bartool/mayo-mill-probasic
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dzialajaca konfiguracja

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bartool
2026-06-07 17:16:29 +02:00
parent 8a166698ce
commit a3870cb152
3 changed files with 98 additions and 26 deletions
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6
mayo-mill-remora.hal
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@@ -6,7 +6,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
# load the Remora real-time component
loadrt remora-eth PRU_base_freq=75000
loadrt remora-eth-3.0 PRU_base_freq=75000
loadrt estop_latch names=estop_latch
loadrt and2 names=run_and,step_and
@@ -43,7 +43,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
net user-request-enable <= iocontrol.0.user-request-enable => remora.reset estop_latch.reset
#Halt is shared with motor alarms and is in the estop loop.
#estop_latch returns 'ok' when fault-in is false, ok-in is true, and reset changes from false to true.
net estop-fault_in remora.input.07 => estop_latch.fault-in
net estop-fault_in remora.input.03 => estop_latch.fault-in
net remora-status remora.status => estop_latch.ok-in
net estop-status estop_latch.ok-out => iocontrol.0.emc-enable-in
@@ -118,7 +118,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
# Probe
net probe-in motion.probe-input <= remora.input.08
net probe-in motion.probe-input <= remora.input.04
# Manual toolchange