API tools faq
paste
Advertisement
Guest User

Custom Hal

a guest
Mar 21st, 2014
160
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 7.08 KB | None | 0 0
raw download clone embed print report
  1. # Custom Hal commands
  2. # This file written by Bob Bevins updated Jan 19 2013
  3.  
  4. #***********************
  5. # Loading Classic Ladder
  6. #***********************
  7. loadrt threads name1=thread period1=1000000
  8. loadrt classicladder_rt
  9. addf classicladder.0.refresh thread
  10. start
  11. loadusr -nogui classicladder vm40.clp
  12.  
  13.  
  14.  
  15.  
  16. # axis.N.amp-enable-out
  17.  
  18.  
  19. # You'd trigger on rising and falling edges of your
  20. # relay signal, andturn (for one direction) halui.machine.on ON until
  21. # you see the halui.machine.is-on feedback, then turn it back off. same
  22. # for the other direction. <cradek> that is the fully correct solution,
  23. # because halui is not realtime so you have to wait for it to see and
  24. # respond to your input signals
  25.  
  26. net Spindle-Overheat hm2_5i25.0.7i77.0.0.input-13 classicladder.0.in-00
  27.  
  28. #net test-index hm2_5i25.0.7i77.0.0.input-31 classicladder.0.in-03
  29. #net mpg-x hm2_5i25.0.7i77.0.0.input-18 classicladder.0.in-03
  30. #net mpg-y hm2_5i25.0.7i77.0.0.input-19 classicladder.0.in-04
  31. #net mpg-z hm2_5i25.0.7i77.0.0.input-20 classicladder.0.in-05
  32.  
  33. #net mpg-x hm2_5i25.0.7i84.0.2.output-03 classicladder.0.out-02
  34. #net mpg-x hm2_5i25.0.7i84.0.2.output-04 classicladder.0.out-03
  35. #net mpg-x hm2_5i25.0.7i84.0.2.output-04 classicladder.0.out-04
  36.  
  37.  
  38. #%%%%%%%%%%%%%%%%%%%%%%%
  39. # End Classic Ladder
  40. #%%%%%%%%%%%%%%%%%%%%%%%
  41.  
  42.  
  43.  
  44.  
  45. #***********************
  46. # Debounce
  47. #***********************
  48.  
  49. #loadrt debounce cfg=3
  50. #addf debounce.0 base-thread
  51.  
  52.  
  53. #***********************
  54. # Machine Power
  55. #***********************
  56.  
  57.  
  58. net Power-On hm2_5i25.0.7i77.0.0.input-00 halui.machine.on
  59. net machine-is-on hm2_5i25.0.7i77.0.0.output-00
  60.  
  61. #%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62. # END Machine Power Section
  63. #%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64.  
  65.  
  66.  
  67.  
  68. #%%%%%%%%%%%%%%%%%%%%
  69. # ALARM SECTION
  70. #%%%%%%%%%%%%%%%%%%%%
  71.  
  72. net Alarm-OUT hm2_5i25.0.7i77.0.0.output-04 classicladder.0.out-00
  73. net Alarm-reset hm2_5i25.0.7i77.0.0.input-14 classicladder.0.in-01
  74. #net Alarm-silence hm2_5i25.0.7i77.0.0.input-15 classicladder.0.in-02
  75.  
  76. #--------ALARMS-------------------
  77.  
  78. # see in ClassicLadder Section net Spindle-Overheat hm2_5i25.0.7i77.0.0.input-13 classicladder.0.in-00
  79.  
  80. #%%%%%%%%%%%%%%%%%%%%%%
  81. # END ALARM Section
  82. #%%%%%%%%%%%%%%%%%%%%%%
  83.  
  84.  
  85. #***********************
  86. # Toggle
  87. #***********************
  88.  
  89. loadrt toggle count=16
  90. addf toggle.0 servo-thread
  91. setp toggle.0.debounce 50
  92. addf toggle.1 servo-thread
  93. setp toggle.1.debounce 50
  94. addf toggle.2 servo-thread
  95. setp toggle.2.debounce 50
  96.  
  97. addf toggle.3 servo-thread
  98. setp toggle.3.debounce 50
  99. addf toggle.4 servo-thread
  100. setp toggle.4.debounce 50
  101. addf toggle.5 servo-thread
  102. setp toggle.5.debounce 50
  103. addf toggle.6 servo-thread
  104. setp toggle.6.debounce 50
  105. addf toggle.7 servo-thread
  106. setp toggle.7.debounce 50
  107. addf toggle.8 servo-thread
  108. setp toggle.8.debounce 50
  109. addf toggle.9 servo-thread
  110. setp toggle.9.debounce 50
  111.  
  112. addf toggle.10 servo-thread
  113. setp toggle.10.debounce 50
  114. addf toggle.11 servo-thread
  115. setp toggle.11.debounce 50
  116. addf toggle.12 servo-thread
  117. setp toggle.12.debounce 50
  118. addf toggle.13 servo-thread
  119. setp toggle.13.debounce 50
  120. addf toggle.14 servo-thread
  121. setp toggle.14.debounce 50
  122. addf toggle.15 servo-thread
  123. setp toggle.15.debounce 50
  124.  
  125.  
  126.  
  127.  
  128. net lite-toggle toggle.0.in <= hm2_5i25.0.7i77.0.0.input-08
  129. net lite-control toggle.0.out => hm2_5i25.0.7i77.0.0.output-05
  130.  
  131. net flood-toggle toggle.4.in <= hm2_5i25.0.7i77.0.0.input-29
  132. net flood-control toggle.4.out => hm2_5i25.0.7i77.0.0.output-02
  133.  
