16 lines
486 B
Plaintext
16 lines
486 B
Plaintext
loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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net xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
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net x-neg-lim-sw => joint.0.neg-lim-sw-in
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net ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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net zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
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net estop-out <= iocontrol.0.user-enable-out
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net estop-out => iocontrol.0.emc-enable-in
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