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  1. # Generated by stepconf at Sun Apr 5 17:59:10 2009
  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 traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
  6. loadrt probe_parport
  7. loadrt hal_parport cfg=0x378
  8. setp parport.0.reset-time 1000
  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-cw <= motion.spindle-forward
  21. net coolant-mist <= iocontrol.0.coolant-mist
  22.  
  23. net spindle-cw => parport.0.pin-01-out
  24. net xstep => parport.0.pin-02-out
  25. setp parport.0.pin-02-out-reset 1
  26. net xdir => parport.0.pin-03-out
  27. net ystep => parport.0.pin-04-out
  28. setp parport.0.pin-04-out-reset 1
  29. net ydir => parport.0.pin-05-out
  30. net zstep => parport.0.pin-06-out
  31. setp parport.0.pin-06-out-reset 1
  32. net zstep => parport.0.pin-07-out
  33. setp parport.0.pin-07-out-reset 1
  34. net zstep => parport.0.pin-08-out
  35. setp parport.0.pin-08-out-reset 1
  36. net zdir => parport.0.pin-09-out
  37. net coolant-mist => parport.0.pin-16-out
  38. net estop-ext <= parport.0.pin-10-in
  39.  
  40. loadrt debounce cfg=4
  41.  
  42. addf debounce.0 base-thread
  43.  
  44. net x-raw parport.0.pin-11-in-not => debounce.0.0.in
  45. net y-min-raw parport.0.pin-12-in-not => debounce.0.1.in
  46. net y-max-raw parport.0.pin-15-in-not => debounce.0.2.in
  47. net z-raw parport.0.pin-13-in => debounce.0.3.in
  48.  
  49. net x-filt debounce.0.0.out => axis.0.home-sw-in axis.0.pos-lim-sw-in axis.0.neg-lim-sw-in
  50. net y-min-filt debounce.0.1.out => axis.1.home-sw-in axis.1.neg-lim-sw-in
  51. net y-max-filt debounce.0.2.out => axis.1.pos-lim-sw-in
  52. net z-filt debounce.0.2.out => axis.2.home-sw-in
  53.  
  54. setp debounce.0.delay 100
  55.  
  56. setp stepgen.0.position-scale [AXIS_0]SCALE
  57. setp stepgen.0.steplen 1
  58. setp stepgen.0.stepspace 0
  59. setp stepgen.0.dirhold 15200
  60. setp stepgen.0.dirsetup 15200
  61. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  62. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  63. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  64. net xstep <= stepgen.0.step
  65. net xdir <= stepgen.0.dir
  66. net xenable axis.0.amp-enable-out => stepgen.0.enable
  67.  
  68. setp stepgen.1.position-scale [AXIS_1]SCALE
  69. setp stepgen.1.steplen 1
  70. setp stepgen.1.stepspace 0
  71. setp stepgen.1.dirhold 15200
  72. setp stepgen.1.dirsetup 15200
  73. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  74. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  75. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  76. net ystep <= stepgen.1.step
  77. net ydir <= stepgen.1.dir
  78. net yenable axis.1.amp-enable-out => stepgen.1.enable
  79.  
  80. setp stepgen.2.position-scale [AXIS_2]SCALE
  81. setp stepgen.2.steplen 1
  82. setp stepgen.2.stepspace 0
  83. setp stepgen.2.dirhold 15200
  84. setp stepgen.2.dirsetup 15200
  85. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  86. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  87. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  88. net zstep <= stepgen.2.step
  89. net zdir <= stepgen.2.dir
  90. net zenable axis.2.amp-enable-out => stepgen.2.enable
  91.  
  92. net estop-out <= iocontrol.0.user-enable-out
  93. net estop-ext => iocontrol.0.emc-enable-in
  94.  
  95. loadusr -W hal_manualtoolchange
  96. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  97. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  98. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  99. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared