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  1.  
  2.  
  3.  
  4. # ###################################
  5. # Core EMC/HAL Loads
  6. # ###################################
  7.  
  8. # kinematics
  9. loadrt trivkins
  10.  
  11. # motion controller, get name and thread periods from ini file
  12. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  13.  
  14. # standard components
  15. loadrt pid num_chan=5
  16. loadrt encoder num_chan=1
  17. loadrt mux4 count=1
  18.  
  19. loadrt and2 count=3
  20. loadrt or2 count=3
  21. loadrt scale count=3
  22.  
  23.  
  24. # only the 7i43 needs this, but it doesnt hurt the others
  25. loadrt probe_parport
  26.  
  27. # hostmot2 driver
  28. # if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
  29. #loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
  30. loadrt hostmot2
  31.  
  32. # load low-level driver
  33. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  34.  
  35. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
  36.  
  37. setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000
  38.  
  39.  
  40. # ################################################
  41. # THREADS
  42. # ################################################
  43.  
  44. addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
  45.  
  46.  
  47. addf scale.0 servo-thread
  48. addf scale.1 servo-thread
  49. addf scale.2 servo-thread
  50.  
  51. addf motion-command-handler servo-thread
  52. addf motion-controller servo-thread
  53.  
  54. addf pid.0.do-pid-calcs servo-thread
  55. addf pid.1.do-pid-calcs servo-thread
  56. addf pid.2.do-pid-calcs servo-thread
  57. addf pid.3.do-pid-calcs servo-thread
  58. addf pid.4.do-pid-calcs servo-thread
  59.  
  60.  
  61.  
  62. addf encoder.capture-position servo-thread
  63. addf encoder.update-counters servo-thread
  64.  
  65. addf mux4.0 servo-thread
  66. addf and2.0 servo-thread
  67. addf and2.1 servo-thread
  68. addf and2.2 servo-thread
  69.  
  70. addf or2.0 servo-thread
  71. addf or2.1 servo-thread
  72. addf or2.2 servo-thread
  73.  
  74.  
  75.  
  76.  
  77. addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
  78. addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
  79.  
  80.  
  81. # ######################################################
  82. # Axis-of-motion Specific Configs (not the GUI)
  83. # ######################################################
  84.  
  85.  
  86.  
  87.  
  88. # ################
  89. # MPG
  90. # ################
  91.  
  92.  
  93. setp encoder.0.x4-mode 1
  94.  
  95. setp mux4.0.in0 0.001
  96. setp mux4.0.in1 0.01
  97. setp mux4.0.in2 0.1
  98.  
  99.  
  100.  
  101.  
  102. # hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
  103. # mesa con 0 pin0 - pin 23
  104. # mesa con 0 pin24 - pin 47
  105. # mesa con 0 pin48 - pin 71
  106.  
  107. net scale1 mux4.0.sel0 <= hm2_[HOSTMOT2](BOARD).0.gpio.050.in_not
  108. net scale2 mux4.0.sel1 <= hm2_[HOSTMOT2](BOARD).0.gpio.051.in_not
  109.  
  110. net pend-scale axis.0.jog-scale <= mux4.0.out
  111. net pend-scale axis.1.jog-scale
  112. net pend-scale axis.2.jog-scale
  113. net pend-scale axis.3.jog-scale
  114.  
  115. net mpg-a encoder.0.phase-A <= hm2_[HOSTMOT2](BOARD).0.gpio.048.in_not
  116. net mpg-b encoder.0.phase-B <= hm2_[HOSTMOT2](BOARD).0.gpio.049.in_not
  117.  
  118. net mpg-x axis.0.jog-enable <= hm2_[HOSTMOT2](BOARD).0.gpio.052.in_not
  119. net mpg-y axis.1.jog-enable <= hm2_[HOSTMOT2](BOARD).0.gpio.053.in_not
  120. net mpg-z axis.2.jog-enable <= hm2_[HOSTMOT2](BOARD).0.gpio.054.in_not
  121. net mpg-r axis.3.jog-enable <= hm2_[HOSTMOT2](BOARD).0.gpio.055.in_not
  122.  
  123.  
  124. net pend-counts axis.0.jog-counts <= encoder.0.counts
  125. net pend-counts axis.1.jog-counts
  126. net pend-counts axis.2.jog-counts
  127. net pend-counts axis.3.jog-counts
  128.  
  129.  
  130. # Connect index enables to motion controller, for homing.
  131. net Xindex-enable hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable <=> axis.0.index-enable
  132. net Yindex-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
  133. net Zindex-enable hm2_[HOSTMOT2](BOARD).0.encoder.04.index-enable <=> axis.2.index-enable
  134.  
