machine.hal

#***** BASE SYSTEM *****************************************************
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
addf motion-command-handler servo-thread
addf motion-controller      servo-thread

setp iocontrol.0.emc-enable-in 1

# *************************
# Load Core HAL Components
# *************************
loadrt hostmot2
loadrt hm2_pci config="num_encoders=1 num_stepgens=5 sserial_port_0=0XXX"
loadrt debounce cfg=4

#############################
#---Functions and Threads---
#############################
addf hm2_5i25.0.read         servo-thread
addf hm2_5i25.0.write        servo-thread

##############################
#---Home and Limit signals---
##############################
net x-home <= hm2_5i25.0.7i76.0.0.input-00-not
net y-home <= hm2_5i25.0.7i76.0.0.input-01-not
net z-home <= hm2_5i25.0.7i76.0.0.input-02-not

#***** X-AXIS **********************************************************
net xpos    joint.0.motor-pos-cmd   => joint.0.motor-pos-fb => hm2_5i25.0.stepgen.00.position-cmd
net x-home  => joint.0.home-sw-in

#*************************
# ---Axis Enable Chain---
#*************************
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net x-enable  <= joint.0.amp-enable-out
net x-enable  => hm2_5i25.0.stepgen.00.enable

#**************************
# ---Timing Parameters---
# ---X Axis MOTOR---
#**************************
setp hm2_5i25.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale -[JOINT_0]SCALE
setp hm2_5i25.0.stepgen.00.maxvel          [JOINT_0]STEPGEN_MAXVEL
setp hm2_5i25.0.stepgen.00.maxaccel        [JOINT_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.step_type       0
setp hm2_5i25.0.stepgen.00.control-type    0

#***** Y1-AXIS *********************************************************
net y1pos   joint.1.motor-pos-cmd   => joint.1.motor-pos-fb => hm2_5i25.0.stepgen.01.position-cmd hm2_5i25.0.stepgen.02.position-cmd
net y-home  => joint.1.home-sw-in

#*************************
# ---Axis Enable Chain---
#*************************
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_5i25.0.stepgen.01.enable hm2_5i25.0.stepgen.02.enable

#*************************
# ---Timing Parameters---
#   ---Y1 Axis MOTOR---
#*************************
setp hm2_5i25.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale -[JOINT_1]SCALE
setp hm2_5i25.0.stepgen.01.maxvel          [JOINT_1]STEPGEN_MAXVEL
setp hm2_5i25.0.stepgen.01.maxaccel        [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.step_type       0
setp hm2_5i25.0.stepgen.01.control-type    0

#*************************
# ---Timing Parameters---
#   ---Y2 Axis MOTOR---
#*************************
setp hm2_5i25.0.stepgen.02.dirsetup        [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold         [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen         [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace       [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale  [JOINT_1]SCALE
setp hm2_5i25.0.stepgen.02.maxvel          [JOINT_1]STEPGEN_MAXVEL
setp hm2_5i25.0.stepgen.02.maxaccel        [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.step_type       0
setp hm2_5i25.0.stepgen.02.control-type    0

#***** Z-AXIS **********************************************************
net zpos    joint.2.motor-pos-cmd   => joint.2.motor-pos-fb => hm2_5i25.0.stepgen.03.position-cmd => hm2_5i25.0.stepgen.04.position-cmd
#net zpos    joint.2.pos-cmd   => joint.2.motor-pos-fb
net z-home  => joint.2.home-sw-in

#*************************
# ---Axis Enable Chain---
#*************************
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable <= joint.2.amp-enable-out
net emcmot.02.enable => hm2_5i25.0.stepgen.03.enable hm2_5i25.0.stepgen.04.enable

#*************************
# ---Timing Parameters---
#*************************
setp hm2_5i25.0.stepgen.03.dirsetup        [JOINT_2]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold         [JOINT_2]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen         [JOINT_2]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace       [JOINT_2]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale  [JOINT_2]SCALE
setp hm2_5i25.0.stepgen.03.maxvel          [JOINT_2]STEPGEN_MAXVEL
setp hm2_5i25.0.stepgen.03.maxaccel        [JOINT_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.step_type       0
setp hm2_5i25.0.stepgen.03.control-type    0

#*************************
# ---Timing Parameters---
# ---Z2 Axis NORTH MOTOR---
#*************************
setp hm2_5i25.0.stepgen.04.dirsetup        [JOINT_2]DIRSETUP
setp hm2_5i25.0.stepgen.04.dirhold         [JOINT_2]DIRHOLD
setp hm2_5i25.0.stepgen.04.steplen         [JOINT_2]STEPLEN
setp hm2_5i25.0.stepgen.04.stepspace       [JOINT_2]STEPSPACE
setp hm2_5i25.0.stepgen.04.position-scale  [JOINT_2]SCALE
setp hm2_5i25.0.stepgen.04.maxvel          [JOINT_2]STEPGEN_MAXVEL
setp hm2_5i25.0.stepgen.04.maxaccel        [JOINT_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.04.step_type       0
setp hm2_5i25.0.stepgen.04.control-type    0

#  ---HALUI signals---
net machine-is-on  halui.machine.is-on
net MDI-mode halui.mode.is-mdi

# #######
# Standard I/O Block - EStop, Etc

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed