# Generated by stepconf at Thu Apr 19 03:52:12 2012 # If you make changes to this file, they will be # overwritten when you run stepconf again loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hal_parport cfg="0x1008 out" setp parport.0.reset-time 1200 loadrt stepgen step_type=0,0,0 loadrt abs count=2 loadrt charge_pump net estop-out charge-pump.enable iocontrol.0.user-enable-out net charge-pump <= charge-pump.out loadrt pwmgen output_type=1 loadrt encoder num_chan=1 loadrt scale count=1 loadrt near addf scale.0 servo-thread setp scale.0.gain 60 addf pwmgen.make-pulses base-thread # Initialize the sum2 loadrt sum2 count=1 addf sum2.0 servo-thread addf encoder.update-counters base-thread addf encoder.capture-position servo-thread setp encoder.0.position-scale 16 setp encoder.0.counter-mode true setp pwmgen.0.pwm-freq 100.0 setp pwmgen.0.scale 3000 setp pwmgen.0.offset 0 setp pwmgen.0.dither-pwm true net spindle-cw <= motion.spindle-forward loadrt pid names=pid.0 addf pid.0.do-pid-calcs servo-thread setp pid.0.Pgain 1 setp pid.0.Igain 1 setp pid.0.Dgain 0.5 setp pid.0.maxoutput 200 net spindle_enable motion.spindle-on => pwmgen.0.enable => pid.0.enable net parport_10_in parport.0.pin-10-in => encoder.0.phase-A => encoder.0.phase-Z net spindle_rev_count encoder.0.position => motion.spindle-revs net spindle_index_enable encoder.0.index-enable <=> motion.spindle-index-enable net encoder_raw_velocity encoder.0.velocity => scale.0.in net pwmgen_value pwmgen.0.value <= sum2.0.out net pwmgen_out pwmgen.0.pwm => parport.0.pin-16-out net pid_feedback pid.0.feedback <= motion.spindle-speed-in <= scale.0.out net pid_command pid.0.command <= motion.spindle-speed-out => sum2.0.in0 net pid_output pid.0.output => sum2.0.in1 addf parport.0.read base-thread addf stepgen.make-pulses base-thread addf charge-pump base-thread addf parport.0.write base-thread addf parport.0.reset base-thread addf near.0 servo-thread addf stepgen.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf stepgen.update-freq servo-thread addf pwmgen.update servo-thread addf abs.0 servo-thread addf abs.1 servo-thread net charge-pump => parport.0.pin-01-out net xstep => parport.0.pin-02-out setp parport.0.pin-02-out-reset 1 setp parport.0.pin-03-out-invert 1 net xdir => parport.0.pin-03-out net ystep => parport.0.pin-04-out setp parport.0.pin-04-out-reset 1 setp parport.0.pin-05-out-invert 1 #setp parport.0.pin-05-out-reset 1 net ydir => parport.0.pin-05-out net zstep => parport.0.pin-06-out setp parport.0.pin-06-out-reset 1 net zdir => parport.0.pin-07-out net astep => parport.0.pin-08-out setp parport.0.pin-08-out-reset 1 net adir => parport.0.pin-17-out net spindle-cw => parport.0.pin-14-out #net spindle-pwm => parport.0.pin-16-out net xenable => parport.0.pin-09-out setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 8600 setp stepgen.0.dirsetup 8600 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb net xstep <= stepgen.0.step net xdir <= stepgen.0.dir net xenable axis.0.amp-enable-out => stepgen.0.enable setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 8600 setp stepgen.1.dirsetup 8600 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb net ystep <= stepgen.1.step net ydir <= stepgen.1.dir net yenable axis.1.amp-enable-out => stepgen.1.enable setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 8600 setp stepgen.2.dirsetup 8600 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb net zstep <= stepgen.2.step net zdir <= stepgen.2.dir net zenable axis.2.amp-enable-out => stepgen.2.enable net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in loadusr -W hal_manualtoolchange net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared