# Generated by PNCconf at Thu Dec 26 18:13:22 2013
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0 sserial_port_0=300xxx "
setp     hm2_5i25.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write         servo-thread
addf hm2_5i25.0.pet_watchdog  servo-thread

# external output signals


# external input signals


#*******************
#  AXIS X
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.00.counter-mode 0
setp    hm2_5i25.0.encoder.00.filter 1
setp    hm2_5i25.0.encoder.00.index-invert 0
setp    hm2_5i25.0.encoder.00.index-mask 0
setp    hm2_5i25.0.encoder.00.index-mask-invert 0
setp    hm2_5i25.0.encoder.00.scale  [AXIS_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_5i25.0.encoder.00.position
net x-vel-fb               <=  hm2_5i25.0.encoder.00.velocity
net x-pos-fb               =>  axis.0.motor-pos-fb
net x-index-enable    axis.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_5i25.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net x-home-sw     =>  axis.0.home-sw-in
net x-neg-limit     =>  axis.0.neg-lim-sw-in
net x-pos-limit     =>  axis.0.pos-lim-sw-in

#*******************
#  AXIS Y
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.01.counter-mode 0
setp    hm2_5i25.0.encoder.01.filter 1
setp    hm2_5i25.0.encoder.01.index-invert 0
setp    hm2_5i25.0.encoder.01.index-mask 0
setp    hm2_5i25.0.encoder.01.index-mask-invert 0
setp    hm2_5i25.0.encoder.01.scale  [AXIS_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_5i25.0.encoder.01.position
net y-vel-fb               <=  hm2_5i25.0.encoder.01.velocity
net y-pos-fb               =>  axis.1.motor-pos-fb
net y-index-enable    axis.1.index-enable  <=>  hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts        <=  hm2_5i25.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net y-home-sw     =>  axis.1.home-sw-in
net y-neg-limit     =>  axis.1.neg-lim-sw-in
net y-pos-limit     =>  axis.1.pos-lim-sw-in

#*******************
#  AXIS Z
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.02.counter-mode 0
setp    hm2_5i25.0.encoder.02.filter 1
setp    hm2_5i25.0.encoder.02.index-invert 0
setp    hm2_5i25.0.encoder.02.index-mask 0
setp    hm2_5i25.0.encoder.02.index-mask-invert 0
setp    hm2_5i25.0.encoder.02.scale  [AXIS_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_5i25.0.encoder.02.position
net z-vel-fb               <=  hm2_5i25.0.encoder.02.velocity
net z-pos-fb               =>  axis.2.motor-pos-fb
net z-index-enable    axis.2.index-enable  <=>  hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts        <=  hm2_5i25.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

net z-home-sw     =>  axis.2.home-sw-in
net z-neg-limit     =>  axis.2.neg-lim-sw-in
net z-pos-limit     =>  axis.2.pos-lim-sw-in

#*******************
#  SPINDLE S
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.03.counter-mode 0
setp    hm2_5i25.0.encoder.03.filter 1
setp    hm2_5i25.0.encoder.03.index-invert 0
setp    hm2_5i25.0.encoder.03.index-mask 0
setp    hm2_5i25.0.encoder.03.index-mask-invert 0
setp    hm2_5i25.0.encoder.03.scale  [SPINDLE_9]ENCODER_SCALE

net spindle-revs              <=  hm2_5i25.0.encoder.03.position
net spindle-vel-fb            <=  hm2_5i25.0.encoder.03.velocity
net spindle-index-enable     <=>  hm2_5i25.0.encoder.03.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps    <=  motion.spindle-speed-out-rps
net spindle-vel-cmd        <=  motion.spindle-speed-out
net spindle-enable         <=  motion.spindle-on
net spindle-cw             <=  motion.spindle-forward
net spindle-ccw            <=  motion.spindle-reverse
net spindle-brake          <=  motion.spindle-brake
net spindle-revs           =>  motion.spindle-revs
net spindle-at-speed       =>  motion.spindle-at-speed
net spindle-vel-fb         =>  motion.spindle-speed-in
net spindle-index-enable  <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net joint-select-a        halui.joint.0.select
net x-is-homed            halui.joint.0.is-homed
net jog-x-pos             halui.jog.0.plus
net jog-x-neg             halui.jog.0.minus
net jog-x-analog          halui.jog.0.analog
net joint-select-b        halui.joint.1.select
net y-is-homed            halui.joint.1.is-homed
net jog-y-pos             halui.jog.1.plus
net jog-y-neg             halui.jog.1.minus
net jog-y-analog          halui.jog.1.analog
net joint-select-c        halui.joint.2.select
net z-is-homed            halui.joint.2.is-homed
net jog-z-pos             halui.jog.2.plus
net jog-z-neg             halui.jog.2.minus
net jog-z-analog          halui.jog.2.analog
net jog-selected-pos      halui.jog.selected.plus
net jog-selected-neg      halui.jog.selected.minus
net spindle-manual-cw     halui.spindle.forward
net spindle-manual-ccw    halui.spindle.reverse
net spindle-manual-stop   halui.spindle.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---
net estop-out     <=  iocontrol.0.user-enable-out
#net estop-out     =>  iocontrol.0.emc-enable-in
net estop-loop hm2_5i25.0.7i77.0.0.input-01 iocontrol.0.emc-enable-in


#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared