# Generated by stepconf at Fri Apr 19 14:55:18 2013
# 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 d050 in "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0


loadrt thcud
addf thcud servo-thread

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.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


net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out




setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
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

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
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

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL

net zpos-cmd thcud.z-pos-in <= axis.2.motor-pos-cmd
net thc-pos thcud.z-pos-out => stepgen.2.position-cmd


#######Error = stepgen.2.position-fb must not be named same as pin######
#net stepgen.2.position-fb axis.2.motor-pos-fb <= thcud.z-fb-out
#################################

####Error = testpin can not add OUT pin thcud.z-fb-out, it already has OUT pin stepgen.2.position-fb#######
###
#net testpin stepgen.2.position-fb axis.2.motor-pos-fb <= thcud.z-fb-out
##################################

###### Allows it to work######
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



setp thcud.velocity-tol 10
setp thcud.requested-vel 40
setp thcud.correction-vel 0.0001
net CurVel thcud.current-vel <= motion.current-vel

# touch Off
net torch-probe motion.probe-input <= parport.1.pin-12-in

# spindle on starts the arc
net spindle-on <= motion.spindle-on
net motion.spindle_on => parport.0.pin-14-out

# starts the motion when the plasma arc has transfered to the work
net thcud.arc_ok <= motion.digital-in-00 <= parport.1.pin-10-in-not

# signal from thc to control up/down of z axis
net thcud.torch_up <= parport.1.pin-11-in-not
net thcud.torch_down <= parport.1.pin-13-in-not

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed