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  1. # Generated by stepconf at Sun Jun 22 21:00:32 2014
  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. loadrt stepgen step_type=0,0,0
  9.  
  10. addf parport.0.read base-thread
  11. addf stepgen.make-pulses base-thread
  12. addf parport.0.write base-thread
  13.  
  14. addf stepgen.capture-position servo-thread
  15. addf motion-command-handler servo-thread
  16. addf motion-controller servo-thread
  17. addf stepgen.update-freq servo-thread
  18. net spindle-cmd <= motion.spindle-speed-out
  19. net spindle-at-speed => motion.spindle-at-speed
  20.  
  21. setp parport.0.pin-01-out-invert 1
  22. net xenable => parport.0.pin-01-out
  23. setp parport.0.pin-02-out-invert 1
  24. net xstep => parport.0.pin-02-out
  25. setp parport.0.pin-03-out-invert 1
  26. net xdir => parport.0.pin-03-out
  27. setp parport.0.pin-04-out-invert 1
  28. net ystep => parport.0.pin-04-out
  29. setp parport.0.pin-05-out-invert 1
  30. net ydir => parport.0.pin-05-out
  31. setp parport.0.pin-06-out-invert 1
  32. net zstep => parport.0.pin-06-out
  33. setp parport.0.pin-07-out-invert 1
  34. net zdir => parport.0.pin-07-out
  35.  
  36.  
  37. net both-x <= parport.0.pin-10-in
  38. net both-y <= parport.0.pin-11-in
  39. net both-z <= parport.0.pin-12-in
  40.  
  41.  
  42. setp stepgen.0.position-scale [AXIS_0]SCALE
  43. setp stepgen.0.steplen 1
  44. setp stepgen.0.stepspace 1
  45. setp stepgen.0.dirhold 9500
  46. setp stepgen.0.dirsetup 9500
  47. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  48. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  49. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  50. net xstep <= stepgen.0.step
  51. net xdir <= stepgen.0.dir
  52. net xenable axis.0.amp-enable-out => stepgen.0.enable
  53. net both-x => axis.0.neg-lim-sw-in
  54. net both-x => axis.0.pos-lim-sw-in
  55.  
  56. setp stepgen.1.position-scale [AXIS_1]SCALE
  57. setp stepgen.1.steplen 1
  58. setp stepgen.1.stepspace 1
  59. setp stepgen.1.dirhold 9500
  60. setp stepgen.1.dirsetup 9500
  61. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  62. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  63. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  64. net ystep <= stepgen.1.step
  65. net ydir <= stepgen.1.dir
  66. net yenable axis.1.amp-enable-out => stepgen.1.enable
  67. net both-y => axis.1.neg-lim-sw-in
  68. net both-y => axis.1.pos-lim-sw-in
  69.  
  70. setp stepgen.2.position-scale [AXIS_2]SCALE
  71. setp stepgen.2.steplen 1
  72. setp stepgen.2.stepspace 1
  73. setp stepgen.2.dirhold 9500
  74. setp stepgen.2.dirsetup 9500
  75. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  76. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  77. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  78. net zstep <= stepgen.2.step
  79. net zdir <= stepgen.2.dir
  80. net zenable axis.2.amp-enable-out => stepgen.2.enable
  81. net both-z => axis.2.neg-lim-sw-in
  82. net both-z => axis.2.pos-lim-sw-in
  83.  
  84. net estop-out <= iocontrol.0.user-enable-out
  85. net estop-out => iocontrol.0.emc-enable-in
  86.  
  87. loadusr -W hal_manualtoolchange
  88. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  89. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  90. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  91. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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