102 lines
3.8 KiB
Plaintext
102 lines
3.8 KiB
Plaintext
# Generated by stepconf 1.1 at Mon Mar 14 20:22:34 2022
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# If you make changes to this file, they will be
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# overwritten when you run stepconf again
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loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadrt encoder num_chan=2 # 0 used for native speed sense, 1 used for testing new encoder
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loadrt hal_parport cfg="0 out"
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setp parport.0.reset-time 5000
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loadrt stepgen step_type=6,6
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loadrt lowpass
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loadrt scale count=5 # 0 used to convert spindle speed from rps to rpm,
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# 1 used in cusom.hal to adjust spindle set-speed fequency
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# 2 used in cusom.hal for mpg scale/increment selection
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# 3 & 4 used in custom.hal for mgp joystic
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addf parport.0.read base-thread
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addf encoder.update-counters base-thread
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addf stepgen.make-pulses base-thread
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addf parport.0.write base-thread
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addf parport.0.reset base-thread
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addf stepgen.capture-position servo-thread
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addf encoder.capture-position servo-thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf lowpass.0 servo-thread
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addf scale.0 servo-thread
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addf stepgen.update-freq servo-thread
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net spindle-cmd-rpm <= spindle.0.speed-out
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net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
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net spindle-cmd-rps <= spindle.0.speed-out-rps
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net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
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net xphasea => parport.0.pin-02-out
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net xphaseb => parport.0.pin-03-out
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net xphasec => parport.0.pin-04-out
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net xphased => parport.0.pin-05-out
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net zphasea => parport.0.pin-06-out
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net zphaseb => parport.0.pin-07-out
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net zphasec => parport.0.pin-08-out
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net zphased => parport.0.pin-09-out
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setp parport.0.pin-01-out-invert 1
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setp parport.0.pin-01-out-reset true
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setp parport.0.pin-01-out true # 74ls374 clock pin
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# spindle encoder stuff
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setp encoder.0.counter-mode true
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setp encoder.0.position-scale 100
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net spindle-index parport.0.pin-12-in-not
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net spindle-ppr parport.0.pin-10-in-not
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net spindle-ppr encoder.0.phase-A
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net spindle-index encoder.0.phase-Z
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net spindle-pos spindle.0.revs encoder.0.position-interpolated
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net spindle-index-enable spindle.0.index-enable encoder.0.index-enable
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net spindle-vel encoder.0.velocity spindle.0.speed-in
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# Filtering and scaling... moved to custom_postgui
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#setp scale.0.gain 60
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#setp lowpass.0.gain .07
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#net spindle-vel lowpass.0.in
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#net spindle-rps-filtered lowpass.0.out scale.0.in
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#net spindle-rpm-filtered scale.0.out
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net estop-external <= parport.0.pin-11-in-not
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.0.steplen 20000
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setp stepgen.0.dirdelay 20000
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setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
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net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
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net xphasea <= stepgen.0.phase-A
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net xphaseb <= stepgen.0.phase-B
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net xphasec <= stepgen.0.phase-C
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net xphased <= stepgen.0.phase-D
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net xenable joint.0.amp-enable-out => stepgen.0.enable
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.1.steplen 20000
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setp stepgen.1.dirdelay 20000
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
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net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
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net zphasea <= stepgen.1.phase-A
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net zphaseb <= stepgen.1.phase-B
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net zphasec <= stepgen.1.phase-C
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net zphased <= stepgen.1.phase-D
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net zenable joint.1.amp-enable-out => stepgen.1.enable
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# moved to custom.hal
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#net estop-out <= iocontrol.0.user-enable-out
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#net estop-ext => iocontrol.0.emc-enable-in
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loadusr -W hal_manualtoolchange
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net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
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net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
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net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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