  135. net Xindex-enable => pid.0.index-enable
  136. net Yindex-enable => pid.1.index-enable
  137. net Zindex-enable => pid.2.index-enable
  138.  
  139. # ################
  140. # X [0] Axis
  141. # ################
  142.  
  143. # axis enable chain
  144.  
  145. setp axis.0.jog-vel-mode 1
  146.  
  147.  
  148. newsig emcmot.00.enable bit
  149. sets emcmot.00.enable FALSE
  150. net emcmot.00.enable => pid.0.enable
  151. net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
  152. net emcmot.00.enable <= axis.0.amp-enable-out
  153.  
  154. # encoder feedback
  155. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
  156. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
  157. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
  158. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
  159. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
  160.  
  161. setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE
  162. net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
  163. net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
  164.  
  165. # set PID loop gains from inifile
  166. setp pid.0.Pgain [AXIS_0]P
  167. setp pid.0.Igain [AXIS_0]I
  168. setp pid.0.Dgain [AXIS_0]D
  169. setp pid.0.bias [AXIS_0]BIAS
  170. setp pid.0.FF0 [AXIS_0]FF0
  171. setp pid.0.FF1 [AXIS_0]FF1
  172. setp pid.0.FF2 [AXIS_0]FF2
  173. setp pid.0.deadband [AXIS_0]DEADBAND
  174. setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
  175.  
  176. # position command signals
  177. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
  178. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
  179.  
  180. net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
  181. net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
  182.  
  183.  
  184. # ################
  185. # Y [1] Axis
  186. # ################
  187.  
  188. # axis enable chain
  189.  
  190.  
  191. setp axis.1.jog-vel-mode 1
  192.  
  193. newsig emcmot.01.enable bit
  194. sets emcmot.01.enable FALSE
  195. net emcmot.01.enable => pid.1.enable
  196. net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
  197. net emcmot.01.enable <= axis.1.amp-enable-out
  198.  
  199. # encoder feedback
  200. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
  201. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
  202. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
  203. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
  204. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
  205.  
  206. setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [AXIS_1]INPUT_SCALE
  207. net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
  208. net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI
  209.  
  210. # set PID loop gains from inifile
  211. setp pid.1.Pgain [AXIS_1]P
  212. setp pid.1.Igain [AXIS_1]I
  213. setp pid.1.Dgain [AXIS_1]D
  214. setp pid.1.bias [AXIS_1]BIAS
  215. setp pid.1.FF0 [AXIS_1]FF0
  216. setp pid.1.FF1 [AXIS_1]FF1
  217. setp pid.1.FF2 [AXIS_1]FF2
  218. setp pid.1.deadband [AXIS_1]DEADBAND
  219. setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
  220.  
  221. # position command signals
  222. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
  223. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
  224.  
  225. net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
  226. net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
  227.  
  228.  
  229. # ################
  230. # Z [2] Axis
  231. # ################
  232.  
  233. # axis enable chain
  234.  
  235. setp axis.2.jog-vel-mode 1
  236.  
  237. newsig emcmot.02.enable bit
  238. sets emcmot.02.enable FALSE
  239. net emcmot.02.enable => pid.2.enable
  240. net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.04.enable
  241. net emcmot.02.enable <= axis.4.amp-enable-out
  242.  
  243. # encoder feedback
  244. setp hm2_[HOSTMOT2](BOARD).0.encoder.04.counter-mode 0
  245. setp hm2_[HOSTMOT2](BOARD).0.encoder.04.filter 1
  246. setp hm2_[HOSTMOT2](BOARD).0.encoder.04.index-invert 0
  247. setp hm2_[HOSTMOT2](BOARD).0.encoder.04.index-mask 0
  248. setp hm2_[HOSTMOT2](BOARD).0.encoder.04.index-mask-invert 0
  249.  
  250. setp hm2_[HOSTMOT2](BOARD).0.encoder.04.scale [AXIS_2]INPUT_SCALE
  251. net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.04.position => pid.2.feedback
  252. net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
  253.  
  254. # set PID loop gains from inifile
  255. setp pid.2.Pgain [AXIS_2]P
  256. setp pid.2.Igain [AXIS_2]I
  257. setp pid.2.Dgain [AXIS_2]D
  258. setp pid.2.bias [AXIS_2]BIAS
  259. setp pid.2.FF0 [AXIS_2]FF0
  260. setp pid.2.FF1 [AXIS_2]FF1
  261. setp pid.2.FF2 [AXIS_2]FF2
  262. setp pid.2.deadband [AXIS_2]DEADBAND
  263. setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
  264.  
  265. # position command signals
  266. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.04.output-type 1 #pwm on pin1, dir on pin2
  267. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.04.scale [AXIS_2]OUTPUT_SCALE
  268.  
  269. net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
  270. net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.04.value
  271.  
  272.  
  273.  
  274.  
  275. # ################
  276. # A [3] Axis
  277. # ################
  278.  
  279. # axis enable chain
  280.  
  281. #setp axis.3.jog-vel-mode 1
  282.  
  283. newsig emcmot.03.enable bit
  284. sets emcmot.03.enable FALSE
  285. net emcmot.03.enable => pid.3.enable
  286. net emcmot.03.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.enable
  287. net emcmot.03.enable <= axis.3.amp-enable-out
  288.  
  289. # encoder feedback
  290. setp hm2_[HOSTMOT2](BOARD).0.encoder.03.counter-mode 0
  291. setp hm2_[HOSTMOT2](BOARD).0.encoder.03.filter 1
  292. setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-invert 0
  293. setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-mask 0
  294. setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-mask-invert 0
  295.  
  296. setp hm2_[HOSTMOT2](BOARD).0.encoder.03.scale [AXIS_3]INPUT_SCALE
  297. net motor.03.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.03.position => pid.3.feedback
  298. net motor.03.pos-fb => axis.3.motor-pos-fb #push copy back to Axis GUI
  299.  
  300. # set PID loop gains from inifile
  301. setp pid.3.Pgain [AXIS_3]P
  302. setp pid.3.Igain [AXIS_3]I
  303. setp pid.3.Dgain [AXIS_3]D
  304. setp pid.3.bias [AXIS_3]BIAS
  305. setp pid.3.FF0 [AXIS_3]FF0
  306. setp pid.3.FF1 [AXIS_3]FF1
  307. setp pid.3.FF2 [AXIS_3]FF2
  308. setp pid.3.deadband [AXIS_3]DEADBAND
  309. setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT
  310.  
  311. # position command signals
  312. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.03.output-type 1 #pwm on pin1, dir on pin2
  313. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.03.scale [AXIS_3]OUTPUT_SCALE
  314.  
  315. net emcmot.03.pos-cmd axis.3.motor-pos-cmd => pid.3.command
  316. net motor.03.command pid.3.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.value
  317.  
  318.  
  319. # ################
  320. # C [4] Axis
  321. # ################
  322.  
  323. # axis enable chain
  324.  
  325.  
  326. newsig emcmot.04.enable bit
  327. sets emcmot.04.enable FALSE
  328. net emcmot.04.enable => pid.4.enable
  329. net emcmot.04.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
  330. net emcmot.04.enable <= axis.2.amp-enable-out
  331.  
  332. # encoder feedback
  333. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
  334. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
  335. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
  336. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
  337. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
  338.  
  339. setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_4]INPUT_SCALE
  340.  
  341.  
  342. net motor.04.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.4.feedback
  343. net motor.04.pos-fb => axis.4.motor-pos-fb #push copy back to Axis GUI
  344.  
  345. # set PID loop gains from inifile
  346. setp pid.4.Pgain [AXIS_4]P
  347. setp pid.4.Igain [AXIS_4]I
  348. setp pid.4.Dgain [AXIS_4]D
  349. setp pid.4.bias [AXIS_4]BIAS
  350. setp pid.4.FF0 [AXIS_4]FF0
  351. setp pid.4.FF1 [AXIS_4]FF1
  352. setp pid.4.FF2 [AXIS_4]FF2
  353. setp pid.4.deadband [AXIS_4]DEADBAND
  354. setp pid.4.maxoutput [AXIS_4]MAX_OUTPUT
  355.  
  356. # position command signals
  357. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
  358. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_4]OUTPUT_SCALE
  359.  
  360. net emcmot.04.pos-cmd axis.4.motor-pos-cmd => pid.4.command
  361. net motor.04.command pid.4.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
  362.  
  363.  
  364.  
  365.  
  366. #net spindle-velocity hm2_[HOSTMOT2](BOARD).0.encoder.02.velocity
  367. #net spindle-velocity scale.0.in
  368. #net spindle-velocity-scaled scale.0.out
  369. #net spindle-velocity-scaled => motion.spindle-speed-in
  370. #net spindle-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.04.index-enable motion.spindle-index-enable
  371. #net motor.04.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.04.position => motion.spindle-revs
  372. #net spindle-velocity-scaled => pid.4.feedback
  373. #net spindle-velocity-scaled => axis.4.motor-pos-fb #push copy back to Axis GUI
  374. # position command signals
  375. #setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
  376. #setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_3]OUTPUT_SCALE
  377. #net emcmot.04.pos-cmd motion.spindle-speed-out-rps => pid.4.command
  378. #net motor.04.command pid.4.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.04.value
  379.  
  380.  
  381. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.05.output-type 1 #pwm on pin1, dir on pin2
  382. setp hm2_[HOSTMOT2](BOARD).0.pwmgen.05.scale 1
  383. setp hm2_[HOSTMOT2](BOARD).0.gpio.069.is_output 1 # out 5 on kara
  384. setp hm2_[HOSTMOT2](BOARD).0.gpio.069.invert_output 1
  385. net spindle-enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.05.enable
  386. setp scale.2.gain 0.0001667
  387. #net spindle-speed-scale motion.spindle-speed-out => hm2_[HOSTMOT2](BOARD).0.pwmgen.05.value
  388. net spindle-speed-scale motion.spindle-speed-out => scale.2.in
  389. net spindle-speed-DAC scale.2.out => hm2_[HOSTMOT2](BOARD).0.pwmgen.05.value
  390. net spindle-enable motion.spindle-on => hm2_[HOSTMOT2](BOARD).0.gpio.069.out
  391.  
  392.  
  393.  
  394. # ##################################################
  395. # Standard I/O Block - EStop, Etc
  396. # ##################################################
  397.  
  398. # create a signal for the estop loopback
  399. net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
  400.  
  401.  
  402. ###############################################
  403. # Servo enable signals
  404. ###############################################
  405.  
  406.  
  407. setp hm2_[HOSTMOT2](BOARD).0.gpio.064.is_output 1
  408. setp hm2_[HOSTMOT2](BOARD).0.gpio.064.invert_output 1
  409.  
  410. net emcmot.00.enable and2.0.in0
  411. net emcmot.01.enable and2.0.in1
  412. net emcmot.02.enable and2.1.in0
  413. net emcmot.03.enable and2.1.in1
  414. net ampena5 and2.2.in0 <= and2.0.out
  415. net ampena6 and2.2.in1 <= and2.1.out
  416. net ampenable and2.2.out => hm2_[HOSTMOT2](BOARD).0.gpio.064.out
  417.  
  418.  
  419.  
  420. setp hm2_[HOSTMOT2](BOARD).0.gpio.066.is_output 1
  421. setp hm2_[HOSTMOT2](BOARD).0.gpio.066.invert_output 1
  422.  
  423. net mpg-x or2.0.in0
  424. net mpg-y or2.0.in1
  425. net mpg-z or2.1.in0
  426. net mpg-r or2.1.in1
  427. net jogena1 or2.2.in0 <= or2.0.out
  428. net jogena2 or2.2.in1 <= or2.1.out
  429. net jogenable or2.2.out => hm2_[HOSTMOT2](BOARD).0.gpio.066.out
  430.  
  431.  
  432.  
  433. # create signals for tool loading loopback
  434. net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  435. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
  436.  
  437.  
  438. #
  439. # homing
  440. #
  441.  
  442. #
  443. # In this example, each of the three axes have their own home switch. All
  444. # home switches are connected to GPIO 25, though hostmot2 boards generally
  445. # have enough GPIO pins to put each axis' home switch on its own pin.
  446. #
  447. # Each switch is normally open, momentarily closed. When the switch is open,
  448. # GPIO 25 floats high (because that is the hostmot2 way). When the switch is
  449. # closed, it shorts GPIO 25 to ground.
  450. #
  451. # EMC expects the value on the .home-sw-in HAL pin to be active high, ie
  452. # True when the switch is closed and False when the switch is open.
  453. # We get this behavior by linking the GPIO .in_not pin instead of the .in
  454. # pin.
  455. #
  456.  
  457.  
  458.  
  459.  
  460. #net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
  461.  
  462. net Axis_Hard_Limit <= hm2_[HOSTMOT2](BOARD).0.gpio.057.in
  463. net HomeX <= hm2_[HOSTMOT2](BOARD).0.gpio.061.in_not
  464. net HomeY <= hm2_[HOSTMOT2](BOARD).0.gpio.058.in_not
  465. net HomeZ <= hm2_[HOSTMOT2](BOARD).0.gpio.059.in_not
  466. #net HomeA <= hm2_[HOSTMOT2](BOARD).0.gpio.055.in_not
  467. #net HomeB <= hm2_[HOSTMOT2](BOARD).0.gpio.055.in_not
  468.  
  469. net Axis_Hard_Limit axis.0.pos-lim-sw-in
  470. net Axis_Hard_Limit axis.1.pos-lim-sw-in
  471. net Axis_Hard_Limit axis.2.pos-lim-sw-in
  472.  
  473.  
  474.  
  475. net HomeX => axis.0.home-sw-in
  476. net HomeY => axis.1.home-sw-in
  477. net HomeZ => axis.2.home-sw-in
  478. net scale1 => axis.3.home-sw-in
  479. net scale1 => axis.4.home-sw-in
  480.  
  481. # only the Y servo has an index, X and Z home without using the index
  482. # net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
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