68 lines
2.4 KiB
Plaintext
Executable File
68 lines
2.4 KiB
Plaintext
Executable File
#!!! DECLINING USAGE use: HALFILE=LIB:basic_sim.tcl to automatically
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#!!! make the components and connections required for sim configs
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# 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 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# load 6 differentiators (for velocity and accel signals
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loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
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# load additional blocks
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loadrt hypot names=vel_xy,vel_xyz
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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_x servo-thread
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addf ddt_xv servo-thread
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addf ddt_y servo-thread
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addf ddt_yv servo-thread
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addf ddt_z servo-thread
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addf ddt_zv servo-thread
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addf vel_xy servo-thread
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addf vel_xyz 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 ddt_x.in
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net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
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net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
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net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
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net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
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net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
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net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
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net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
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net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
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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 Xvel ddt_x.out => ddt_xv.in vel_xy.in0
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net Xacc <= ddt_xv.out
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net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
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net Yacc <= ddt_yv.out
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net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
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net Zacc <= ddt_zv.out
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# Cartesian 2- and 3-axis velocities
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net XYvel vel_xy.out => vel_xyz.in1
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net XYZvel <= vel_xyz.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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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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