37 lines
1.2 KiB
Plaintext
37 lines
1.2 KiB
Plaintext
loadrt [KINS]KINEMATICS
|
|
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
|
|
|
loadusr -W lcec_conf ethercat-conf.xml
|
|
loadrt lcec
|
|
|
|
###########################################################
|
|
# Functions servo-thread
|
|
###########################################################
|
|
|
|
addf lcec.read-all servo-thread
|
|
|
|
addf motion-command-handler servo-thread
|
|
addf motion-controller servo-thread
|
|
|
|
addf lcec.write-all servo-thread
|
|
|
|
#########################################
|
|
#nets
|
|
#########################################
|
|
net emc-enable => iocontrol.0.emc-enable-in
|
|
sets emc-enable 1
|
|
|
|
net x-enable joint.0.amp-enable-out lcec.0.E3000.Enable1-0
|
|
net x-pos-cmd joint.0.motor-pos-cmd lcec.0.E3000.CommandedPosition1
|
|
net x-pos-fb joint.0.motor-pos-fb lcec.0.E3000.ActualPosition1
|
|
|
|
net y-enable joint.1.amp-enable-out lcec.0.E3000.Enable2-0
|
|
net y-pos-cmd joint.1.motor-pos-cmd lcec.0.E3000.CommandedPosition2
|
|
net y-pos-fb joint.1.motor-pos-fb lcec.0.E3000.ActualPosition2
|
|
|
|
net z-enable joint.2.amp-enable-out lcec.0.E3000.Enable3-0
|
|
net z-pos-cmd joint.2.motor-pos-cmd lcec.0.E3000.CommandedPosition3
|
|
net z-pos-fb joint.2.motor-pos-fb lcec.0.E3000.ActualPosition3
|
|
|
|
|