31 lines
857 B
Plaintext
31 lines
857 B
Plaintext
# use limit3 for motion planning:
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loadrt limit3 names=j4.limit3,j5.limit3
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# These constraints apply to homing managed by
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# LinuxCNC and post-homing managed by the limit3 component:
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setp j4.limit3.min [JOINT_4]MIN_LIMIT
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setp j4.limit3.max [JOINT_4]MAX_LIMIT
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setp j4.limit3.maxv [JOINT_4]MAX_VELOCITY
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setp j4.limit3.maxa [JOINT_4]MAX_ACCELERATION
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addf j4.limit3 servo-thread
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net J4:out <= j4.limit3.out
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net J4:out => joint.4.posthome-cmd
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net J4.enable <= joint.4.homed
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net J4.enable => j4.limit3.enable
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setp j5.limit3.min [JOINT_5]MIN_LIMIT
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setp j5.limit3.max [JOINT_5]MAX_LIMIT
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setp j5.limit3.maxv [JOINT_5]MAX_VELOCITY
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setp j5.limit3.maxa [JOINT_5]MAX_ACCELERATION
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addf j5.limit3 servo-thread
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net J5:out <= j5.limit3.out
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net J5:out => joint.5.posthome-cmd
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net J5.enable <= joint.5.homed
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net J5.enable => j5.limit3.enable
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