Xylotex.postgui.hal

# Include in your customized HAL
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
#--------------
# Gamepad
#loadusr -W hal_input -KA gamepad
loadrt and2 count=25
loadrt conv_s32_float count=2
loadrt mux4 count=2
loadrt xor2 count=2
loadrt or2 count=2
loadrt scale count=2
loadrt flipflop count=4
loadrt wcomp count=2
loadrt not count=5
loadrt toggle count=2
loadrt toggle2nist count=1
#-- central buttons activate manual mode and restart the program
addf and2.21 servo-thread
addf and2.22 servo-thread
addf and2.23 servo-thread
addf and2.24 servo-thread
addf or2.1 servo-thread
addf toggle.1 servo-thread
addf toggle2nist.0 servo-thread
# External Program Pause/Resume and Run/Step Buttons
# Pause/Resume Section
net pause-resume-btn input.0.btn-base4
# (this is your input)
net pause-resume-btn and2.21.in0 and2.22.in0
net pause-on toggle2nist.0.is-on and2.21.in1 and2.24.in1
net pause-on halui.program.is-paused
net run-on and2.22.in1 <= halui.program.is-running
net pause-sig or2.1.in0 <= and2.21.out
net resume-sig or2.1.in1 <= and2.22.out
net toggle-ok toggle.1.in <= or2.1.out
net togglesig toggle2nist.0.in <= toggle.1.out
net toggleon halui.program.pause <= toggle2nist.0.on
net toggleoff halui.program.resume <= toggle2nist.0.off
# Run/Step Section
net run-step-btn and2.23.in0 and2.24.in0
net run-step-btn input.0.btn-base3
#- (this is your input)
net idle-on and2.23.in1 <= halui.program.is-idle
# Pause/Resume Section
net run-sig halui.mode.auto halui.program.run <= and2.23.out
net step-sig halui.program.step <= and2.24.out
#-- right rear buttons active estop
addf and2.0 servo-thread
net pgm-estop-0 input.0.btn-base2 and2.0.in0
net pgm-estop-1 input.0.btn-pinkie and2.0.in1
net pgm-estop and2.0.out halui.estop.activate
#--
#--
#-- convert ini file unit/sec to unit/min and scale for slow jog
#-- The ini file velocities are in units/second, so a scale block multiplies by 60 to get units/minute.
#-- Another scale block multiplies by a factor, selected by the top left rear button to get slow-speed jogging.
#- These values are a matter of taste: tune to your requirements.
#-- Those two factors are fed to mux2 and selected by the counter which is clocked the top left rear button
addf scale.0 servo-thread
addf scale.1 servo-thread
addf mux4.0 servo-thread
addf mux4.1 servo-thread
addf flipflop.0 servo-thread
addf flipflop.1 servo-thread
addf xor2.1 servo-thread
addf not.0 servo-thread
#-- rear left top button toggles jog speed
net jog-per-sec halui.max-velocity.value scale.0.in
setp scale.0.gain 60
net jog-per-min scale.0.out scale.1.in
setp mux4.0.in3 1
setp mux4.0.in2 0.5
setp mux4.0.in1 0.1
setp mux4.0.in0 0.02
net xyz-slowmode mux4.0.out scale.1.gain
#- Increment mode step distance
setp mux4.1.in3 1
setp mux4.1.in2 0.5
setp mux4.1.in1 0.1
setp mux4.1.in0 0.025
#- Two bit binary counter
net ff-q1 flipflop.1.out
net ff-q1 xor2.1.in0
net ff-q0 flipflop.0.out not.0.in
net ff-q0-not not.0.out flipflop.0.data
net ff-q0 xor2.1.in1
net ff1-data xor2.1.out flipflop.1.data
net speed-button input.0.btn-top2
net speed-button => flipflop.1.clk flipflop.0.clk
net ff-q0 mux4.0.sel0 mux4.1.sel0
net ff-q1 mux4.0.sel1 mux4.1.sel1
net xyz-slowmode mux4.0.out scale.1.gain
net axis-jog-speed scale.1.out halui.jog-speed
#--
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf and2.4 servo-thread
addf and2.5 servo-thread
addf and2.6 servo-thread
addf and2.7 servo-thread
addf and2.8 servo-thread
addf and2.9 servo-thread
addf and2.10 servo-thread
addf and2.11 servo-thread
addf and2.12 servo-thread
addf and2.13 servo-thread
addf and2.14 servo-thread
addf and2.15 servo-thread
addf and2.16 servo-thread
addf and2.17 servo-thread
addf and2.18 servo-thread
addf and2.19 servo-thread
addf and2.20 servo-thread
addf conv-s32-float.0 servo-thread
addf conv-s32-float.1 servo-thread
addf xor2.0 servo-thread
addf wcomp.0 servo-thread
addf wcomp.1 servo-thread
addf or2.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
addf not.3 servo-thread
addf not.4 servo-thread
addf flipflop.2 servo-thread
addf flipflop.3 servo-thread
addf toggle.0 servo-thread
#-- x y jog
net x-jog-count-int input.0.abs-x-counts conv-s32-float.0.in
net x-jog-count-raw conv-s32-float.0.out wcomp.0.in
setp wcomp.0.min 126
setp wcomp.0.max 128
net x-jog-inactive wcomp.0.out flipflop.2.set
net not_wcomp0 not.1.out or2.0.in0
net y-jog-count-int input.0.abs-y-counts conv-s32-float.1.in
net y-jog-count-raw conv-s32-float.1.out wcomp.1.in
setp wcomp.1.min 126
setp wcomp.1.max 128
net y-jog-inactive wcomp.1.out flipflop.3.set
net not-xyz-enable not.2.out or2.0.in1
#- The X and Y switches do not initialise to 127 at switch on, but read zero. They need to be pressed to set to 127
#- so would jog in the minus direction when the jog enable button was pressed. This is prevented by
#- flopflops to inhibit the gamepad X Y until X or Y jog key pressed initialises them
net not-y-set-enable not.3.in or2.0.out
net y-set-enable not.3.out
net y-set-enable and2.20.in1 and2.18.in1
net gamepad-x-init flipflop.2.out and2.8.in0
net gamepad-y-init flipflop.3.out not.1.in
net x-over wcomp.0.over and2.7.in0
net x-over and2.16.in0
net x-under wcomp.0.under and2.6.in0
net x-under and2.15.in0
net y-under wcomp.1.under and2.5.in0
net y-under and2.14.in0
net y-over wcomp.1.over and2.4.in0
net y-over and2.13.in0
#-- no jog without jog enable button. lower left rear button
net xyz-jog-enable input.0.btn-base and2.3.in0
net xyz-jog-enable and2.8.in1 not.2.in
net x-set-enable and2.8.out
net x-set-enable and2.9.in1 and2.17.in1
net x-/+enable and2.6.in1 and2.9.out
net x-/+enable and2.7.in1
net y-set-enable not.3.out
net y-set-enable and2.20.in1 and2.18.in1
net y-/+enable and2.20.out
net y-/+enable and2.4.in1 and2.5.in1
#-- Z jog
net plus-z-button input.0.btn-joystick xor2.0.in0
net plus-z-button and2.2.in1 and2.12.in1
net minus-z-button input.0.btn-thumb2 xor2.0.in1
net minus-z-button and2.1.in1 and2.11.in1
net z-button xor2.0.out and2.3.in1
net z-enable and2.3.out and2.10.in0
net z-enable and2.19.in1
net z-jog-enable and2.1.in0 and2.10.out
net z-jog-enable and2.2.in0
net jog-enable and2.10.in1 not.4.out
net jog-enable and2.20.in0 and2.9.in0
#- switch jog/increment logic
net inc/jog input.0.btn-top toggle.0.in
net enable-inc not.4.in toggle.0.out
net enable-inc and2.17.in0 and2.18.in0
net enable-inc and2.19.in0
#-
net x-/+inc-enable and2.16.in1 and2.17.out
net x-/+inc-enable and2.15.in1
net y-/+inc-enable and2.14.in1 and2.18.out
net y-/+inc-enable and2.13.in1
net z-/+inc-enable and2.12.in0 and2.19.out
net z-/+inc-enable and2.11.in0
net x-jog-plus and2.7.out halui.jog.0.plus
net x-jog-minus and2.6.out halui.jog.0.minus
net y-jog-plus and2.5.out halui.jog.1.plus
net y-jog-minus and2.4.out halui.jog.1.minus
net z-jog-plus and2.2.out halui.jog.2.plus
net z-jog-minus and2.1.out halui.jog.2.minus
#--
net axis-inc halui.jog.0.increment mux4.1.out
net axis-inc halui.jog.1.increment halui.jog.2.increment
net x-inc-plus and2.16.out halui.jog.0.increment-plus
net x-inc-minus and2.15.out halui.jog.0.increment-minus
net y-inc-plus and2.14.out halui.jog.1.increment-plus
net y-inc-minus and2.13.out halui.jog.1.increment-minus
net z-inc-plus and2.12.out halui.jog.2.increment-plus
net z-inc-minus and2.11.out halui.jog.2.increment-minus
#- Selected speed is displayed as a bar in the virtual control panel
#net axis-jog-speed pyvcp.jog-speed
#net jog-enable pyvcp.jog
#net axis-inc pyvcp.increment-size
#net enable-inc pyvcp.increment
#net home-x pyvcp.xhome
#net home-y pyvcp.yhome
#net home-z pyvcp.zhome