wsum.0.bit.9.in
net CoolantPumpOffLamp wsum.0.bit.10.in
net ChuckClampLamp wsum.0.bit.11.in
net ProgramEndLamp wsum.0.bit.12.in
net ProgramErrorLamp wsum.0.bit.13.in
net MachineErrorLamp wsum.0.bit.14.in
net ResetSignal wsum.0.bit.15.in
net TurretUnclamp wsum.1.bit.0.in
net TurretClamp wsum.1.bit.1.in
net TurretReverse wsum.1.bit.2.in
net TurretIndex wsum.1.bit.3.in
net ChuckClose wsum.1.bit.4.in
net ChuckOpen wsum.1.bit.5.in
net MachineReady wsum.2.bit.0.in
net ServoReady wsum.2.bit.1.in
net CoolantPump wsum.3.bit.0.in
net ConvWsum0 wsum.0.sum => conv-s32-float.0.in
net StbDDO3705 mb2hal.STBOut.00 <= conv-s32-float.0.out
net ConvWsum1 wsum.1.sum => conv-s32-float.1.in
net StbDDO3600 mb2hal.STBOut.01 <= conv-s32-float.1.out
net ConvWsum2 wsum.2.sum => conv-s32-float.2.in
net StbDRC3210-1 mb2hal.STBOut.02 <= conv-s32-float.2.out
net ConvWsum3 wsum.3.sum => conv-s32-float.3.in
net StbDRC3210-2 mb2hal.STBOut.03 <= conv-s32-float.3.out
#====================================================================
#mb2hal.STBIn.PowerOnSwitch
#mb2hal.STBIn.SpindleNormal
#mb2hal.STBIn.SpindleOff
#mb2hal.STBIn.SpindleReverse
#mb2hal.STBIn.TurretShift
#mb2hal.STBIn.CoolantReqOn
#mb2hal.STBIn.CoolantReqOff
#mb2hal.STBIn.CycleStart
#mb2hal.STBIn.FeedHoldbtn
#mb2hal.STBIn.EStop
#mb2hal.STBIn.XaxisMPG0
#mb2hal.STBIn.YaxisMPG1
#mb2hal.STBIn.XplusJOG2
#mb2hal.STBIn.XminusJog
#mb2hal.STBIn.ZplusJOG
#mb2hal.STBIn.ZminusJOG
#
#mb2hal.STBIn.ModeSelect-1
#mb2hal.STBIn.ModeSelect-2
#mb2hal.STBIn.ModeSelect-3
#mb2hal.STBIn.ModeSelect-4
#mb2hal.STBIn.TurretN-1
#mb2hal.STBIn.TurretN-2
#mb2hal.STBIn.TurretN-3
#mb2hal.STBIn.TurretN-4
#mb2hal.STBIn.FeedOv-1
#mb2hal.STBIn.FeedOv-2
#mb2hal.STBIn.FeedOv-3
#mb2hal.STBIn.FeedOv-4
#mb2hal.STBIn.RapidOv-1
#mb2hal.STBIn.RapidOv-2
#mb2hal.STBIn.MachineLock
#mb2hal.STBIn.DryRun
#
#mb2hal.STBIn.OptStop
#mb2hal.STBIn.SingleBlock
#mb2hal.STBIn.FootSwitch1
#mb2hal.STBIn.BlockDelete
#mb2hal.STBIn.FootSwitch2
#mb2hal.STBIn.ChuckInside
#
net TurretLS9 mb2hal.STBIn.TurretLS9
net TurretLS10 mb2hal.STBIn.TurretLS10
net TurretLS11 mb2hal.STBIn.TurretLS11
net TurretLS12 mb2hal.STBIn.TurretLS12
net TurretLS13 mb2hal.STBIn.TurretLS13
net TurretIndex mb2hal.STBIn.TurretIndex
#
#mb2hal.STBIn.MachineError
#mb2hal.STBIn.MachineReadyFin
#mb2hal.STBIn.ChuckCloseFin
#mb2hal.STBIn.FeedHoldFin
#mb2hal.STBIn.SpindleIlk
#mb2hal.STBIn.StartIlk
#
#mb2hal.STBOut.PgmEnd
#mb2hal.STBOut.SpindleAlarm
#mb2hal.STBOut.XZeroReturnLamp
#mb2hal.STBOut.ZZeroReturnLamp
