126 lines
3.5 KiB
Plaintext
126 lines
3.5 KiB
Plaintext
# HAL config file for Vigilant Technologies Inc. VTI PCA board
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#
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# install driver (only needed if vti_motion.hal doesn't get run)
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#loadrt hal_vti
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# add I/O to servo thread so they will be evaluated
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# every servo period
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# read inputs first
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addf vti.di-read servo-thread 1
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# write outputs last
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addf vti.do-write servo-thread -1
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#uncomment following line if ADC's are needed (for example spindle-tach feedback)
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#addf vti.0.read-adcs servo-thread 1
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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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#newsig Xminlim bit
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#newsig Xmaxlim bit
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#newsig Xhome bit
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#linksp Xminlim <= vti.in-02
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#linksp Xminlim => joint.0.neg-lim-sw-in
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#linksp Xmaxlim <= vti.in-01
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#linksp Xmaxlim => joint.0.pos-lim-sw-in
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#linksp Xhome <= vti.in-00
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#linksp Xhome => joint.0.home-sw-in
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#newsig Yminlim bit
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#newsig Ymaxlim bit
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#newsig Yhome bit
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#linksp Yminlim <= vti.in-06
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#linksp Yminlim => joint.1.neg-lim-sw-in
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#linksp Ymaxlim <= vti.in-05
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#linksp Ymaxlim => joint.1.pos-lim-sw-in
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#linksp Yhome <= vti.in-04
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#linksp Yhome => joint.1.home-sw-in
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#newsig Zminlim bit
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#newsig Zmaxlim bit
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#newsig Zhome bit
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#linksp Zminlim <= vti.in-10
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#linksp Zminlim => joint.2.neg-lim-sw-in
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#linksp Zmaxlim <= vti.in-09
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#linksp Zmaxlim => joint.2.pos-lim-sw-in
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#linksp Zhome <= vti.in-08
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#linksp Zhome => joint.2.home-sw-in
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#continue in the same manner for further axes (A,B,C)
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# connect amp faults to motion controller
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#newsig Xfault bit
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#newsig Yfault bit
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#newsig Zfault bit
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#linksp Xfault <= vti.in-03
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#linksp Xfault => joint.0.amp-fault-in
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#linksp Yfault <= vti.in-07
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#linksp Yfault => joint.1.amp-fault-in
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#linksp Zfault <= vti.in-11
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#linksp Zfault => joint.2.amp-fault-in
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# connect index pulses to motion controller
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# do these when index pulsing is figured out
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#newsig Xindex bit
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#newsig Yindex bit
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#newsig Zindex bit
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#linksp Xindex <= vti.0.enc-index
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#linksp Xindex => joint.0.index-enable
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#linksp Yindex <= vti.1.enc-index
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#linksp Yindex => joint.1.index-enable
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#linksp Zindex <= vti.2.enc-index
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#linksp Zindex => joint.2.index-enable
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# connect amp enables to motion controller
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#linksp Xenable => vti.out-00
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#linksp Yenable => vti.out-01
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#linksp Zenable => vti.out-02
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# connect watchdog reset to motion controller
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# needs watchdo
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#newsig WatchdogRst bit
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#linksp WatchdogRst <= vti.watchdog-reset
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#linksp WatchdogRst => motion.watchdog-reset-out
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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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# these connections assume an external ESTOP circuitry will be used
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# if it's not used, comment the next lines and uncomment the loopback
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#newsig EstopSense bit
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#newsig EstopWrite bit
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#linksp EstopSense <= vti.in-12
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#linksp EstopSense => iocontrol.0.emc-enable-in
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#linksp EstopWrite <= vti.out-07
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#linksp EstopWrite => iocontrol.0.user-enable-out
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# ESTOP loopback, only use this for a simple machine without external ESTOP
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# you really SHOULDN'T use a servo machine without proper ESTOP
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#net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# connect spindle fwd/rev to I/O controller
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#newsig SpindleFwd bit
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#newsig SpindleRev bit
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#linksp SpindleFwd <= vti.out-06
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#linksp SpindleFwd => spindle.0.forward
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#linksp SpindleRev <= vti.out-05
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#linksp SpindleRev => spindle.0.reverse
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# connect spindle brake to I/O controller
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#newsig SpindleBrakeOn bit
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#linksp SpindleBrakeOn <= vti.out-10
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#linksp SpindleBrakeOn => spindle.0.brake
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# connect mist/flood coolant to I/O controller
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#newsig MistOn bit
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#newsig FloodOn bit
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#linksp MistOn <= vti.out-11
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#linksp MistOn => iocontrol.0.coolant-mist
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#linksp FloodOn <= vti.out-12
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#linksp FloodOn => iocontrol.0.coolant-flood
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