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- # core HAL config file for simulation - 6 axis
- # load RT modules
- loadrt genserkins
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD num_joints=[TRAJ]AXES
- # hostmot2 driver
- # if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
- #loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
- loadrt hostmot2
- # load low-level driver
- loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
- # set pwm frequency
- setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
- # add motion controller functions to servo thread
- addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
- addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
- # create HAL signals for position commands from motion module
- net J0pos <= axis.0.motor-pos-cmd
- net J1pos <= axis.1.motor-pos-cmd
- net J2pos <= axis.2.motor-pos-cmd
- net J3pos <= axis.3.motor-pos-cmd
- net J4pos <= axis.4.motor-pos-cmd
- net J5pos <= axis.5.motor-pos-cmd
- # loop position commands back to motion module feedback
- net J0pos => axis.0.motor-pos-fb
- net J1pos => axis.1.motor-pos-fb
- net J2pos => axis.2.motor-pos-fb
- net J3pos => axis.3.motor-pos-fb
- net J4pos => axis.4.motor-pos-fb
- net J5pos => axis.5.motor-pos-fb
- # estop loopback
- net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
- # create signals for tool loading loopback
- net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
- net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
- loadusr -W puma560gui
- setp genserkins.A-0 0
- setp genserkins.A-1 0
- setp genserkins.A-2 17
- setp genserkins.A-3 0
- setp genserkins.A-4 0
- setp genserkins.A-5 0
- setp genserkins.ALPHA-0 0
- setp genserkins.ALPHA-1 1.570796326
- setp genserkins.ALPHA-2 0
- setp genserkins.ALPHA-3 1.570796326
- setp genserkins.ALPHA-4 -1.570796326
- setp genserkins.ALPHA-5 1.570796326
- setp genserkins.D-0 26.45
- setp genserkins.D-1 -5.5
- setp genserkins.D-2 0
- setp genserkins.D-3 17.05
- setp genserkins.D-4 0
- setp genserkins.D-5 2.2
- loadrt scale count=6
- addf scale.0 servo-thread
- addf scale.1 servo-thread
- addf scale.2 servo-thread
- addf scale.3 servo-thread
- addf scale.4 servo-thread
- addf scale.5 servo-thread
- net J0pos scale.0.in
- net J1pos scale.1.in
- net J2pos scale.2.in
- net J3pos scale.3.in
- net J4pos scale.4.in
- net J5pos scale.5.in
- setp scale.0.gain 1
- setp scale.1.gain 1
- setp scale.2.gain 1
- setp scale.3.gain 1
- setp scale.4.gain 1
- setp scale.5.gain 1
- net J0scaled scale.0.out puma560gui.joint1
- net J1scaled scale.1.out puma560gui.joint2
- net J2scaled scale.2.out puma560gui.joint3
- net J3scaled scale.3.out puma560gui.joint4
- net J4scaled scale.4.out puma560gui.joint5
- net J5scaled scale.5.out puma560gui.joint6
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