34 lines
1.1 KiB
Plaintext
34 lines
1.1 KiB
Plaintext
# HAL config file for vismach simulation of a vertical milling machine
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# This file only handles axis movement.
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=6 num_aio=3
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# loop position commands back to motion module feedback
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net x-pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
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net y-pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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net z-pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
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net x-pos-lim joint.0.pos-lim-sw-in joint.0.home-sw-in
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net x-neg-lim joint.0.neg-lim-sw-in
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net y-pos-lim joint.1.pos-lim-sw-in joint.1.home-sw-in
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net y-neg-lim joint.1.neg-lim-sw-in
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net z-pos-lim joint.2.pos-lim-sw-in joint.2.home-sw-in
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net z-neg-lim joint.2.neg-lim-sw-in
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# net lube iocontrol.0.lube # deprecated in lcnc 2.10
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net flood iocontrol.0.coolant-flood
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net mist iocontrol.0.coolant-mist
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net tlo motion.analog-in-01 <= halui.tool.length_offset.z
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