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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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27
configs/sim/axis/axis_9axis_scurve.hal Normal file
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loadrt trivkins coordinates=XYZABCUVW
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=9 num_dio=10 num_aio=10 num_spindles=1
addf motion-command-handler servo-thread
addf motion-controller servo-thread
net x-pos-fb joint.0.motor-pos-fb <= joint.0.motor-pos-cmd
net y-pos-fb joint.1.motor-pos-fb <= joint.1.motor-pos-cmd
net z-pos-fb joint.2.motor-pos-fb <= joint.2.motor-pos-cmd
net a-pos-fb joint.3.motor-pos-fb <= joint.3.motor-pos-cmd
net b-pos-fb joint.4.motor-pos-fb <= joint.4.motor-pos-cmd
net c-pos-fb joint.5.motor-pos-fb <= joint.5.motor-pos-cmd
net u-pos-fb joint.6.motor-pos-fb <= joint.6.motor-pos-cmd
net v-pos-fb joint.7.motor-pos-fb <= joint.7.motor-pos-cmd
net w-pos-fb joint.8.motor-pos-fb <= joint.8.motor-pos-cmd
setp iocontrol.0.emc-enable-in 1