G76-1

M6 T6 G43 H6 (Single Pt Thd)
M3 S400
M8
G0 X0.335 Z0.200
G76 P0.0466 Z-0.560 I0.054 J0.006 K0.027 H3 R2 Q29.5 E0.060 L2
GO X0.500 Z1.5


Hal File
# HAL config file for Pico Systems USC board
#
# Connect motion controller I/Os
#

# connect limit/home switch outputs to motion controller
newsig Xminlim bit
newsig Xmaxlim  bit
newsig Xhome bit
linksp Xminlim <= ppmc.0.din.01.in-not
linksp Xminlim => axis.0.neg-lim-sw-in
linksp Xmaxlim <= ppmc.0.din.02.in-not
linksp Xmaxlim => axis.0.pos-lim-sw-in
linksp Xhome <= ppmc.0.din.00.in
linksp Xhome => axis.0.home-sw-in

#newsig Yminlim bit
#newsig Ymaxlim  bit
#newsig Yhome bit
#linksp Yminlim <= ppmc.0.din.05.in
#linksp Yminlim => axis.1.neg-lim-sw-in
#linksp Ymaxlim <= ppmc.0.din.06.in
#linksp Ymaxlim => axis.1.pos-lim-sw-in
#linksp Yhome <= ppmc.0.din.04.in
#linksp Yhome => axis.1.home-sw-in

newsig Zminlim bit
newsig Zmaxlim  bit
newsig Zhome bit
linksp Zminlim <= ppmc.0.din.04.in-not
#linksp Zminlim <= ppmc.0.din.09.in
linksp Zminlim => axis.2.neg-lim-sw-in
linksp Zmaxlim <= ppmc.0.din.05.in-not
#linksp Zmaxlim <= ppmc.0.din.10.in
linksp Zmaxlim => axis.2.pos-lim-sw-in
linksp Zhome <= ppmc.0.din.03.in
#linksp Zhome <= ppmc.0.din.08.in
linksp Zhome => axis.2.home-sw-in

#newsig Aminlim bit
#newsig Amaxlim  bit
#newsig Ahome bit
#linksp Aminlim <= ppmc.0.din.12.in
#linksp Aminlim => axis.3.neg-lim-sw-in
#linksp Amaxlim <= ppmc.0.din.13.in
#linksp Amaxlim => axis.3.pos-lim-sw-in
#linksp Ahome <= ppmc.0.din.11.in
#linksp Ahome => axis.3.home-sw-in


# connect index pulses to motion controller
# uncomment these lines only if you have a Rev 3 UPC board
# The ppmc.x.encoder.xx.index-enable pin is ONLY exported by the driver
#     if the UPC has rev 3 or above firmware
newsig Xindex bit
#newsig Yindex  bit
newsig Zindex bit
linksp Xindex <= ppmc.0.encoder.00.index-enable
linksp Xindex => axis.0.index-enable
#linksp Yindex <= ppmc.0.encoder.01.index-enable
#linksp Yindex => axis.1.index-enable
linksp Zindex <= ppmc.0.encoder.02.index-enable
linksp Zindex => axis.2.index-enable

#
# Connect I/O controller I/Os
#

# connect e-stop write/sense to I/O controller
# and univpwm's fault with estop's output, so  estop FF is reset, but
#      prevent continued estop signal from univpwm from holding FF cleared
newsig ppmcEstop bit
linksp ppmcEstop ppmc.0.din.15.in-not
linksp ppmcEstop and2.0.in0
newsig EstopOkIn bit
linksp EstopOkIn estop-latch.0.fault-in
linksp EstopOkIn and2.0.out
newsig EstopOkOut bit
linksp EstopOkOut <= ppmc.0.dout.07.out
linksp EstopOkOut iocontrol.0.emc-enable-in
linksp EstopOkOut estop-latch.0.ok-out
linksp EstopOkOut and2.0.in1
newsig emc-estop-out bit
linksp emc-estop-out iocontrol.0.user-enable-out
linksp emc-estop-out estop-latch.0.ok-in
newsig emc-estop-reset bit
linksp emc-estop-reset iocontrol.0.user-request-enable
linksp emc-estop-reset estop-latch.0.reset

