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@ianmcmahon
Created May 7, 2013 22:57
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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=0"
addf hm2_5i25.0.read servo-thread
addf hm2_5i25.0.write servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# X axis
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]SCALE
setp hm2_5i25.0.stepgen.00.steplen 1
setp hm2_5i25.0.stepgen.00.stepspace 0
setp hm2_5i25.0.stepgen.00.dirhold 35000
setp hm2_5i25.0.stepgen.00.dirsetup 35000
setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
net xpos-cmd axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net xenable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
# Y axis (controls two motors, Y and A)
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]SCALE
setp hm2_5i25.0.stepgen.01.steplen 1
setp hm2_5i25.0.stepgen.01.stepspace 0
setp hm2_5i25.0.stepgen.01.dirhold 35000
setp hm2_5i25.0.stepgen.01.dirsetup 35000
setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd => hm2_5i25.0.stepgen.03.position-cmd
net ypos-cmd axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net yenable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable => hm2_5i25.0.stepgen.03.enable
# Z axis
setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]SCALE
setp hm2_5i25.0.stepgen.02.steplen 1
setp hm2_5i25.0.stepgen.02.stepspace 0
setp hm2_5i25.0.stepgen.02.dirhold 35000
setp hm2_5i25.0.stepgen.02.dirsetup 35000
setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net xpos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
net xpos-cmd axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net xenable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable
# estop chain
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# this may not be necessary since we don't change tools
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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