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LAIR82

Proper 10VC Hal file

LAIR82
Apr 17th, 2015
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  1. # This file is loaded pre GUI
  2. # Hacked out on 4/6/15 First Version
  3.  
  4.  
  5.  
  6. loadrt trivkins
  7. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  8. loadrt hostmot2
  9. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  10. setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000
  11.  
  12.  
  13. setp hm2_7i80.0.pwmgen.pwm_frequency 24000
  14. setp hm2_7i80.0.pwmgen.pdm_frequency 6000
  15. setp hm2_7i80.0.resolver.excitation-khz 2.5
  16.  
  17. loadrt classicladder_rt numRungs=150 numSections=20 numBits=25 numWords=20 numTimers=5 numMonostables=25 numCounters=30 numPhysInputs=90 numPhysOutputs=70 numS32in=20 numS32out=20 numFloatIn=20 numFloatOut=20 numTimersIec=50 numArithmExpr=150 numSymbols=600
  18.  
  19. loadrt pid names=pid.x,pid.y,pid.z
  20. loadrt abs count=1
  21. loadrt lowpass count=1
  22. loadrt scale count=3
  23. loadrt mux16 count=1
  24. loadrt gearchange count=1
  25. loadrt mux4 count=1
  26. loadrt ilowpass count=1
  27.  
  28.  
  29. #========================================================================================
  30.  
  31. addf hm2_7i80.0.read servo-thread
  32. addf hm2_7i80.0.write servo-thread
  33. addf motion-command-handler servo-thread
  34. addf motion-controller servo-thread
  35. addf classicladder.0.refresh servo-thread
  36.  
  37. addf pid.x.do-pid-calcs servo-thread
  38. addf pid.y.do-pid-calcs servo-thread
  39. addf pid.z.do-pid-calcs servo-thread
  40. addf mux16.0 servo-thread
  41. addf lowpass.0 servo-thread
  42. addf abs.0 servo-thread
  43. addf scale.0 servo-thread
  44. addf gearchange.0 servo-thread
  45. addf mux4.0 servo-thread
  46. addf ilowpass.0 servo-thread
  47.  
  48.  
  49. #========================================================================================
  50.  
  51. # external output signals
  52.  
  53. net mcr => hm2_7i80.0.7i71.0.1.output-00
  54. net xyz-drive-power => hm2_7i80.0.7i71.0.1.output-01
  55. net drives => hm2_7i80.0.7i71.0.1.output-02
  56. net hydraulic-pump => hm2_7i80.0.7i71.0.1.output-03
  57. net way-lube => hm2_7i80.0.7i71.0.1.output-04
  58. net coolant-pump => hm2_7i80.0.7i71.0.1.output-05
  59. net tool-unclamp => hm2_7i80.0.7i71.0.1.output-06
  60. net orient-pin-in => hm2_7i80.0.7i71.0.1.output-07
  61. net high-gear => hm2_7i80.0.7i71.0.1.output-08
  62. net low-gear => hm2_7i80.0.7i71.0.1.output-09
  63. net air-blast => hm2_7i80.0.7i71.0.1.output-10
  64. net shot-pin-out => hm2_7i80.0.7i71.0.1.output-11
  65. net rotate-drum-cw => hm2_7i80.0.7i71.0.1.output-12
  66. net rotate-drum-ccw => hm2_7i80.0.7i71.0.1.output-13
  67. net tool-arm-up => hm2_7i80.0.7i71.0.1.output-14
  68. net tool-arm-down => hm2_7i80.0.7i71.0.1.output-15
  69. net tool-arm-out => hm2_7i80.0.7i71.0.1.output-16
  70. net tool-arm-in => hm2_7i80.0.7i71.0.1.output-17
  71. net external-coolant => hm2_7i80.0.7i71.0.1.output-18
  72. net mist-coolant => hm2_7i80.0.7i71.0.1.output-19
  73. net internal-coolant => hm2_7i80.0.7i71.0.1.output-20
  74. net z-axis-brake => hm2_7i80.0.7i71.0.1.output-21
  75. net in-cycle-led => hm2_7i80.0.7i71.0.1.output-22
  76. net feed-hold-led => hm2_7i80.0.7i71.0.1.output-23
  77. net spindle-cw => hm2_7i80.0.7i71.0.1.output-24
  78. net spindle-ccw => hm2_7i80.0.7i71.0.1.output-25
  79. net spindle-alarm-reset => hm2_7i80.0.7i71.0.1.output-26
  80. net spindle-estop => hm2_7i80.0.7i71.0.1.output-27
  81. net drum-max-rpm => hm2_7i80.0.7i71.0.1.output-28
  82. net tool-arm-drum => hm2_7i80.0.7i71.0.1.output-29
  83. net tool-arm-spindle => hm2_7i80.0.7i71.0.1.output-30
  84. net slides-enable => hm2_7i80.0.7i71.0.1.output-31
  85. #net => hm2_7i80.0.7i71.0.1.output-32
  86. #net => hm2_7i80.0.7i71.0.1.output-33
  87. #net => hm2_7i80.0.7i71.0.1.output-34
  88. #net => hm2_7i80.0.7i71.0.1.output-35
  89. #net => hm2_7i80.0.7i71.0.1.output-36
  90.  
  91. #========================================================================================
  92.  
  93. # external input signals
  94.  
  95. net hydraulic-motor-ol <= hm2_7i80.0.7i70.0.2.input-00
  96. net coolant-motor-ol <= hm2_7i80.0.7i70.0.2.input-01
  97. net up-to-speed <= hm2_7i80.0.7i70.0.2.input-02
  98. net below-90-rpm <= hm2_7i80.0.7i70.0.2.input-03
  99. net e-stop-pb <= hm2_7i80.0.7i70.0.2.input-04
  100. net feed-hold <= hm2_7i80.0.7i70.0.2.input-05
  101. net orient-pin-in-ls <= hm2_7i80.0.7i70.0.2.input-06
  102. net orient-pin-out-ls <= hm2_7i80.0.7i70.0.2.input-07
  103. net spindle-in-high-range <= hm2_7i80.0.7i70.0.2.input-08
  104. net spindle-in-low-range <= hm2_7i80.0.7i70.0.2.input-09
  105. net spindle-in-neutral <= hm2_7i80.0.7i70.0.2.input-10
  106. net tool-clamped <= hm2_7i80.0.7i70.0.2.input-11
  107. net tool-unclamped <= hm2_7i80.0.7i70.0.2.input-12
  108. net oil-in-resevoir <= hm2_7i80.0.7i70.0.2.input-13
  109. net spindle-lube-pressure-ok <= hm2_7i80.0.7i70.0.2.input-14
  110. net x-servo-motor-overload <= hm2_7i80.0.7i70.0.2.input-15
  111. net y-servo-motor-overload <= hm2_7i80.0.7i70.0.2.input-16
  112. net z-servo-motor-overload <= hm2_7i80.0.7i70.0.2.input-17
  113. net tool-changer-jog <= hm2_7i80.0.7i70.0.2.input-18
  114. net shot-pin-in <= hm2_7i80.0.7i70.0.2.input-19
  115. net drum-home <= hm2_7i80.0.7i70.0.2.input-20
  116. net drum-position-strobe <= hm2_7i80.0.7i70.0.2.input-21
  117. net tool-arm-in-prx <= hm2_7i80.0.7i70.0.2.input-22
  118. net tool-arm-out-prx <= hm2_7i80.0.7i70.0.2.input-23
  119. net tool-arm-up-prx <= hm2_7i80.0.7i70.0.2.input-24
  120. net tool-arm-down-prx <= hm2_7i80.0.7i70.0.2.input-25
  121. net tool-arm-drum-prx <= hm2_7i80.0.7i70.0.2.input-26
  122. net tool-arm-spindle-prx <= hm2_7i80.0.7i70.0.2.input-27
  123. net tool-changer-recovery <= hm2_7i80.0.7i70.0.2.input-28
  124. net spindle-fault <= hm2_7i80.0.7i70.0.2.input-29
  125. net zero-speed <= hm2_7i80.0.7i70.0.2.input-30
  126. #net <= hm2_7i80.0.7i70.0.2.input-31
  127. net mpg-x <= hm2_7i80.0.7i70.0.2.input-32
  128. net mpg-y <= hm2_7i80.0.7i70.0.2.input-33
  129. net mpg-z <= hm2_7i80.0.7i70.0.2.input-34
  130. net mpg-4 <= hm2_7i80.0.7i70.0.2.input-35
  131. net scale0 <= hm2_7i80.0.7i70.0.2.input-36
  132. net scale1 <= hm2_7i80.0.7i70.0.2.input-37
  133. net scale2 <= hm2_7i80.0.7i70.0.2.input-38
  134. net coolant-on <= hm2_7i80.0.7i70.0.2.input-39-not
  135. #net <= hm2_7i80.0.7i70.0.2.input-40
  136. #net <= hm2_7i80.0.7i70.0.2.input-41
  137. net x-pos-overtravel <= hm2_7i80.0.7i70.0.2.input-42-not
  138. net x-neg-overtravel <= hm2_7i80.0.7i70.0.2.input-43-not
  139. net y-pos-overtravel <= hm2_7i80.0.7i70.0.2.input-44-not
  140. net y-neg-overtravel <= hm2_7i80.0.7i70.0.2.input-45-not
  141. net z-pos-overtravel <= hm2_7i80.0.7i70.0.2.input-46-not
  142. net z-neg-overtravel <= hm2_7i80.0.7i70.0.2.input-47-not
  143.  
