28 lines
1.0 KiB
Plaintext
28 lines
1.0 KiB
Plaintext
# Include your customized HAL commands here
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# The commands in this file are run after the AXIS GUI (including PyVCP panel)
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# starts
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# This file will not be overwritten when you run stepconf again
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# External E-Stop pyVCP button for external use a normally closed contact
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loadrt not count=1
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addf not.0 servo-thread
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# The not changes the normally open pyVCP button to normally closed
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net nc-gui-estop not.0.in <= pyvcp.py-estop
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net ext-estop classicladder.0.in-00 <= not.0.out
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# Request E-Stop Enable from EMC
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net estop-all-ok iocontrol.0.emc-enable-in <= classicladder.0.out-00
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# Request E-Stop Enable from pyVCP or external source
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net ext-estop-reset classicladder.0.in-03 <= pyvcp.py-reset
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# This line resets the E-Stop from EMC
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net emc-reset-estop iocontrol.0.user-request-enable => classicladder.0.in-02
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# This line enables EMC to unlatch the E-Stop in classicladder
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net emc-estop iocontrol.0.user-enable-out => classicladder.0.in-01
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# This line turns on the green indicator when out of E-Stop
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net estop-all-ok => pyvcp.py-es-status
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