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