  144. #========================================================================================
  145.  
  146. # 7I73 Input signals
  147.  
  148. net encoder-counts <= hm2_7i80.0.7i73.0.0.enc0.count
  149.  
  150. net arm-up <= hm2_7i80.0.7i73.0.0.input-10-not
  151. net arm-down <= hm2_7i80.0.7i73.0.0.input-11-not
  152. net arm-in <= hm2_7i80.0.7i73.0.0.input-12-not
  153. net arm-out <= hm2_7i80.0.7i73.0.0.input-13-not
  154. net arm-spindle <= hm2_7i80.0.7i73.0.0.input-14-not
  155. net arm-drum <= hm2_7i80.0.7i73.0.0.input-15-not
  156. net feedrate-percent-a <= hm2_7i80.0.7i73.0.0.input-16-not
  157. net feedrate-percent-b <= hm2_7i80.0.7i73.0.0.input-17-not
  158. net feedrate-percent-c <= hm2_7i80.0.7i73.0.0.input-18-not
  159. net feedrate-percent-d <= hm2_7i80.0.7i73.0.0.input-19-not
  160. net tool-unclamp-pb <= hm2_7i80.0.7i73.0.0.input-20-not
  161. net tool-changer-align <= hm2_7i80.0.7i73.0.0.input-21-not
  162. net spindle-start <= hm2_7i80.0.7i73.0.0.input-22-not
  163. net spindle-stop <= hm2_7i80.0.7i73.0.0.input-23-not
  164.  
  165.  
  166. #======================= SRT ADDED ==================================================
  167.  
  168. #net machine-is-enabled => hm2_7i80.0.7i71.0.3.output-12
  169. #net spindle-enable => hm2_7i80.0.7i71.0.3.output-13
  170.  
  171. net z-pos-overtravel => axis.2.pos-lim-sw-in axis.2.home-sw-in
  172. net z-neg-overtravel => axis.2.neg-lim-sw-in
  173. #net z-axis-homing => axis.2.homing
  174.  
  175. net x-neg-overtravel => axis.0.neg-lim-sw-in
  176. net x-pos-overtravel => axis.0.pos-lim-sw-in axis.0.home-sw-in
  177. #net x-axis-homing => axis.0.homing
  178.  
  179. net y-neg-overtravel => axis.1.neg-lim-sw-in
  180. net y-pos-overtravel => axis.1.pos-lim-sw-in axis.1.home-sw-in
  181. #net y-axis-homing => axis.1.homing
  182.  
  183. net program-running <= halui.program.is-running
  184. net cycle-stop <= halui.program.stop
  185. net program-pause => halui.program.pause
  186. net program-run => halui.program.run
  187. net program-resume => halui.program.resume
  188. net mode-auto => halui.mode.auto
  189. net mode-is-auto <= halui.mode.is-auto
  190. net single-line => halui.program.step
  191. net program-is-paused <= halui.program.is-paused
  192.  
  193. net flood-off => halui.flood.off
  194. net flood-on => halui.flood.on
  195.  
  196. net optional-stop-on => halui.program.optional-stop.on
  197. net optional-stop-is-on => halui.program.optional-stop.is-on
  198. net optional-stop-off => halui.program.optional-stop.off
  199.  
  200.  
  201. #========================================================================================
  202.  
  203. # Jog Pendant
  204.  
  205. # setp encoder.0.x4-mode 0
  206. setp hm2_7i80.0.7i73.0.0.enc0.scale 1
  207. setp axis.0.jog-vel-mode 1
  208. setp axis.1.jog-vel-mode 1
  209. setp axis.2.jog-vel-mode 1
  210.  
