Modified file emc2/configs/sim/check_constraints.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/check_constraints.hal?rev=1.3>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/check_constraints.hal.diff?r1=1.2;r2=1.3>
Branch: TRUNK
Log:
revision 1.3
date: 2007/10/02 19:44:04; author: jepler; state: Exp; lines: +20 -28
prefer 'net' to 'newsig' and 'linkXX' commands
--- check_constraints.hal 2007/02/14 04:39:18 1.2
+++ check_constraints.hal 2007/10/02 19:44:04 1.3
@@ -9,26 +9,19 @@
addf wcomp.4 servo-thread
addf wcomp.5 servo-thread
-linksp Xacc => wcomp.0.in
-linksp Xvel => wcomp.1.in
-linksp Yacc => wcomp.2.in
-linksp Yvel => wcomp.3.in
-linksp Zacc => wcomp.4.in
-linksp Zvel => wcomp.5.in
-
-newsig acc-ok-x bit
-newsig vel-ok-x bit
-newsig acc-ok-y bit
-newsig vel-ok-y bit
-newsig acc-ok-z bit
-newsig vel-ok-z bit
-
-linksp acc-ok-x <= wcomp.0.out
-linksp vel-ok-x <= wcomp.1.out
-linksp acc-ok-y <= wcomp.2.out
-linksp vel-ok-y <= wcomp.3.out
-linksp acc-ok-z <= wcomp.4.out
-linksp vel-ok-z <= wcomp.5.out
+net Xacc => wcomp.0.in
+net Xvel => wcomp.1.in
+net Yacc => wcomp.2.in
+net Yvel => wcomp.3.in
+net Zacc => wcomp.4.in
+net Zvel => wcomp.5.in
+
+net acc-ok-x <= wcomp.0.out
+net vel-ok-x <= wcomp.1.out
+net acc-ok-y <= wcomp.2.out
+net vel-ok-y <= wcomp.3.out
+net acc-ok-z <= wcomp.4.out
+net vel-ok-z <= wcomp.5.out
setp wcomp.0.max 20
setp wcomp.0.min -20
@@ -47,17 +40,17 @@
addf match8.0 servo-thread
-linksp acc-ok-x match8.0.a0
+net acc-ok-x => match8.0.a0
setp match8.0.b0 1
-linksp vel-ok-x match8.0.a1
+net vel-ok-x => match8.0.a1
setp match8.0.b1 1
-linksp acc-ok-y match8.0.a2
+net acc-ok-y => match8.0.a2
setp match8.0.b2 1
-linksp vel-ok-y match8.0.a3
+net vel-ok-y => match8.0.a3
setp match8.0.b3 1
-linksp acc-ok-z match8.0.a4
+net acc-ok-z => match8.0.a4
setp match8.0.b4 1
-linksp vel-ok-z match8.0.a5
+net vel-ok-z => match8.0.a5
setp match8.0.b5 1
setp match8.0.a6 0
@@ -67,5 +60,4 @@
setp match8.0.in 1
-newsig constraints-ok bit
-linkps match8.0.out constraints-ok
+net constraints-ok <= match8.0.out
Modified file emc2/configs/sim/lathe.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/lathe.hal?rev=1.8>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/lathe.hal.diff?r1=1.7;r2=1.8>
Branch: TRUNK
Log:
revision 1.8
date: 2007/10/02 19:44:04; author: jepler; state: Exp; lines: +8 -24
prefer 'net' to 'newsig' and 'linkXX' commands
--- lathe.hal 2007/06/12 04:22:03 1.7
+++ lathe.hal 2007/10/02 19:44:04 1.8
@@ -11,28 +11,17 @@
#######################################################
# spindle speed control
-newsig spindle-speed-cmd float
-newsig spindle-speed-limited float
-linkps motion.spindle-speed-out => spindle-speed-cmd
-linksp spindle-speed-cmd => limit2.0.in
-linkps limit2.0.out => spindle-speed-limited
-linksp spindle-speed-limited => sim-encoder.0.speed
+net spindle-speed-cmd motion.spindle-speed.out => limit2.0.in
+net spindle-speed-limited limit2.0.out => sim-encoder.0.speed
# simulate spindle mass
setp limit2.0.maxv 500.0 # rpm/second
# spindle encoder
# connect encoder signals to encoder counter
-newsig spindle-phase-A bit
-newsig spindle-phase-B bit
