111 lines
4.0 KiB
Plaintext
111 lines
4.0 KiB
Plaintext
# Generated by stepconf 1.1 at Mon Nov 4 14:01:20 2019
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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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#autoconverted trivkins
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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 hal_parport cfg="0 out"
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setp parport.0.reset-time 5000
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loadrt stepgen step_type=0,0,0
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loadrt pwmgen output_type=0
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addf parport.0.read base-thread
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addf stepgen.make-pulses base-thread
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addf pwmgen.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 motion-command-handler servo-thread
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addf motion-controller servo-thread
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addf stepgen.update-freq servo-thread
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addf pwmgen.update servo-thread
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net spindle-cmd-rpm <= spindle.0.speed-out
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#net spindle-cmd-rpm pwmgen.0.value <= spindle.0.speed-out
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net spindle-on <= spindle.0.on => pwmgen.0.enable
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net spindle-pwm <= pwmgen.0.pwm
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setp pwmgen.0.pwm-freq 100.0
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setp pwmgen.0.scale 4500 #duty_cycle = (value/scale) + offset, with 1.0 meaning 100%
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#setp pwmgen.0.offset 0.02
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setp pwmgen.0.dither-pwm true
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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 spindle-cw <= spindle.0.forward
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net spindle-pwm => parport.0.pin-16-out
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net xstep => parport.0.pin-02-out
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setp parport.0.pin-02-out-reset 1
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setp parport.0.pin-03-out-invert 1
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net xdir => parport.0.pin-03-out
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net ystep => parport.0.pin-04-out
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setp parport.0.pin-04-out-reset 1
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net ydir => parport.0.pin-05-out
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net zstep => parport.0.pin-06-out
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setp parport.0.pin-06-out-reset 1
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setp parport.0.pin-07-out-invert 1
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net zdir => parport.0.pin-07-out
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net spindle-cw => parport.0.pin-08-out
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net home-z <= parport.0.pin-10-in-not
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net home-y <= parport.0.pin-11-in-not
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net home-x <= parport.0.pin-12-in-not
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#net max-home-y <= parport.0.pin-11-in-not
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#net max-home-x <= parport.0.pin-12-in-not
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.0.steplen 1
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setp stepgen.0.stepspace 0
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setp stepgen.0.dirhold 35000
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setp stepgen.0.dirsetup 35000
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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 xstep <= stepgen.0.step
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net xdir <= stepgen.0.dir
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net xenable joint.0.amp-enable-out => stepgen.0.enable
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#net max-home-x => joint.0.home-sw-in
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#net max-home-x => joint.0.pos-lim-sw-in
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net home-x => joint.0.home-sw-in
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.1.steplen 1
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setp stepgen.1.stepspace 0
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setp stepgen.1.dirhold 35000
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setp stepgen.1.dirsetup 35000
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
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net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
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net ystep <= stepgen.1.step
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net ydir <= stepgen.1.dir
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net yenable joint.1.amp-enable-out => stepgen.1.enable
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#net max-home-y => joint.1.home-sw-in
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#net max-home-y => joint.1.pos-lim-sw-in
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net home-y => joint.1.home-sw-in
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setp stepgen.2.position-scale [JOINT_2]SCALE
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setp stepgen.2.steplen 1
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setp stepgen.2.stepspace 0
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setp stepgen.2.dirhold 35000
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setp stepgen.2.dirsetup 35000
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setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
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net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
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net zstep <= stepgen.2.step
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net zdir <= stepgen.2.dir
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net zenable joint.2.amp-enable-out => stepgen.2.enable
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net home-z => joint.2.home-sw-in
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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-out => 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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