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May 22nd, 2012
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  1. # Generated by stepconf at Mon May 21 18:43:24 2012
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt trivkins
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  6. loadrt probe_parport
  7. loadrt hal_parport cfg="0x378 out "
  8. setp parport.0.reset-time 5000
  9. loadrt stepgen step_type=0,0
  10. loadrt encoder num_chan=1
  11. loadrt pwmgen output_type=0
  12. #lowpass for spindle velocity
  13. loadrt lowpass count=1
  14.  
  15. addf parport.0.read base-thread
  16. addf stepgen.make-pulses base-thread
  17. addf encoder.update-counters base-thread
  18. addf pwmgen.make-pulses base-thread
  19. addf parport.0.write base-thread
  20. addf parport.0.reset base-thread
  21.  
  22. addf stepgen.capture-position servo-thread
  23. addf encoder.capture-position servo-thread
  24. addf motion-command-handler servo-thread
  25. addf motion-controller servo-thread
  26. addf stepgen.update-freq servo-thread
  27. addf pwmgen.update servo-thread
  28. addf lowpass.0 servo-thread
  29.  
  30. net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
  31. net spindle-enable <= motion.spindle-on => pwmgen.0.enable
  32. net spindle-pwm <= pwmgen.0.pwm
  33. setp pwmgen.0.pwm-freq 10000.0
  34. setp pwmgen.0.scale 1166.66666667
  35. setp pwmgen.0.offset 0.114285714286
  36. setp pwmgen.0.dither-pwm true
  37. net spindle-cw <= motion.spindle-forward
  38.  
  39. #Smoothing of spindle rps factor.
  40. setp lowpass.0.gain 0.01
  41.  
  42.  
  43. setp encoder.0.position-scale 1.000000
  44. setp encoder.0.counter-mode 1
  45.  
  46. # use interpolated postion because of 1 ppr
  47. net spindle-position encoder.0.position-interpolated => motion.spindle-revs
  48.  
  49. #hooking the low pass in for spindle velocity smoothing
  50. net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
  51. net spindle-velocity encoder.0.velocity lowpass.0.in
  52. net spindle-velfiltered lowpass.0.out motion.spindle-speed-in
  53.  
  54. net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
  55.  
  56. #hook index to a also..
  57. net spindle-index <= parport.0.pin-11-in
  58. net spindle-index encoder.0.phase-A
  59. #net spindle-phase-b encoder.0.phase-B
  60. net spindle-index encoder.0.phase-Z
  61.  
  62. net estop-out => parport.0.pin-01-out
  63. net xstep => parport.0.pin-02-out
  64. setp parport.0.pin-02-out-reset 1
  65. net xdir => parport.0.pin-03-out
  66. net ystep => parport.0.pin-04-out
  67. setp parport.0.pin-04-out-reset 1
  68. net ydir => parport.0.pin-05-out
  69. net zstep => parport.0.pin-06-out
  70. setp parport.0.pin-06-out-reset 1
  71. setp parport.0.pin-07-out-invert 1
  72. net zdir => parport.0.pin-07-out
  73. net astep => parport.0.pin-08-out
  74. setp parport.0.pin-08-out-reset 1
  75. net adir => parport.0.pin-09-out
  76. net spindle-cw => parport.0.pin-14-out
  77. net spindle-pwm => parport.0.pin-16-out
  78. net xenable => parport.0.pin-17-out
  79.  
  80.  
  81. net estop-ext <= parport.0.pin-10-in
  82. # net spindle-phase-a <= parport.0.pin-12-in
  83.  
  84.  
  85. setp stepgen.0.position-scale [AXIS_0]SCALE
  86. setp stepgen.0.steplen 1
  87. setp stepgen.0.stepspace 0
  88. setp stepgen.0.dirhold 35000
  89. setp stepgen.0.dirsetup 35000
  90. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  91. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  92. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  93. net xstep <= stepgen.0.step
  94. net xdir <= stepgen.0.dir
  95. net xenable axis.0.amp-enable-out => stepgen.0.enable
  96.  
  97. setp stepgen.1.position-scale [AXIS_2]SCALE
  98. setp stepgen.1.steplen 1
  99. setp stepgen.1.stepspace 0
  100. setp stepgen.1.dirhold 35000
  101. setp stepgen.1.dirsetup 35000
  102. setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  103. net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd
  104. net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb
  105. net zstep <= stepgen.1.step
  106. net zdir <= stepgen.1.dir
  107. net zenable axis.2.amp-enable-out => stepgen.1.enable
  108.  
  109. net estop-out <= iocontrol.0.user-enable-out
  110. net estop-ext => iocontrol.0.emc-enable-in
  111.  
  112. loadusr -W hal_manualtoolchange
  113. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  114. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  115. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  116. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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