Код: Выделить всё
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=4
loadrt to_pci
addf to_pci.1.update servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
net estop-ext iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out
net machine-on <= motion.motion-enabled
net machine-on => to_pci.1.pins.pin-01-out to_pci.1.pinsRS.pin-01-out to_pci.1.pinsRS.pin-02-out