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configs/by_interface/mesa/plasma-5i20/plasma-demo.hal

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+# Generated by stepconf at Sat Apr 16 07:47:05 2011
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+loadrt hal_parport cfg="0x378 out  "
+setp parport.0.reset-time 1000
+loadrt stepgen step_type=0,0,0
+
+addf parport.0.read base-thread
+addf stepgen.make-pulses base-thread
+addf parport.0.write base-thread
+addf parport.0.reset base-thread
+
+addf stepgen.capture-position servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf stepgen.update-freq servo-thread
+
+# Torch Height Control
+loadrt encoder
+addf encoder.capture-position servo-thread
+addf encoder.update-counters servo-thread
+loadrt thc
+addf thc servo-thread
+
+net spindle-cmd <= spindle.0.speed-out
+net spindle-on <= spindle.0.on
+
+net xstep => parport.0.pin-02-out
+setp parport.0.pin-02-out-reset 1
+net xdir => parport.0.pin-03-out
+net ystep => parport.0.pin-04-out
+setp parport.0.pin-04-out-reset 1
+net ydir => parport.0.pin-05-out
+net zstep => parport.0.pin-06-out
+setp parport.0.pin-06-out-reset 1
+net zdir => parport.0.pin-07-out
+net spindle-on => parport.0.pin-08-out
+
+setp stepgen.0.position-scale [JOINT_0]SCALE
+setp stepgen.0.steplen 1
+setp stepgen.0.stepspace 0
+setp stepgen.0.dirhold 15200
+setp stepgen.0.dirsetup 15200
+setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
+net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
+net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
+net xstep <= stepgen.0.step
+net xdir <= stepgen.0.dir
+net xenable joint.0.amp-enable-out => stepgen.0.enable
+
+setp stepgen.1.position-scale [JOINT_1]SCALE
+setp stepgen.1.steplen 1
+setp stepgen.1.stepspace 0
+setp stepgen.1.dirhold 15200
+setp stepgen.1.dirsetup 15200
+setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
+net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
+net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
+net ystep <= stepgen.1.step
+net ydir <= stepgen.1.dir
+net yenable joint.1.amp-enable-out => stepgen.1.enable
+
+setp stepgen.2.position-scale [JOINT_2]SCALE
+setp stepgen.2.steplen 1
+setp stepgen.2.stepspace 0
+setp stepgen.2.dirhold 15200
+setp stepgen.2.dirsetup 15200
+setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
+net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
+net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
+net zstep <= stepgen.2.step
+net zdir <= stepgen.2.dir
+net zenable joint.2.amp-enable-out => stepgen.2.enable
+
+net estop-out <= iocontrol.0.user-enable-out
+net estop-out => iocontrol.0.emc-enable-in
+
+#loadusr -W hal_manualtoolchange
+#net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
+#net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
+#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
+#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+
+# Touch Off
+net torch-probe motion.probe-input <= parport.0.pin-13-in-not
+
+# Set up the Encoder for the THC
+setp encoder.0.counter-mode 1
+net thc-vel-in encoder.0.velocity => thc.encoder-vel
+setp thc.scale-offset 119000
+setp thc.vel-scale 0.00037866834
+
+# this might need to be increased
+setp thc.correction-vel 0.0001
+
+# spindle on starts the arc
+net spindle-on spindle.0.on => parport.0.pin-16-out
+
+net spindle-on thc.torch-on
+
+# starts the motion when the plasma arc has transferred to the work
+net start-motion-input thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in
+
+
+