44 lines
1.4 KiB
Plaintext
Executable File
44 lines
1.4 KiB
Plaintext
Executable File
# core HAL config file for simulation
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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#loadrt lineardeltakins
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadusr -W lineardelta MIN_JOINT=-420
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# create HAL signals for position commands from motion module
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# loop position commands back to motion module feedback
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net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb lineardelta.joint0
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net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb lineardelta.joint1
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net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb lineardelta.joint2
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net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
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net L lineardeltakins.L => lineardelta.L
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net R lineardeltakins.R => lineardelta.R
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sets L 269
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sets R 130.25
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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net spindle-fwd spindle.0.forward
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net spindle-rev spindle.0.reverse
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#net spindle-speed spindle.0.speed-out
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net lube iocontrol.0.lube
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net flood iocontrol.0.coolant-flood
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net mist iocontrol.0.coolant-mist
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