# Создан stepconf в Mon Jul 2 19:23:32 2012 # Все изменения в этом файле будут перезаписаны # при следующем запуске stepconf loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=8 loadrt probe_parport loadrt hal_parport cfg="0x378 out " setp parport.0.reset-time 5000 loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v loadrt pwmgen output_type=1 loadrt encoder names=encoder.a #############CL loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 loadusr classicladder --modmaster pur2.clp addf classicladder.0.refresh servo-thread ############### loadrt pid names=pid.a addf parport.0.read base-thread addf encoder.update-counters base-thread addf stepgen.make-pulses base-thread addf pwmgen.make-pulses base-thread addf parport.0.write base-thread addf parport.0.reset base-thread addf stepgen.capture-position servo-thread addf encoder.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.a.do-pid-calcs servo-thread addf stepgen.update-freq servo-thread addf pwmgen.update servo-thread net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value net spindle-on <= motion.spindle-on => pwmgen.0.enable net spindle-pwm <= pwmgen.0.pwm setp pwmgen.0.pwm-freq 100.0 setp pwmgen.0.scale 1166.66666667 setp pwmgen.0.offset 0.114285714286 setp pwmgen.0.dither-pwm true net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse setp parport.0.pin-01-out-invert 1 net xenable => parport.0.pin-01-out net xstep => parport.0.pin-02-out setp parport.0.pin-02-out-reset 1 net ystep => parport.0.pin-03-out setp parport.0.pin-03-out-reset 1 net zstep => parport.0.pin-04-out setp parport.0.pin-04-out-reset 1 net astep => parport.0.pin-05-out setp parport.0.pin-05-out-reset 1 net xdir => parport.0.pin-06-out net ydir => parport.0.pin-07-out net zdir => parport.0.pin-08-out net adir => parport.0.pin-09-out net spindle-pwm => parport.0.pin-14-out net spindle-cw => parport.0.pin-16-out net spindle-ccw => parport.0.pin-17-out net all-home <= parport.0.pin-12-in-not net estop-ext <= parport.0.pin-13-in setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 35000 setp stepgen.0.dirsetup 35000 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 net all-home => axis.0.home-sw-in setp stepgen.1.position-scale [AXIS_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 35000 setp stepgen.1.dirsetup 35000 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 net all-home => axis.1.home-sw-in setp stepgen.2.position-scale [AXIS_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 35000 setp stepgen.2.dirsetup 35000 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 all-home => axis.2.home-sw-in setp stepgen.3.position-scale [AXIS_3]SCALE setp stepgen.3.steplen 1 setp stepgen.3.stepspace 0 setp stepgen.3.dirhold 35000 setp stepgen.3.dirsetup 35000 setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp pid.a.Pgain [AXIS_3]P setp pid.a.Igain [AXIS_3]I setp pid.a.Dgain [AXIS_3]D setp pid.a.bias [AXIS_3]BIAS setp pid.a.FF0 [AXIS_3]FF0 setp pid.a.FF1 [AXIS_3]FF1 setp pid.a.FF2 [AXIS_3]FF2 setp pid.a.deadband [AXIS_3]DEADBAND setp pid.a.maxoutput [AXIS_3]MAX_VELOCITY net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-output <= pid.a.output net a-pos-cmd => pid.a.command net a-vel-fb => pid.a.command-deriv net a-pos-fb => pid.a.feedback net a-pos-cmd <= axis.3.motor-pos-cmd net a-output => stepgen.3.velocity-cmd net a-enable axis.3.amp-enable-out => stepgen.3.enable net a-pos-fb encoder.a.position => axis.3.motor-pos-fb net astep <= stepgen.3.step net adir <= stepgen.3.dir net a-index-enable <= axis.3.index-enable => encoder.a.index-enable net estop-out <= iocontrol.0.user-enable-out net estop-ext => 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 net enc.a-a => encoder.a.phase-A net enc.a-a <= parport.0.pin-10-in net enc.a-b => encoder.a.phase-B net enc.a-b <= parport.0.pin-11-in net enc.a-z => encoder.a.phase-Z net enc.a-z <= parport.0.pin-15-in setp encoder.a.position-scale 1000 net R1 motion.digital-out-00 => classicladder.0.in-01 net R2 motion.digital-out-01 => classicladder.0.in-02 net R3 motion.digital-out-02 => classicladder.0.in-03 net R4 motion.digital-out-03 => classicladder.0.in-04 net R5 motion.digital-out-04 => classicladder.0.in-05 net R6 motion.digital-out-05 => classicladder.0.in-06 net R7 motion.digital-out-06 => classicladder.0.in-07 net R8 motion.digital-out-07 => classicladder.0.in-08 loadrt sum2 loadrt abs addf abs.0 servo-thread addf sum2.0 servo-thread setp sum2.0.gain1 -1 net a-pos-cmd sum2.0.in0 net a-pos-fb sum2.0.in1 net abs_in sum2.0.out abs.0.in net abs_out abs.0.out motion.analog-in-00