40 lines
1.3 KiB
Plaintext
40 lines
1.3 KiB
Plaintext
# sample file pulls all load commands into a single file
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# kinematics
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loadrt [KINS]KINEMATICS
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#motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# next load the PID module, for four PID loops
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loadrt pid num_chan=4
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# install Universal PWM Controller driver
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# if the parallel port the PPMC is connected to is not the standard 0x378, add
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# port_addr="0x1234" to the end of the following line, separated by a space
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# on LinuxCNC versions 2.7.9 and above, a parameter allows you to change the
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# way the EPP port is controlled. For PCIe cards using the NetMos 990x
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# chips, append epp_dir=1 to the end of the following line
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loadrt hal_ppmc
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# make some signals for the scope for tuning.
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loadrt ddt count=4
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loadrt estop_latch count=1
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loadrt and2 count=1
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# set up the realtime thread
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# read inputs first
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addf ppmc.0.read servo-thread
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# then run the motion controller
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addf motion-command-handler servo-thread
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addf and2.0 servo-thread
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addf estop-latch.0 servo-thread
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addf motion-controller servo-thread
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# then the PID loops
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addf pid.0.do-pid-calcs servo-thread
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addf pid.1.do-pid-calcs servo-thread
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addf pid.2.do-pid-calcs servo-thread
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addf pid.3.do-pid-calcs servo-thread
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# write outputs last
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addf ppmc.0.write servo-thread
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