114 lines
2.6 KiB
Plaintext
114 lines
2.6 KiB
Plaintext
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loadrt [KINS]KINEMATICS
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#autoconverted scorbot-kins
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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 differential
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf differential.0 servo-thread
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loadusr -W scorbot-er-3
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#
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# E-Stop
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#
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net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
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#
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# Joint 0
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#
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net j0.cmd <= joint.0.motor-pos-cmd
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net j0.cmd => scorbot-er-3.joint0.motor-pos-cmd
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net j0.cmd => joint.0.motor-pos-fb
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net j0.limit <= scorbot-er-3.joint0.limit-sw
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net j0.limit => joint.0.home-sw-in
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net j0.limit => joint.0.neg-lim-sw-in
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net j0.limit => joint.0.pos-lim-sw-in
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setp scorbot-er-3.joint0.scale [JOINT_0]SCALE
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#
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# Joint 1
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#
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net j1.cmd <= joint.1.motor-pos-cmd
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net j1.cmd => scorbot-er-3.joint1.motor-pos-cmd
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net j1.cmd => joint.1.motor-pos-fb
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net j1.limit <= scorbot-er-3.joint1.limit-sw
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net j1.limit => joint.1.home-sw-in
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net j1.limit => joint.1.neg-lim-sw-in
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net j1.limit => joint.1.pos-lim-sw-in
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setp scorbot-er-3.joint1.scale [JOINT_1]SCALE
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#
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# Joint 2
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#
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net j2.cmd <= joint.2.motor-pos-cmd
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net j2.cmd => scorbot-er-3.joint2.motor-pos-cmd
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net j2.cmd => joint.2.motor-pos-fb
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net j2.limit <= scorbot-er-3.joint2.limit-sw
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net j2.limit => joint.2.home-sw-in
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net j2.limit => joint.2.neg-lim-sw-in
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net j2.limit => joint.2.pos-lim-sw-in
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setp scorbot-er-3.joint2.scale [JOINT_2]SCALE
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#
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# Joint 3
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# LinuxCNC commands "wrist pitch" on J3, this goes through the differential.
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#
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net wrist.pitch-cmd <= joint.3.motor-pos-cmd
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net wrist.pitch-cmd => differential.0.pitch-cmd
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net wrist.pitch-fb <= differential.0.pitch-fb
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net wrist.pitch-fb => joint.3.motor-pos-fb
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net j3.cmd <= differential.0.motor0-cmd
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net j3.cmd => scorbot-er-3.joint3.motor-pos-cmd
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net j3.cmd => differential.0.motor0-fb
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net wrist-pitch.limit <= scorbot-er-3.joint3.limit-sw
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net wrist-pitch.limit => joint.3.home-sw-in
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setp scorbot-er-3.joint3.scale [JOINT_3]SCALE
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#
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# Joint 4
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# LinuxCNC commands "wrist roll" on J4, this goes through the differential.
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#
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net wrist.roll-cmd <= joint.4.motor-pos-cmd
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net wrist.roll-cmd => differential.0.roll-cmd
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net wrist.roll-fb <= differential.0.roll-fb
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net wrist.roll-fb => joint.4.motor-pos-fb
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net j4.cmd <= differential.0.motor1-cmd
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net j4.cmd => scorbot-er-3.joint4.motor-pos-cmd
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net j4.cmd => differential.0.motor1-fb
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net wrist-roll.limit <= scorbot-er-3.joint4.limit-sw
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net wrist-roll.limit => joint.4.home-sw-in
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setp scorbot-er-3.joint4.scale [JOINT_4]SCALE
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