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| 1 | # Generated by stepconf at Mon May 21 18:43:24 2012 | |
| 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 5000 | |
| 9 | loadrt stepgen step_type=0,0 | |
| 10 | loadrt encoder num_chan=1 | |
| 11 | loadrt pwmgen output_type=0 | |
| 12 | #lowpass for spindle velocity | |
| 13 | loadrt lowpass count=1 | |
| 14 | ||
| 15 | addf parport.0.read base-thread | |
| 16 | addf stepgen.make-pulses base-thread | |
| 17 | addf encoder.update-counters base-thread | |
| 18 | addf pwmgen.make-pulses base-thread | |
| 19 | addf parport.0.write base-thread | |
| 20 | addf parport.0.reset base-thread | |
| 21 | ||
| 22 | addf stepgen.capture-position servo-thread | |
| 23 | addf encoder.capture-position servo-thread | |
| 24 | addf motion-command-handler servo-thread | |
| 25 | addf motion-controller servo-thread | |
| 26 | addf stepgen.update-freq servo-thread | |
| 27 | addf pwmgen.update servo-thread | |
| 28 | addf lowpass.0 servo-thread | |
| 29 | ||
| 30 | net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value | |
| 31 | net spindle-enable <= motion.spindle-on => pwmgen.0.enable | |
| 32 | net spindle-pwm <= pwmgen.0.pwm | |
| 33 | setp pwmgen.0.pwm-freq 10000.0 | |
| 34 | setp pwmgen.0.scale 1166.66666667 | |
| 35 | setp pwmgen.0.offset 0.114285714286 | |
| 36 | setp pwmgen.0.dither-pwm true | |
| 37 | net spindle-cw <= motion.spindle-forward | |
| 38 | ||
| 39 | #Smoothing of spindle rps factor. | |
| 40 | setp lowpass.0.gain 0.01 | |
| 41 | ||
| 42 | ||
| 43 | setp encoder.0.position-scale 1.000000 | |
| 44 | setp encoder.0.counter-mode 1 | |
| 45 | ||
| 46 | # use interpolated postion because of 1 ppr | |
| 47 | net spindle-position encoder.0.position-interpolated => motion.spindle-revs | |
| 48 | ||
| 49 | #hooking the low pass in for spindle velocity smoothing | |
| 50 | net spindle-velocity encoder.0.velocity => motion.spindle-speed-in | |
| 51 | net spindle-velocity encoder.0.velocity lowpass.0.in | |
| 52 | net spindle-velfiltered lowpass.0.out motion.spindle-speed-in | |
| 53 | ||
| 54 | net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable | |
| 55 | ||
| 56 | #hook index to a also.. | |
| 57 | net spindle-index <= parport.0.pin-11-in | |
| 58 | net spindle-index encoder.0.phase-A | |
| 59 | #net spindle-phase-b encoder.0.phase-B | |
| 60 | net spindle-index encoder.0.phase-Z | |
| 61 | ||
| 62 | net estop-out => parport.0.pin-01-out | |
| 63 | net xstep => parport.0.pin-02-out | |
| 64 | setp parport.0.pin-02-out-reset 1 | |
| 65 | net xdir => parport.0.pin-03-out | |
| 66 | net ystep => parport.0.pin-04-out | |
| 67 | setp parport.0.pin-04-out-reset 1 | |
| 68 | net ydir => parport.0.pin-05-out | |
| 69 | net zstep => parport.0.pin-06-out | |
| 70 | setp parport.0.pin-06-out-reset 1 | |
| 71 | setp parport.0.pin-07-out-invert 1 | |
| 72 | net zdir => parport.0.pin-07-out | |
| 73 | net astep => parport.0.pin-08-out | |
| 74 | setp parport.0.pin-08-out-reset 1 | |
| 75 | net adir => parport.0.pin-09-out | |
| 76 | net spindle-cw => parport.0.pin-14-out | |
| 77 | net spindle-pwm => parport.0.pin-16-out | |
| 78 | net xenable => parport.0.pin-17-out | |
| 79 | ||
| 80 | ||
| 81 | net estop-ext <= parport.0.pin-10-in | |
| 82 | # net spindle-phase-a <= parport.0.pin-12-in | |
| 83 | ||
| 84 | ||
| 85 | setp stepgen.0.position-scale [AXIS_0]SCALE | |
| 86 | setp stepgen.0.steplen 1 | |
| 87 | setp stepgen.0.stepspace 0 | |
| 88 | setp stepgen.0.dirhold 35000 | |
| 89 | setp stepgen.0.dirsetup 35000 | |
| 90 | setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL | |
| 91 | net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd | |
| 92 | net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb | |
| 93 | net xstep <= stepgen.0.step | |
| 94 | net xdir <= stepgen.0.dir | |
| 95 | net xenable axis.0.amp-enable-out => stepgen.0.enable | |
| 96 | ||
| 97 | setp stepgen.1.position-scale [AXIS_2]SCALE | |
| 98 | setp stepgen.1.steplen 1 | |
| 99 | setp stepgen.1.stepspace 0 | |
| 100 | setp stepgen.1.dirhold 35000 | |
| 101 | setp stepgen.1.dirsetup 35000 | |
| 102 | setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL | |
| 103 | net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd | |
| 104 | net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb | |
| 105 | net zstep <= stepgen.1.step | |
| 106 | net zdir <= stepgen.1.dir | |
| 107 | net zenable axis.2.amp-enable-out => stepgen.1.enable | |
| 108 | ||
| 109 | net estop-out <= iocontrol.0.user-enable-out | |
| 110 | net estop-ext => iocontrol.0.emc-enable-in | |
| 111 | ||
| 112 | loadusr -W hal_manualtoolchange | |
| 113 | net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change | |
| 114 | net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed | |
| 115 | net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number | |
| 116 | net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared |
