# 5i20 config file for a 4 Axis Smithy 1240 Mill

# load the hostmot2 driver, this doesn't do anything by itself,
# it just waits for low-level drivers to register boards
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1

# load the low-level driver for the board
# this will load the board's firmware and register it with the hostmot2
# driver loaded above, and it'll show up in HAL
loadrt hm2_pci config="firmware=hm2/5i20/sssvst2_2_4_v31.bit num_encoders=1 num_pwmgens=0 num_stepgens=4 sserial_port_0=0xxxxxxx enable_raw"
#loadrt hm2_pci config="firmware=hm2/5i20/sssvst2_2_2_v35.bit num_encoders=1 num_pwmgens=0 num_stepgens=4 enable_raw"

# 13312 = 0x3400 = Encoder Sample Rate Register
setp hm2_5i20.0.raw.write_address 13312
# sample rate is clock (33 MHz)/SRR+2 = 33MHz/10 = 3.3MHz
setp hm2_5i20.0.raw.write_data 8
# write data
setp hm2_5i20.0.raw.write_strobe 1

# set up the watchdog
#setp hm2_5i20.0.watchdog.timeout_ns 10000000

# load kinematics
loadrt [KINS]KINEMATICS

# load motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS

# load charge pump
loadrt charge_pump
setp charge-pump.enable TRUE

# load and configure the spindle speed PID
loadrt pid num_chan=1
setp pid.0.Pgain 0.1
setp pid.0.Igain 100.0
setp pid.0.Dgain 0.0
setp pid.0.maxoutput 1.0
setp pid.0.deadband 0.01

# load and configure the spindle speed limiting, filtering, and comparison blocks
# Need this line so AXIS shows +/- buttons
net srpm spindle.0.speed-out
# Limit bounds and slew rate/second
loadrt limit2
setp limit2.0.min -100
setp limit2.0.max 100
setp limit2.0.maxv 50
# Stalled spindle detector
loadrt abs
loadrt comp count=2
setp comp.0.in0 1.0
setp comp.1.in0 0.0
loadrt and2 count=2
# Filter srps 
loadrt lowpass
setp lowpass.0.gain 0.07
# Spindle at-speed detection
loadrt near
setp near.0.scale 1.1
setp near.0.difference 0.1
net srps spindle.0.speed-out-rps limit2.0.in near.0.in1
net scmd limit2.0.out pid.0.command
net fb hm2_5i20.0.encoder.00.velocity pid.0.feedback spindle.0.speed-in lowpass.0.in comp.1.in1
net sflt lowpass.0.out near.0.in2
net at-speed near.0.out spindle.0.at-speed
net scur-abs abs.0.out comp.0.in1
net scmd-ok comp.0.equal and2.0.in0
net sfb-ok comp.1.equal and2.0.in1
net stall and2.0.out

# These loopbacks are usually disconnected by a postgui halfile
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared

### q = encoder, h=hall sensors, i=index
loadrt bldc cfg=qh
setp bldc.0.rev 1
setp hm2_5i20.0.encoder.00.scale 2880
net Spos hm2_5i20.0.encoder.00.position spindle.0.revs
net Sidx hm2_5i20.0.encoder.00.index-enable spindle.0.index-enable
net pid-out pid.0.output bldc.0.value
net rawcount hm2_5i20.0.encoder.00.rawcounts
net rotor_angle hm2_5i20.0.8i20.0.0.angle bldc.0.rotor-angle
setp hm2_5i20.0.8i20.0.0.max_current 30.0
net current bldc.0.out hm2_5i20.0.8i20.0.0.current abs.0.in

### IF cfg==*q* uncomment these lines
setp bldc.0.initvalue 0.8
setp bldc.0.lead-angle 0
### 2.2kW Motor
setp bldc.0.poles 4
### 1kW Motor
#setp bldc.0.poles 8
setp bldc.0.scale -2880
net rawcount bldc.0.rawcounts

### IF cfg==*h* uncomment these lines
net spindle-on spindle.0.on pid.0.enable
net sa bldc.0.hall1 hm2_5i20.0.gpio.005.in
net sb bldc.0.hall2 hm2_5i20.0.gpio.007.in
net sc bldc.0.hall3 hm2_5i20.0.gpio.009.in
### 2.2kW Motor
setp bldc.0.pattern 17 # 17 or 44
### 1kW Motor
#setp bldc.0.pattern 34 # 15 or 34
### ELSE uncomment these lines
#net amp-enable bldc.0.init
#net init-done bldc.0.init-done

### IF cfg==*i* uncomment this line
#net Sidx bldc.0.index-enable

# invert the step pulse polarity
setp hm2_5i20.0.gpio.000.invert_output TRUE
setp hm2_5i20.0.gpio.002.invert_output TRUE
setp hm2_5i20.0.gpio.016.invert_output TRUE
setp hm2_5i20.0.gpio.018.invert_output TRUE

# configure the stepgen parameters
setp hm2_5i20.0.stepgen.00.dirsetup        5000
setp hm2_5i20.0.stepgen.00.dirhold         2000
setp hm2_5i20.0.stepgen.00.steplen         2000
setp hm2_5i20.0.stepgen.00.stepspace       2000
setp hm2_5i20.0.stepgen.00.position-scale  [JOINT_0]SCALE
setp hm2_5i20.0.stepgen.00.maxaccel        [JOINT_0]STEPGEN_MAXACCEL
setp hm2_5i20.0.stepgen.00.maxvel          [JOINT_0]STEPGEN_MAXVEL
setp hm2_5i20.0.stepgen.01.dirsetup        5000
setp hm2_5i20.0.stepgen.01.dirhold         2000
setp hm2_5i20.0.stepgen.01.steplen         2000
setp hm2_5i20.0.stepgen.01.stepspace       2000
setp hm2_5i20.0.stepgen.01.position-scale  [JOINT_1]SCALE
setp hm2_5i20.0.stepgen.01.maxaccel        [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i20.0.stepgen.01.maxvel          [JOINT_1]STEPGEN_MAXVEL
setp hm2_5i20.0.stepgen.02.dirsetup        5000
setp hm2_5i20.0.stepgen.02.dirhold         2000
setp hm2_5i20.0.stepgen.02.steplen         2000
setp hm2_5i20.0.stepgen.02.stepspace       2000
setp hm2_5i20.0.stepgen.02.position-scale  [JOINT_2]SCALE
setp hm2_5i20.0.stepgen.02.maxaccel        [JOINT_2]STEPGEN_MAXACCEL
setp hm2_5i20.0.stepgen.02.maxvel          [JOINT_2]STEPGEN_MAXVEL
setp hm2_5i20.0.stepgen.03.dirsetup        5000
setp hm2_5i20.0.stepgen.03.dirhold         2000
setp hm2_5i20.0.stepgen.03.steplen         2000
setp hm2_5i20.0.stepgen.03.stepspace       2000
setp hm2_5i20.0.stepgen.03.position-scale  [JOINT_3]SCALE
setp hm2_5i20.0.stepgen.03.maxaccel        [JOINT_3]STEPGEN_MAXACCEL
setp hm2_5i20.0.stepgen.03.maxvel          [JOINT_3]STEPGEN_MAXVEL

# connect position commands from motion module to step generator
net Xpos-cmd joint.0.motor-pos-cmd hm2_5i20.0.stepgen.00.position-cmd
net Ypos-cmd joint.1.motor-pos-cmd hm2_5i20.0.stepgen.01.position-cmd
net Zpos-cmd joint.2.motor-pos-cmd hm2_5i20.0.stepgen.02.position-cmd
net Apos-cmd joint.3.motor-pos-cmd hm2_5i20.0.stepgen.03.position-cmd

# connect position feedback from step generators to motion module
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb joint.0.motor-pos-fb
net Ypos-fb hm2_5i20.0.stepgen.01.position-fb joint.1.motor-pos-fb
net Zpos-fb hm2_5i20.0.stepgen.02.position-fb joint.2.motor-pos-fb
net Apos-fb hm2_5i20.0.stepgen.03.position-fb joint.3.motor-pos-fb

# connect enable signals for step generators
net Xen joint.0.amp-enable-out hm2_5i20.0.stepgen.00.enable
net Yen joint.1.amp-enable-out hm2_5i20.0.stepgen.01.enable
net Zen joint.2.amp-enable-out hm2_5i20.0.stepgen.02.enable
net Aen joint.3.amp-enable-out hm2_5i20.0.stepgen.03.enable

# enable velocity mode jogging
setp joint.0.jog-vel-mode TRUE
setp joint.1.jog-vel-mode TRUE
setp joint.2.jog-vel-mode TRUE
setp joint.3.jog-vel-mode TRUE

# connect the charge pump signal to an output
setp hm2_5i20.0.gpio.022.is_output TRUE
net chargepump hm2_5i20.0.gpio.022.out charge-pump.out

# Safety Relay Monitoring Contacts
net estop-enable hm2_5i20.0.gpio.037.in iocontrol.0.emc-enable-in
# Run Switch
loadrt debounce cfg=1
setp debounce.0.delay 1000
net key-on hm2_5i20.0.gpio.039.in_not debounce.0.0.in
net machine-on debounce.0.0.out hm2_5i20.0.sserial.port-0.run hm2_5i20.0.8i20.0.0.amp_enable halui.machine.on

#connect limit switches to limit inputs
net Xmax hm2_5i20.0.gpio.024.in_not joint.0.pos-lim-sw-in
net Xmin hm2_5i20.0.gpio.026.in_not joint.0.neg-lim-sw-in
net Ymax hm2_5i20.0.gpio.028.in_not joint.1.pos-lim-sw-in
net Ymin hm2_5i20.0.gpio.030.in_not joint.1.neg-lim-sw-in
net Zmax hm2_5i20.0.gpio.032.in_not joint.2.pos-lim-sw-in
net Zmin hm2_5i20.0.gpio.034.in_not joint.2.neg-lim-sw-in

#connect positive limit signals to home inputs
net Xmax joint.0.home-sw-in
net Ymax joint.1.home-sw-in
net Zmax joint.2.home-sw-in

# Spindle Contactor Enable
setp hm2_5i20.0.gpio.041.is_output TRUE
setp hm2_5i20.0.gpio.041.invert_output TRUE
# Door Closed - Energizes spindle contactor
net CLOSED hm2_5i20.0.gpio.029.in_not hm2_5i20.0.gpio.041.out

# Main Contactors - True when both contactors are energized
net ACOK hm2_5i20.0.gpio.035.in_not
# VFD Fault Relay - True when VFD is not faulted
#net VFDOK hm2_5i20.0.gpio.031.in_not
# A Axis Home - On Sieg machines there is no VFD fault signal,
# it is used for the A axis home sensor on 4 axis machines
#net AHOME hm2_5i20.0.gpio.031.in joint.3.home-sw-in

# Stop on any spindle fault
loadrt or2
#net VFDOK hm2_5i20.0.gpio.031.in_not and2.1.in0
net VFDOK hm2_5i20.0.gpio.031.in_not or2.0.in0
#net AUTO halui.mode.is-auto and2.1.in1
net stall or2.0.in1
#net ABORT and2.1.out halui.abort
net ABORT or2.0.out halui.abort

# Spindle Contactor - False when spindle contactor is energized
net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold

# Axis Drive Status Signals
# True when YAKO stepper drive is on a full step position
# True when a Leadshine stepper drive is in the READY state
net DRV0 hm2_5i20.0.gpio.025.in_not
net DRV1 hm2_5i20.0.gpio.027.in_not
net DRV2 hm2_5i20.0.gpio.036.in_not
net DRV3 hm2_5i20.0.gpio.038.in_not

# Output Bits
# Link Spindle Direction Signals to make AXIS Display Buttons
net FWD spindle.0.reverse
net REV spindle.0.forward
# Flood Coolant
setp hm2_5i20.0.gpio.043.is_output TRUE
setp hm2_5i20.0.gpio.043.invert_output TRUE
net M8 hm2_5i20.0.gpio.043.out iocontrol.0.coolant-flood
# Mist Coolant
setp hm2_5i20.0.gpio.045.is_output TRUE
setp hm2_5i20.0.gpio.045.invert_output TRUE
net M7 hm2_5i20.0.gpio.045.out iocontrol.0.coolant-mist

# hook the functions to threads
# read inputs
addf hm2_5i20.0.read servo-thread
# handle motion commands
addf motion-command-handler servo-thread
# run the motion controller
addf motion-controller servo-thread
# limit the spindle speed command
addf limit2.0 servo-thread
# do spindle pid calcs
addf pid.0.do-pid-calcs servo-thread
# filter encoder velocity
addf lowpass.0 servo-thread
# compare filtered encoder velocity to commanded
addf near.0 servo-thread
# detect a stalled spindle
addf abs.0 servo-thread
addf comp.0 servo-thread
addf comp.1 servo-thread
addf and2.0 servo-thread
# delay running the 8i20 smart serial channel
addf debounce.0 servo-thread
# detect a spindle fault
#addf and2.1 servo-thread
addf or2.0 servo-thread
# write outputs
addf hm2_5i20.0.write servo-thread
# run bldc function
addf bldc.0 servo-thread
# toggle the charge pump
addf charge-pump servo-thread

