# Include your customized HAL commands here

# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts



loadrt or2 count=3

loadrt mux4 count=1

loadrt scale count=3

loadrt and2 count=5

loadrt toggle count=1

loadrt toggle2nist count=1





addf or2.0 servo-thread

addf or2.1 servo-thread

addf mux4.0 servo-thread

addf scale.0 servo-thread

addf scale.1 servo-thread

addf scale.2 servo-thread

addf and2.0 servo-thread



#for start/stop/resume

addf and2.1 servo-thread

addf and2.2 servo-thread

addf and2.3 servo-thread

addf and2.4 servo-thread

addf or2.3 servo-thread

addf toggle.0 servo-thread

addf toggle2nist.0 servo-thread







# set the jog speed for the joypad again use numbers that make #sense for your machine



setp mux4.0.in0 0 # this one must be 0 to prevent motion unless a button is pressed

setp mux4.0.in1 150

setp mux4.0.in2 500

setp mux4.0.in3 1500

setp scale.0.gain -1

setp scale.1.gain -1

setp scale.2.gain -1



# the following does the magic of setting the jog speeds



net remote-speed-slow or2.0.in0 input.0.btn-x

net remote-speed-medium or2.1.in0 input.0.btn-y

net remote-speed-fast or2.0.in1 or2.1.in1 input.0.btn-b

net joy-speed-1 mux4.0.sel0 <= or2.0.out

net joy-speed-2 mux4.0.sel1 <= or2.1.out

net joy-speed-final halui.jog-speed <= mux4.0.out



#6. Step 6 Set up the Axis

#Add the following to your postgui.hal file



net reverse-x scale.0.in <= input.0.abs-x-position

net jog-x halui.jog.0.analog <= scale.0.out



net reverse-y scale.1.in <= input.1.abs-y-position

net jog-y halui.jog.1.analog <= scale.1.out



net reverse-ry scale.2.in <= input.2.abs-ry-position

net jog-ry halui.jog.2.analog <= scale.2.out







# Call touch off





net touchzbutton1 and2.0.in0 <= input.0.btn-tl

net touchzbutton2 and2.0.in1 <= input.0.btn-tr



net touch-z and2.0.out => halui.mdi-command-00











# External Program Pause/Resume and Run/Step Buttons

 # Pause/Resume Section

 net pause-resume-btn and2.1.in0 and2.1.in0 <= input.0.btn-back

 net pause-on toggle2nist.0.is-on and2.1.in1 and2.4.in1 <= halui.program.is-paused

 net run-on and2.2.in1 <= halui.program.is-running

 net pause-sig or2.3.in0 <= and2.1.out

 net resume-sig or2.3.in1 <= and2.2.out

 net toggle-ok toggle.0.in <= or2.1.out

 net togglesig toggle2nist.0.in <= toggle.0.out

 net toggleon halui.program.pause <= toggle2nist.0.on

 net toggleoff halui.program.resume <= toggle2nist.0.off

 # Run/Step Section

 net run-step-btn and2.3.in0 and2.4.in0 <= input.0.btn-start

 net idle-on and2.3.in1 <= halui.program.is-idle

 # net pause.on and 2.4.in1 <= halui.program.is-paused

 # and2.4.in1 was added in the net pause-on statement in Pause/Resume Section

 net run-sig halui.mode.auto halui.program.run <= and2.3.out

 net step-sig halui.program.step <= and2.4.out