# HAL config file for vismach simulation of horizontal boring machine # first load all the RT modules that will be needed # kinematics loadrt trivkins # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES # load four limit3 blocks to simulate the accel and vel limits of the motors loadrt limit3 count=4 # load window comparators for home/limit switches loadrt wcomp count=4 loadrt not count=4 # load the vismach model loadusr -W hbmgui # set a visible tool setp hbmgui.tool-length 2 setp hbmgui.tool-radius 0.5 #net tool-len motion.tooloffset.w hbmgui.tool-length # add motion controller functions to servo thread addf motion-command-handler servo-thread addf motion-controller servo-thread # add other functions addf limit3.0 servo-thread addf limit3.1 servo-thread addf limit3.2 servo-thread addf limit3.3 servo-thread addf wcomp.0 servo-thread addf wcomp.1 servo-thread addf wcomp.2 servo-thread addf wcomp.3 servo-thread addf not.0 servo-thread addf not.1 servo-thread addf not.2 servo-thread addf not.3 servo-thread # create HAL signals for position commands from motion module # send them to limit blocks so it will ferror if it exceeds a limit net table-pos-cmd axis.0.motor-pos-cmd => limit3.0.in net head-pos-cmd axis.1.motor-pos-cmd => limit3.1.in net saddle-pos-cmd axis.2.motor-pos-cmd => limit3.2.in net quill-pos-cmd axis.8.motor-pos-cmd => limit3.3.in # set the limit block parameters from the ini file setp limit3.0.maxv [AXIS_0]MAX_VELOCITY setp limit3.0.maxa [AXIS_0]MAX_ACCELERATION setp limit3.1.maxv [AXIS_1]MAX_VELOCITY setp limit3.1.maxa [AXIS_1]MAX_ACCELERATION setp limit3.2.maxv [AXIS_2]MAX_VELOCITY setp limit3.2.maxa [AXIS_2]MAX_ACCELERATION setp limit3.3.maxv [AXIS_8]MAX_VELOCITY setp limit3.3.maxa [AXIS_8]MAX_ACCELERATION # loop limited position commands back to motion module feedback # also send them to the vismach model and to the "limit switches" net table-pos-fb limit3.0.out => axis.0.motor-pos-fb hbmgui.table wcomp.0.in net head-pos-fb limit3.1.out => axis.1.motor-pos-fb hbmgui.head wcomp.1.in net saddle-pos-fb limit3.2.out => axis.2.motor-pos-fb hbmgui.saddle wcomp.2.in net quill-pos-fb limit3.3.out => axis.8.motor-pos-fb hbmgui.quill wcomp.3.in # route home/limit switch signals to EMC net table-limits-ok wcomp.0.out => not.0.in net table-limits-tripped not.0.out => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in axis.0.home-sw-in net head-limits-ok wcomp.1.out => not.1.in net head-limits-tripped not.1.out => axis.1.neg-lim-sw-in axis.1.pos-lim-sw-in axis.1.home-sw-in net saddle-limits-ok wcomp.2.out => not.2.in net saddle-limits-tripped not.2.out => axis.2.neg-lim-sw-in axis.2.pos-lim-sw-in axis.2.home-sw-in net quill-limits-ok wcomp.3.out => not.3.in net quill-limits-tripped not.3.out => axis.8.neg-lim-sw-in axis.8.pos-lim-sw-in axis.8.home-sw-in # set location of switches # these positions are in vismach coords - they can be are offset from machine coords # these hardware limits are set to allow 0.5in more overall travel than the soft limits setp wcomp.0.min -50.5 setp wcomp.0.max 50.5 setp wcomp.1.min -0.5 setp wcomp.1.max 100.5 setp wcomp.2.min -25.5 setp wcomp.2.max 25.5 setp wcomp.3.min -42.5 setp wcomp.3.max 0.5 # this foolishness is needed because EMC thinks that 9 axes means 9 joints net Aloop axis.3.motor-pos-cmd axis.3.motor-pos-fb net Bloop axis.4.motor-pos-cmd axis.4.motor-pos-fb net Cloop axis.5.motor-pos-cmd axis.5.motor-pos-fb net Uloop axis.6.motor-pos-cmd axis.6.motor-pos-fb net Vloop axis.7.motor-pos-cmd axis.7.motor-pos-fb # estop loopback net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in # create signals 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 net spindle-fwd motion.spindle-forward net spindle-rev motion.spindle-reverse net spindle-speed motion.spindle-speed-out net lube iocontrol.0.lube net flood iocontrol.0.coolant-flood net mist iocontrol.0.coolant-mist