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Copy pathaxis_z_gantry.hal
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axis_z_gantry.hal
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# ################
# Gantry Z
# ################
# position command and feedback
net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
net emcmot.02.pos-cmd => gantry.0.position-cmd
# Workaround for joint following error
net emcmot.02.pos-fb <= gantry.0.position-fb
#net emcmot.02.pos-fb => axis.2.motor-pos-fb
net emcmot.02.pos-cmd => axis.2.motor-pos-fb
# ################
# Z1 [2] Axis
# ################
# axis enable chain
newsig emcmot.02.enable bit
net emcmot.02.enable <= axis.2.amp-enable-out
net emcmot.02.enable => hpg.stepgen.02.enable
net emcmot.00.enable => or2.axis-enable.in1
net emcmot.00.enable => or2.status-led.in1
# position command and feedback
net emcmot.02.0.pos-cmd <= gantry.0.joint.00.pos-cmd
net emcmot.02.0.pos-cmd => hpg.stepgen.02.position-cmd
net emcmot.02.0.pos-fb <= hpg.stepgen.02.position-fb
net emcmot.02.0.pos-fb => gantry.0.joint.00.pos-fb
# timing parameters
setp hpg.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hpg.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hpg.stepgen.02.steplen [AXIS_2]STEPLEN
setp hpg.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hpg.stepgen.02.position-scale [AXIS_2]SCALE
setp hpg.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL
setp hpg.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAX_ACC
setp hpg.stepgen.02.minvel [AXIS_2]STEPGEN_MIN_VEL
# Note: steppers connected in pinconfig file
# ################
# Z2 [2] Axis
# ################
# axis enable chain
net emcmot.02.enable => hpg.stepgen.03.enable
net emcmot.02.1.pos-cmd <= gantry.0.joint.01.pos-cmd
net emcmot.02.1.pos-cmd => hpg.stepgen.03.position-cmd
net emcmot.02.1.pos-fb <= hpg.stepgen.03.position-fb
net emcmot.02.1.pos-fb => gantry.0.joint.01.pos-fb
# timing parameters
setp hpg.stepgen.03.dirsetup [AXIS_2]DIRSETUP
setp hpg.stepgen.03.dirhold [AXIS_2]DIRHOLD
setp hpg.stepgen.03.steplen [AXIS_2]STEPLEN
setp hpg.stepgen.03.stepspace [AXIS_2]STEPSPACE
setp hpg.stepgen.03.position-scale [AXIS_2]SCALE
setp hpg.stepgen.03.maxvel [AXIS_2]STEPGEN_MAX_VEL
setp hpg.stepgen.03.maxaccel [AXIS_2]STEPGEN_MAX_ACC
setp hpg.stepgen.03.minvel [AXIS_2]STEPGEN_MIN_VEL
# Note: steppers connected in pinconfig file