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- # Generated by stepconf at Tue Jun 28 22:32:17 2011
- # If you make changes to this file, they will be
- # overwritten when you run stepconf again
- loadrt trivkins
- loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt probe_parport
- loadrt hal_parport cfg="0x378 out "
- loadrt stepgen step_type=0,0,0
- loadrt pwmgen output_type=0
- loadrt encoder num_chan=3
- addf parport.0.read base-thread
- addf stepgen.make-pulses base-thread
- addf pwmgen.make-pulses base-thread
- addf parport.0.write base-thread
- addf stepgen.capture-position servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf stepgen.update-freq servo-thread
- addf pwmgen.update servo-thread
- net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
- net spindle-enable <= motion.spindle-on => pwmgen.0.enable
- net spindle-pwm <= pwmgen.0.pwm
- setp pwmgen.0.pwm-freq 10000.0
- setp pwmgen.0.scale 26514.2857143
- setp pwmgen.0.offset 0.000431034482759
- setp pwmgen.0.dither-pwm true
- net spindle-cw <= motion.spindle-forward
- net coolant-flood <= iocontrol.0.coolant-flood
- net countX encoder.0.counts => axis.0.jog-counts
- net estop-out => parport.0.pin-01-out
- setp parport.0.pin-02-out-invert 1
- net xdir => parport.0.pin-02-out
- net xstep => parport.0.pin-03-out
- net ydir => parport.0.pin-04-out
- net ystep => parport.0.pin-05-out
- net zdir => parport.0.pin-06-out
- net zstep => parport.0.pin-07-out
- net spindle-pwm => parport.0.pin-14-out
- net spindle-cw => parport.0.pin-16-out
- net coolant-flood => parport.0.pin-17-out
- net min-home-x <= parport.0.pin-11-in-not
- net max-home-y <= parport.0.pin-12-in-not
- net both-home-z <= parport.0.pin-13-in
- net encoder.0.phase-A <= parport.0.pin-10-in
- net encoder.0.phase-B <= parport.0.pin-15-in
- setp encoder.0.position-scale 1
- setp encoder.0.x4-mode
- setp stepgen.0.position-scale [AXIS_0]SCALE
- setp stepgen.0.steplen 1
- setp stepgen.0.stepspace 1
- setp stepgen.0.dirhold 108000
- setp stepgen.0.dirsetup 108000
- setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
- net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
- net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
- net xstep <= stepgen.0.step
- net xdir <= stepgen.0.dir
- net xenable axis.0.amp-enable-out => stepgen.0.enable
- net min-home-x => axis.0.home-sw-in
- net min-home-x => axis.0.neg-lim-sw-in
- setp stepgen.1.position-scale [AXIS_1]SCALE
- setp stepgen.1.steplen 1
- setp stepgen.1.stepspace 1
- setp stepgen.1.dirhold 108000
- setp stepgen.1.dirsetup 108000
- setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
- net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
- net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
- net ystep <= stepgen.1.step
- net ydir <= stepgen.1.dir
- net yenable axis.1.amp-enable-out => stepgen.1.enable
- net max-home-y => axis.1.home-sw-in
- net max-home-y => axis.1.pos-lim-sw-in
- setp stepgen.2.position-scale [AXIS_2]SCALE
- setp stepgen.2.steplen 1
- setp stepgen.2.stepspace 1
- setp stepgen.2.dirhold 108000
- setp stepgen.2.dirsetup 108000
- setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
- net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
- net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
- net zstep <= stepgen.2.step
- net zdir <= stepgen.2.dir
- net zenable axis.2.amp-enable-out => stepgen.2.enable
- net both-home-z => axis.2.home-sw-in
- net both-home-z => axis.2.neg-lim-sw-in
- net both-home-z => axis.2.pos-lim-sw-in
- net estop-out <= iocontrol.0.user-enable-out
- net estop-out => iocontrol.0.emc-enable-in
- net tool-number <= iocontrol.0.tool-prep-number
- net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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