Created
May 7, 2013 22:57
-
-
Save ianmcmahon/5536871 to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
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 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment