19 lines
648 B
Plaintext
19 lines
648 B
Plaintext
# core HAL config file for simulation
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loadrt [KINS]KINEMATICS
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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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# create HAL signals for position commands from motion module
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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 Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
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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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