22 lines
715 B
Tcl
22 lines
715 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 Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt_x.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 Xvel ddt_x.out => ddt_xv.in vel_xy.in0
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net Xacc <= ddt_xv.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_xacc.max $::AXIS_0(MAX_ACCELERATION)*$acc_limit
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setp wcomp_xacc.min $::AXIS_0(MAX_ACCELERATION)*-1.0*$acc_limit
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setp wcomp_xvel.max $::AXIS_0(MAX_VELOCITY)*$vel_limit
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setp wcomp_xvel.min $::AXIS_0(MAX_VELOCITY)*-1.0*$vel_limit
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# Enable match_all pins for X axis
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setp match_all.b0 1
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setp match_all.b1 1
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