79 lines
2.5 KiB
Plaintext
79 lines
2.5 KiB
Plaintext
# HAL config file for Pico Systems USC board
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#
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# Connect motion controller I/Os
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#
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# connect limit/home switch outputs to motion controller
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net Xminlim <= ppmc.0.din.01.in
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net Xminlim => joint.0.neg-lim-sw-in
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net Xmaxlim <= ppmc.0.din.02.in
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net Xmaxlim => joint.0.pos-lim-sw-in
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net Xhome <= ppmc.0.din.00.in
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net Xhome => joint.0.home-sw-in
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net Yminlim <= ppmc.0.din.05.in
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net Yminlim => joint.1.neg-lim-sw-in
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net Ymaxlim <= ppmc.0.din.06.in
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net Ymaxlim => joint.1.pos-lim-sw-in
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net Yhome <= ppmc.0.din.04.in
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net Yhome => joint.1.home-sw-in
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net Zminlim <= ppmc.0.din.09.in
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net Zminlim => joint.2.neg-lim-sw-in
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net Zmaxlim <= ppmc.0.din.10.in
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net Zmaxlim => joint.2.pos-lim-sw-in
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net Zhome <= ppmc.0.din.08.in
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net Zhome => joint.2.home-sw-in
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net Aminlim <= ppmc.0.din.12.in
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net Aminlim => joint.3.neg-lim-sw-in
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net Amaxlim <= ppmc.0.din.13.in
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net Amaxlim => joint.3.pos-lim-sw-in
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net Ahome <= ppmc.0.din.11.in
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net Ahome => joint.3.home-sw-in
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# connect index pulses to motion controller
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# uncomment if you have encoder index signals
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#net Xindex <= ppmc.0.encoder.00.index-enable => joint.0.index-enable
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#net Yindex <= ppmc.0.encoder.01.index-enable => joint.1.index-enable
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#net Zindex <= ppmc.0.encoder.02.index-enable => joint.2.index-enable
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#net Aindex <= ppmc.0.encoder.03.index-enable => joint.3.index-enable
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#
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# Connect I/O controller I/Os
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#
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# connect e-stop write/sense to I/O controller
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# and ppmc's fault with estop's output, so estop FF is reset, but
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# prevent continued estop signal from ppmc from holding FF cleared
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net ppmcEstop ppmc.0.din.estop.in
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net ppmcEstop and2.0.in0
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net EstopOkIn estop-latch.0.fault-in
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net EstopOkIn and2.0.out
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net EstopOkOut ppmc.0.dout.07.out
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net EstopOkOut ppmc.0.dout.Estop.out
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net EstopOkOut iocontrol.0.emc-enable-in
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net EstopOkOut estop-latch.0.ok-out
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net EstopOkOut and2.0.in1
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net emc-estop-out iocontrol.0.user-enable-out
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net emc-estop-out estop-latch.0.ok-in
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net emc-estop-reset iocontrol.0.user-request-enable
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net emc-estop-reset estop-latch.0.reset
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# connect spindle fwd/rev to I/O controller
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net SpindleFwd <= ppmc.0.dout.00.out
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net SpindleFwd => spindle.0.forward
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net SpindleRev <= ppmc.0.dout.01.out
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net SpindleRev => spindle.0.reverse
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# connect spindle brake to I/O controller
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net SpindleBrakeOn <= ppmc.0.dout.02.out
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net SpindleBrakeOn => spindle.0.brake
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# connect mist/flood coolant to I/O controller
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net MistOn <= ppmc.0.dout.03.out
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net MistOn => iocontrol.0.coolant-mist
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net FloodOn <= ppmc.0.dout.04.out
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net FloodOn => iocontrol.0.coolant-flood
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