122 lines
4.3 KiB
Plaintext
122 lines
4.3 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]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
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loadrt hal_parport cfg=0x378
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setp parport.0.reset-time 4000
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loadrt stepgen step_type=0,0,0,0
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loadrt charge_pump
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loadrt match8 count=1
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loadrt pwmgen output_type=1
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setp pwmgen.0.pwm-freq 5.0
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#4000 RPM spindles (early production)
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setp pwmgen.0.scale 4000
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#5000 RPM spindles (late production)
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#setp pwmgen.0.scale 5000
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setp pwmgen.0.offset 0.0
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setp pwmgen.0.min-dc 0.01
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setp pwmgen.0.max-dc 0.99
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setp pwmgen.0.dither-pwm true
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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 charge-pump base-thread
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addf pwmgen.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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addf pwmgen.update servo-thread
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addf match8.0 servo-thread
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net spindle-cmd spindle.0.speed-out pwmgen.0.value
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net spindle-enable spindle.0.on pwmgen.0.enable
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net coolant-flood parport.0.pin-01-out iocontrol.0.coolant-flood
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net xdir parport.0.pin-02-out stepgen.0.dir
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net xstep parport.0.pin-03-out stepgen.0.step
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setp parport.0.pin-03-out-reset 1
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net ydir parport.0.pin-04-out stepgen.1.dir
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net ystep parport.0.pin-05-out stepgen.1.step
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setp parport.0.pin-05-out-reset 1
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net zdir parport.0.pin-06-out stepgen.2.dir
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net zstep parport.0.pin-07-out stepgen.2.step
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setp parport.0.pin-07-out-reset 1
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net adir parport.0.pin-08-out stepgen.3.dir
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net astep parport.0.pin-09-out stepgen.3.step
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setp parport.0.pin-09-out-reset 1
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#PMDX-110
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net spindle-dir parport.0.pin-14-out spindle.0.reverse
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#PMDX-131
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#net spindle-dir parport.0.pin-14-out spindle.0.forward
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net spindle-pwm parport.0.pin-16-out pwmgen.0.pwm
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net charge-pump parport.0.pin-17-out charge-pump.out
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net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
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net estop-out charge-pump.enable halui.machine.is-on
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#PMDX-110
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net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
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#PMDX-131
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#net run parport.0.pin-11-in halui.program.pause motion.feed-hold
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#normally closed switches (late production)
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net all-home parport.0.pin-12-in
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#normally open switches (early production)
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#net all-home parport.0.pin-12-in-not
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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 35000
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setp stepgen.0.dirsetup 16000
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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 xenable joint.0.amp-enable-out stepgen.0.enable
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net all-home joint.0.home-sw-in
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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 35000
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setp stepgen.1.dirsetup 16000
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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 yenable joint.1.amp-enable-out stepgen.1.enable
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net all-home joint.1.home-sw-in
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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 35000
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setp stepgen.2.dirsetup 16000
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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 zenable joint.2.amp-enable-out stepgen.2.enable
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net all-home joint.2.home-sw-in
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setp stepgen.3.position-scale [JOINT_3]SCALE
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setp stepgen.3.steplen 1
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setp stepgen.3.stepspace 0
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setp stepgen.3.dirhold 35000
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setp stepgen.3.dirsetup 16000
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setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
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net apos-cmd joint.3.motor-pos-cmd stepgen.3.position-cmd
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net apos-fb stepgen.3.position-fb joint.3.motor-pos-fb
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net aenable joint.3.amp-enable-out stepgen.3.enable
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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 all-home match8.0.in
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net limit match8.0.out joint.0.neg-lim-sw-in
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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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