-newsig spindle-phase-Z bit
-linksp spindle-phase-A => encoder.0.phase-A
-linksp spindle-phase-B => encoder.0.phase-B
-linksp spindle-phase-Z => encoder.0.phase-Z
-
-linkps sim-encoder.0.phase-A => spindle-phase-A
-linkps sim-encoder.0.phase-B => spindle-phase-B
-linkps sim-encoder.0.phase-Z => spindle-phase-Z
+net spindle-phase-A sim-encoder.0.phase-A => encoder.0.phase-A
+net spindle-phase-B sim-encoder.0.phase-B => encoder.0.phase-B
+net spindle-phase-Z sim-encoder.0.phase-Z => encoder.0.phase-Z
# assume 120 ppr = 480 counts/rev for the spindle
setp sim-encoder.0.ppr 120
@@ -46,14 +35,10 @@
# encoder reset control
# hook up motion controller's sync output
-newsig spindle-index-enable bit
-linkps motion.spindle-index-enable <=> spindle-index-enable
-linksp spindle-index-enable <=> encoder.0.index-enable
+net spindle-index-enable motion.spindle-index-enable <=> encoder.0.index-enable
# report our revolution count to the motion controller
-newsig spindle-pos float
-linkps encoder.0.position => spindle-pos
-linksp spindle-pos => motion.spindle-revs
+net spindle-pos encoder.0.position => motion.spindle-revs
# for spindle velocity estimate
loadrt lowpass count=1
@@ -66,8 +51,7 @@
addf lowpass.0 servo-thread
addf scale.0 servo-thread
-newsig spindle-fwd bit
-linksp spindle-fwd <= motion.spindle-forward
+net spindle-fwd <= motion.spindle-forward
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
Modified file emc2/configs/sim/lathe_postgui.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/lathe_postgui.hal?rev=1.3>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/lathe_postgui.hal.diff?r1=1.2;r2=1.3>
Branch: TRUNK
Log:
revision 1.3
date: 2007/10/02 19:44:05; author: jepler; state: Exp; lines: +1 -1
prefer 'net' to 'newsig' and 'linkXX' commands
--- lathe_postgui.hal 2007/01/03 16:51:40 1.2
+++ lathe_postgui.hal 2007/10/02 19:44:05 1.3
@@ -1 +1 @@
-linksp spindle-rpm-filtered pyvcp.spindle-speed
+net spindle-rpm-filtered => pyvcp.spindle-speed
Modified file emc2/configs/sim/servo_sim.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/servo_sim.hal?rev=1.10>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/servo_sim.hal.diff?r1=1.9;r2=1.10>
Branch: TRUNK
Log:
revision 1.10
date: 2007/10/02 19:44:05; author: jepler; state: Exp; lines: +66 -202
prefer 'net' to 'newsig' and 'linkXX' commands
--- servo_sim.hal 2007/05/12 18:46:29 1.9
+++ servo_sim.hal 2007/10/02 19:44:05 1.10
@@ -57,87 +57,36 @@
addf ddt.4 servo-thread
addf ddt.5 servo-thread
-# create three position feedback signals
-newsig Xpos-fb float
-newsig Ypos-fb float
-newsig Zpos-fb float
-
# get position feedback from encoder module
-linksp Xpos-fb <= encoder.0.position
-linksp Ypos-fb <= encoder.1.position
-linksp Zpos-fb <= encoder.2.position
+# connect position feedback to PID loop and motion module
+net Xpos-fb encoder.0.position => pid.0.feedback axis.0.motor-pos-fb
+net Ypos-fb encoder.1.position => pid.1.feedback axis.1.motor-pos-fb
+net Zpos-fb encoder.2.position => pid.2.feedback axis.2.motor-pos-fb
# set position feedback scaling
setp encoder.0.position-scale [AXIS_0]INPUT_SCALE
setp encoder.1.position-scale [AXIS_1]INPUT_SCALE
