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| 1 | # Generated by stepconf at Mon Nov 21 18:28:36 2011 | |
| 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=0,0,0 |
| 9 | + | loadrt stepgen step_type=2,2,2 |
| 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 | ||
| 22 | setp stepgen.0.position-scale [AXIS_0]SCALE | |
| 23 | # setp stepgen.0.steplen 1 | |
| 24 | # setp stepgen.0.stepspace 0 | |
| 25 | # setp stepgen.0.dirhold 35000 | |
| 26 | # setp stepgen.0.dirsetup 35000 | |
| 27 | - | setp stepgen.0.steplen 1 |
| 27 | + | |
| 28 | - | setp stepgen.0.stepspace 0 |
| 28 | + | |
| 29 | - | setp stepgen.0.dirhold 35000 |
| 29 | + | |
| 30 | - | setp stepgen.0.dirsetup 35000 |
| 30 | + | net XA <= stepgen.0.phase-A |
| 31 | net XB <= stepgen.0.phase-B | |
| 32 | net xenable axis.0.amp-enable-out => stepgen.0.enable | |
| 33 | ||
| 34 | - | net xstep <= stepgen.0.step |
| 34 | + | |
| 35 | - | net xdir <= stepgen.0.dir |
| 35 | + | # setp stepgen.1.steplen 1 |
| 36 | # setp stepgen.1.stepspace 0 | |
| 37 | # setp stepgen.1.dirhold 35000 | |
| 38 | # setp stepgen.1.dirsetup 35000 | |
| 39 | - | setp stepgen.1.steplen 1 |
| 39 | + | |
| 40 | - | setp stepgen.1.stepspace 0 |
| 40 | + | |
| 41 | - | setp stepgen.1.dirhold 35000 |
| 41 | + | |
| 42 | - | setp stepgen.1.dirsetup 35000 |
| 42 | + | net YA <= stepgen.1.phase-A |
| 43 | net YB <= stepgen.1.phase-B | |
| 44 | net yenable axis.1.amp-enable-out => stepgen.1.enable | |
| 45 | ||
| 46 | - | net ystep <= stepgen.1.step |
| 46 | + | |
| 47 | - | net ydir <= stepgen.1.dir |
| 47 | + | # setp stepgen.2.steplen 1 |
| 48 | # setp stepgen.2.stepspace 0 | |
| 49 | # setp stepgen.2.dirhold 35000 | |
| 50 | # setp stepgen.2.dirsetup 35000 | |
| 51 | - | setp stepgen.2.steplen 1 |
| 51 | + | |
| 52 | - | setp stepgen.2.stepspace 0 |
| 52 | + | |
| 53 | - | setp stepgen.2.dirhold 35000 |
| 53 | + | |
| 54 | - | setp stepgen.2.dirsetup 35000 |
| 54 | + | net ZA <= stepgen.2.phase-A |
| 55 | net ZB <= stepgen.2.phase-B | |
| 56 | net zenable axis.2.amp-enable-out => stepgen.2.enable | |
| 57 | ||
| 58 | - | net zstep <= stepgen.2.step |
| 58 | + | |
| 59 | - | net zdir <= stepgen.2.dir |
| 59 | + | |
| 60 | ||
| 61 | loadusr -W hal_manualtoolchange | |
| 62 | net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change | |
| 63 | net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed | |
| 64 | net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number | |
| 65 | net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared | |
| 66 | ||
| 67 | ||
| 68 | ||
| 69 |
