mirror of https://github.com/rene-dev/stmbl.git
32 lines
1.5 KiB
Plaintext
Executable File
32 lines
1.5 KiB
Plaintext
Executable File
loadrt [KINS]KINEMATICS
|
|
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
|
loadrt hostmot2
|
|
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
|
|
loadrt estop_latch
|
|
|
|
setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 50000000
|
|
|
|
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
|
|
addf motion-command-handler servo-thread
|
|
addf motion-controller servo-thread
|
|
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
|
|
addf estop-latch.0 servo-thread
|
|
|
|
net xposcmd joint.0.motor-pos-cmd => hm2_[HOSTMOT2](BOARD).0.stbl.0.0.pos_cmd
|
|
net xvelcmd joint.0.vel-cmd => hm2_[HOSTMOT2](BOARD).0.stbl.0.0.vel_cmd
|
|
net xposfb joint.0.motor-pos-fb <= hm2_[HOSTMOT2](BOARD).0.stbl.0.0.pos_fb
|
|
net xenable joint.0.amp-enable-out => hm2_[HOSTMOT2](BOARD).0.stbl.0.0.enable
|
|
net xfault joint.0.amp-fault-in <= hm2_[HOSTMOT2](BOARD).0.stbl.0.0.fault
|
|
#net xindex joint.0.index-enable <=> hm2_[HOSTMOT2](BOARD).0.stbl.0.0.index_enable
|
|
setp hm2_[HOSTMOT2](BOARD).0.stbl.0.0.scale 6
|
|
|
|
# A basic estop loop that only includes the hostmot watchdog.
|
|
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
|
|
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
|
|
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
|
|
|
|
# create signals for tool loading loopback
|
|
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
|
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
|
|
|