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Код: Выделить всё

# загружаем компоненты
loadrt scale count=1 
loadrt invert count=1

# добавляем функции в серво поток, чтобы компоненты работали 
addf invert.0 servo-thread
addf scale.0 servo-thread

# подключаем пины
net y-pos <= axis.1.joint-pos-cmd 
net y-pos => invert.0.in 
# теперь у нас положение по y инвертировано

net y-pos-i <= invert.0.out 
net y-pos-i => scale.0.in

# теперь подключаем пин scale к adaptive feed
net y-pos-s <= scale.0.out 
net y-pos-s => motion.adaptive-feed

# осталось настроить параметры scale
setp scale.0.offset 0.1 # минимальное значение (1/10 подачи)
setp scale.0.scale 0.1 # это дополнительный множитель, т.к. adaptive-feed должен быть где-то в пределах 0..1

Код: Выделить всё

# Include your customized HAL commands here
# This file will not be overwritten when you run stepconf again
loadrt scale count=1
loadrt invert count=1
#
addf invert.0 servo-thread
addf scale.0 servo-thread
#
net z-pos <= axis.2.joint-pos-cmd
net z-pos => invert.0.in
#
net z-pos-i <= invert.0.out
net z-pos-i => scale.0.in
#
net z-pos-s <= scale.0.out
net z-pos-s => motion.adaptive-feed
#
setp scale.0.offset 0.1
setp scale.0.scale 0.1

Код: Выделить всё

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0
Machine configuration directory is '/home/ubuntu/linuxcnc/configs/мой-станок'
Machine configuration file is 'мой-станок.ini'
INIFILE=/home/ubuntu/linuxcnc/configs/мой-станок/мой-станок.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=6800
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 
custom.hal:19: parameter or pin 'scale.0.scale' not found
6800
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[12869.341675] I-pipe: Domain RTAI registered.
[12869.341697] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[12869.341706] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[12869.341725] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[12869.341733] PIPELINE layers:
[12869.341742] f8c6de20 9ac15d93 RTAI 200
[12869.341750] c085cb20 0 Linux 100
[12869.423733] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[12869.423962] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[12869.423979] RTAI[sched]: hard timer type/freq = APIC/6250189(Hz); default timing: periodic; linear timed lists.
[12869.423991] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 600079000 hz.
[12869.424002] RTAI[sched]: timer setup = 999 ns, resched latency = 2942 ns.
[12869.424193] RTAI[usi]: enabled.
[12869.622410] RTAI[math]: loaded.
[12869.796679] config string '0x378 out  '
[12871.836684] RTAI[math]: unloaded.
[12871.939296] SCHED releases registered named ALIEN RTGLBH
[12871.952654] RTAI[malloc]: unloaded.
[12872.052032] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[12872.058766] I-pipe: Domain RTAI unregistered.
[12872.058792] RTAI[hal]: unmounted.

Код: Выделить всё

setp scale.0.gain 0.1