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axis_x_gantry.hal
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axis_x_gantry.hal
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# ################
# Gantry
# ################
# position command and feedback
net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
net emcmot.00.pos-cmd => gantry.0.position-cmd
# Workaround for joint following error
net emcmot.00.pos-fb <= gantry.0.position-fb
#net emcmot.00.pos-fb => axis.0.motor-pos-fb
net emcmot.00.pos-cmd => axis.0.motor-pos-fb
# ################
# X1 [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
net emcmot.00.enable <= axis.0.amp-enable-out
net emcmot.00.enable => hpg.stepgen.00.enable
net emcmot.00.enable => or2.axis-enable.in1
net emcmot.00.enable => or2.status-led.in1
# position command and feedback
net emcmot.00.0.pos-cmd <= gantry.0.joint.00.pos-cmd
net emcmot.00.0.pos-cmd => hpg.stepgen.00.position-cmd
net emcmot.00.0.pos-fb <= hpg.stepgen.00.position-fb
net emcmot.00.0.pos-fb => gantry.0.joint.00.pos-fb
# timing parameters
setp hpg.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hpg.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hpg.stepgen.00.steplen [AXIS_0]STEPLEN
setp hpg.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hpg.stepgen.00.position-scale [AXIS_0]SCALE
setp hpg.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
setp hpg.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
setp hpg.stepgen.00.minvel [AXIS_0]STEPGEN_MIN_VEL
# Note: steppers connected in pinconfig file
# ################
# X2 [0] Axis
# ################
# axis enable chain
net emcmot.00.enable => hpg.stepgen.05.enable
net emcmot.00.1.pos-cmd <= gantry.0.joint.01.pos-cmd
net emcmot.00.1.pos-cmd => hpg.stepgen.05.position-cmd
net emcmot.00.1.pos-fb <= hpg.stepgen.05.position-fb
net emcmot.00.1.pos-fb => gantry.0.joint.01.pos-fb
# timing parameters
setp hpg.stepgen.05.dirsetup [AXIS_0]DIRSETUP
setp hpg.stepgen.05.dirhold [AXIS_0]DIRHOLD
setp hpg.stepgen.05.steplen [AXIS_0]STEPLEN
setp hpg.stepgen.05.stepspace [AXIS_0]STEPSPACE
setp hpg.stepgen.05.position-scale [AXIS_0]SCALE
setp hpg.stepgen.05.maxvel [AXIS_0]STEPGEN_MAX_VEL
setp hpg.stepgen.05.maxaccel [AXIS_0]STEPGEN_MAX_ACC
setp hpg.stepgen.05.minvel [AXIS_0]STEPGEN_MIN_VEL
# Note: steppers connected in pinconfig file