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# HAL config file for vismach simulation of max5 - trivkins version
# 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 five limit3 blocks to simulate the accel and vel limits of the motors
loadrt limit3 count=5
# load window comparators for home/limit switches
loadrt wcomp count=5
loadrt not count=5
# load the vismach model
loadusr -W max5gui
# set a visible tool
setp max5gui.tool-radius 3
# get tool length from motion controller
net tool-len motion.tooloffset.z max5gui.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 limit3.4 servo-thread
addf wcomp.0 servo-thread
addf wcomp.1 servo-thread
addf wcomp.2 servo-thread
addf wcomp.3 servo-thread
addf wcomp.4 servo-thread
addf not.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
addf not.3 servo-thread
addf not.4 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 saddle-pos-cmd axis.1.motor-pos-cmd => limit3.1.in
net head-pos-cmd axis.2.motor-pos-cmd => limit3.2.in
net tilt-pos-cmd axis.4.motor-pos-cmd => limit3.3.in
net rotate-pos-cmd axis.5.motor-pos-cmd => limit3.4.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_4]MAX_VELOCITY
setp limit3.3.maxa [AXIS_4]MAX_ACCELERATION
setp limit3.4.maxv [AXIS_5]MAX_VELOCITY
setp limit3.4.maxa [AXIS_5]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 max5gui.table wcomp.0.in
net saddle-pos-fb limit3.1.out => axis.1.motor-pos-fb max5gui.saddle wcomp.1.in
net head-pos-fb limit3.2.out => axis.2.motor-pos-fb max5gui.head wcomp.2.in
net tilt-pos-fb limit3.3.out => axis.4.motor-pos-fb max5gui.tilt wcomp.3.in
net rotate-pos-fb limit3.4.out => axis.5.motor-pos-fb max5gui.rotate wcomp.4.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 saddle-limits-ok wcomp.1.out => not.1.in
net saddle-limits-tripped not.1.out => axis.1.neg-lim-sw-in axis.1.pos-lim-sw-in axis.1.home-sw-in
net head-limits-ok wcomp.2.out => not.2.in
net head-limits-tripped not.2.out => axis.2.neg-lim-sw-in axis.2.pos-lim-sw-in axis.2.home-sw-in
net tilt-limits-ok wcomp.3.out => not.3.in
net tilt-limits-tripped not.3.out => axis.4.neg-lim-sw-in axis.4.pos-lim-sw-in axis.4.home-sw-in
net rotate-home-tripped wcomp.4.out => axis.5.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 2mm more overall travel than the soft limits
setp wcomp.0.min -101
setp wcomp.0.max 101
setp wcomp.1.min -101
setp wcomp.1.max 21
setp wcomp.2.min -96
setp wcomp.2.max 57
setp wcomp.3.min -91
setp wcomp.3.max 91
setp wcomp.4.min 90
setp wcomp.4.max 100
# 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
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