# Создан stepconf в Fri Apr  6 18:53:14 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
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf classicladder.0.refresh servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out

net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net ustep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net udir => parport.0.pin-07-out
net vstep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net vdir => 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 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

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

setp stepgen.6.position-scale [AXIS_6]SCALE
setp stepgen.6.steplen 1
setp stepgen.6.stepspace 0
setp stepgen.6.dirhold 35000
setp stepgen.6.dirsetup 35000
setp stepgen.6.maxaccel [AXIS_6]STEPGEN_MAXACCEL
net zpos-cmd axis.6.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.6.motor-pos-fb
net zstep <= stepgen.6.step
net zdir <= stepgen.6.dir
net zenable axis.6.amp-enable-out => stepgen.2.enable

setp stepgen.7.position-scale [AXIS_7]SCALE
setp stepgen.7.steplen 1
setp stepgen.7.stepspace 0
setp stepgen.7.dirhold 35000
setp stepgen.7.dirsetup 35000
setp stepgen.7.maxaccel [AXIS_7]STEPGEN_MAXACCEL
net apos-cmd axis.7.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.7.motor-pos-fb
net astep <= stepgen.7.step
net adir <= stepgen.7.dir
net aenable axis.7.amp-enable-out => stepgen.3.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# Load Classicladder with modbus master included (GUI must run for Modbus)
loadusr classicladder --modmaster custom.clp