41 lines
1.5 KiB
Plaintext
41 lines
1.5 KiB
Plaintext
# first load the core RT modules that will be needed
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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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loadrt pluto_step
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addf pluto-step.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 pluto-step.write servo-thread
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setp pluto-step.stepgen.0.scale [JOINT_0]SCALE
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setp pluto-step.stepgen.1.scale [JOINT_1]SCALE
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setp pluto-step.stepgen.2.scale [JOINT_2]SCALE
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net Xpos-cmd joint.0.motor-pos-cmd => pluto-step.stepgen.0.position-cmd
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net Ypos-cmd joint.1.motor-pos-cmd => pluto-step.stepgen.1.position-cmd
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net Zpos-cmd joint.2.motor-pos-cmd => pluto-step.stepgen.2.position-cmd
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net Xpos-fb pluto-step.stepgen.0.position-fb => joint.0.motor-pos-fb
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net Ypos-fb pluto-step.stepgen.1.position-fb => joint.1.motor-pos-fb
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net Zpos-fb pluto-step.stepgen.2.position-fb => joint.2.motor-pos-fb
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net Xen joint.0.amp-enable-out => pluto-step.stepgen.0.enable
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net Yen joint.1.amp-enable-out => pluto-step.stepgen.1.enable
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net Zen joint.2.amp-enable-out => pluto-step.stepgen.2.enable
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# create a signal for the estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool prepare loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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# create a signal for "spindle on"
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net spindle_on spindle.0.on => pluto-step.dout.00
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setp pluto-step.stepgen.steplen 20000
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setp pluto-step.stepgen.stepspace 20000
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setp pluto-step.stepgen.dirtime 20000
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