# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel)
# starts
# This file will not be overwritten when you run stepconf again

# External E-Stop pyVCP button for external use a normally closed contact
loadrt not count=1
addf not.0 servo-thread

# The not changes the normally open pyVCP button to normally closed
net nc-gui-estop not.0.in <= pyvcp.py-estop
net ext-estop classicladder.0.in-00 <= not.0.out

# Request E-Stop Enable from EMC
net estop-all-ok iocontrol.0.emc-enable-in <= classicladder.0.out-00

# Request E-Stop Enable from pyVCP or external source
net ext-estop-reset classicladder.0.in-03 <= pyvcp.py-reset

# This line resets the E-Stop from EMC
net emc-reset-estop iocontrol.0.user-request-enable => classicladder.0.in-02

# This line enables EMC to unlatch the E-Stop in classicladder
net emc-estop iocontrol.0.user-enable-out => classicladder.0.in-01

# This line turns on the green indicator when out of E-Stop
net estop-all-ok => pyvcp.py-es-status