  211. net smoothed-encoder-counts => axis.0.jog-counts
  212. net smoothed-encoder-counts => axis.1.jog-counts
  213. net smoothed-encoder-counts => axis.2.jog-counts
  214. net mpg-x <= axis.0.jog-enable
  215. net mpg-y <= axis.1.jog-enable
  216. net mpg-z <= axis.2.jog-enable
  217. net mpg-scale => axis.0.jog-scale
  218. net mpg-scale => axis.1.jog-scale
  219. net mpg-scale => axis.2.jog-scale
  220.  
  221. # ILOWPASS.0
  222. setp ilowpass.0.gain 0.02
  223. setp ilowpass.0.scale 100
  224. net encoder-counts => ilowpass.0.in
  225. net smoothed-encoder-counts <= ilowpass.0.out
  226.  
  227. # MUX4.0
  228. setp mux4.0.in0 0.0001
  229. setp mux4.0.in1 0.00001
  230. setp mux4.0.in2 0.000001
  231. #setp mux4.0.in3 0.0001
  232. net scale1 <= mux4.0.sel0
  233. net scale2 <= mux4.0.sel1
  234. net mpg-scale <= mux4.0.out
  235.  
  236. #========================================================================================
  237.  
  238. # X AXIS
  239.  
  240. setp pid.x.Pgain [AXIS_0]P
  241. setp pid.x.Igain [AXIS_0]I
  242. setp pid.x.Dgain [AXIS_0]D
  243. setp pid.x.bias [AXIS_0]BIAS
  244. setp pid.x.FF0 [AXIS_0]FF0
  245. setp pid.x.FF1 [AXIS_0]FF1
  246. setp pid.x.FF2 [AXIS_0]FF2
  247. setp pid.x.deadband [AXIS_0]DEADBAND
  248. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  249.  
  250. net x-index-enable <=> pid.x.index-enable
  251. net x-enable => pid.x.enable
  252. net x-output => pid.x.output
  253. net x-pos-cmd => pid.x.command
  254. net x-pos-fb => pid.x.feedback
  255.  
  256. # ---PWM Generator signals/setup---
  257.  
  258. setp hm2_7i80.0.pwmgen.00.output-type 2
  259. setp hm2_7i80.0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
  260.  
  261. net x-output => hm2_7i80.0.pwmgen.00.value
  262. net x-enable => hm2_7i80.0.pwmgen.00.enable axis.0.amp-enable-out
  263. net x-pos-cmd <= axis.0.motor-pos-cmd
  264.  
  265.  
  266. # ---Reslover feedback signals/setup---
  267.  
  268. setp hm2_7i80.0.resolver.00.scale [AXIS_0]RESOLVER_SCALE
  269.  
  270. net x-pos-fb <= hm2_7i80.0.resolver.00.position
  271. net x-pos-fb => axis.0.motor-pos-fb
  272.  
  273. #========================================================================================
  274.  
  275. # Y AXIS
  276.  
  277. setp pid.y.Pgain [AXIS_1]P
  278. setp pid.y.Igain [AXIS_1]I
  279. setp pid.y.Dgain [AXIS_1]D
  280. setp pid.y.bias [AXIS_1]BIAS
  281. setp pid.y.FF1 [AXIS_1]FF1
  282. setp pid.y.FF1 [AXIS_1]FF1
  283. setp pid.y.FF2 [AXIS_1]FF2
  284. setp pid.y.deadband [AXIS_1]DEADBAND
  285. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  286.  
  287. net y-index-enable <=> pid.y.index-enable
  288. net y-enable => pid.y.enable
  289. net y-output => pid.y.output
  290. net y-pos-cmd => pid.y.command
  291. net y-pos-fb => pid.y.feedback
  292.  
  293. # ---PWM Generator signals/setup---
  294.  
  295. setp hm2_7i80.0.pwmgen.01.output-type 2
  296. setp hm2_7i80.0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
  297.  
  298. net y-output => hm2_7i80.0.pwmgen.01.value
  299. net y-enable => hm2_7i80.0.pwmgen.01.enable axis.1.amp-enable-out
  300. net y-pos-cmd <= axis.1.motor-pos-cmd
  301.  
  302.  
  303. # ---Reslover feedback signals/setup---
  304.  
  305. setp hm2_7i80.0.resolver.01.scale [AXIS_1]RESOLVER_SCALE
  306.  
