5axes real .hal

# Généré par Stepconf le Thu Nov  3 16:18:15 2011
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez Stepconf
loadrt 5axiskins
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="0xcc00 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0,0,0

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset 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 spindle-cmd <= motion.spindle-speed-out
net spindle-on <= motion.spindle-on

#Connection vers axes
net xenable => parport.0.pin-01-out

setp parport.0.pin-02-out-invert 1
net xstep => parport.0.pin-02-out

setp parport.0.pin-03-out-invert 1
net ydir => parport.0.pin-03-out

net bstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1

net adir => parport.0.pin-05-out

net astep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1

setp parport.0.pin-07-out-invert 1
net zstep => parport.0.pin-07-out

setp parport.0.pin-08-out-invert 1
net zdir => parport.0.pin-08-out

net spindle-on => parport.0.pin-09-out

setp parport.0.pin-14-out-invert 1
net xdir => parport.0.pin-14-out

setp parport.0.pin-16-out-invert 1
net ystep => parport.0.pin-16-out

net bdir => parport.0.pin-17-out

# arrêt d'urgence
#net estop-loop parport.0.pin-13-in iocontrol.0.emc-enable-in
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in


#Prise d'origine machine (POM)
net Xhome parport.0.pin-10-in => axis.0.home-sw-in
net Yhome parport.0.pin-11-in => axis.1.home-sw-in
net Zhome parport.0.pin-12-in => axis.2.home-sw-in


#Contrôle moteur

#AXES X

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 41000
setp stepgen.0.dirsetup 41000
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


#AXES Y

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 41000
setp stepgen.1.dirsetup 41000
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


#AXES Z

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 41000
setp stepgen.2.dirsetup 41000
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


#AXES A

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 41000
setp stepgen.3.dirsetup 41000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable


#AXES C

setp stepgen.5.position-scale [AXIS_5]SCALE
setp stepgen.5.steplen 1
setp stepgen.5.stepspace 0
setp stepgen.5.dirhold 41000
setp stepgen.5.dirsetup 41000
setp stepgen.5.maxaccel [AXIS_4]STEPGEN_MAXACCEL
net bpos-cmd axis.5.motor-pos-cmd => stepgen.5.position-cmd
net bpos-fb stepgen.5.position-fb => axis.5.motor-pos-fb
net bstep <= stepgen.5.step
net bdir <= stepgen.5.dir
net benable axis.5.amp-enable-out => stepgen.5.enable


#Changement outils

loadusr -W hal_manualtoolchange

net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared


#### écran graphique de la machine 5 axes ####

loadusr -W 5axisgui

net j0 axis.0.joint-pos-fb 5axisgui.joint0
net j1 axis.1.joint-pos-fb 5axisgui.joint1
net j2 axis.2.joint-pos-fb 5axisgui.joint2
net j3 axis.3.joint-pos-fb 5axisgui.joint3
net j5 axis.5.joint-pos-fb 5axisgui.joint5

# Longueur pivot + la longueur outil
setp 5axiskins.pivot-length 450

net tool-len motion.tooloffset.w 5axisgui.tool_length