56 lines
2.1 KiB
Text
56 lines
2.1 KiB
Text
loadrt trivkins
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loadrt motmod base_period_nsec=0 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
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loadrt hostmot2
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loadrt hm2_eth board_ip=192.168.1.121 config="num_stepgens=7"
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loadrt estop_latch
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setp hm2_7i92.0.gpio.027.is_output 1
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setp hm2_7i92.0.stepgen.timer-number 1
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setp hm2_7i92.0.stepgen.05.steplen 2000
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setp hm2_7i92.0.stepgen.05.stepspace 2000
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setp hm2_7i92.0.stepgen.05.dirhold 800
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setp hm2_7i92.0.stepgen.05.dirsetup 800
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setp hm2_7i92.0.stepgen.05.enable 1
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setp hm2_7i92.0.stepgen.05.maxaccel 2000
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setp hm2_7i92.0.stepgen.05.maxvel 200
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setp hm2_7i92.0.stepgen.05.position-scale -53.33333
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setp hm2_7i92.0.stepgen.06.steplen 2000
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setp hm2_7i92.0.stepgen.06.stepspace 2000
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setp hm2_7i92.0.stepgen.06.dirhold 800
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setp hm2_7i92.0.stepgen.06.dirsetup 800
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setp hm2_7i92.0.stepgen.06.enable 1
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setp hm2_7i92.0.stepgen.06.maxaccel 2000
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setp hm2_7i92.0.stepgen.06.maxvel 200
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setp hm2_7i92.0.stepgen.06.position-scale 53.33333
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net X axis.0.motor-pos-cmd => hm2_7i92.0.stepgen.05.position-cmd
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net Y axis.1.motor-pos-cmd => hm2_7i92.0.stepgen.06.position-cmd
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net Xfb axis.0.motor-pos-fb <= hm2_7i92.0.stepgen.05.position-fb
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net Yfb axis.1.motor-pos-fb <= hm2_7i92.0.stepgen.06.position-fb
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net Zloop axis.2.motor-pos-cmd axis.2.motor-pos-fb
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setp hm2_7i92.0.pwmgen.01.scale 100
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net LO motion.spindle-on => hm2_7i92.0.pwmgen.01.enable
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net LP motion.analog-out-00 => hm2_7i92.0.pwmgen.01.value
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addf hm2_7i92.0.read-request servo-thread
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addf hm2_7i92.0.read 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 estop-latch.0 servo-thread
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addf hm2_7i92.0.write servo-thread
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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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# A basic estop loop that only includes the hostmot watchdog.
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net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
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net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
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net watchdog hm2_7i92.0.watchdog.has_bit => estop-latch.0.fault-in
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