22 lines
704 B
Tcl
22 lines
704 B
Tcl
# 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 Apos axis.3.motor-pos-cmd => axis.3.motor-pos-fb ddt_a.in
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# send the position commands thru differentiators to
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# generate velocity and accel signals
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net Avel ddt_a.out => ddt_av.in
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net Aacc <= ddt_av.out
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#Conservative limits
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set acc_limit 1.0001
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set vel_limit 1.01
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setp wcomp_aacc.max $::AXIS_3(MAX_ACCELERATION)*$acc_limit
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setp wcomp_aacc.min $::AXIS_3(MAX_ACCELERATION)*-1.0*$acc_limit
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setp wcomp_avel.max $::AXIS_3(MAX_VELOCITY)*$vel_limit
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setp wcomp_avel.min $::AXIS_3(MAX_VELOCITY)*-1.0*$vel_limit
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# Enable match_all pins for A axis
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setp match_all.b6 1
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setp match_all.b7 1
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