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configs/sim/axis/vismach/hbm/hbm.hal

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+# HAL config file for vismach simulation of horizontal boring machine
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# load four limit3 blocks to simulate the accel and vel limits of the motors
+loadrt limit3 count=4
+# load window comparators for home/limit switches
+loadrt wcomp count=4
+loadrt not count=4
+
+# load the vismach model
+loadusr -W hbmgui
+
+# set a visible tool
+setp hbmgui.tool-length 2
+setp hbmgui.tool-radius 0.5
+#net tool-len motion.tooloffset.w hbmgui.tool-length
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# add other functions
+addf limit3.0 servo-thread
+addf limit3.1 servo-thread
+addf limit3.2 servo-thread
+addf limit3.3 servo-thread
+addf wcomp.0 servo-thread
+addf wcomp.1 servo-thread
+addf wcomp.2 servo-thread
+addf wcomp.3 servo-thread
+addf not.0 servo-thread
+addf not.1 servo-thread
+addf not.2 servo-thread
+addf not.3 servo-thread
+
+# create HAL signals for position commands from motion module
+# send them to limit blocks so it will ferror if it exceeds a limit
+net table-pos-cmd  joint.0.motor-pos-cmd => limit3.0.in
+net head-pos-cmd   joint.1.motor-pos-cmd => limit3.1.in
+net saddle-pos-cmd joint.2.motor-pos-cmd => limit3.2.in
+net quill-pos-cmd  joint.3.motor-pos-cmd => limit3.3.in
+
+# set the limit block parameters from the ini file
+setp limit3.0.maxv [JOINT_0]MAX_VELOCITY
+setp limit3.0.maxa [JOINT_0]MAX_ACCELERATION
+setp limit3.1.maxv [JOINT_1]MAX_VELOCITY
+setp limit3.1.maxa [JOINT_1]MAX_ACCELERATION
+setp limit3.2.maxv [JOINT_2]MAX_VELOCITY
+setp limit3.2.maxa [JOINT_2]MAX_ACCELERATION
+setp limit3.3.maxv [JOINT_3]MAX_VELOCITY
+setp limit3.3.maxa [JOINT_3]MAX_ACCELERATION
+
+# loop limited position commands back to motion module feedback
+# also send them to the vismach model and to the "limit switches"
+net table-pos-fb  limit3.0.out => joint.0.motor-pos-fb hbmgui.table  wcomp.0.in
+net head-pos-fb   limit3.1.out => joint.1.motor-pos-fb hbmgui.head   wcomp.1.in
+net saddle-pos-fb limit3.2.out => joint.2.motor-pos-fb hbmgui.saddle wcomp.2.in
+net quill-pos-fb  limit3.3.out => joint.3.motor-pos-fb hbmgui.quill  wcomp.3.in
+
+# route home/limit switch signals to EMC
+net table-limits-ok wcomp.0.out => not.0.in
+net table-limits-tripped not.0.out => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
+net head-limits-ok wcomp.1.out => not.1.in
+net head-limits-tripped not.1.out => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
+net saddle-limits-ok wcomp.2.out => not.2.in
+net saddle-limits-tripped not.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
+net quill-limits-ok wcomp.3.out => not.3.in
+net quill-limits-tripped not.3.out => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in
+
+# set location of switches
+# these positions are in vismach coords - they can be are offset from machine coords
+# these hardware limits are set to allow 0.5in more overall travel than the soft limits
+setp wcomp.0.min -50.5
+setp wcomp.0.max  50.5
+setp wcomp.1.min -0.5
+setp wcomp.1.max  100.5
+setp wcomp.2.min -25.5
+setp wcomp.2.max  25.5
+setp wcomp.3.min -42.5
+setp wcomp.3.max  0.5
+
+# 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
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+net spindle-speed spindle.0.speed-out
+
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist