# HAL config file for vismach simulation of a vertical milling machine
# This file only handles axis movement. 

loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=6

addf motion-command-handler servo-thread
addf motion-controller servo-thread


# loop position commands back to motion module feedback

net x-pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net y-pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net z-pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb

net x-pos-lim joint.0.pos-lim-sw-in joint.0.home-sw-in
net x-neg-lim joint.0.neg-lim-sw-in
net y-pos-lim joint.1.pos-lim-sw-in joint.1.home-sw-in
net y-neg-lim joint.1.neg-lim-sw-in
net z-pos-lim joint.2.pos-lim-sw-in joint.2.home-sw-in
net z-neg-lim joint.2.neg-lim-sw-in


# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist
