dodalem probe basic

configs/rack_atc_sim/vmc.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS unlock_joints_mask=16 num_dio=6 num_aio=3
+# load 6 differentiators (for velocity and accel signals)
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+#net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+#net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
+#net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
+#net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
+#net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
+#net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# probe input
+net probe-in  =>  motion.probe-input
+
+# 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 spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+# net lube iocontrol.0.lube  # deprecated in lcnc 2.10
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist
+net tlo motion.analog-in-01 <= halui.tool.length_offset.z