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Nov 21st, 2011
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  1. # Generated by stepconf at Mon Nov 21 18:28:36 2011
  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=2,2,2
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf parport.0.write base-thread
  14. addf parport.0.reset 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. setp stepgen.0.position-scale [AXIS_0]SCALE
  23. # setp stepgen.0.steplen 1
  24. # setp stepgen.0.stepspace 0
  25. # setp stepgen.0.dirhold 35000
  26. # setp stepgen.0.dirsetup 35000
  27. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  28. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  29. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  30. net XA <= stepgen.0.phase-A
  31. net XB <= stepgen.0.phase-B
  32. net xenable axis.0.amp-enable-out => stepgen.0.enable
  33.  
  34. setp stepgen.1.position-scale [AXIS_1]SCALE
  35. # setp stepgen.1.steplen 1
  36. # setp stepgen.1.stepspace 0
  37. # setp stepgen.1.dirhold 35000
  38. # setp stepgen.1.dirsetup 35000
  39. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  40. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  41. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  42. net YA <= stepgen.1.phase-A
  43. net YB <= stepgen.1.phase-B
  44. net yenable axis.1.amp-enable-out => stepgen.1.enable
  45.  
  46. setp stepgen.2.position-scale [AXIS_2]SCALE
  47. # setp stepgen.2.steplen 1
  48. # setp stepgen.2.stepspace 0
  49. # setp stepgen.2.dirhold 35000
  50. # setp stepgen.2.dirsetup 35000
  51. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  52. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  53. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  54. net ZA <= stepgen.2.phase-A
  55. net ZB <= stepgen.2.phase-B
  56. net zenable axis.2.amp-enable-out => stepgen.2.enable
  57.  
  58. net estop-out <= iocontrol.0.user-enable-out
  59. net estop-out => iocontrol.0.emc-enable-in
  60.  
  61. loadusr -W hal_manualtoolchange
  62. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  63. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  64. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  65. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  66.  
  67.  
  68.  
  69.  
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