# Generated by stepconf 1.1 at Fri Oct 11 17:59:27 2024 # If you make changes to this file, they will be # overwritten when you run stepconf again # Load the Huanyang VFD component loadusr -W hy_vfd -d /dev/ttyACM0 -p none -r 9600 setp hy_vfd.enable 1 # Connect HAL pins to motion controller net spindle-vel-cmd-rpm-abs spindle.0.speed-out => hy_vfd.speed-command net spindle-cw spindle.0.forward => hy_vfd.spindle-forward net spindle-enable spindle.0.on => hy_vfd.spindle-on net spindle-ccw hy_vfd.spindle-reverse net spindle-at-speed spindle.0.at-speed <= hy_vfd.spindle-at-speed loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hal_parport cfg="d030 out e050 out" setp parport.0.reset-time 5000 loadrt stepgen step_type=0,0,0,0,0 addf parport.0.read base-thread addf parport.1.read base-thread addf stepgen.make-pulses base-thread addf parport.0.write base-thread addf parport.0.reset base-thread addf parport.1.write 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 setp parport.0.pin-02-out-invert 1 net xstep => parport.0.pin-02-out setp parport.0.pin-02-out-reset 1 setp parport.0.pin-03-out-invert 1 net xdir => parport.0.pin-03-out setp parport.0.pin-04-out-invert 1 net ystep => parport.0.pin-04-out setp parport.0.pin-04-out-reset 1 setp parport.0.pin-05-out-invert 1 net ydir => parport.0.pin-05-out setp parport.0.pin-06-out-invert 1 net zstep => parport.0.pin-06-out setp parport.0.pin-06-out-reset 1 setp parport.0.pin-07-out-invert 1 net zdir => parport.0.pin-07-out setp parport.0.pin-08-out-invert 1 net y2step => parport.0.pin-08-out setp parport.0.pin-08-out-reset 1 setp parport.0.pin-09-out-invert 1 net y2dir => parport.0.pin-09-out setp parport.0.pin-16-out-invert 1 net astep => parport.0.pin-16-out setp parport.0.pin-16-out-reset 1 net adir => parport.0.pin-17-out net estop-ext <= parport.0.pin-15-in setp stepgen.0.position-scale [JOINT_0]SCALE setp stepgen.0.steplen 1 setp stepgen.0.stepspace 0 setp stepgen.0.dirhold 60000 setp stepgen.0.dirsetup 60000 setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb net xstep <= stepgen.0.step net xdir <= stepgen.0.dir net xenable joint.0.amp-enable-out => stepgen.0.enable setp stepgen.1.position-scale [JOINT_1]SCALE setp stepgen.1.steplen 1 setp stepgen.1.stepspace 0 setp stepgen.1.dirhold 60000 setp stepgen.1.dirsetup 60000 setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb net ystep <= stepgen.1.step net ydir <= stepgen.1.dir net yenable joint.1.amp-enable-out => stepgen.1.enable setp stepgen.2.position-scale [JOINT_2]SCALE setp stepgen.2.steplen 1 setp stepgen.2.stepspace 0 setp stepgen.2.dirhold 60000 setp stepgen.2.dirsetup 60000 setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL net y2pos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd net y2pos-fb stepgen.2.position-fb => joint.2.motor-pos-fb net y2step <= stepgen.2.step net y2dir <= stepgen.2.dir net y2enable joint.2.amp-enable-out => stepgen.2.enable setp stepgen.3.position-scale [JOINT_3]SCALE setp stepgen.3.steplen 1 setp stepgen.3.stepspace 0 setp stepgen.3.dirhold 60000 setp stepgen.3.dirsetup 60000 setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb net zstep <= stepgen.3.step net zdir <= stepgen.3.dir net zenable joint.3.amp-enable-out => stepgen.3.enable setp stepgen.4.position-scale [JOINT_4]SCALE setp stepgen.4.steplen 1 setp stepgen.4.stepspace 0 setp stepgen.4.dirhold 60000 setp stepgen.4.dirsetup 60000 setp stepgen.4.maxaccel [JOINT_4]STEPGEN_MAXACCEL net apos-cmd joint.4.motor-pos-cmd => stepgen.4.position-cmd net apos-fb stepgen.4.position-fb => joint.4.motor-pos-fb net astep <= stepgen.4.step net adir <= stepgen.4.dir net aenable joint.4.amp-enable-out => stepgen.4.enable net estop-out <= iocontrol.0.user-enable-out net estop-ext => iocontrol.0.emc-enable-in net tool-change <= iocontrol.0.tool-change net tool-changed => iocontrol.0.tool-changed net tool-number <= iocontrol.0.tool-prep-number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared