# HAL config file for Vital Systems MOTENC-100 PCI board
#
# Install driver.
#loadrt hal_motenc

# Classicladder for machine logic (load the realtime portion).
# Just uncomment the following line if you want a Software PLC
#loadrt classicladder_rt numRungs=4 numBits=16 numWords=4 numTimers=2 numMonostables=2 numPhysInputs=16 numPhysOutputs=8 numArithmExpr=4 numSections=1

# Invoke the user part of CL to silently load the program.
# Just uncomment the following line if you want a Software PLC
#loadusr -w classicladder --nogui ../configs/common/bridgeport.clp

# Add I/O to servo thread so they will be evaluated
# every servo period.
# inputs get read at the beginning of the thread
addf motenc.0.misc-update servo-thread 1
#addf motenc.0.adc-read servo-thread 1
addf motenc.0.digital-in-read servo-thread 1
#addf classicladder.0.refresh servo-thread 1

# outputs get refreshed at the end of the thread
addf motenc.0.digital-out-write servo-thread -1

#
# Connect motion controller I/Os
#

# Connect limit/home switch outputs to motion controller.
net Xminlim <= motenc.0.in-00
net Xminlim => joint.0.neg-lim-sw-in
net Xmaxlim <= motenc.0.in-01
net Xmaxlim => joint.0.pos-lim-sw-in
net Xhome <= motenc.0.in-02
net Xhome => joint.0.home-sw-in

net Yminlim <= motenc.0.in-04
net Yminlim => joint.1.neg-lim-sw-in
net Ymaxlim <= motenc.0.in-05
net Ymaxlim => joint.1.pos-lim-sw-in
net Yhome <= motenc.0.in-06
net Yhome => joint.1.home-sw-in

net Zminlim <= motenc.0.in-08
net Zminlim => joint.2.neg-lim-sw-in
net Zmaxlim <= motenc.0.in-09
net Zmaxlim => joint.2.pos-lim-sw-in
net Zhome <= motenc.0.in-10
net Zhome => joint.2.home-sw-in

# Connect amp faults to motion controller.
net Xfault <= motenc.0.in-03
net Xfault => joint.0.amp-fault-in
net Yfault <= motenc.0.in-07
net Yfault => joint.1.amp-fault-in
net Zfault <= motenc.0.in-11
net Zfault => joint.2.amp-fault-in

# Connect amp enables to motion controller.
net Xenable => motenc.0.out-08
net Yenable => motenc.0.out-09
net Zenable => motenc.0.out-10

# Connect watchdog reset to motion controller.
#newsig WatchdogRst bit
#linksp WatchdogRst <= motenc.watchdog-reset
#linksp WatchdogRst => motion.watchdog-reset-out


#
# Connect I/O controller I/Os
#

# Connect e-stop write/sense to I/O controller.
#
# The estop from the opto module should be jumpered to one of the
# motenc estop pins. This will notify the moten of the estop condition
# and it will zero the DACs and turn off all output even if the PC
# has crashed.
#
net EstopSense <= motenc.0.estop-in-not
#linksp EstopSense <= motenc.0.in-15
net EstopSense => iocontrol.0.emc-enable-in
net EstopWrite => motenc.0.out-07
net EstopWrite <= iocontrol.0.user-enable-out

# ESTOP loopback, only use this for a simple machine without external ESTOP
# you really SHOULDN'T use a servo machine without proper ESTOP
#net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# Connect spindle fwd/rev to I/O controller.
net SpindleFwd => motenc.0.out-00
net SpindleFwd <= spindle.0.forward
net SpindleRev => motenc.0.out-01
net SpindleRev <= spindle.0.reverse

# Connect spindle brake to I/O controller.
net SpindleBrakeOn => motenc.0.out-02
net SpindleBrakeOn <= spindle.0.brake

# Connect mist/flood coolant to I/O controller.
net MistOn => motenc.0.out-05
net MistOn <= iocontrol.0.coolant-mist
net FloodOn => motenc.0.out-06
net FloodOn <= iocontrol.0.coolant-flood