  134. #%%%%%%%%%%%%%%%%%%%%%%
  135. # ATC Section
  136. #%%%%%%%%%%%%%%%%%%%%%%
  137.  
  138. net ATC-Remote-Turn toggle.5.in <= hm2_5i25.0.7i84.0.2.input-06
  139. net ATC-Remote-Stop toggle.5.out => hm2_5i25.0.7i84.0.2.output-06
  140.  
  141. #%%%%%%%%%%%%%%%%%%%%%%
  142. # END ATC Section
  143. #%%%%%%%%%%%%%%%%%%%%%%
  144.  
  145. #***********************
  146. # Toggle Conveyor
  147. #***********************
  148.  
  149. net conveyor-toggle toggle.1.in <= hm2_5i25.0.7i77.0.0.input-09
  150. net conveyor-control toggle.1.out => hm2_5i25.0.7i77.0.0.output-03
  151.  
  152. net cycle-start toggle.8.in <= hm2_5i25.0.7i77.0.0.input-12
  153. net hydraulic-pump toggle.8.out => hm2_5i25.0.7i77.0.0.output-06
  154.  
  155. #***********************
  156. # Pause/Resume
  157. #***********************
  158.  
  159. loadrt and2 count=2
  160. loadrt or2 count=1
  161. #loadrt toggle count=1
  162. loadrt toggle2nist count=1
  163.  
  164. addf and2.0 servo-thread
  165. addf and2.1 servo-thread
  166. addf or2.0 servo-thread
  167. #addf toggle.0 servo-thread
  168. addf toggle2nist.0 servo-thread
  169.  
  170.  
  171.  
  172.  
  173.  
  174. #***********************
  175. # MPG and Jog Select
  176. #***********************
  177.  
  178. net jog-x-pos hm2_5i25.0.7i84.0.2.input-30
  179. net jog-x-neg hm2_5i25.0.7i84.0.2.input-31
  180.  
  181. net jog-y-pos hm2_5i25.0.7i84.0.2.input-28
  182. net jog-y-neg hm2_5i25.0.7i84.0.2.input-29
  183.  
  184. net jog-z-pos hm2_5i25.0.7i84.0.2.input-26
  185. net jog-z-neg hm2_5i25.0.7i84.0.2.input-27
  186.  
  187.  
  188. loadrt mux4 count=3
  189. addf mux4.0 servo-thread
  190.  
  191.  
  192.  
  193. # For velocity mode, set to 1
  194. # In velocity mode the axis stops when the dial is stopped
  195. # even if that means the commanded motion is not completed,
  196. # For position mode (the default), set to 0
  197. # In position mode the axis will move exactly jog-scale
  198. # units for each count, regardless of how long that might take,
  199. setp axis.0.jog-vel-mode 0
  200. setp axis.1.jog-vel-mode 0
  201. setp axis.2.jog-vel-mode 0
  202.  
  203. # The Axis select inputs
  204.  
  205. # This sets the scale that will be used based on the input to the mux4
  206. setp mux4.0.in0 0.0001
  207. setp mux4.0.in1 0.01
  208. setp mux4.0.in2 0.001
  209.  
  210. # The inputs to the mux4 component
  211. net scale1 mux4.0.sel0 <= hm2_5i25.0.7i77.0.0.input-23
  212. net scale2 mux4.0.sel1 <= hm2_5i25.0.7i77.0.0.input-24
  213.  
  214. net pend-scale axis.0.jog-scale <= mux4.0.out
  215. net pend-scale axis.1.jog-scale
  216. net pend-scale axis.2.jog-scale
  217.  
  218.  
  219. net mpg-x axis.0.jog-enable <= hm2_5i25.0.7i77.0.0.input-20
  220. net mpg-y axis.1.jog-enable <= hm2_5i25.0.7i77.0.0.input-21
  221. net mpg-z axis.2.jog-enable <= hm2_5i25.0.7i77.0.0.input-22
  222.  
  223. net joint-select-count hm2_5i25.0.7i77.0.0.enc0
  224.  
  225. net joint-select-count axis.0.jog-counts
  226. net joint-select-count axis.1.jog-counts
  227. net joint-select-count axis.2.jog-counts
  228.  
  229.  
  230.  
  231. # External Program Pause/Resume Button
  232. #net pause-resume-btn and2.0.in0 and2.1.in0 <= hm2_5i25.0.7i77.0.0.input-10
  233. #net pause-on toggle2nist.0.is-on and2.0.in1 <= halui.program.is-paused
  234. #net run-on and2.1.in1 <= halui.program.is-running
  235. #net pause-sig or2.0.in0 <= and2.0.out
  236. #net resume-sig or2.0.in1 <= and2.1.out
  237. #net toggle-ok toggle.2.in <= or2.0.out
  238. #net togglesig toggle2nist.0.in <= toggle.2.out
  239. #net toggleon halui.program.pause <= toggle2nist.0.on
  240. #net toggleoff halui.program.resume <= toggle2nist.0.off
  241.  
  242.  
  243. #**********************************
  244. # PYVCP PANEL
  245. #**********************************
  246.  
  247. #net spindle_rpm
  248.  
  249.  
  250.  
  251.  
  252. #***********************
  253. # === estop signals ===
  254. #***********************
  255.  
  256. loadrt estop_latch
  257. addf estop-latch.0 servo-thread
  258. net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
  259. net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
  260. net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
  261. net remote-estop estop-latch.0.fault-in <= hm2_5i25.0.7i77.0.0.input-01-not
  262.  
  263. #%%%%%%%%%%%%%%%%%%%%%%%
  264. # END estop signals
  265. #%%%%%%%%%%%%%%%%%%%%%%%
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!