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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt count=6
# load additional blocks
loadrt hypot count=2
loadrt comp count=3
loadrt or2 count=1
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
addf ddt.4 servo-thread
addf ddt.5 servo-thread
addf hypot.0 servo-thread
addf hypot.1 servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt.0.in
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt.2.in
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt.4.in
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt.0.out => ddt.1.in hypot.0.in0
net Xacc <= ddt.1.out
net Yvel ddt.2.out => ddt.3.in hypot.0.in1
net Yacc <= ddt.3.out
net Zvel ddt.4.out => ddt.5.in hypot.1.in0
net Zacc <= ddt.5.out
# Cartesian 2- and 3-axis velocities
net XYvel hypot.0.out => hypot.1.in1
net XYZvel <= hypot.1.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prepare <= iocontrol.0.tool-prepare
net tool-prepared => iocontrol.0.tool-prepared
net tool-change <= iocontrol.0.tool-change
net tool-changed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-number
net tool-prep-number <= iocontrol.0.tool-prep-number
net tool-prep-pocket <= iocontrol.0.tool-prep-pocket
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