skopiowana konfiguracja z expertia
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# Generated by stepconf, adapted for Remora Ethernet on RP2040
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# Using W5500-EVB-Pico or RP2040 with W5500 module
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# Basic HAL config file for NVEM controller board running Remora firmware
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# Configured for 3 joints (A, Y, Z axes) with home and limit switches
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loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=6 num_aio=3
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loadrt remora-eth-3.0
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# Add Remora read/update/write functions to the servo thread
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addf remora.read servo-thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf remora.update servo-thread
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addf remora.write servo-thread
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# load the Remora real-time component
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# --- ESTOP ---
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net estop-out <= iocontrol.0.user-enable-out
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loadrt remora-eth PRU_base_freq=75000
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loadrt estop_latch names=estop_latch
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loadrt and2 names=run_and,step_and
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loadrt toggle names=hold_button_toggle
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loadrt toggle2nist names=hold_toggle,paused_toggle
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# E-stop input from Remora input 3 (GP28)
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# If your hardware E-stop switch is active-low (Normally Closed to GND, open on press)
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# and you need to invert it in HAL, you can load a 'not' component.
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# Otherwise, we connect it directly here:
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net estop-ext <= remora.input.3 => iocontrol.0.emc-enable-in
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# add the remora and motion functions to threads
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# --- PROBE ---
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# Probe input from Remora input 4 (GP27)
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net probe-in <= remora.input.4 => motion.probe-input
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addf remora.read servo-thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf remora.update-freq servo-thread
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addf remora.write servo-thread
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addf estop_latch servo-thread
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addf run_and servo-thread
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addf step_and servo-thread
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addf hold_toggle servo-thread
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addf hold_button_toggle servo-thread
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# --- SPINDLE ---
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# Spindle signal is driven in custom.hal, we connect it here to the Remora output 0 (GP8)
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net spindle-on => remora.output.0
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#toggle2nist states & mux selectors
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# net program-is-paused hold_toggle.is-on <= halui.program.is-paused
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# --- JOINT 0 (X AXIS) ---
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setp remora.joint.0.scale [JOINT_0]SCALE
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setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp remora.joint.0.pgain [JOINT_0]P_GAIN
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setp remora.joint.0.deadband [JOINT_0]DEADBAND
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# vfdmod - uncomment the below if using vfdmod (default). There are also a couple items to edit in spindle_load.hal
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# loadusr -W vfdmod vfdmod.ini
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# net spindle-speed-cmd vfdmod.spindle.rpm-in <= spindle.0.speed-out
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# net spindle-speed-fb vfdmod.spindle.rpm-out <= spindle.0.speed-in
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# net spindle-at-speed vfdmod.spindle.at-speed <= spindle.0.at-speed
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# net spindle-forward vfdmod.control.run-forward <= spindle.0.forward
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# net spindle-reverse vfdmod.control.run-reverse <= spindle.0.reverse
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# estop and SPI comms enable and feedback
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net xpos-cmd joint.0.motor-pos-cmd => remora.joint.0.pos-cmd
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net xpos-fb remora.joint.0.pos-fb => joint.0.motor-pos-fb
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net xenable joint.0.amp-enable-out => remora.joint.0.enable
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net home-x <= remora.input.0 => joint.0.home-sw-in
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net user-enable-out <= iocontrol.0.user-enable-out => remora.enable
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net user-request-enable <= iocontrol.0.user-request-enable => remora.reset estop_latch.reset
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#Halt is shared with motor alarms and is in the estop loop.
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#estop_latch returns 'ok' when fault-in is false, ok-in is true, and reset changes from false to true.