  307. net y-pos-fb <= hm2_7i80.0.resolver.01.position
  308. net y-pos-fb => axis.1.motor-pos-fb
  309.  
  310.  
  311.  
  312.  
  313. #========================================================================================
  314.  
  315. # Z AXIS
  316.  
  317. setp pid.z.Pgain [AXIS_2]P
  318. setp pid.z.Igain [AXIS_2]I
  319. setp pid.z.Dgain [AXIS_2]D
  320. setp pid.z.bias [AXIS_2]BIAS
  321. setp pid.z.FF0 [AXIS_2]FF0
  322. setp pid.z.FF1 [AXIS_2]FF1
  323. setp pid.z.FF2 [AXIS_2]FF2
  324. setp pid.z.deadband [AXIS_2]DEADBAND
  325. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  326.  
  327. net z-index-enable <=> pid.z.index-enable
  328. net z-enable => pid.z.enable
  329. net z-output => pid.z.output
  330. net z-pos-cmd => pid.z.command
  331. net z-pos-fb => pid.z.feedback
  332.  
  333.  
  334. # ---PWM Generator signals/setup---
  335.  
  336. setp hm2_7i80.0.pwmgen.02.output-type 2
  337. setp hm2_7i80.0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
  338.  
  339. net z-output => hm2_7i80.0.pwmgen.02.value
  340. net z-enable => hm2_7i80.0.pwmgen.02.enable axis.2.amp-enable-out
  341. net z-pos-cmd <= axis.2.motor-pos-cmd
  342.  
  343. # ---Resolver feedback signals/setup---
  344.  
  345. setp hm2_7i80.0.resolver.02.scale [AXIS_2]RESOLVER_SCALE
  346.  
  347. net z-pos-fb <= hm2_7i80.0.resolver.02.position
  348. net z-pos-fb => axis.2.motor-pos-fb
  349.  
  350. #========================================================================================
  351.  
  352. # SPINDLE S
  353.  
  354. # ---PWM Generator signals/setup---
  355.  
  356. setp hm2_7i80.0.pwmgen.03.output-type 2
  357. setp hm2_7i80.0.pwmgen.03.scale [SPINDLE_9]OUTPUT_SCALE
  358.  
  359. net spindle-vel-cmd => hm2_7i80.0.pwmgen.03.value
  360. net motion.drives-enable => hm2_7i80.0.pwmgen.03.enable
  361.  
  362. # ---Encoder feedback signals/setup---
  363.  
  364. # net spindle-revs <= hm2_7i80.0.
  365. # net spindle-vel-fb <= hm2_7i80.0.
  366. # net spindle-index-enable <=> hm2_7i80.0.
  367.  
  368. # --- Setup spindle control signals---
  369.  
  370. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  371. net spindle-junk <= motion.spindle-speed-out
  372. net spindle-enable <= motion.spindle-on
  373. net spindle-cmd-cw <= motion.spindle-forward
  374. net spindle-cmd-ccw <= motion.spindle-reverse
  375. net spindle-brake <= motion.spindle-brake
  376. net spindle-revs => motion.spindle-revs
  377. net up-to-speed => motion.spindle-at-speed
  378. net spindle-vel-fb => motion.spindle-speed-in
  379. net spindle-index-enable <=> motion.spindle-index-enable
  380.  
  381. #========================================================================================
  382.  
  383. # Gearchange
  384.  
  385. # Gearchange.0
  386. setp gearchange.0.min1 25
  387. setp gearchange.0.max1 630
  388. setp gearchange.0.min2 631
  389. setp gearchange.0.max2 4000
  390. setp gearchange.0.scale2 25.24
  391. setp gearchange.0.sel 0
  392. net spindle-junk => gearchange.0.speed-in
  393. net spindle-vel-cmd <= gearchange.0.speed-out
  394. net spindle-running-in-high-range => gearchange.0.sel
  395.  
  396. #========================================================================================
  397.  
  398. # Setup spindle at speed signal, sets spindle-at-speed true
  399.  
  400. # LOWPASS.0
  401. setp lowpass.0.gain .009
  402. net spindle-vel-fb => lowpass.0.in
  403. net spindle-fb-filtered-rps <= lowpass.0.out
  404.  
  405. # ABS.0
  406. net spindle-fb-filtered-rps => abs.0.in
  407. net spindle-fb-filtered-abs-rps <= abs.0.out
  408.  