### TURRET ###
# create signals for tool loading loopback
net ToolPrep iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net ToolChange iocontrol.0.tool-change turret.0.position-change
net ToolChanged turret.0.position-changed iocontrol.0.tool-changed

# decode turret encoder inputs
newsig ones bit
newsig twos bit
newsig fours bit
newsig eights bit

linksp ones ppmc.0.din.06.in

linksp ones wsum.0.bit.0.in
linksp twos ppmc.0.din.07.in
linksp twos wsum.0.bit.1.in
linksp fours ppmc.0.din.08.in
linksp fours wsum.0.bit.2.in
linksp eights ppmc.0.din.09.in
linksp eights wsum.0.bit.3.in
# wsum.N.hold bit in

newsig TurretCurrentPosition s32
linksp TurretCurrentPosition wsum.0.sum
linksp TurretCurrentPosition turret.0.position-current

newsig TurretRequestedPosition s32
linksp TurretRequestedPosition iocontrol.0.tool-prep-number
linksp TurretRequestedPosition turret.0.position-requested

setp turret.0.settle-stop [TURRET]STOP_SETTLE
setp turret.0.settle-park [TURRET]PARK_SETTLE

# connect turret to parallel port
newsig TurretSeek bit
linksp TurretSeek turret.0.seek
linksp TurretSeek ppmc.0.dout.05.out

newsig TurretStop bit
linksp TurretStop turret.0.stop
linksp TurretStop ppmc.0.dout.06.out

#addf turret.0 servo-thread

#Turret Info End





# connect spindle fwd/rev to I/O controller
newsig SpindleFwd bit
newsig SpindleRev bit
linksp SpindleFwd <= ppmc.0.dout.00.out
linksp SpindleFwd => motion.spindle-forward
linksp SpindleRev <= ppmc.0.dout.01.out
linksp SpindleRev => motion.spindle-reverse

# connect spindle brake to I/O controller
newsig SpindleBrakeOn bit
linksp SpindleBrakeOn <= ppmc.0.dout.02.out
linksp SpindleBrakeOn => motion.spindle-brake

# connect mist/flood coolant to I/O controller
newsig MistOn bit
newsig FloodOn bit
linksp MistOn <= ppmc.0.dout.03.out
linksp MistOn => iocontrol.0.coolant-mist
linksp FloodOn <= parport.0.pin-02-out
setp parport.0.pin-02-out-invert 1
linksp FloodOn => iocontrol.0.coolant-flood
# Line 159 ppmc.0.dout.04.out
#parport.0.pin-02-out

setp parport.0.pin-05-out-invert 1
setp parport.0.pin-06-out-invert 1

#Connect  Verticle Slide switch
#setp parport.0.pin-10-in
net slide-input motion.digital-in-00 <= parport.0.pin-10-in


# pull the CR-1 relay in when the Power Button is on JT
net machine-power <= motion.motion-enabled =>
# CR-1 Control Power
net machine-power => parport.0.pin-01-out
setp parport.0.pin-01-out-invert 1

net brake-off => parport.0.pin-07-out
#setp parport.0.pin-07-out-invert 1



#File from email
#set scale for 5000 RPM MAX and connect spindle speed to USC DAC
setp ppmc.0.DAC8.00.scale 410.0
net spinspeed    motion.spindle-speed-out    ppmc.0.DAC8.00.value

#new info
net spinraw  ppmc.0.encoder.03.delta  conv-s32-float.0.in
net spinfloat conv-s32-float.0.out  mult2.0.in0
setp mult2.0.in1  0.273066667
net SpindleRPM  mult2.0.out  motion.spindle-speed-in


#    4.096 0.06826667 0.273066667

#File from spin
#set scale for 5000 RPM MAX and connect spindle speed to USC DAC
#setp ppmc.0.DAC8.00.scale 500.0
#newsig spinspeed float
#linksp spinspeed <= motion.spindle-speed-out
#linksp spinspeed => ppmc.0.DAC8.00.value

#File from 2.3.5
#setp ppmc.0.DAC8.00.scale 390.0
#net spinspeed motiom.spindle-speed-out ppmc.0.DAC8.00.value
#newsig spinspeed float
#linksp spinspeed <= motion.spindle-speed-out
#linksp spinspeed => ppmc.0.DAC8.00.value



loadrt classicladder_rt
addf classicladder.0.refresh servo-thread