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 Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.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 Yvel ddt_y.out => ddt_yv.in vel_xy.in1
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net Yacc <= ddt_yv.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_yacc.max $::AXIS_1(MAX_ACCELERATION)*$acc_limit
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setp wcomp_yacc.min $::AXIS_1(MAX_ACCELERATION)*-1.0*$acc_limit
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setp wcomp_yvel.max $::AXIS_1(MAX_VELOCITY)*$vel_limit
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setp wcomp_yvel.min $::AXIS_1(MAX_VELOCITY)*-1.0*$vel_limit
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# Enable match_all pins for Y axis
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setp match_all.b2 1
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setp match_all.b3 1
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