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  1. # Generated by stepconf at Sat Feb 2 13:40:47 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="0x278 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. net spindle-on <= motion.spindle-on
  22. net coolant-flood <= iocontrol.0.coolant-flood
  23.  
  24. net probe-in => motion.probe-input
  25. net dout-00 <= motion.digital-out-00
  26. net dout-02 <= motion.digital-out-02
  27.  
  28. setp parport.0.pin-01-out-invert 1
  29. net coolant-flood => parport.0.pin-01-out
  30. net dout-00 => parport.0.pin-02-out
  31. setp parport.0.pin-03-out-invert 1
  32. net spindle-on => parport.0.pin-03-out
  33. setp parport.0.pin-04-out-invert 1
  34. net xdir => parport.0.pin-04-out
  35. net xstep => parport.0.pin-05-out
  36. setp parport.0.pin-05-out-reset 1
  37. setp parport.0.pin-06-out-invert 1
  38. net ydir => parport.0.pin-06-out
  39. net ystep => parport.0.pin-07-out
  40. setp parport.0.pin-07-out-reset 1
  41. net zdir => parport.0.pin-08-out
  42. net zstep => parport.0.pin-09-out
  43. setp parport.0.pin-09-out-reset 1
  44. net dout-00 => parport.0.pin-14-out
  45. net dout-02 => parport.0.pin-16-out
  46.  
  47.  
  48. net both-home-y <= parport.0.pin-10-in-not
  49. net both-home-x <= parport.0.pin-11-in-not
  50. net both-home-z <= parport.0.pin-12-in-not
  51. net probe-in <= parport.0.pin-13-in-not
  52. net estop-ext <= parport.0.pin-15-in
  53.  
  54.  
  55. setp stepgen.0.position-scale [AXIS_0]SCALE
  56. setp stepgen.0.steplen 1
  57. setp stepgen.0.stepspace 0
  58. setp stepgen.0.dirhold 29300
  59. setp stepgen.0.dirsetup 29300
  60. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  61. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  62. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  63. net xstep <= stepgen.0.step
  64. net xdir <= stepgen.0.dir
  65. net xenable axis.0.amp-enable-out => stepgen.0.enable
  66. net both-home-x => axis.0.home-sw-in
  67. net both-home-x => axis.0.neg-lim-sw-in
  68. net both-home-x => axis.0.pos-lim-sw-in
  69.  
  70. setp stepgen.1.position-scale [AXIS_1]SCALE
  71. setp stepgen.1.steplen 1
  72. setp stepgen.1.stepspace 0
  73. setp stepgen.1.dirhold 29300
  74. setp stepgen.1.dirsetup 29300
  75. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  76. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  77. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  78. net ystep <= stepgen.1.step
  79. net ydir <= stepgen.1.dir
  80. net yenable axis.1.amp-enable-out => stepgen.1.enable
  81. net both-home-y => axis.1.home-sw-in
  82. net both-home-y => axis.1.neg-lim-sw-in
  83. net both-home-y => axis.1.pos-lim-sw-in
  84.  
  85. setp stepgen.2.position-scale [AXIS_2]SCALE
  86. setp stepgen.2.steplen 1
  87. setp stepgen.2.stepspace 0
  88. setp stepgen.2.dirhold 29300
  89. setp stepgen.2.dirsetup 29300
  90. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  91. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  92. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  93. net zstep <= stepgen.2.step
  94. net zdir <= stepgen.2.dir
  95. net zenable axis.2.amp-enable-out => stepgen.2.enable
  96. net both-home-z => axis.2.home-sw-in
  97. net both-home-z => axis.2.neg-lim-sw-in
  98. net both-home-z => axis.2.pos-lim-sw-in
  99.  
  100. net estop-out <= iocontrol.0.user-enable-out
  101. net estop-ext => 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
  108.  
  109. # for remote joypad
  110. loadusr -W hal_input -KRAL P2600
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