# Généré par Stepconf le Sat Feb 23 14:48:18 2013
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez Stepconf
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
loadrt stepgen step_type=0,0,0

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

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out

# **** X Axis *****
net xdir => parport.0.pin-01-out
net xstep => parport.0.pin-16-out
net xenable => parport.0.pin-04-out

# **** Y Axis *******
net ystep => parport.0.pin-14-out
net ydir => parport.0.pin-07-out
net yenable => parport.0.pin-17-out

# ***** Z Axis ******
net zstep => parport.0.pin-03-out
net zdir => parport.0.pin-06-out
net zenable => parport.0.pin-05-out

# ********* axis unused *********
#net astep => parport.0.pin-09-out
#net adir => parport.0.pin-08-out

# invert amplifier enable pins here if required 
#setp parport.0.pin-04-out-invert 1
#setp parport.0.pin-05-out-invert 1
#setp parport.0.pin-17-out-invert 1

# *** spindle relay ******
net spindle-on => parport.0.pin-02-out

# invert spindle relay here if required 
#setp parport.0.pin-02-out-invert 1



setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 19600
setp stepgen.0.dirsetup 63100
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
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

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 19600
setp stepgen.1.dirsetup 63100
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
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

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 19600
setp stepgen.2.dirsetup 63100
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
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 estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

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