setp encoder.2.position-scale [AXIS_2]INPUT_SCALE
-# connect position feedback to PID loop
-linksp Xpos-fb => pid.0.feedback
-linksp Ypos-fb => pid.1.feedback
-linksp Zpos-fb => pid.2.feedback
-
-# connect position feedback to motion module
-linksp Xpos-fb => axis.0.motor-pos-fb
-linksp Ypos-fb => axis.1.motor-pos-fb
-linksp Zpos-fb => axis.2.motor-pos-fb
-
# connect encoder index-enables for homing on index
-newsig Xindex-enable bit
-newsig Yindex-enable bit
-newsig Zindex-enable bit
-linksp Xindex-enable encoder.0.index-enable
-linksp Xindex-enable axis.0.index-enable
-linksp Yindex-enable encoder.1.index-enable
-linksp Yindex-enable axis.1.index-enable
-linksp Zindex-enable encoder.2.index-enable
-linksp Zindex-enable axis.2.index-enable
-
-# create three position command signals
-newsig Xpos-cmd float
-newsig Ypos-cmd float
-newsig Zpos-cmd float
-
-# connect position commands to motion controller
-linksp Xpos-cmd <= axis.0.motor-pos-cmd
-linksp Ypos-cmd <= axis.1.motor-pos-cmd
-linksp Zpos-cmd <= axis.2.motor-pos-cmd
-
-# connect position commands to PID input
-linksp Xpos-cmd => pid.0.command
-linksp Ypos-cmd => pid.1.command
-linksp Zpos-cmd => pid.2.command
-
-# create bit signals to enable/disable the PID loops
-newsig Xenable bit
-newsig Yenable bit
-newsig Zenable bit
-
-# connect the signals to the motion controller
-linksp Xenable <= axis.0.amp-enable-out
-linksp Yenable <= axis.1.amp-enable-out
-linksp Zenable <= axis.2.amp-enable-out
-
-# connect the signals to the PID blocks
-linksp Xenable => pid.0.enable
-linksp Yenable => pid.1.enable
-linksp Zenable => pid.2.enable
-
-# create PID to "motor" output signals
-newsig Xoutput float
-newsig Youtput float
-newsig Zoutput float
-
-# connect output signals to output of PID loops
-linksp Xoutput <= pid.0.output
-linksp Youtput <= pid.1.output
-linksp Zoutput <= pid.2.output
-
-# connect output signals (in inches per sec) to
-# scale blocks that translate to motor revs per sec
-linksp Xoutput => scale.0.in
-linksp Youtput => scale.1.in
-linksp Zoutput => scale.2.in
+net Xindex-enable encoder.0.index-enable <=> axis.0.index-enable
+net Yindex-enable encoder.1.index-enable <=> axis.1.index-enable
+net Zindex-enable encoder.2.index-enable <=> axis.2.index-enable
+
+# connect position commands from motion controller to PID input
+net Xpos-cmd <= axis.0.motor-pos-cmd => pid.0.command
Modified file emc2/configs/sim/sim-xyyz.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/sim-xyyz.hal?rev=1.2>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/sim-xyyz.hal.diff?r1=1.1;r2=1.2>
Branch: TRUNK
Log:
revision 1.2
date: 2007/10/02 19:44:05; author: jepler; state: Exp; lines: +23 -62
prefer 'net' to 'newsig' and 'linkXX' commands
--- sim-xyyz.hal 2007/05/19 11:22:31 1.1
+++ sim-xyyz.hal 2007/10/02 19:44:05 1.2
@@ -31,76 +31,37 @@
addf hypot.1 servo-thread
# create HAL signals for position commands from motion module
-newsig Xpos float
-linksp Xpos <= axis.0.motor-pos-cmd
-newsig Ypos float
-linksp Ypos <= axis.1.motor-pos-cmd
-newsig Zpos float
-linksp Zpos <= axis.2.motor-pos-cmd
-
-newsig Apos float
-linksp Apos <= axis.3.motor-pos-cmd
