56 lines
1.8 KiB
Plaintext
Executable File
56 lines
1.8 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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setp tripodkins.Bx 10
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setp tripodkins.Cx 5
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setp tripodkins.Cy 7.071
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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
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# 6 differentiators (for velocity and accel sigs)
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loadrt ddt names=ddt_j0,ddt_j1,ddt_j2,ddt_j0v,ddt_j1v,ddt_j2v
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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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# link the differentiator functions into the code
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addf ddt_j0 servo-thread
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addf ddt_j0v servo-thread
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addf ddt_j1 servo-thread
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addf ddt_j1v servo-thread
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addf ddt_j2 servo-thread
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addf ddt_j2v 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 ddt_j0.in
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net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_j1.in
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net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_j2.in
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# send the position commands thru differentiators to
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# generate velocity and accel signals
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net J0vel ddt_j0.out => ddt_j0v.in
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net J0acc <= ddt_j0v.out
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net J1vel ddt_j1.out => ddt_j1v.in
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net J1acc <= ddt_j1v.out
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net J2vel ddt_j2.out => ddt_j2v.in
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net J2acc <= ddt_j2v.out
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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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# amp control
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net J0ena <= joint.0.amp-enable-out
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net J1ena <= joint.1.amp-enable-out
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net J2ena <= joint.2.amp-enable-out
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net J0flt => joint.0.amp-fault-in
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net J1flt => joint.1.amp-fault-in
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net J2flt => joint.2.amp-fault-in
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