36 lines
1.6 KiB
Plaintext
36 lines
1.6 KiB
Plaintext
# HAL config file for using classic ladder
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# The core_sim.hal file sets up motion, stepgen and other common items
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# Remove core_sim.hal connections for the following pins and implement
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# using classic latter functionality instead:
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unlinkp iocontrol.0.user-enable-out
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unlinkp iocontrol.0.emc-enable-in
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# This file adds:
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# the possibility of an external momentary or sustained NC estop button
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# (load the realtime portion)
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# these classicladder parameters need to be optimized after ladder completion
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loadrt classicladder_rt numRungs=12 numBits=20 numWords=4 numTimers=5 numMonostables=2 numPhysInputs=10 numPhysOutputs=10 numArithmExpr=4 numSections=4
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# We kick ladder into a thread at the slower servo rate rather than base rate
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addf classicladder.0.refresh servo-thread 1
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# invoke the user part of CL to silently load the program
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# later we will need to add the clp file mentioned below
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# to the ini file so that we do not need to hardcode it here.
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loadusr -w classicladder --nogui classicladder-estop.clp
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# three axis motion allows 6 other outputs on pins 8,9,1,14,16,17
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# five additional input pins are available 10,11,12,13,15
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# these are setup by the work they perform below
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# estop signals
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# signal is the internal or gui estop command from EMC
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net gui-estop iocontrol.0.user-enable-out classicladder.0.in-00
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# one-shot on timer when signal above goes high.
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net estop-strobe iocontrol.0.user-request-enable classicladder.0.in-02
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# this bit is an external estop button connected to parport pin 11 and ground
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net ext-estop classicladder.0.in-01
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# This bit signal is command to estop from CL to EMC
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net estop-all-ok iocontrol.0.emc-enable-in classicladder.0.out-00
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