-
# loop position commands back to motion module feedback
-linksp Xpos => axis.0.motor-pos-fb
-linksp Ypos => axis.1.motor-pos-fb
-linksp Zpos => axis.2.motor-pos-fb
-linksp Apos => axis.3.motor-pos-fb
+net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt.0.in
+net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt.2.in
+net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt.4.in
+net Y1pos axis.3.motor-pos-cmd => axis.3.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
# define the signals, and hook them up
-newsig Xvel float
-newsig Xacc float
-linksp Xpos => ddt.0.in
-linkps ddt.0.out => Xvel
-linksp Xvel => ddt.1.in
-linkps ddt.1.out => Xacc
-newsig Yvel float
-newsig Yacc float
-linksp Ypos => ddt.2.in
-linkps ddt.2.out => Yvel
-linksp Yvel => ddt.3.in
-linkps ddt.3.out => Yacc
-newsig Zvel float
-newsig Zacc float
-linksp Zpos => ddt.4.in
-linkps ddt.4.out => Zvel
-linksp Zvel => ddt.5.in
-linkps ddt.5.out => Zacc
-
-newsig XYvel float
-linksp Xvel => hypot.0.in0
-linksp Yvel => hypot.0.in1
-linksp XYvel <= hypot.0.out
-newsig XYZvel float
-linksp Zvel => hypot.1.in0
-linksp XYvel => hypot.1.in1
-linksp XYZvel <= hypot.1.out
+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
+
+net XYvel hypot.0.out => hypot.1.in0
+net XYZvel <= hypot.1.out
# estop loopback
-linkpp iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+net enable iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
-linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
-linkpp iocontrol.0.tool-change iocontrol.0.tool-changed
+net tool-prepare iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+net tool-change iocontrol.0.tool-change => iocontrol.0.tool-changed
# amp control
-newsig xena bit
-linksp xena axis.0.amp-enable-out
-newsig yena bit
-linksp yena axis.1.amp-enable-out
-newsig zena bit
-linksp zena axis.2.amp-enable-out
-
-newsig xflt bit
-linksp xflt axis.0.amp-fault-in
-newsig yflt bit
-linksp yflt axis.1.amp-fault-in
-newsig zflt bit
-linksp zflt axis.2.amp-fault-in
-
-# load realtime portion of scope
-loadrt scope_rt
-# start up scope user interface
-# loadusr halscope
+net xena <= axis.0.amp-enable-out
+net yena <= axis.1.amp-enable-out
Modified file emc2/configs/sim/simulated_home.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/simulated_home.hal?rev=1.6>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/simulated_home.hal.diff?r1=1.5;r2=1.6>
Branch: TRUNK
Log:
revision 1.6
date: 2007/10/02 19:44:05; author: jepler; state: Exp; lines: +13 -35
prefer 'net' to 'newsig' and 'linkXX' commands
--- simulated_home.hal 2007/05/23 14:37:34 1.5
+++ simulated_home.hal 2007/10/02 19:44:05 1.6
@@ -1,51 +1,29 @@
-newsig Xhomeswpos float
-newsig Yhomeswpos float
-newsig Zhomeswpos float
-#newsig Ahomeswpos float
+net Xhomeswpos => comp.0.in0
+net Yhomeswpos => comp.1.in0
+net Zhomeswpos => comp.2.in0
sets Xhomeswpos 1
sets Yhomeswpos .5
sets Zhomeswpos 2
-#sets Ahomeswpos .6
-linksp Xhomeswpos comp.0.in0
-linksp Yhomeswpos comp.1.in0
-linksp Zhomeswpos comp.2.in0
-#linksp Ahomeswpos comp.3.in0
-
-linksp Xpos comp.0.in1
-linksp Ypos comp.1.in1
-linksp Zpos comp.2.in1
-#linksp Apos comp.3.in1
+net Xpos => comp.0.in1
+net Ypos => comp.1.in1
+net Zpos => comp.2.in1
setp comp.0.hyst .02
setp comp.1.hyst .02
setp comp.2.hyst .02
-#setp comp.3.hyst .02
-newsig Xhomesw bit
-newsig Yhomesw bit
-newsig Zhomesw bit
-#newsig Ahomesw bit
-newsig XZhomesw bit
-
-linksp Xhomesw comp.0.out
-linksp Yhomesw comp.1.out
-linksp Zhomesw comp.2.out
-#linksp Ahomesw comp.3.out
-
-linksp Xhomesw or2.0.in0
-linksp Zhomesw or2.0.in1
-linksp XZhomesw or2.0.out
-
-linksp XZhomesw axis.0.home-sw-in
-linksp Yhomesw axis.1.home-sw-in
-#linksp Ahomesw axis.3.home-sw-in
-linksp XZhomesw axis.2.home-sw-in
+net Xhomesw <= comp.0.out
+net Yhomesw <= comp.1.out => axis.1.home-sw-in
+net Zhomesw <= comp.2.out
+
+net Xhomesw => or2.0.in0
+net Zhomesw => or2.0.in1
+net XZhomesw or2.0.out => axis.0.home-sw-in axis.2.home-sw-in
addf comp.0 servo-thread
addf comp.1 servo-thread
addf comp.2 servo-thread
-#addf comp.3 servo-thread
addf or2.0 servo-thread
Modified file emc2/configs/sim/simulated_limits.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/simulated_limits.hal?rev=1.4>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/simulated_limits.hal.diff?r1=1.3;r2=1.4>
Branch: TRUNK
Log:
revision 1.4
date: 2007/10/02 19:44:05; author: jepler; state: Exp; lines: +20 -38
prefer 'net' to 'newsig' and 'linkXX' commands
--- simulated_limits.hal 2006/10/16 00:25:49 1.3
+++ simulated_limits.hal 2007/10/02 19:44:05 1.4
@@ -17,46 +17,28 @@
# connect position feedback from step generators
# to window comparators
-linksp Xpos-fb => wcomp.0.in
-linksp Xpos-fb => wcomp.1.in
-linksp Xpos-fb => wcomp.2.in
-linksp Ypos-fb => wcomp.3.in
-linksp Ypos-fb => wcomp.4.in
-linksp Ypos-fb => wcomp.5.in
-linksp Zpos-fb => wcomp.6.in
-linksp Zpos-fb => wcomp.7.in
-linksp Zpos-fb => wcomp.8.in
+net Xpos-fb => wcomp.0.in
+net Xpos-fb => wcomp.1.in
+net Xpos-fb => wcomp.2.in
+net Ypos-fb => wcomp.3.in
+net Ypos-fb => wcomp.4.in
+net Ypos-fb => wcomp.5.in
+net Zpos-fb => wcomp.6.in
+net Zpos-fb => wcomp.7.in
+net Zpos-fb => wcomp.8.in
# connect simulated switch outputs to motion controller
-newsig Xminlim bit
-newsig Xmaxlim bit
-newsig Xhome bit
-linksp Xminlim <= wcomp.0.out
-linksp Xminlim => axis.0.neg-lim-sw-in
-linksp Xmaxlim <= wcomp.1.out
-linksp Xmaxlim => axis.0.pos-lim-sw-in
-linksp Xhome <= wcomp.2.out
-linksp Xhome => axis.0.home-sw-in
+net Xminlim wcomp.0.out => axis.0.neg-lim-sw-in
+net Xmaxlim wcomp.1.out => axis.0.pos-lim-sw-in
+net Xhome wcomp.2.out => axis.0.home-sw-in
-newsig Yminlim bit
-newsig Ymaxlim bit
-newsig Yhome bit
-linksp Yminlim <= wcomp.3.out
-linksp Yminlim => axis.1.neg-lim-sw-in
-linksp Ymaxlim <= wcomp.4.out
-linksp Ymaxlim => axis.1.pos-lim-sw-in
-linksp Yhome <= wcomp.5.out
-linksp Yhome => axis.1.home-sw-in
+net Yminlim wcomp.3.out => axis.1.neg-lim-sw-in
+net Ymaxlim wcomp.4.out => axis.1.pos-lim-sw-in
+net Yhome wcomp.5.out => axis.1.home-sw-in
-newsig Zminlim bit
-newsig Zmaxlim bit
-newsig Zhome bit
-linksp Zminlim <= wcomp.6.out
-linksp Zminlim => axis.2.neg-lim-sw-in
-linksp Zmaxlim <= wcomp.7.out
-linksp Zmaxlim => axis.2.pos-lim-sw-in
-linksp Zhome <= wcomp.8.out
-linksp Zhome => axis.2.home-sw-in
