28 lines
912 B
Plaintext
28 lines
912 B
Plaintext
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loadrt trivkins coordinates=XYZABCUVW
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=9 num_dio=10 num_aio=10 num_spindles=1
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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net x-pos-fb joint.0.motor-pos-fb <= joint.0.motor-pos-cmd
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net y-pos-fb joint.1.motor-pos-fb <= joint.1.motor-pos-cmd
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net z-pos-fb joint.2.motor-pos-fb <= joint.2.motor-pos-cmd
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net a-pos-fb joint.3.motor-pos-fb <= joint.3.motor-pos-cmd
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net b-pos-fb joint.4.motor-pos-fb <= joint.4.motor-pos-cmd
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net c-pos-fb joint.5.motor-pos-fb <= joint.5.motor-pos-cmd
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net u-pos-fb joint.6.motor-pos-fb <= joint.6.motor-pos-cmd
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net v-pos-fb joint.7.motor-pos-fb <= joint.7.motor-pos-cmd
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net w-pos-fb joint.8.motor-pos-fb <= joint.8.motor-pos-cmd
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setp iocontrol.0.emc-enable-in 1
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