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- # Generated by stepconf at Sat Jun 15 15:41:32 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 "
- setp parport.0.reset-time 2000
- loadrt stepgen step_type=0,0,0,0
- loadrt charge_pump
- net estop-out charge-pump.enable
- 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-on <= motion.spindle-on
- net dout-00 <= motion.digital-out-00
- net dout-01 <= motion.digital-out-01
- net din-00 => motion.digital-in-00
- net din-01 => motion.digital-in-01
- net din-02 => motion.digital-in-02
- net din-03 => motion.digital-in-03
- net spindle-on => 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 dout-00 => parport.0.pin-14-out
- net dout-01 => parport.0.pin-16-out
- net charge-pump => parport.0.pin-17-out
- net estop-ext <= parport.0.pin-10-in
- net din-00 <= parport.0.pin-11-in
- net din-01 <= parport.0.pin-12-in
- net din-02 <= parport.0.pin-13-in
- net din-03 <= 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 70000
- setp stepgen.0.dirsetup 70000
- 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 70000
- setp stepgen.1.dirsetup 70000
- 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 70000
- setp stepgen.2.dirsetup 70000
- 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
- setp stepgen.3.position-scale [AXIS_3]SCALE
- setp stepgen.3.steplen 1
- setp stepgen.3.stepspace 0
- setp stepgen.3.dirhold 70000
- setp stepgen.3.dirsetup 70000
- 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 estop-out <= parport.0.pin-10-in-not
- net estop-out => 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
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