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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=0,0,0
  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.  
  23.  
  24.  
  25.  
  26. setp stepgen.0.position-scale [AXIS_0]SCALE
  27. setp stepgen.0.steplen 1
  28. setp stepgen.0.stepspace 0
  29. setp stepgen.0.dirhold 35000
  30. setp stepgen.0.dirsetup 35000
  31. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  32. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  33. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  34. net xstep <= stepgen.0.step
  35. net xdir <= stepgen.0.dir
  36. net xenable axis.0.amp-enable-out => stepgen.0.enable
  37.  
  38. setp stepgen.1.position-scale [AXIS_1]SCALE
  39. setp stepgen.1.steplen 1
  40. setp stepgen.1.stepspace 0
  41. setp stepgen.1.dirhold 35000
  42. setp stepgen.1.dirsetup 35000
  43. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  44. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  45. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  46. net ystep <= stepgen.1.step
  47. net ydir <= stepgen.1.dir
  48. net yenable axis.1.amp-enable-out => stepgen.1.enable
  49.  
  50. setp stepgen.2.position-scale [AXIS_2]SCALE
  51. setp stepgen.2.steplen 1
  52. setp stepgen.2.stepspace 0
  53. setp stepgen.2.dirhold 35000
  54. setp stepgen.2.dirsetup 35000
  55. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  56. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  57. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  58. net zstep <= stepgen.2.step
  59. net zdir <= stepgen.2.dir
  60. net zenable axis.2.amp-enable-out => stepgen.2.enable
  61.  
  62. net estop-out <= iocontrol.0.user-enable-out
  63. net estop-out => iocontrol.0.emc-enable-in
  64.  
  65. loadusr -W hal_manualtoolchange
  66. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  67. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  68. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  69. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  70.  
  71.  
  72.  
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