Pilotltd

Router Hal file

Apr 8th, 2013
76
0
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 3.14 KB | None | 0 0
  1. # Generated by stepconf at Fri Jul 24 14:45:55 2009
  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=0,0,0
  10. loadrt abs count=1
  11. loadrt charge_pump
  12. net estop-out charge-pump.enable iocontrol.0.user-enable-out
  13. net charge-pump <= charge-pump.out
  14.  
  15. addf parport.0.read base-thread
  16. addf stepgen.make-pulses base-thread
  17. addf charge-pump base-thread
  18. addf parport.0.write base-thread
  19. addf parport.0.reset base-thread
  20.  
  21. addf stepgen.capture-position servo-thread
  22. addf motion-command-handler servo-thread
  23. addf motion-controller servo-thread
  24. addf stepgen.update-freq servo-thread
  25. addf abs.0 servo-thread
  26. net spindle-cmd <= motion.spindle-speed-out
  27. net spindle-on <= motion.spindle-on
  28.  
  29. net charge-pump => parport.0.pin-01-out
  30. net xdir => parport.0.pin-02-out
  31. net xstep => parport.0.pin-03-out
  32. setp parport.0.pin-03-out-reset 1
  33. setp parport.0.pin-04-out-invert 1
  34. net ydir => parport.0.pin-04-out
  35. net ystep => parport.0.pin-05-out
  36. setp parport.0.pin-05-out-reset 1
  37. setp parport.0.pin-06-out-invert 1
  38. net zdir => parport.0.pin-06-out
  39. net zstep => parport.0.pin-07-out
  40. setp parport.0.pin-07-out-reset 1
  41. net spindle-on => parport.0.pin-14-out
  42.  
  43.  
  44.  
  45.  
  46. setp stepgen.0.position-scale [AXIS_0]SCALE
  47. setp stepgen.0.steplen 1
  48. setp stepgen.0.stepspace 0
  49. setp stepgen.0.dirhold 35000
  50. setp stepgen.0.dirsetup 35000
  51. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  52. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  53. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  54. net xstep <= stepgen.0.step
  55. net xdir <= stepgen.0.dir
  56. net xenable axis.0.amp-enable-out => stepgen.0.enable
  57.  
  58. setp stepgen.1.position-scale [AXIS_1]SCALE
  59. setp stepgen.1.steplen 1
  60. setp stepgen.1.stepspace 0
  61. setp stepgen.1.dirhold 35000
  62. setp stepgen.1.dirsetup 35000
  63. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  64. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  65. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  66. net ystep <= stepgen.1.step
  67. net ydir <= stepgen.1.dir
  68. net yenable axis.1.amp-enable-out => stepgen.1.enable
  69.  
  70. setp stepgen.2.position-scale [AXIS_2]SCALE
  71. setp stepgen.2.steplen 1
  72. setp stepgen.2.stepspace 0
  73. setp stepgen.2.dirhold 35000
  74. setp stepgen.2.dirsetup 35000
  75. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  76. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  77. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  78. net zstep <= stepgen.2.step
  79. net zdir <= stepgen.2.dir
  80. net zenable axis.2.amp-enable-out => stepgen.2.enable
  81.  
  82. net estop-out <= iocontrol.0.user-enable-out
  83. net estop-out => iocontrol.0.emc-enable-in
  84.  
  85. loadusr -W hal_manualtoolchange
  86. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  87. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  88. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  89. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Advertisement
Add Comment
Please, Sign In to add comment