36 lines
1.3 KiB
Plaintext
Executable File
36 lines
1.3 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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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadusr -W lcec_conf ethercat-conf.xml
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loadrt lcec
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addf lcec.read-all servo-thread
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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 Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
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net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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net Xpos lcec.0.0.commanded-position
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net myXvel lcec.0.0.commanded-velocity joint.0.vel-cmd
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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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