78 lines
3.0 KiB
Plaintext
78 lines
3.0 KiB
Plaintext
loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
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loadrt stepgen step_type=0,0,0
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loadrt match8 count=1
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# Used to filter out spurious limit switch signals
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# THIS IS VERY BAD & SHOULD BE FIXED IN HARDWARE!!!
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loadrt debounce cfg=1
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setp debounce.0.delay 2
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loadrt hal_parport cfg="0x378"
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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 debounce.0 base-thread
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addf parport.0.write base-thread
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addf stepgen.capture-position servo-thread
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addf match8.0 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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net Xpos-cmd joint.0.motor-pos-cmd stepgen.0.position-cmd
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net Ypos-cmd joint.1.motor-pos-cmd stepgen.1.position-cmd
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net Zpos-cmd joint.2.motor-pos-cmd stepgen.2.position-cmd
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net Xpos-fb stepgen.0.position-fb joint.0.motor-pos-fb
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net Ypos-fb stepgen.1.position-fb joint.1.motor-pos-fb
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net Zpos-fb stepgen.2.position-fb joint.2.motor-pos-fb
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net Xen <= joint.0.amp-enable-out stepgen.0.enable
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net Yen <= joint.1.amp-enable-out stepgen.1.enable
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net Zen <= joint.2.amp-enable-out stepgen.2.enable
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net Xstep stepgen.0.step parport.0.pin-03-out
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net Xdir stepgen.0.dir parport.0.pin-02-out
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net Ystep stepgen.1.step parport.0.pin-05-out
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net Ydir stepgen.1.dir parport.0.pin-04-out
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net Zstep stepgen.2.step parport.0.pin-07-out
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net Zdir stepgen.2.dir parport.0.pin-06-out
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.2.position-scale [JOINT_2]SCALE
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setp stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
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setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
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setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
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setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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# three axis motion allows 6 other outputs on pins 8,9,1,14,16,17
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# five additional input pins are available 10,11,12,13,15
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setp parport.0.pin-01-out-invert true
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net estop iocontrol.0.user-enable-out parport.0.pin-01-out iocontrol.0.emc-enable-in
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setp parport.0.pin-14-out-invert true
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net flood iocontrol.0.coolant-flood parport.0.pin-14-out
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setp parport.0.pin-17-out-invert true
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net forward spindle.0.forward parport.0.pin-16-out
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net reverse spindle.0.reverse parport.0.pin-17-out
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# These loopbacks are usually disconnected by a postgui halfile
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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newsig false bit
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sets false FALSE
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net xhoming joint.0.homing match8.0.a0
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net yhoming joint.1.homing match8.0.a1
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net zhoming joint.2.homing match8.0.a2
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net false match8.0.b0 match8.0.b1 match8.0.b2
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net home-raw parport.0.pin-15-in-not debounce.0.0.in
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net home-filtered debounce.0.0.out joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in match8.0.in
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net limit match8.0.out joint.0.neg-lim-sw-in
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