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net estop-fault_in remora.input.07 => estop_latch.fault-in
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net remora-status remora.status => estop_latch.ok-in
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net estop-status estop_latch.ok-out => iocontrol.0.emc-enable-in
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# --- JOINT 1 (Y AXIS) ---
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setp remora.joint.1.scale [JOINT_1]SCALE
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setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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setp remora.joint.1.pgain [JOINT_1]P_GAIN
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setp remora.joint.1.deadband [JOINT_1]DEADBAND
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net ypos-cmd joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
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net ypos-fb remora.joint.1.pos-fb => joint.1.motor-pos-fb
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net yenable joint.1.amp-enable-out => remora.joint.1.enable
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net home-y <= remora.input.1 => joint.1.home-sw-in
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# joint 0 setup (X axis)
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# --- JOINT 2 (Z AXIS) ---
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setp remora.joint.2.scale [JOINT_2]SCALE
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setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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setp remora.joint.2.pgain [JOINT_2]P_GAIN
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setp remora.joint.2.deadband [JOINT_2]DEADBAND
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setp remora.joint.0.scale [JOINT_0]SCALE
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setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp remora.joint.0.pgain [JOINT_0]P_GAIN
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setp remora.joint.0.ff1gain [JOINT_0]FF1_GAIN
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setp remora.joint.0.deadband [JOINT_0]DEADBAND
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net zpos-cmd joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
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net zpos-fb remora.joint.2.pos-fb => joint.2.motor-pos-fb
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net zenable joint.2.amp-enable-out => remora.joint.2.enable
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net home-z <= remora.input.2 => joint.2.home-sw-in
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net j0pos-cmd joint.0.motor-pos-cmd => remora.joint.0.pos-cmd
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net j0pos-fb remora.joint.0.pos-fb => joint.0.motor-pos-fb
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net j0enable joint.0.amp-enable-out => remora.joint.0.enable
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net x-home joint.0.home-sw-in => remora.input.00
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# --- TOOL CHANGE ---
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net tool-change-request <= iocontrol.0.tool-change
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net tool-change-confirmed => iocontrol.0.tool-changed
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net tool-number <= iocontrol.0.tool-prep-number
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net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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# joint 1 setup (Y axis)
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setp remora.joint.1.scale [JOINT_1]SCALE
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setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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setp remora.joint.1.pgain [JOINT_1]P_GAIN
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setp remora.joint.1.ff1gain [JOINT_1]FF1_GAIN
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setp remora.joint.1.deadband [JOINT_1]DEADBAND
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net j1pos-cmd joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
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net j1pos-fb remora.joint.1.pos-fb => joint.1.motor-pos-fb
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net j1enable joint.1.amp-enable-out => remora.joint.1.enable
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net y-home joint.1.home-sw-in => remora.input.01
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# joint 2 setup (Z axis)
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setp remora.joint.2.scale [JOINT_2]SCALE
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setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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setp remora.joint.2.pgain [JOINT_2]P_GAIN
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setp remora.joint.2.ff1gain [JOINT_2]FF1_GAIN
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setp remora.joint.2.deadband [JOINT_2]DEADBAND
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net j2pos-cmd joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
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net j2pos-fb remora.joint.2.pos-fb => joint.2.motor-pos-fb
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net j2enable joint.2.amp-enable-out => remora.joint.2.enable
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net z-home joint.2.home-sw-in => remora.input.02
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# Motor enables
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net j0enable => remora.output.00
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net j1enable => remora.output.01
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net j2enable => remora.output.02
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# Flood and mist outputs
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# net flood remora.output.02 <= iocontrol.0.coolant-flood
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# net mist remora.output.03 <= iocontrol.0.coolant-mist
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# User buttons
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#Halt is shared with motor alarms and is up in the estop loop.
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#Hold logic
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# net hold_button remora.input.05 => hold_button_toggle.in
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# net hold_toggle_latch hold_button_toggle.out => hold_toggle.in
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# net hold_on halui.program.pause <= hold_toggle.on
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# net hold_off halui.program.resume <= hold_toggle.off
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#Cycle start logic. When not running, start the program. When in feed hold, single step through the program.
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# net run-step_button remora.input.06 => run_and.in0 step_and.in0
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# net program-is-idle halui.program.is-idle => run_and.in1 #if not running AND button pressed
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# net program-run run_and.out => halui.program.run #run program
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# net program-is-paused => step_and.in1 #if paused AND button pressed
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# net single-step step_and.out => halui.program.step #single step
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# Probe
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net probe-in motion.probe-input <= remora.input.08
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# Manual toolchange
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net tool-change-request <= iocontrol.0.tool-change
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net tool-change-confirmed => iocontrol.0.tool-changed
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net tool-number <= iocontrol.0.tool-prep-number
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net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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