# Generated by stepconf at Sun Jul 29 21:19:48 2007
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
loadrt hal_parport cfg=0x378
loadrt stepgen step_type=0,0,0
loadrt encoder num_chan=1

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
addf parport.0.write base-thread

addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

setp encoder.0.position-scale 0.005000
setp encoder.0.counter-mode 1

net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
net zdir => parport.0.pin-07-out
net astep => parport.0.pin-08-out
net adir => parport.0.pin-09-out
net coolant-flood => parport.0.pin-14-out
net estop-out => parport.0.pin-16-out
net amplifier-enable => parport.0.pin-17-out

net all-limit <= parport.0.pin-10-in
net all-home <= parport.0.pin-11-in
net estop-in <= parport.0.pin-12-in
net index <= parport.0.pin-13-in
net pha <= parport.0.pin-15-in

setp stepgen.0.position-scale [AXIS_0]INPUT_SCALE
setp stepgen.0.maxvel [AXIS_0]STEPGEN_MAXVEL
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp stepgen.0.steplen 5000
setp stepgen.0.stepspace 5000
setp stepgen.0.dirhold 20000
setp stepgen.0.dirsetup 20000
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net all-home => axis.0.home-sw-in
net all-limit => axis.0.neg-lim-sw-in
net all-limit => axis.0.pos-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]INPUT_SCALE
setp stepgen.1.maxvel [AXIS_1]STEPGEN_MAXVEL
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp stepgen.1.steplen 5000
setp stepgen.1.stepspace 5000
setp stepgen.1.dirhold 20000
setp stepgen.1.dirsetup 20000
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net all-home => axis.0.home-sw-in
net all-limit => axis.0.neg-lim-sw-in
net all-limit => axis.0.pos-lim-sw-in

setp stepgen.2.position-scale [AXIS_2]INPUT_SCALE
setp stepgen.2.maxvel [AXIS_2]STEPGEN_MAXVEL
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp stepgen.2.steplen 5000
setp stepgen.2.stepspace 5000
setp stepgen.2.dirhold 20000
setp stepgen.2.dirsetup 20000
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net all-home => axis.0.home-sw-in
net all-limit => axis.0.neg-lim-sw-in
net all-limit => axis.0.pos-lim-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared