# HAL config file for Vital Systems MOTENC-100 PCI board
#
# Install driver.
#loadrt hal_motenc

# Classicladder for machine logic (load the realtime portion).
# Just uncomment the following line if you want a Software PLC
#loadrt classicladder_rt numRungs=4 numBits=16 numWords=4 numTimers=2 numMonostables=2 numPhysInputs=16 numPhysOutputs=8 numArithmExpr=4 numSections=1

# Invoke the user part of CL to silently load the program.
# Just uncomment the following line if you want a Software PLC
#loadusr -w classicladder --nogui ../configs/common/bridgeport.clp

# Add I/O to servo thread so they will be evaluated
# every servo period.
# inputs get read at the beginning of the thread
addf motenc.0.misc-update servo-thread 1
#addf motenc.0.adc-read servo-thread 1
addf motenc.0.digital-in-read servo-thread 1
#addf classicladder.0.refresh servo-thread 1

# outputs get refreshed at the end of the thread
addf motenc.0.digital-out-write servo-thread -1

#
# Connect motion controller I/Os
#

# Connect limit/home switch outputs to motion controller.
newsig Xminlim bit
newsig Xmaxlim  bit
newsig Xhome bit
linksp Xminlim <= motenc.0.in-00
linksp Xminlim => axis.0.neg-lim-sw-in
linksp Xmaxlim <= motenc.0.in-01
linksp Xmaxlim => axis.0.pos-lim-sw-in
linksp Xhome <= motenc.0.in-02
linksp Xhome => axis.0.home-sw-in

newsig Yminlim bit
newsig Ymaxlim  bit
newsig Yhome bit
linksp Yminlim <= motenc.0.in-04
linksp Yminlim => axis.1.neg-lim-sw-in
linksp Ymaxlim <= motenc.0.in-05
linksp Ymaxlim => axis.1.pos-lim-sw-in
linksp Yhome <= motenc.0.in-06
linksp Yhome => axis.1.home-sw-in

newsig Zminlim bit
newsig Zmaxlim  bit
newsig Zhome bit
linksp Zminlim <= motenc.0.in-08
linksp Zminlim => axis.2.neg-lim-sw-in
linksp Zmaxlim <= motenc.0.in-09
linksp Zmaxlim => axis.2.pos-lim-sw-in
linksp Zhome <= motenc.0.in-10
linksp Zhome => axis.2.home-sw-in

# Connect amp faults to motion controller.
newsig Xfault bit
newsig Yfault  bit
newsig Zfault bit
linksp Xfault <= motenc.0.in-03
linksp Xfault => axis.0.amp-fault-in
linksp Yfault <= motenc.0.in-07
linksp Yfault => axis.1.amp-fault-in
linksp Zfault <= motenc.0.in-11
linksp Zfault => axis.2.amp-fault-in

# Connect amp enables to motion controller.
linksp Xenable => motenc.0.out-08
linksp Yenable => motenc.0.out-09
linksp Zenable => motenc.0.out-10

# Connect watchdog reset to mot ion controller.
#newsig WatchdogRst bit
#linksp WatchdogRst <= motenc.watchdog-reset
#linksp WatchdogRst => motion.watchdog-reset-out


#
# Connect I/O controller I/Os
#

# Connect e-stop write/sense to I/O controller.
#
# The estop from the opto module should be jumpered to one of the
# motenc estop pins. This will notify the moten of the estop condition
# and it will zero the DACs and turn off all output even if the PC
# has crashed.
#
newsig EstopSense bit
newsig EstopWrite bit
linksp EstopSense <= motenc.0.estop-in-not
#linksp EstopSense <= motenc.0.in-15
linksp EstopSense => iocontrol.0.emc-enable-in
linksp EstopWrite => motenc.0.out-07
linksp EstopWrite <= iocontrol.0.user-enable-out

# ESTOP loopback, only use this for a simple machine without external ESTOP
# you really SHOULDN'T use a servo machine without proper ESTOP
#net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# Connect spindle fwd/rev to I/O controller.
newsig SpindleFwd bit
newsig SpindleRev bit
linksp SpindleFwd => motenc.0.out-00
linksp SpindleFwd <= motion.spindle-forward
linksp SpindleRev => motenc.0.out-01
linksp SpindleRev <= motion.spindle-reverse

# Connect spindle brake to I/O controller.
newsig SpindleBrakeOn bit
linksp SpindleBrakeOn => motenc.0.out-02
linksp SpindleBrakeOn <= motion.spindle-brake

# Connect mist/flood coolant to I/O controller.
newsig MistOn bit
newsig FloodOn bit
linksp MistOn => motenc.0.out-05
linksp MistOn <= iocontrol.0.coolant-mist
linksp FloodOn => motenc.0.out-06
linksp FloodOn <= iocontrol.0.coolant-flood

# Connect lube motor run to I/O controller.
newsig LubeOn bit
linksp LubeOn => motenc.0.out-12
linksp LubeOn <= iocontrol.0.lube

# Connect lube level to I/O controller.
newsig LubeLevel bit
linksp LubeLevel <= motenc.0.in-14
linksp LubeLevel => iocontrol.0.lube_level