31 lines
1.1 KiB
Plaintext
31 lines
1.1 KiB
Plaintext
# for trivkins xyzb
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# --> 0123
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# connect joint and axis jog pins together for corresponding items
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net j:x axis.x.jog-counts joint.0.jog-counts
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net j:y axis.y.jog-counts joint.1.jog-counts
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net j:z axis.z.jog-counts joint.2.jog-counts
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net j:b axis.b.jog-counts joint.3.jog-counts
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net j:e joint.0.jog-enable joint.1.jog-enable joint.2.jog-enable joint.3.jog-enable
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net j:e axis.x.jog-enable axis.y.jog-enable axis.z.jog-enable axis.b.jog-enable
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sets j:e 1
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net j:s joint.0.jog-scale joint.1.jog-scale joint.2.jog-scale joint.3.jog-scale
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net j:s axis.x.jog-scale axis.y.jog-scale axis.z.jog-scale axis.b.jog-scale
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sets j:s 1
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net j:v joint.0.jog-vel-mode joint.1.jog-vel-mode joint.2.jog-vel-mode joint.3.jog-vel-mode
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net j:v axis.x.jog-vel-mode axis.y.jog-vel-mode axis.z.jog-vel-mode axis.b.jog-vel-mode
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sets j:v 1
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# simulate a locking rotary joint3
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loadrt timedelay names=timedelay_unlock
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addf timedelay_unlock servo-thread
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net B-unlock joint.3.unlock => timedelay_unlock.in
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net B-is-unlocked timedelay_unlock.out => joint.3.is-unlocked
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setp timedelay_unlock.on-delay 0.75
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setp timedelay_unlock.off-delay 0.5
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