# HAL config file for using classic ladder

# The core_sim.hal file sets up motion, stepgen and other common items
# Remove core_sim.hal connections for the following pins and implement 
# using classic latter functionality instead:
unlinkp iocontrol.0.user-enable-out
unlinkp iocontrol.0.emc-enable-in

# This file adds:
# the possibility of an external momentary or sustained NC estop button 
# and includes intermittent lube pump and pressure or level sensing.

# (load the realtime portion)
# these classicladder parameters need to be optimized after ladder completion
loadrt classicladder_rt numRungs=12 numBits=20 numWords=4 numTimers=5 numMonostables=2 numPhysInputs=10 numPhysOutputs=10 numArithmExpr=4 numSections=4
# We kick ladder into a thread at the slower servo rate rather than base rate
addf classicladder.0.refresh        servo-thread 1

# invoke the user part of CL to silently load the program
# later we will need to add the clp file mentioned below
# to the ini file so that we do not need to hardcode it here.
loadusr -w classicladder --nogui demo_sim_cl.clp

# three axis motion allows 6 other outputs on pins 8,9,1,14,16,17
# five additional input pins are available 10,11,12,13,15
# these are setup by the work they perform below

# estop signals
# signal is the internal or gui estop command from EMC
net gui-estop iocontrol.0.user-enable-out classicladder.0.in-00
# one-shot on  timer when signal above goes high.
net estop-strobe iocontrol.0.user-request-enable  classicladder.0.in-02
# this bit is an external estop button connected to parport pin 11 and ground
net ext-estop classicladder.0.in-01
# This bit signal is comand to estop from CL to EMC
net estop-all-ok iocontrol.0.emc-enable-in classicladder.0.out-00 

# lube signals
# lube run command from emc to CL 
net lube iocontrol.0.lube classicladder.0.in-03
# for ease of reading we will make a new signal lube-run
net lube-run classicladder.0.out-01

# The lube sense stuff runs from an external pin, through CL to iocontrol in 
# lube-up is the signal between the parport and cl
net lube-up classicladder.0.in-04
net lube-level iocontrol.0.lube_level classicladder.0.out-02

# we will let loopbacks handle tool prepare and change commands 
# though we could  index an external changer
# create connections for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed