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dodalem probe basic

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bartool
2025-12-14 18:29:18 +01:00
parent e110bc87e9
commit 4d0e075a44
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configs/atc_sim/toolchange_gray.hal Normal file
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loadrt carousel pockets=10 dir=1 encoding=gray num_sense=4
#loadrt conv_float_s32 (Already loaded in sim_vmc.hal)
addf carousel.0 servo-thread
addf conv-float-s32.2 servo-thread # G-code analogue outputs are float-type
net car-enable motion.digital-out-00 carousel.0.enable
net car-ready carousel.0.ready motion.digital-in-00
net car-fwd carousel.0.motor-fwd
#net car-rev carousel.0.motor-rev
net car-pos-req motion.analog-out-02 conv-float-s32.2.in
net car-pos-s32 conv-float-s32.2.out carousel.0.pocket-number
net bit0 carousel.0.sense-0
net bit1 carousel.0.sense-1
net bit2 carousel.0.sense-2
net bit3 carousel.0.sense-3
net car-lock motion.digital-out-01
net car-locked motion.digital-in-01
net arm-act motion.digital-out-02
net arm-in motion.digital-in-02
net arm-out motion.digital-in-04
net tool-release motion.digital-out-03
net tool-released motion.digital-in-03
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
loadusr sim_pin carousel.0.jog-fwd