125 lines
4.4 KiB
Plaintext
125 lines
4.4 KiB
Plaintext
loadrt [KINS]KINEMATICS
|
|
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
|
loadrt sim_parport names=parport.0
|
|
setp parport.0.reset-time 5000
|
|
loadrt stepgen step_type=0,0
|
|
loadrt encoder num_chan=1
|
|
loadrt pwmgen output_type=1
|
|
|
|
#********************************************************
|
|
# commands needed for panelui loading
|
|
#
|
|
# sampler is needed for panelui
|
|
loadrt sampler cfg=u depth=1025
|
|
|
|
#uncomment to validate the panelui INI file
|
|
#loadusr pyui
|
|
|
|
# -d = debug, -v =verbose debug
|
|
loadusr -W panelui -d
|
|
loadrt sim_matrix_kb
|
|
|
|
net key-scan sim-matrix-kb.0.out
|
|
net key-scan sampler.0.pin.0
|
|
#********************************************************
|
|
|
|
addf parport.0.read base-thread
|
|
source sim_hardware.hal
|
|
addf sim-encoder.make-pulses base-thread
|
|
addf stepgen.make-pulses base-thread
|
|
addf encoder.update-counters base-thread
|
|
addf pwmgen.make-pulses base-thread
|
|
addf parport.0.write base-thread
|
|
addf parport.0.reset base-thread
|
|
|
|
addf stepgen.capture-position servo-thread
|
|
addf sim-hardware.update servo-thread
|
|
addf sim-encoder.update-speed servo-thread
|
|
addf encoder.capture-position servo-thread
|
|
addf motion-command-handler servo-thread
|
|
addf motion-controller servo-thread
|
|
addf stepgen.update-freq servo-thread
|
|
addf pwmgen.update servo-thread
|
|
|
|
#********************************************************
|
|
# add panelui components to a thread
|
|
|
|
addf sim-matrix-kb.0 servo-thread
|
|
addf sampler.0 servo-thread
|
|
#********************************************************
|
|
|
|
net spindle-cmd-rpm => pwmgen.0.value
|
|
net spindle-on <= spindle.0.on => pwmgen.0.enable
|
|
net spindle-pwm <= pwmgen.0.pwm
|
|
setp pwmgen.0.pwm-freq 100.0
|
|
setp pwmgen.0.scale 1166.66666667
|
|
setp pwmgen.0.offset 0.114285714286
|
|
setp pwmgen.0.dither-pwm true
|
|
net spindle-cmd-rpm <= spindle.0.speed-out
|
|
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
|
|
net spindle-cmd-rps <= spindle.0.speed-out-rps
|
|
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
|
|
net spindle-at-speed => spindle.0.at-speed
|
|
net spindle-cw <= spindle.0.forward
|
|
|
|
setp encoder.0.position-scale 100.000000
|
|
setp encoder.0.counter-mode 1
|
|
net spindle-position encoder.0.position => spindle.0.revs
|
|
net spindle-velocity-feedback-rps encoder.0.velocity => spindle.0.speed-in
|
|
net spindle-index-enable encoder.0.index-enable <=> spindle.0.index-enable
|
|
net spindle-phase-a encoder.0.phase-A
|
|
net spindle-phase-b encoder.0.phase-B
|
|
net spindle-index encoder.0.phase-Z
|
|
|
|
net estop-out => parport.0.pin-01-out
|
|
net xstep => parport.0.pin-02-out
|
|
setp parport.0.pin-02-out-reset 1
|
|
net xdir => parport.0.pin-03-out
|
|
net ystep => parport.0.pin-04-out
|
|
setp parport.0.pin-04-out-reset 1
|
|
net ydir => parport.0.pin-05-out
|
|
net zstep => parport.0.pin-06-out
|
|
setp parport.0.pin-06-out-reset 1
|
|
net zdir => parport.0.pin-07-out
|
|
net astep => parport.0.pin-08-out
|
|
setp parport.0.pin-08-out-reset 1
|
|
net adir => parport.0.pin-09-out
|
|
net spindle-cw => parport.0.pin-14-out
|
|
net spindle-pwm => parport.0.pin-16-out
|
|
net xenable => parport.0.pin-17-out
|
|
net spindle-index <= parport.0.pin-12-in
|
|
net spindle-phase-a <= parport.0.pin-13-in
|
|
|
|
setp stepgen.0.position-scale [JOINT_0]SCALE
|
|
setp stepgen.0.steplen 1
|
|
setp stepgen.0.stepspace 0
|
|
setp stepgen.0.dirhold 35000
|
|
setp stepgen.0.dirsetup 35000
|
|
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
|
|
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
|
|
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
|
|
net xstep <= stepgen.0.step
|
|
net xdir <= stepgen.0.dir
|
|
net xenable joint.0.amp-enable-out => stepgen.0.enable
|
|
|
|
setp stepgen.1.position-scale [JOINT_2]SCALE
|
|
setp stepgen.1.steplen 1
|
|
setp stepgen.1.stepspace 0
|
|
setp stepgen.1.dirhold 35000
|
|
setp stepgen.1.dirsetup 35000
|
|
setp stepgen.1.maxaccel [JOINT_2]STEPGEN_MAXACCEL
|
|
net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
|
|
net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
|
|
net zstep <= stepgen.1.step
|
|
net zdir <= stepgen.1.dir
|
|
net zenable joint.1.amp-enable-out => stepgen.1.enable
|
|
|
|
net estop-out <= iocontrol.0.user-enable-out
|
|
net estop-out => iocontrol.0.emc-enable-in
|
|
|
|
loadusr -W hal_manualtoolchange
|
|
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
|
|
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
|
|
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
|
|
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|