# Generated by stepconf at Sat Aug 10 13:32:02 2013 # If you make changes to this file, they will be # overwritten when you run stepconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS ###loadrt probe_parport ###loadrt hal_parport cfg="0x378 out " loadrt sim_parport count=1 setp sim-parport.0.reset-time 5000 loadrt lut5 #loadrt stepgen step_type=0,0,0,0 loadrt stepgen ctrl_type=p,p,p,p,p,v step_type=0,0,0,0,0,0 addf sim-parport.0.read base-thread addf stepgen.make-pulses base-thread addf sim-parport.0.write base-thread addf sim-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 lut5.0 servo-thread #net spindle-cmd <= spindle.0.speed-out net xdir => sim-parport.0.pin-01-out net trigger-enable => sim-parport.0.pin-02-out net zstep => sim-parport.0.pin-03-out setp sim-parport.0.pin-03-out-reset 1 net xenable => sim-parport.0.pin-04-out net xenable => sim-parport.0.pin-05-out net zdir => sim-parport.0.pin-06-out net ydir => sim-parport.0.pin-07-out net adir => sim-parport.0.pin-08-out net astep => sim-parport.0.pin-09-out #net adir => sim-parport.0.pin-06-out #net astep => sim-parport.0.pin-03-out setp sim-parport.0.pin-09-out-reset 1 net ystep => sim-parport.0.pin-14-out setp sim-parport.0.pin-14-out-reset 1 net xstep => sim-parport.0.pin-16-out setp sim-parport.0.pin-16-out-reset 1 net xenable => sim-parport.0.pin-17-out #### no delay for spikes on the input pins ##### #net probe-in <= sim-parport.0.pin-10-in => motion.probe-input #net all-limit <= sim-parport.0.pin-11-in-not #net estop-ext <= sim-parport.0.pin-12-in #### delay for spikes on the input pins ##### loadrt debounce cfg=4 addf debounce.0 base-thread setp debounce.0.delay 100 #10 net homeswitches-raw <= sim-parport.0.pin-10-in-not => debounce.0.0.in net homeswitches <= debounce.0.0.out net homeswitches => joint.0.home-sw-in net homeswitches => joint.1.home-sw-in #net homeswitches => joint.2.home-sw-in net probe-in motion.probe-input net probe-in <= sim-parport.0.pin-10-in => motion.probe-input ### use M102 to enable probe and M103 to disable probe #net homeswitches => motion.probe-input #net probe-in-raw <= sim-parport.0.pin-10-in => debounce.0.0.in #net probe-in <= debounce.0.0.out #=> motion.probe-input => motion.probe-input ### #11 #net all-limit-raw <= sim-parport.0.pin-11-in-not => debounce.0.1.in #net all-limit <= debounce.0.1.out net all-limit-home <= sim-parport.0.pin-11-in-not #=> debounce.0.1.in #net limits-home <= debounce.0.1.out setp lut5.0.function 0x10000 #net all-limit-home => lut5.0.in-4 #net all-limit <= lut5.0.out net all-limit-home => debounce.0.1.in lut5.0.in-4 net limits-home <= debounce.0.1.out net all-limit <= lut5.0.out #net homing-x <= joint.0.homing => lut5.0.in-0 #net homing-y <= joint.1.homing => lut5.0.in-1 net homing-z <= joint.2.homing => lut5.0.in-2 #net homing-a <= joint.3.homing => lut5.0.in-3 #12 net estop-ext-raw <= sim-parport.0.pin-12-in => debounce.0.2.in net estop-ext <= debounce.0.2.out ######################################### setp stepgen.0.position-scale [JOINT_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 16000 setp stepgen.0.dirsetup 16000 setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb net xstep <= stepgen.0.step net xdir <= stepgen.0.dir net xenable joint.0.amp-enable-out => stepgen.0.enable #net all-limit-home => joint.0.home-sw-in net all-limit => joint.0.neg-lim-sw-in net all-limit => joint.0.pos-lim-sw-in setp stepgen.1.position-scale [JOINT_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 16000 setp stepgen.1.dirsetup 16000 setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb net ystep <= stepgen.1.step net ydir <= stepgen.1.dir net yenable joint.1.amp-enable-out => stepgen.1.enable #net all-limit-home => joint.1.home-sw-in net all-limit => joint.1.neg-lim-sw-in net all-limit => joint.1.pos-lim-sw-in setp stepgen.2.position-scale [JOINT_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 16000 setp stepgen.2.dirsetup 16000 setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb net zstep <= stepgen.2.step net zdir <= stepgen.2.dir net zenable joint.2.amp-enable-out => stepgen.2.enable net all-limit-home => joint.2.home-sw-in net all-limit => joint.2.neg-lim-sw-in net all-limit => joint.2.pos-lim-sw-in setp stepgen.3.position-scale [JOINT_3]SCALE setp stepgen.3.steplen 1 setp stepgen.3.stepspace 0 setp stepgen.3.dirhold 16000 setp stepgen.3.dirsetup 16000 setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb net astep <= stepgen.3.step net adir <= stepgen.3.dir net aenable joint.3.amp-enable-out => stepgen.3.enable net all-limit => joint.3.neg-lim-sw-in net all-limit => joint.3.pos-lim-sw-in #setp stepgen.5.position-scale [AXIS_5]SCALE #setp stepgen.5.steplen 1 #setp stepgen.5.stepspace 0 #setp stepgen.5.dirhold 16000# #setp stepgen.5.dirsetup 16000 #setp stepgen.5.maxaccel [AXIS_5]STEPGEN_MAXACCEL net estop-out <= iocontrol.0.user-enable-out net estop-ext => iocontrol.0.emc-enable-in loadusr -W ./craftsman_toolchange net tool-change iocontrol.0.tool-change => craftsman_toolchange.change net tool-changed iocontrol.0.tool-changed <= craftsman_toolchange.changed net tool-number iocontrol.0.tool-prep-number => craftsman_toolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared