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  1. # Generated by stepconf at Mon Jan  7 17:40:14 2013
  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 2000
  9. loadrt stepgen step_type=0,0,0
  10. loadrt abs count=1
  11. loadrt pwmgen output_type=1
  12.  
  13. addf parport.0.read base-thread
  14. addf stepgen.make-pulses base-thread
  15. addf pwmgen.make-pulses base-thread
  16. addf parport.0.write base-thread
  17. addf parport.0.reset base-thread
  18.  
  19. addf stepgen.capture-position servo-thread
  20. addf motion-command-handler servo-thread
  21. addf motion-controller servo-thread
  22. addf stepgen.update-freq servo-thread
  23. addf pwmgen.update servo-thread
  24. addf abs.0 servo-thread
  25.  
  26. net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
  27. net spindle-on <= motion.spindle-on => pwmgen.0.enable
  28. net spindle-pwm <= pwmgen.0.pwm
  29. setp pwmgen.0.pwm-freq 400.0
  30. setp pwmgen.0.scale 2621.72284644
  31. setp pwmgen.0.offset 0.0268571428571
  32. setp pwmgen.0.dither-pwm true
  33. net spindle-cw <= motion.spindle-forward
  34.  
  35. net estop-out => parport.0.pin-01-out
  36. net xstep => parport.0.pin-02-out
  37. setp parport.0.pin-02-out-reset 1
  38. setp parport.0.pin-03-out-invert 1
  39. net xdir => parport.0.pin-03-out
  40. net ystep => parport.0.pin-04-out
  41. setp parport.0.pin-04-out-reset 1
  42. net ydir => parport.0.pin-05-out
  43. net zstep => parport.0.pin-06-out
  44. setp parport.0.pin-06-out-reset 1
  45. setp parport.0.pin-07-out-invert 1
  46. net zdir => parport.0.pin-07-out
  47. net astep => parport.0.pin-08-out
  48. setp parport.0.pin-08-out-reset 1
  49. net adir => parport.0.pin-09-out
  50. net xenable => parport.0.pin-14-out
  51. setp parport.0.pin-16-out-invert 1
  52. net spindle-pwm => parport.0.pin-16-out
  53. net spindle-cw => parport.0.pin-17-out
  54.  
  55.  
  56. net home-y <= parport.0.pin-12-in
  57. net home-x <= parport.0.pin-13-in
  58. net home-z <= parport.0.pin-15-in
  59.  
  60.  
  61. setp stepgen.0.position-scale [AXIS_0]SCALE
  62. setp stepgen.0.steplen 1
  63. setp stepgen.0.stepspace 0
  64. setp stepgen.0.dirhold 13680
  65. setp stepgen.0.dirsetup 13680
  66. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  67. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  68. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  69. net xstep <= stepgen.0.step
  70. net xdir <= stepgen.0.dir
  71. net xenable axis.0.amp-enable-out => stepgen.0.enable
  72. net home-x => axis.0.home-sw-in
  73.  
  74. setp stepgen.1.position-scale [AXIS_1]SCALE
  75. setp stepgen.1.steplen 1
  76. setp stepgen.1.stepspace 0
  77. setp stepgen.1.dirhold 13680
  78. setp stepgen.1.dirsetup 13680
  79. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  80. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  81. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  82. net ystep <= stepgen.1.step
  83. net ydir <= stepgen.1.dir
  84. net yenable axis.1.amp-enable-out => stepgen.1.enable
  85. net home-y => axis.1.home-sw-in
  86.  
  87. setp stepgen.2.position-scale [AXIS_2]SCALE
  88. setp stepgen.2.steplen 1
  89. setp stepgen.2.stepspace 0
  90. setp stepgen.2.dirhold 13680
  91. setp stepgen.2.dirsetup 13680
  92. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  93. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  94. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  95. net zstep <= stepgen.2.step
  96. net zdir <= stepgen.2.dir
  97. net zenable axis.2.amp-enable-out => stepgen.2.enable
  98. net home-z => axis.2.home-sw-in
  99.  
  100. net estop-out <= iocontrol.0.user-enable-out
  101. net estop-out => iocontrol.0.emc-enable-in
  102.  
  103. loadusr -W hal_manualtoolchange
  104. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  105. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  106. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  107. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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