23 lines
717 B
Tcl
23 lines
717 B
Tcl
# create HAL signals for position commands from motion module
|
|
# loop position commands back to motion module feedback
|
|
net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt_z.in
|
|
|
|
# send the position commands thru differentiators to
|
|
# generate velocity and accel signals
|
|
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
|
|
net Zacc <= ddt_zv.out
|
|
|
|
#Conservative limits
|
|
set acc_limit 1.0001
|
|
set vel_limit 1.01
|
|
|
|
setp wcomp_zacc.max $::AXIS_2(MAX_ACCELERATION)*$acc_limit
|
|
setp wcomp_zacc.min $::AXIS_2(MAX_ACCELERATION)*-1.0*$acc_limit
|
|
setp wcomp_zvel.max $::AXIS_2(MAX_VELOCITY)*$vel_limit
|
|
setp wcomp_zvel.min $::AXIS_2(MAX_VELOCITY)*-1.0*$vel_limit
|
|
|
|
# Enable match_all pins for Z axis
|
|
setp match_all.b4 1
|
|
setp match_all.b5 1
|
|
|