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- ######################HAL FILE##########################
- # Generated by stepconf at Mon Sep 26 01:47:52 2011
- # If you make changes to this file, they will be
- # overwritten when you run stepconf again
- loadrt gantrykins coordinates=XYZY
- # 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 "
- setp parport.0.reset-time 1000
- loadrt stepgen step_type=0,0,0,0
- loadrt charge_pump
- net estop-out charge-pump.enable iocontrol.0.user-enable-out
- net charge-pump <= charge-pump.out
- addf parport.0.read base-thread
- addf stepgen.make-pulses base-thread
- addf charge-pump 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-cw <= motion.spindle-forward
- net dout-00 <= motion.digital-out-00
- net dout-01 <= motion.digital-out-01
- net dout-01 => parport.0.pin-01-out
- 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
- net astep => parport.0.pin-08-out
- setp parport.0.pin-08-out-reset 1
- net adir => parport.0.pin-09-out
- net spindle-cw => parport.0.pin-14-out
- net charge-pump => parport.0.pin-16-out
- net dout-00 => parport.0.pin-17-out
- net min-home-x <= parport.0.pin-10-in
- net min-home-y <= parport.0.pin-11-in
- net min-home-z <= parport.0.pin-12-in
- net min-home-a <= parport.0.pin-13-in
- net estop-ext <= parport.0.pin-15-in
- setp stepgen.0.position-scale [AXIS_0]SCALE
- setp stepgen.0.steplen 1
- setp stepgen.0.stepspace 0
- setp stepgen.0.dirhold 15200
- setp stepgen.0.dirsetup 15200
- 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
- net min-home-x => axis.0.home-sw-in
- net min-home-x => axis.0.neg-lim-sw-in
- setp stepgen.1.position-scale [AXIS_1]SCALE
- setp stepgen.1.steplen 1
- setp stepgen.1.stepspace 0
- setp stepgen.1.dirhold 15200
- setp stepgen.1.dirsetup 15200
- 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
- net min-home-y => axis.1.home-sw-in
- net min-home-y => axis.1.neg-lim-sw-in
- setp stepgen.2.position-scale [AXIS_2]SCALE
- setp stepgen.2.steplen 1
- setp stepgen.2.stepspace 0
- setp stepgen.2.dirhold 15200
- setp stepgen.2.dirsetup 15200
- 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
- net min-home-z => axis.2.home-sw-in
- net min-home-z => axis.2.neg-lim-sw-in
- setp stepgen.3.position-scale [AXIS_3]SCALE
- setp stepgen.3.steplen 1
- setp stepgen.3.stepspace 0
- setp stepgen.3.dirhold 15200
- setp stepgen.3.dirsetup 15200
- 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
- net min-home-a => axis.3.home-sw-in
- net min-home-a => axis.3.neg-lim-sw-in
- net estop-out <= iocontrol.0.user-enable-out
- net estop-ext => iocontrol.0.emc-enable-in
- 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
- ###############################INI FILE##############################
- # Generated by stepconf at Mon Sep 26 01:47:52 2011
- # If you make changes to this file, they will be
- # overwritten when you run stepconf again
- [EMC]
- MACHINE = 4x4Gantrykins
- DEBUG = 0
- [DISPLAY]
- DISPLAY = axis
- EDITOR = gedit
- POSITION_OFFSET = RELATIVE
- POSITION_FEEDBACK = ACTUAL
- MAX_FEED_OVERRIDE = 1.2
- INTRO_GRAPHIC = emc2.gif
- INTRO_TIME = 5
- PROGRAM_PREFIX = /home/cnc/emc2/nc_files
- INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
- [FILTER]
- PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
- PROGRAM_EXTENSION = .py Python Script
- png = image-to-gcode
- gif = image-to-gcode
- jpg = image-to-gcode
- py = python
- [TASK]
- TASK = milltask
- CYCLE_TIME = 0.010
- [RS274NGC]
- PARAMETER_FILE = emc.var
- [EMCMOT]
- EMCMOT = motmod
- COMM_TIMEOUT = 1.0
- COMM_WAIT = 0.010
- BASE_PERIOD = 52359
- SERVO_PERIOD = 1000000
- [HAL]
- HALFILE = 4x4Gantrykins.hal
- HALFILE = custom.hal
- POSTGUI_HALFILE = custom_postgui.hal
- [TRAJ]
- AXES = 4
- COORDINATES = X Y Z
- LINEAR_UNITS = inch
- ANGULAR_UNITS = degree
- CYCLE_TIME = 0.010
- DEFAULT_VELOCITY = 1.00
- MAX_LINEAR_VELOCITY = 10.00
- [EMCIO]
- EMCIO = io
- CYCLE_TIME = 0.100
- TOOL_TABLE = tool.tbl
- [AXIS_0]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 9.50015120119
- MAX_ACCELERATION = 15.0
- STEPGEN_MAXACCEL = 18.75
- SCALE = 1909.86093
- FERROR = 0.05
- MIN_FERROR = 0.01
- MIN_LIMIT = -0.01
- MAX_LIMIT = 48.0
- HOME_OFFSET = 0.000000
- HOME_SEARCH_VEL = 0.050000
- HOME_LATCH_VEL = 0.050000
- HOME_IGNORE_LIMITS = YES
- HOME_SEQUENCE = 1
- [AXIS_1]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 9.50015120119
- MAX_ACCELERATION = 15.0
- STEPGEN_MAXACCEL = 18.75
- SCALE = 1909.86093
- FERROR = 0.05
- MIN_FERROR = 0.01
- MIN_LIMIT = -0.01
- MAX_LIMIT = 48.0
- HOME_OFFSET = 0.000000
- HOME_SEARCH_VEL = 0.050000
- HOME_LATCH_VEL = 0.050000
- HOME_IGNORE_LIMITS = YES
- HOME_SEQUENCE = 2
- [AXIS_2]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 1.25
- MAX_ACCELERATION = 10.0
- STEPGEN_MAXACCEL = 12.5
- SCALE = 8000.0
- FERROR = 0.05
- MIN_FERROR = 0.01
- MIN_LIMIT = -6.0
- MAX_LIMIT = 0.01
- HOME_OFFSET = 0.000000
- HOME_SEARCH_VEL = 0.050000
- HOME_LATCH_VEL = 0.050000
- HOME_IGNORE_LIMITS = YES
- HOME_SEQUENCE = 0
- [AXIS_3]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 9.50015120119
- MAX_ACCELERATION = 15.0
- STEPGEN_MAXACCEL = 18.75
- SCALE = 1909.86093
- FERROR = 0.05
- MIN_FERROR = 0.01
- MIN_LIMIT = -0.01
- MAX_LIMIT = 48.0
- HOME_OFFSET = 0.000000
- HOME_SEARCH_VEL = 0.050000
- HOME_LATCH_VEL = 0.050000
- HOME_IGNORE_LIMITS = YES
- HOME_SEQUENCE = 3
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