A to niby czemu ? Nie zdażyło się.
Kod: Zaznacz cały
# Wygenerowane przez Stepconf o Tue Dec 20 10:40:39 2011
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
#loadrt probe_parport
loadrt hal_parport cfg=0x378
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
loadrt encoder num_chan=1
loadrt abs count=1
loadrt scale count=1
loadrt lowpass count=1
loadrt charge_pump
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net charge-pump <= charge-pump.out
loadrt pwmgen output_type=0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
addf charge-pump base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
addf abs.0 servo-thread
addf scale.0 servo-thread
addf lowpass.0 servo-thread
# PWM
net spindle-speed-cmd motion.spindle-speed-out => pwmgen.0.value
net spindle-on motion.spindle-on => pwmgen.0.enable
net spindle-pwm pwmgen.0.pwm => parport.0.pin-01-out
setp pwmgen.0.scale 5800
setp pwmgen.0.max-dc 1
setp pwmgen.0.min-dc 0.05
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net coolant-flood <= iocontrol.0.coolant-flood
# 100 otworków w enkoderze
setp encoder.0.position-scale 100.0
setp encoder.0.counter-mode 1
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z
net dout-02 <= motion.digital-out-02
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net xdir => parport.0.pin-03-out
net zstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net zdir => parport.0.pin-05-out
#setp parport.0.pin-05-out-reset 1
setp parport.0.pin-05-out-invert 1
net cstep => parport.0.pin-06-out
net cdir => parport.0.pin-07-out
#net spindle-pwm => parport.0.pin-09-out
#net dout-02 => parport.0.pin-14-out
net coolant-flood => parport.0.pin-16-out #16
net spindle-cw => parport.0.pin-17-out #17
net spindle-ccw => parport.0.pin-09-out
net spindle-index <= parport.0.pin-13-in
net spindle-phase-a <= parport.0.pin-11-in
net spindle-phase-b <= parport.0.pin-12-in
net silownik => parport.0.pin-14-out motion.digital-out-00
net czujka <= parport.0.pin-10-in motion.digital-in-00
net all-home <= parport.0.pin-15-in
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net all-home => axis.0.home-sw-in
setp stepgen.1.position-scale [AXIS_2]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable axis.2.amp-enable-out => stepgen.1.enable
net all-home => axis.2.home-sw-in
setp stepgen.2.position-scale [AXIS_5]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_5]STEPGEN_MAXACCEL
net cpos-cmd axis.5.motor-pos-cmd => stepgen.2.position-cmd
net cpos-fb stepgen.2.position-fb => axis.5.motor-pos-fb
net cstep <= stepgen.2.step
net cdir <= stepgen.2.dir
net cenable axis.5.amp-enable-out => stepgen.2.enable
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
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
