24 lines
918 B
Plaintext
24 lines
918 B
Plaintext
# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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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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# add motion controller functions to 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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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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# loop position commands back to motion module feedback
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net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
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net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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net Y2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
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net Zpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
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