Код: Выделить всё
# Создан stepconf в Fri Mar 21 12:21:35 2014
# 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 1000
loadrt stepgen step_type=0,0,0
loadrt abs count=1
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 motmod [base_period_nsec=period]
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf motion-controller base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
addf abs.0 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 50.0
setp pwmgen.0.scale 2466.66666667
setp pwmgen.0.offset 0.191891891892
setp pwmgen.0.dither-pwm true
net spindle-cw <= motion.spindle-forward
net charge-pump => parport.0.pin-01-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 spindle-on => parport.0.pin-14-out
net spindle-cw => parport.0.pin-16-out
net spindle-pwm => parport.0.pin-17-out
net mfn motion.feed-hold-in <= parport.0.pin-11-in-not
net spindle-index <= parport.0.pin-12-in
net home-z <= 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 12200
setp stepgen.0.dirsetup 12200
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
File: /home/vitaliu/Документы/станок_1.hal Page 2 of 2
setp stepgen.1.dirhold 12200
setp stepgen.1.dirsetup 12200
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 12200
setp stepgen.2.dirsetup 12200
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 home-z => axis.2.home-sw-in
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