+net Zminlim wcomp.6.out => axis.2.neg-lim-sw-in
+net Zmaxlim wcomp.7.out => axis.2.pos-lim-sw-in
+net Zhome wcomp.8.out => axis.2.home-sw-in
# configure the points at which the simulated switches trip
# X axis first
Modified file emc2/configs/sim/tripodsim.hal
Full file:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/tripodsim.hal?rev=1.5>
Difference:
<http://cvs.linuxcnc.org/cvs/emc2/configs/sim/tripodsim.hal.diff?r1=1.4;r2=1.5>
Branch: TRUNK
Log:
revision 1.5
date: 2007/10/02 19:44:05; author: jepler; state: Exp; lines: +19 -57
prefer 'net' to 'newsig' and 'linkXX' commands
--- tripodsim.hal 2007/05/12 18:46:29 1.4
+++ tripodsim.hal 2007/10/02 19:44:05 1.5
@@ -11,7 +11,6 @@
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY
# 6 differentiators (for velocity and accel sigs)
loadrt ddt count=6
-loadrt hypot count=2
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
@@ -23,71 +22,34 @@
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
-newsig Xpos float
-linksp Xpos <= axis.0.motor-pos-cmd
-newsig Ypos float
-linksp Ypos <= axis.1.motor-pos-cmd
-newsig Zpos float
-linksp Zpos <= axis.2.motor-pos-cmd
-
# loop position commands back to motion module feedback
-linksp Xpos => axis.0.motor-pos-fb
-linksp Ypos => axis.1.motor-pos-fb
-linksp Zpos => axis.2.motor-pos-fb
+net J0pos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt.0.in
+net J1pos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt.2.in
+net J2pos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt.4.in
# send the position commands thru differentiators to
# generate velocity and accel signals
-# define the signals, and hook them up
-newsig Xvel float
-newsig Xacc float
-linksp Xpos => ddt.0.in
-linkps ddt.0.out => Xvel
-linksp Xvel => ddt.1.in
-linkps ddt.1.out => Xacc
-newsig Yvel float
-newsig Yacc float
-linksp Ypos => ddt.2.in
-linkps ddt.2.out => Yvel
-linksp Yvel => ddt.3.in
-linkps ddt.3.out => Yacc
-newsig Zvel float
-newsig Zacc float
-linksp Zpos => ddt.4.in
-linkps ddt.4.out => Zvel
-linksp Zvel => ddt.5.in
-linkps ddt.5.out => Zacc
-
-newsig XYvel float
-linksp Xvel => hypot.0.in0
-linksp Yvel => hypot.0.in1
-linksp XYvel <= hypot.0.out
-newsig XYZvel float
-linksp Zvel => hypot.1.in0
-linksp XYvel => hypot.1.in1
-linksp XYZvel <= hypot.1.out
+net J0vel ddt.0.out => ddt.1.in hypot.0.in0
+net J0acc <= ddt.1.out
+net J1vel ddt.2.out => ddt.3.in hypot.0.in1
+net J1acc <= ddt.3.out
+net J2vel ddt.4.out => ddt.5.in hypot.1.in0
+net J2acc <= ddt.5.out
# estop loopback
-net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-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
+net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
# amp control
-newsig xena bit
-linksp xena axis.0.amp-enable-out
-newsig yena bit
-linksp yena axis.1.amp-enable-out
-newsig zena bit
-linksp zena axis.2.amp-enable-out
-
-newsig xflt bit
-linksp xflt axis.0.amp-fault-in
-newsig yflt bit
-linksp yflt axis.1.amp-fault-in
-newsig zflt bit
-linksp zflt axis.2.amp-fault-in
+net J0ena <= axis.0.amp-enable-out
+net J1ena <= axis.1.amp-enable-out
+net J2ena <= axis.2.amp-enable-out
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