  409. # SCALE.0
  410. setp scale.0.gain 60
  411. net spindle-fb-filtered-abs-rps => scale.0.in
  412. net scaled-spindle-vel <= scale.0.out
  413.  
  414. #========================================================================================
  415.  
  416. # connect miscellaneous signals
  417.  
  418. # ---HALUI signals---
  419.  
  420. #net joint-select-a halui.joint.0.select
  421.  
  422. net x-is-homed halui.joint.0.is-homed
  423.  
  424. net jog-x-pos halui.jog.0.plus
  425. net jog-x-neg halui.jog.0.minus
  426. net jog-x-analog halui.jog.0.analog
  427.  
  428. net y-is-homed halui.joint.1.is-homed
  429.  
  430. net jog-y-pos halui.jog.1.plus
  431. net jog-y-neg halui.jog.1.minus
  432. net jog-y-analog halui.jog.1.analog
  433.  
  434. #net joint-select-c halui.joint.2.select
  435.  
  436. net z-is-homed halui.joint.2.is-homed
  437.  
  438. net jog-z-pos halui.jog.2.plus
  439. net jog-z-neg halui.jog.2.minus
  440. net jog-z-analog halui.jog.2.analog
  441.  
  442. net jog-selected-pos halui.jog.selected.plus
  443. net jog-selected-neg halui.jog.selected.minus
  444.  
  445. net spindle-manual-cw halui.spindle.forward
  446. net spindle-manual-ccw halui.spindle.reverse
  447. net spindle-manual-stop halui.spindle.stop
  448. net spindle-manual-start halui.spindle.start
  449.  
  450. net machine-is-on halui.machine.is-on
  451.  
  452. net jog-speed halui.jog-speed
  453.  
  454. net MDI-mode halui.mode.is-mdi
  455.  
  456.  
  457. #========================================================================================
  458.  
  459. # ---coolant signals---
  460.  
  461. #net coolant-mist <= iocontrol.0.coolant-mist
  462. net coolant-flood <= iocontrol.0.coolant-flood
  463.  
  464.  
  465. #========================================================================================
  466.  
  467. # connect feed overide increments - switches
  468.  
  469. setp halui.feed-override.count-enable true
  470. setp halui.feed-override.direct-value true
  471. setp halui.feed-override.scale .01
  472.  
  473. net feedoverride-incr => halui.feed-override.counts
  474. net feedoverride-incr <= mux16.0.out-s
  475.  
  476. net feedrate-percent-a => mux16.0.sel0
  477. net feedrate-percent-b => mux16.0.sel1
  478. net feedrate-percent-c => mux16.0.sel2
  479. net feedrate-percent-d => mux16.0.sel3
  480.  
  481. # Mux16.0
  482. setp mux16.0.debounce-time 0.200000
  483. setp mux16.0.use-graycode False
  484. setp mux16.0.suppress-no-input False
  485. setp mux16.0.in00 0.000000
  486. setp mux16.0.in01 10.000000
  487. setp mux16.0.in02 20.000000
  488. setp mux16.0.in03 30.000000
  489. setp mux16.0.in04 40.000000
  490. setp mux16.0.in05 50.000000
  491. setp mux16.0.in06 60.000000
  492. setp mux16.0.in07 70.000000
  493. setp mux16.0.in08 80.000000
  494. setp mux16.0.in09 90.000000
  495. setp mux16.0.in10 100.000000
  496.  
  497. #========================================================================================
  498.  
  499. # ---motion control signals---
  500.  
  501. net in-position <= motion.in-position
  502. net machine-is-enabled <= motion.motion-enabled
  503.  
  504. #========================================================================================
  505.  
  506. # ---toolchange signals for custom tool changer---
  507.  
  508. net tool-number <= iocontrol.0.tool-prep-number
  509. net tool-change-request <= iocontrol.0.tool-change
  510. net tool-change-confirmed => iocontrol.0.tool-changed
  511. net tool-prepare-request <= iocontrol.0.tool-prepare
  512. net tool-prepare-confirmed => iocontrol.0.tool-prepared
  513.  
  514. #========================================================================================
  515.  
  516. # --- ESTOP Chain ---
  517. net estop-all-ok => iocontrol.0.emc-enable-in
  518. net emc-reset-estop => iocontrol.0.user-request-enable
  519. net emc-estop <= iocontrol.0.user-enable-out
  520.  
  521. #========================================================================================
  522.  
  523. # Load Classicladder
  524.  
  525. loadusr classicladder --nogui 10vcladder.clp
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