Kod: Zaznacz cały

# Generated by stepconf at Thu Feb 12 12:58:15 2009
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
loadrt hal_parport cfg=0x378
#0x1010
#0x378
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v
loadrt sum2
loadrt mux2
loadusr -W bujanie -name bujanie

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf sum2.0 servo-thread
addf mux2.0 servo-thread

net spindle-cw <= motion.spindle-forward
net coolant-flood <= iocontrol.0.coolant-flood

net estop-out => parport.0.pin-01-out
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 ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
#setp parport.0.pin-05-out-invert 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
setp parport.0.pin-07-out-invert 1
#setp parport.0.pin-08-out-invert 1
net astep => parport.0.pin-08-out
net adir => parport.0.pin-09-out
net spindle-cw => parport.0.pin-16-out
#net coolant-flood => parport.0.pin-17-out

net all-limit <= parport.0.pin-10-in
net spindle-index <= parport.0.pin-13-in

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 32000
setp stepgen.0.dirsetup 32000
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 xpos-cmd axis.0.motor-pos-cmd => bujanie.in
##net bujanie-pos bujanie.out => stepgen.0.position-cmd #axis.0.motor-pos-fb
##net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb

net xpos-cmd axis.0.motor-pos-cmd => mux2.0.in0
net bujanie-pos bujanie.out => mux2.0.in1
net xpos-mux mux2.0.out => 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-limit => axis.0.neg-lim-sw-in
net all-limit => axis.0.pos-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 32000
setp stepgen.1.dirsetup 32000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net all-limit => axis.1.neg-lim-sw-in
net all-limit => axis.1.pos-lim-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 32000
setp stepgen.2.dirsetup 32000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net all-limit => axis.2.neg-lim-sw-in
net all-limit => axis.2.pos-lim-sw-in

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 32000
setp stepgen.3.dirsetup 32000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
#setp sum2.0.in0 60
net apos-cmd axis.3.motor-pos-cmd  axis.3.motor-pos-fb sum2.0.in1
net velA sum2.0.out => stepgen.3.velocity-cmd
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net coolant-flood stepgen.3.enable
net all-limit => axis.3.neg-lim-sw-in
net all-limit => axis.3.pos-lim-sw-in

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

#bujanie
#net akt-x bujanie.out mux2.0.in1