# Generated by stepconf 1.1 at Sun May 14 10:50:43 2017
# Oko izmenite ovu datoteku, izmene ce biti
# prepisane pri sledecem pokretanju stepconf
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 1000
loadrt stepgen step_type=0,0,0

loadrt debounce cfg=3
setp debounce.0.delay 20

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 stepgen.update-freq servo-thread

addf debounce.0 servo-thread

net spindle-cmd-rpm     <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps     <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed    => motion.spindle-at-speed
net spindle-on <= motion.spindle-on

net probe-in => motion.probe-input

net estop-out       => parport.0.pin-01-out
net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net ydir            => parport.0.pin-05-out
net ystep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zstep           => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
net zdir            => parport.0.pin-08-out
net spindle-on      => parport.0.pin-09-out
net xdir            => parport.0.pin-14-out

#net both-home-x     <= parport.0.pin-10-in
#net both-home-y     <= parport.0.pin-11-in
#net both-home-z     <= parport.0.pin-12-in
net debounce-both-home-x debounce.0.0.in <= parport.0.pin-10-in
net both-home-x debounce.0.0.out
net debounce-both-home-y debounce.0.1.in <= parport.0.pin-11-in
net both-home-y debounce.0.1.out
net debounce-both-home-z debounce.0.2.in <= parport.0.pin-12-in
net both-home-z debounce.0.2.out

net probe-in        <= parport.0.pin-13-in
net estop-ext       <= parport.0.pin-15-in

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
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 both-home-x => axis.0.home-sw-in
net both-home-x => axis.0.neg-lim-sw-in
net both-home-x => axis.0.pos-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 15200
setp stepgen.1.dirsetup 15200
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 both-home-y => axis.1.home-sw-in
net both-home-y => axis.1.neg-lim-sw-in
net both-home-y => axis.1.pos-lim-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
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 both-home-z => axis.2.home-sw-in
net both-home-z => axis.2.neg-lim-sw-in
net both-home-z => axis.2.pos-lim-sw-in

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