54 lines
2.0 KiB
Plaintext
Executable File
54 lines
2.0 KiB
Plaintext
Executable File
# core HAL config file for steppers
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# first load the core 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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# stepper module, three step generators, all three using step/dir
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loadrt stepgen step_type=0,0,0
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# hook functions to base thread (high speed thread for step generation)
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addf stepgen.make-pulses base-thread
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# hook functions to servo thread
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addf stepgen.capture-position 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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addf stepgen.update-freq servo-thread
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# connect position commands from motion module to step generator
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net Xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
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net Ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
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net Zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
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# connect position feedback from step generators
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# to motion module
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net Xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
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net Ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
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net Zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
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# connect enable signals for step generators
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net Xen joint.0.amp-enable-out => stepgen.0.enable
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net Yen joint.1.amp-enable-out => stepgen.1.enable
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net Zen joint.2.amp-enable-out => stepgen.2.enable
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# connect signals to step pulse generator outputs
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net Xstep <= stepgen.0.step
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net Xdir <= stepgen.0.dir
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net Ystep <= stepgen.1.step
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net Ydir <= stepgen.1.dir
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net Zstep <= stepgen.2.step
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net Zdir <= stepgen.2.dir
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# set stepgen module scaling - get values from INI file
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.2.position-scale [JOINT_2]SCALE
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# set stepgen module accel limits - get values from INI file
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setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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