API tools faq
paste
Advertisement
pkm

hexapod.hal

pkm
Apr 9th, 2012
777
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 4.75 KB | None | 0 0
raw download clone embed print report
  1. # EMC2 hexapod DMM servos step mode
  2. loadrt genhexkins
  3. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  4. loadrt probe_parport
  5. loadrt hal_parport cfg="0x378 out 0xc880 out"
  6. setp parport.0.reset-time 3000
  7. loadrt stepgen step_type=0,0,0,0,0,0
  8.  
  9. addf parport.0.read base-thread
  10. addf parport.1.read base-thread
  11. addf stepgen.make-pulses base-thread
  12. addf parport.0.write base-thread
  13. addf parport.0.reset base-thread
  14. addf parport.1.write base-thread
  15.  
  16. addf stepgen.capture-position servo-thread
  17. addf motion-command-handler servo-thread
  18. addf motion-controller servo-thread
  19. addf stepgen.update-freq servo-thread
  20. #net spindle-cmd <= motion.spindle-speed-out
  21.  
  22. net ydir => parport.0.pin-06-out
  23. setp parport.0.pin-07-out-invert 1
  24. net ystep => parport.0.pin-07-out
  25. setp parport.0.pin-07-out-reset 1
  26. net adir => parport.0.pin-08-out
  27. setp parport.0.pin-09-out-invert 1
  28. net astep => parport.0.pin-09-out
  29. setp parport.0.pin-09-out-reset 1
  30. net zdir => parport.0.pin-16-out
  31. setp parport.0.pin-17-out-invert 1
  32. net zstep => parport.0.pin-17-out
  33. setp parport.0.pin-17-out-reset 1
  34.  
  35. net cdir => parport.0.pin-04-out
  36. setp parport.0.pin-05-out-invert 1
  37. net cstep => parport.0.pin-05-out
  38. setp parport.0.pin-05-out-reset 1
  39. net xdir => parport.0.pin-02-out
  40. setp parport.0.pin-03-out-invert 1
  41. net xstep => parport.0.pin-03-out
  42. setp parport.0.pin-03-out-reset 1
  43. net bdir => parport.0.pin-14-out
  44. setp parport.0.pin-01-out-invert 1
  45. net bstep => parport.0.pin-01-out
  46. setp parport.0.pin-01-out-reset 1
  47.  
  48.  
  49. #net home-x <= parport.0.pin-10-in
  50. #net home-y <= parport.0.pin-11-in
  51. #net home-z <= parport.0.pin-12-in
  52. #net estop-ext <= parport.0.pin-13-in
  53.  
  54. #net home-a <= parport.1.pin-10-in
  55. #net home-b <= parport.1.pin-11-in
  56. #net home-c <= parport.1.pin-12-in
  57.  
  58. setp stepgen.0.position-scale [AXIS_0]SCALE
  59. setp stepgen.0.steplen 1
  60. setp stepgen.0.stepspace 0
  61. setp stepgen.0.dirhold 25000
  62. setp stepgen.0.dirsetup 25000
  63. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  64. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  65. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  66. net xstep <= stepgen.0.step
  67. net xdir <= stepgen.0.dir
  68. net xenable axis.0.amp-enable-out => stepgen.0.enable
  69. #net home-x => axis.0.home-sw-in
  70.  
  71. setp stepgen.1.position-scale [AXIS_1]SCALE
  72. setp stepgen.1.steplen 1
  73. setp stepgen.1.stepspace 0
  74. setp stepgen.1.dirhold 25000
  75. setp stepgen.1.dirsetup 25000
  76. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  77. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  78. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  79. net ystep <= stepgen.1.step
  80. net ydir <= stepgen.1.dir
  81. net yenable axis.1.amp-enable-out => stepgen.1.enable
  82. #net home-y => axis.1.home-sw-in
  83.  
  84. setp stepgen.2.position-scale [AXIS_2]SCALE
  85. setp stepgen.2.steplen 1
  86. setp stepgen.2.stepspace 0
  87. setp stepgen.2.dirhold 25000
  88. setp stepgen.2.dirsetup 25000
  89. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  90. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  91. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  92. net zstep <= stepgen.2.step
  93. net zdir <= stepgen.2.dir
  94. net zenable axis.2.amp-enable-out => stepgen.2.enable
  95. #net home-z => axis.2.home-sw-in
  96.  
  97. setp stepgen.3.position-scale [AXIS_3]SCALE
  98. setp stepgen.3.steplen 1
  99. setp stepgen.3.stepspace 0
  100. setp stepgen.3.dirhold 25000
  101. setp stepgen.3.dirsetup 25000
  102. setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  103. net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
  104. net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
  105. net astep <= stepgen.3.step
  106. net adir <= stepgen.3.dir
  107. net aenable axis.3.amp-enable-out => stepgen.3.enable
  108. #net home-a => axis.3.home-sw-in
  109.  
  110. setp stepgen.4.position-scale [AXIS_4]SCALE
  111. setp stepgen.4.steplen 1
  112. setp stepgen.4.stepspace 0
  113. setp stepgen.4.dirhold 25000
  114. setp stepgen.4.dirsetup 25000
  115. setp stepgen.4.maxaccel [AXIS_4]STEPGEN_MAXACCEL
  116. net bpos-cmd axis.4.motor-pos-cmd => stepgen.4.position-cmd
  117. net bpos-fb stepgen.4.position-fb => axis.4.motor-pos-fb
  118. net bstep <= stepgen.4.step
  119. net bdir <= stepgen.4.dir
  120. net benable axis.4.amp-enable-out => stepgen.4.enable
  121. #net home-b => axis.4.home-sw-in
  122.  
  123. setp stepgen.5.position-scale [AXIS_5]SCALE
  124. setp stepgen.5.steplen 1
  125. setp stepgen.5.stepspace 0
  126. setp stepgen.5.dirhold 25000
  127. setp stepgen.5.dirsetup 25000
  128. setp stepgen.5.maxaccel [AXIS_5]STEPGEN_MAXACCEL
  129. net cpos-cmd axis.5.motor-pos-cmd => stepgen.5.position-cmd
  130. net cpos-fb stepgen.5.position-fb => axis.5.motor-pos-fb
  131. net cstep <= stepgen.5.step
  132. net cdir <= stepgen.5.dir
  133. net cenable axis.5.amp-enable-out => stepgen.5.enable
  134. #net home-c => axis.5.home-sw-in
  135.  
  136. net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
  137. #net estop-out <= iocontrol.0.user-enable-out
  138. #net estop-ext => iocontrol.0.emc-enable-in
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!