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  1. # Generated by stepconf at Thu May 10 10:27:25 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 500
  9. loadrt stepgen step_type=0,0,0,0,0
  10. loadrt charge_pump
  11. net estop-out charge-pump.enable iocontrol.0.user-enable-out
  12. net charge-pump <= charge-pump.out
  13.  
  14. addf parport.0.read base-thread
  15. addf stepgen.make-pulses base-thread
  16. addf charge-pump base-thread
  17. addf parport.0.write base-thread
  18. addf parport.0.reset base-thread
  19.  
  20. addf stepgen.capture-position servo-thread
  21. addf motion-command-handler servo-thread
  22. addf motion-controller servo-thread
  23. addf stepgen.update-freq servo-thread
  24. net spindle-cmd <= motion.spindle-speed-out
  25.  
  26. setp parport.0.pin-02-out-invert 1
  27. net xstep => parport.0.pin-02-out
  28. setp parport.0.pin-02-out-reset 1
  29. net xdir => parport.0.pin-03-out
  30.  
  31. setp parport.0.pin-04-out-invert 1
  32. net ystep => parport.0.pin-04-out
  33. setp parport.0.pin-04-out-reset 1
  34. net ydir => parport.0.pin-05-out
  35.  
  36. setp parport.0.pin-06-out-invert 1
  37. net bstep => parport.0.pin-06-out
  38. setp parport.0.pin-06-out-reset 1
  39. net bdir => parport.0.pin-07-out
  40.  
  41. setp parport.0.pin-08-out-invert 1
  42. net astep => parport.0.pin-08-out
  43. setp parport.0.pin-08-out-reset 1
  44. net adir => parport.0.pin-09-out
  45.  
  46. net charge-pump => parport.0.pin-17-out
  47.  
  48.  
  49.  
  50.  
  51. setp stepgen.0.position-scale [AXIS_0]SCALE
  52. setp stepgen.0.steplen 1
  53. setp stepgen.0.stepspace 0
  54. setp stepgen.0.dirhold 35000
  55. setp stepgen.0.dirsetup 16000
  56. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  57. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  58. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  59. net xstep <= stepgen.0.step
  60. net xdir <= stepgen.0.dir
  61. net xenable axis.0.amp-enable-out => stepgen.0.enable
  62.  
  63. setp stepgen.1.position-scale [AXIS_1]SCALE
  64. setp stepgen.1.steplen 1
  65. setp stepgen.1.stepspace 0
  66. setp stepgen.1.dirhold 35000
  67. setp stepgen.1.dirsetup 16000
  68. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  69. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  70. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  71. net ystep <= stepgen.1.step
  72. net ydir <= stepgen.1.dir
  73. net yenable axis.1.amp-enable-out => stepgen.1.enable
  74.  
  75. setp stepgen.2.position-scale [AXIS_2]SCALE
  76. setp stepgen.2.steplen 1
  77. setp stepgen.2.stepspace 0
  78. setp stepgen.2.dirhold 35000
  79. setp stepgen.2.dirsetup 16000
  80. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  81. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  82. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  83. net zstep <= stepgen.2.step
  84. net zdir <= stepgen.2.dir
  85. net zenable axis.2.amp-enable-out => stepgen.2.enable
  86.  
  87. setp stepgen.3.position-scale [AXIS_3]SCALE
  88. setp stepgen.3.steplen 1
  89. setp stepgen.3.stepspace 0
  90. setp stepgen.3.dirhold 35000
  91. setp stepgen.3.dirsetup 16000
  92. setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  93. net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
  94. net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
  95. net astep <= stepgen.3.step
  96. net adir <= stepgen.3.dir
  97. net aenable axis.3.amp-enable-out => stepgen.3.enable
  98.  
  99. setp stepgen.4.position-scale [AXIS_4]SCALE
  100. setp stepgen.4.steplen 1
  101. setp stepgen.4.stepspace 0
  102. setp stepgen.4.dirhold 35000
  103. setp stepgen.4.dirsetup 16000
  104. setp stepgen.4.maxaccel [AXIS_4]STEPGEN_MAXACCEL
  105. net bpos-cmd axis.4.motor-pos-cmd => stepgen.4.position-cmd
  106. net bpos-fb stepgen.4.position-fb => axis.4.motor-pos-fb
  107. net bstep <= stepgen.4.step
  108. net bdir <= stepgen.4.dir
  109. net benable axis.4.amp-enable-out => stepgen.4.enable
  110.  
  111. net estop-out <= iocontrol.0.user-enable-out
  112. net estop-out => iocontrol.0.emc-enable-in
  113.  
  114. loadusr -W hal_manualtoolchange
  115. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  116. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  117. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  118. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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