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- # Generated by stepconf at Tue Jul 15 12:57:50 2014
- # If you make changes to this file, they will be
- # overwritten when you run stepconf again
- loadrt trivkins
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt hostmot2
- loadrt hm2_pci config="num_stepgens=5 num_encoders=2 num_pwmgens=1"
- addf hm2_5i25.0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf hm2_5i25.0.write servo-thread
- addf hm2_5i25.0.pet_watchdog servo-thread
- # net emcmot.00.enable <= axis.0.amp-enable-out
- # X [0] Axis
- # axis enable chain
- newsig emcmot.00.enable bit
- sets emcmot.00.enable FALSE
- #net x-lim joint.0.neg-lim-sw-in <= hm2_5i25.0.gpio.032.in
- #net x-lim joint.0.pos-lim-sw-in <= hm2_5i25.0.gpio.032.in
- net emcmot.00.enable => hm2_5i25.0.stepgen.00.enable
- # position command and feedback
- net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
- net emcmot.00.pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
- net motor.00.pos-fb <= hm2_5i25.0.stepgen.00.position-fb
- net motor.00.pos-fb => axis.0.motor-pos-fb
- # timing parameters
- setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
- setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
- setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
- setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
- setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]SCALE
- setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
- setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
- setp hm2_5i25.0.stepgen.00.step_type 0
- # Y [1] Axis
- # axis enable chain
- newsig emcmot.01.enable bit
- sets emcmot.01.enable FALSE
- #net x-lim joint.0.neg-lim-sw-in <= hm2_5i25.0.gpio.032.in
- #net x-lim joint.0.pos-lim-sw-in <= hm2_5i25.0.gpio.032.in
- net emcmot.01.enable <= axis.1.amp-enable-out
- net emcmot.01.enable => hm2_5i25.0.stepgen.01.enable
- # position command and feedback
- net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
- net emcmot.01.pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
- net motor.01.pos-fb <= hm2_5i25.0.stepgen.01.position-fb
- net motor.01.pos-fb => axis.1.motor-pos-fb
- # timing parameters
- setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
- setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
- setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
- setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
- setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]SCALE
- setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAX_VEL
- setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAX_ACC
- setp hm2_5i25.0.stepgen.01.step_type 1
- # Z [2] Axis
- # axis enable chain
- newsig emcmot.02.enable bit
- sets emcmot.02.enable FALSE
- #net x-lim joint.0.neg-lim-sw-in <= hm2_5i25.0.gpio.032.in
- #net x-lim joint.0.pos-lim-sw-in <= hm2_5i25.0.gpio.032.in
- net emcmot.02.enable <= axis.2.amp-enable-out
- net emcmot.02.enable => hm2_5i25.0.stepgen.02.enable
- # position command and feedback
- net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
- net emcmot.02.pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
- net motor.02.pos-fb <= hm2_5i25.0.stepgen.02.position-fb
- net motor.02.pos-fb => axis.2.motor-pos-fb
- # timing parameters
- setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
- setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
- setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
- setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
- setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]SCALE
- setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL
- setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAX_ACC
- setp hm2_5i25.0.stepgen.02.step_type 2
- # ################
- # G540 Charge pump
- # ################
- setp hm2_5i25.0.stepgen.04.dirsetup 100
- setp hm2_5i25.0.stepgen.04.dirhold 100
- setp hm2_5i25.0.stepgen.04.steplen 100
- setp hm2_5i25.0.stepgen.04.stepspace 100
- setp hm2_5i25.0.stepgen.04.position-scale 10000
- setp hm2_5i25.0.stepgen.04.maxvel 0
- setp hm2_5i25.0.stepgen.04.maxaccel 0
- # quadrature step mode for square wave out
- setp hm2_5i25.0.stepgen.04.step_type 2
- # velocity mode
- setp hm2_5i25.0.stepgen.04.control-type 1
- # velocity command of 0.25 is 10KHz when scale is 10000 in quadrature mode
- setp hm2_5i25.0.stepgen.04.velocity-cmd 0.25
- # enable charge pump with emcmot.00.enable
- net emcmot.00.enable => hm2_5i25.0.stepgen.04.enable
- # net estop-out charge-pump.enable iocontrol.0.user-enable-out
- # net charge-pump <= charge-pump.out
- net estop-out <= iocontrol.0.user-enable-out
- net estop-out => iocontrol.0.emc-enable-in
- loadusr -W hal_manualtoolchange
- net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
- net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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