LinuxCNC笔记--Hal driver驱动源码例程（基于Ethercat）

本文链接：https://blog.csdn.net/weixin_40293570/article/details/108828146

以下是.hal文件与.ini文件举例，可以根据自己的PDO配置以及轴数自行修改。

.hal文件

loadusr -W lcec_conf ethercat-conf_X.xml
loadrt lcec
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt not count=1

show pin
#-----------------------------------------------------------

addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf not.0 servo-thread
addf lcec.write-all servo-thread

#-----------------------------------------------------------

net bus_up lcec.state-op 		=>	iocontrol.0.emc-enable-in 

net tool-change  iocontrol.0.tool-change  	iocontrol.0.tool-changed
net tool-prepare iocontrol.0.tool-prepare 	iocontrol.0.tool-prepared
#-----------------------------------------------------------

#net Spindel_enable spindle.0.on 	=> 	lcec.0.2.dout-0
#net Spindel_dir    spindle.0.reverse 	=> 	lcec.0.2.dout-1

# Test Homefahrt
#net RefX halui.spindle.0.is-on => joint.0.home-sw-in

#-----------------------------------------------------------

# ChangeSetImmediatly: true -> neuer Zielwert sofort aktivieren
#setp lcec.0.3.X-cmd-ChangeSetImmediatly 	true

# NewSetpoint in jedem Zyklus Ã¤ndern 
net NewSetpoint not.0.out 		=>	not.0.in

#-----------------------------------------------------------
# X-Achse
#-----------------------------------------------------------
net EnableAmpX joint.0.amp-enable-out 	=>	lcec.0.0.X-cmd-SwitchOn
net EnableAmpX					lcec.0.0.X-cmd-EnableVoltage
net EnableAmpX					lcec.0.0.X-cmd-/QuickStop
net EnableAmpX					lcec.0.0.X-cmd-EnableOperation
#-----------------------------------------------------------
# Istposition vom Motor an axis Ã¼bergeben 
net Xachse_fb 	lcec.0.0.PositionActualValue 	=> joint.0.motor-pos-fb
#-----------------------------------------------------------
# Sollposition von axis an den Motor Ã¼bergeben 
net Xachse_cmd 	joint.0.motor-pos-cmd 	=>	lcec.0.0.TargetPosition
#-----------------------------------------------------------
# NewSetpoint an den Motor Ã¼bergeben 
net NewSetpoint				=>	lcec.0.0.X-cmd-NewSetpoint

#-----------------------------------------------------------
# Y+Z-Achse simulieren
#----