#mb2hal.STBOut.MachineReadyLamp
#mb2hal.STBOut.OptionnalStop
#mb2hal.STBOut.FeedHoldLamp
#mb2hal.STBOut.CycleStartLamp
#mb2hal.STBOut.TurretIndexLamp
#mb2hal.STBOut.CoolantPumpOnLamp
#mb2hal.STBOut.CoolantPumpOffLamp
#mb2hal.STBOut.ChuckClampLamp
#mb2hal.STBOut.ProgramEndLamp
#mb2hal.STBOut.ProgramErrorLamp
#mb2hal.STBOut.MachineErrorLamp
#mb2hal.STBOut.ResetSignal
#
#mb2hal.STBOut.TurretUnclamp
#mb2hal.STBOut.TurretClamp
#mb2hal.STBOut.TurretReverse
#mb2hal.STBOut.TurretIndex
#mb2hal.STBOut.ChuckClose
#mb2hal.STBOut.ChuckOpen
#
#mb2hal.STBOut.MachineReady
#mb2hal.STBOut.ServoReady
#
#mb2hal.STBOut.CoolantPump
#
mb2hal.ini
View file @ 4ea1d2d6
......@@ -43,8 +43,8 @@ LINK_TYPE=tcp
TCP_IP=192.168.16.55
TCP_PORT=502
MB_SLAVE_ID=1
FIRST_ELEMENT=5391
NELEMENTS=8
#FIRST_ELEMENT=5391
#NELEMENTS=8
#REQUIRED: Modbus transaction function code (see www.modbus.org specifications).
# fnct_02_read_discrete_inputs (02 = 0x02)
......@@ -61,8 +61,8 @@ NELEMENTS=8
#fnct_15_write_multiple_coils: creates boolean input HAL pins.
#fnct_16_write_multiple_registers: creates a floating point input HAL pins.
#MB_TX_CODE=fnct_04_read_input_registers
MB_TX_CODE=fnct_03_read_holding_registers
#OPTIONAL: Response timeout for this transaction. In INTEGER ms. Defaults to 500 ms.
#This is how much to wait for 1st byte before raise an error.
......@@ -78,9 +78,63 @@ MB_BYTE_TIMEOUT_MS=500
#The name must not exceed 32 characters.
#NOTE: when using names be careful that you dont end up with two transactions
#usign the same name.
HAL_TX_NAME=STBIn
HAL_MAP_PIN=PowerOnSwitch, 5391, bit, 0
HAL_MAP_PIN=SpindleNormal, 5391, bit, 1
HAL_MAP_PIN=SpindleOff, 5391, bit, 2
HAL_MAP_PIN=SpindleReverse, 5391, bit, 3
HAL_MAP_PIN=TurretShift, 5391, bit, 4
HAL_MAP_PIN=CoolantReqOn, 5391, bit, 5
HAL_MAP_PIN=CoolantReqOff, 5391, bit, 6
HAL_MAP_PIN=CycleStart, 5391, bit, 7
HAL_MAP_PIN=FeedHoldbtn, 5391, bit, 8
HAL_MAP_PIN=EStop, 5391, bit, 9
HAL_MAP_PIN=XaxisMPG, 5391, bit, 10
HAL_MAP_PIN=YaxisMPG, 5391, bit, 11
HAL_MAP_PIN=XplusJOG, 5391, bit, 12
HAL_MAP_PIN=XminusJog, 5391, bit, 13
HAL_MAP_PIN=ZplusJOG, 5391, bit, 14
HAL_MAP_PIN=ZminusJOG, 5391, bit, 15
HAL_MAP_PIN=ModeSelect-1, 5392, bit, 0
HAL_MAP_PIN=ModeSelect-2, 5392, bit, 1
HAL_MAP_PIN=ModeSelect-3, 5392, bit, 2
HAL_MAP_PIN=ModeSelect-4, 5392, bit, 3
HAL_MAP_PIN=TurretN-1, 5392, bit, 4
HAL_MAP_PIN=TurretN-2, 5392, bit, 5
HAL_MAP_PIN=TurretN-3, 5392, bit, 6
HAL_MAP_PIN=TurretN-4, 5392, bit, 7
HAL_MAP_PIN=FeedOv-1, 5392, bit, 8
HAL_MAP_PIN=FeedOv-2, 5392, bit, 9
HAL_MAP_PIN=FeedOv-3, 5392, bit, 10
HAL_MAP_PIN=FeedOv-4, 5392, bit, 11
HAL_MAP_PIN=RapidOv-1, 5392, bit, 12
HAL_MAP_PIN=RapidOv-2, 5392, bit, 13
HAL_MAP_PIN=MachineLock, 5392, bit, 14
HAL_MAP_PIN=DryRun, 5392, bit, 15
HAL_MAP_PIN=BlockDelete, 5393, bit, 0
HAL_MAP_PIN=OptStop, 5393, bit, 1
HAL_MAP_PIN=SingleBlock, 5393, bit, 2
HAL_MAP_PIN=FootSwitch1, 5393, bit, 3
HAL_MAP_PIN=FootSwitch2, 5393, bit, 4
HAL_MAP_PIN=ChuckInside, 5393, bit, 5
HAL_MAP_PIN=TurretLS9, 5394, bit, 0
HAL_MAP_PIN=TurretLS10, 5394, bit, 1
HAL_MAP_PIN=TurretLS11, 5394, bit, 2
HAL_MAP_PIN=TurretLS12, 5394, bit, 3
HAL_MAP_PIN=TurretLS13, 5394, bit, 4
HAL_MAP_PIN=TurretIndex, 5394, bit, 5
HAL_MAP_PIN=MachineError, 5395, bit, 0
HAL_MAP_PIN=MachineReadyFin, 5395, bit, 1
HAL_MAP_PIN=ChuckCloseFin, 5395, bit, 2
HAL_MAP_PIN=FeedHoldFin, 5395, bit, 3
HAL_MAP_PIN=SpindleIlk, 5395, bit, 4
HAL_MAP_PIN=StartIlk, 5395, bit, 5
#OPTIONAL: Maximum update rate in HZ. Defaults to 0.0 (0.0 = as soon as available = infinit).
#NOTE: This is a maximum rate and the actual rate may be lower.
#If you want to calculate it in ms use (1000 / required_ms).
......@@ -114,12 +168,42 @@ DEBUG=1
#SELECT_FAILURE -0x0E (-14)
#TOO_MANY_DATAS -0x0F (-15)
#INVALID_CRC -0x10 (-16)
#INVALID_EXCEPTION_CODE -0x11 (-17)
#INVALID_EXCEPTION_CODE -0x11 (-17
[TRANSACTION_01]
MB_TX_CODE=fnct_16_write_multiple_registers
FIRST_ELEMENT=0
NELEMENTS=4
HAL_TX_NAME=STBOut
HAL_MAP_PIN=PgmEnd, 0, bit, 0
HAL_MAP_PIN=SpindleAlarm, 0, bit, 1
HAL_MAP_PIN=XZeroReturnLamp, 0, bit, 2
HAL_MAP_PIN=ZZeroReturnLamp, 0, bit, 3
HAL_MAP_PIN=MachineReadyLamp, 0, bit, 4
HAL_MAP_PIN=OptionnalStop, 0, bit, 5
HAL_MAP_PIN=FeedHoldLamp, 0, bit, 6
HAL_MAP_PIN=CycleStartLamp, 0, bit, 7
HAL_MAP_PIN=TurretIndexLamp, 0, bit, 8
HAL_MAP_PIN=CoolantPumpOnLamp, 0, bit, 9
HAL_MAP_PIN=CoolantPumpOffLamp, 0, bit, 10
HAL_MAP_PIN=ChuckClampLamp, 0, bit, 11
HAL_MAP_PIN=ProgramEndLamp, 0, bit, 12
HAL_MAP_PIN=ProgramErrorLamp, 0, bit, 13
HAL_MAP_PIN=MachineErrorLamp, 0, bit, 14
HAL_MAP_PIN=ResetSignal, 0, bit, 15
HAL_MAP_PIN=TurretUnclamp, 1, bit, 0
HAL_MAP_PIN=TurretClamp, 1, bit, 1
HAL_MAP_PIN=TurretReverse, 1, bit, 2
HAL_MAP_PIN=TurretIndex,1 , bit, 3
HAL_MAP_PIN=ChuckClose, 1, bit, 4
HAL_MAP_PIN=ChuckOpen, 1, bit, 5
HAL_MAP_PIN=MachineReady, 2, bit, 0
HAL_MAP_PIN=ServoReady, 2, bit, 1
HAL_MAP_PIN=CoolantPump, 3, bit, 0
MAX_UPDATE_RATE=0.0
DEBUG=1
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