1  # core HAL config file for simulation
 2  
 3  # first load all the RT modules that will be needed
 4  # kinematics
 5  loadrt [KINS]KINEMATICS
 6  # motion controller, get name and thread periods from ini file
 7  loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 8  # load 6 differentiators (for velocity and accel signals
 9  loadrt ddt count=6
10  # load additional blocks
11  loadrt hypot count=2
12  loadrt comp count=3
13  loadrt or2 count=1
14  
15  # add motion controller functions to servo thread
16  addf motion-command-handler servo-thread
17  addf motion-controller servo-thread
18  # link the differentiator functions into the code
19  addf ddt.0 servo-thread
20  addf ddt.1 servo-thread
21  addf ddt.2 servo-thread
22  addf ddt.3 servo-thread
23  addf ddt.4 servo-thread
24  addf ddt.5 servo-thread
25  addf hypot.0 servo-thread
26  addf hypot.1 servo-thread
27  
28  # create HAL signals for position commands from motion module
29  # loop position commands back to motion module feedback
30  net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt.0.in
31  net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt.2.in
32  net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt.4.in
33  
34  # send the position commands thru differentiators to
35  # generate velocity and accel signals
36  net Xvel ddt.0.out => ddt.1.in hypot.0.in0
37  net Xacc <= ddt.1.out
38  net Yvel ddt.2.out => ddt.3.in hypot.0.in1
39  net Yacc <= ddt.3.out
40  net Zvel ddt.4.out => ddt.5.in hypot.1.in0
41  net Zacc <= ddt.5.out
42  
43  # Cartesian 2- and 3-axis velocities
44  net XYvel hypot.0.out => hypot.1.in1
45  net XYZvel <= hypot.1.out
46  
47  # estop loopback
48  net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
49  
50  # create signals for tool loading loopback
51  net tool-prepare <= iocontrol.0.tool-prepare
52  net tool-prepared => iocontrol.0.tool-prepared
53  
54  net tool-change <= iocontrol.0.tool-change
55  net tool-changed => iocontrol.0.tool-changed
56  
57  net tool-number <= iocontrol.0.tool-number
58  net tool-prep-number <= iocontrol.0.tool-prep-number
59  net tool-prep-pocket <= iocontrol.0.tool-prep-pocket