36 lines
1.3 KiB
Plaintext
Executable File
36 lines
1.3 KiB
Plaintext
Executable File
loadrt [KINS]KINEMATICS
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show comp
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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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# 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 J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
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net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
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net J3pos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
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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 - these nets are not used, but are placeholders for
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# converting this sample config to actual machines
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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 J3ena <= joint.3.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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net J3flt => joint.3.amp-fault-in
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