5axes

# core HAL config file for simulation - 5 axis
# load RT modules: first one the 5-axis kinematics
loadrt 5axiskins

loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt ddt count=9
loadrt probe_parport
loadrt pwmgen output_type=0

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
addf ddt.4 servo-thread
addf ddt.5 servo-thread
addf ddt.6 servo-thread
addf ddt.7 servo-thread
addf ddt.8 servo-thread



# create HAL signals for position commands from motion module
newsig J0pos float
linksp J0pos <= axis.0.motor-pos-cmd
newsig J1pos float
linksp J1pos <= axis.1.motor-pos-cmd
newsig J2pos float
linksp J2pos <= axis.2.motor-pos-cmd
newsig J3pos float
linksp J3pos <= axis.3.motor-pos-cmd
newsig J5pos float
linksp J5pos <= axis.5.motor-pos-cmd


# loop position commands back to motion module feedback
linksp J0pos => axis.0.motor-pos-fb
linksp J1pos => axis.1.motor-pos-fb
linksp J2pos => axis.2.motor-pos-fb
linksp J3pos => axis.3.motor-pos-fb
linksp J5pos => axis.5.motor-pos-fb

# send the position commands thru differentiators to
# generate velocity and accel signals
# define the signals, and hook them up
newsig J0vel float
newsig J0acc float
linksp J0pos => ddt.0.in
linkps ddt.0.out => J0vel
linksp J0vel => ddt.1.in
linkps ddt.1.out => J0acc

newsig J1vel float
newsig J1acc float
linksp J1pos => ddt.2.in
linkps ddt.2.out => J1vel
linksp J1vel => ddt.3.in
linkps ddt.3.out => J1acc

newsig J2vel float
newsig J2acc float
linksp J2pos => ddt.4.in
linkps ddt.4.out => J2vel
linksp J2vel => ddt.5.in
linkps ddt.5.out => J2acc

newsig J3vel float
newsig J3acc float
linksp J3pos => ddt.6.in
linkps ddt.6.out => J3vel
linksp J3vel => ddt.7.in
linkps ddt.7.out => J3acc



# amp control
newsig xena bit
linksp xena axis.0.amp-enable-out
newsig yena bit
linksp yena axis.1.amp-enable-out
newsig zena bit
linksp zena axis.2.amp-enable-out
newsig aena bit
linksp aena axis.3.amp-enable-out
newsig cena bit
linksp cena axis.5.amp-enable-out

newsig xflt bit
linksp xflt axis.0.amp-fault-in
newsig yflt bit
linksp yflt axis.1.amp-fault-in
newsig zflt bit
linksp zflt axis.2.amp-fault-in
newsig aflt bit
linksp aflt axis.3.amp-fault-in
newsig cflt bit
linksp cflt axis.5.amp-fault-in

# affichage du GUI
loadusr -W 5axisgui
#loadusr -Wn simple_arduino /usr/bin/simple_arduino
# Liaison entre le GUI et la definition des axes
# axes X
#net j0 axis.0.joint-pos-fb simple_arduino.axis0-cmd
net j0 axis.0.joint-pos-fb 5axisgui.joint0
# axes Y
net j1 axis.1.joint-pos-fb 5axisgui.joint1
# axes Z
net j2 axis.2.joint-pos-fb 5axisgui.joint2
# axes A
net j3 axis.3.joint-pos-fb 5axisgui.joint3
# axes C
net j5 axis.5.joint-pos-fb 5axisgui.joint5

#unlinkp halui.machine.is-on
#unlinkp halui.machine.on
#unlinkp halui.machine.off
#net machstate simple_arduino.machine-state <= halui.machine.is-on
#net turnoff halui.machine.off <= simple_arduino.switch-off
#net turnon halui.machine.on <= simple_arduino.switch-on


# Longueur pivot + la longueur outil
#setp 5axiskins.pivot-length
#setp 5axiskins.tooloffset.z 100
# Affichage outil dans le gui
net tool-len motion.tooloffset.w 5axisgui.tool_length


# Arret d'urgence
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

#Changement outils

loadusr -W hal_manualtoolchange

net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed 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