Mori MV 35/40 retrofit

Ok I did some thinking….

M100
# file to lock rotary table
halcmd setp rot-clamp True
exit 0


M101
# file to unlock rotary table
halcmd setp rot-clamp False
exit 0


Hal file
#Clamped switch
net rot-clamped classicladder.0.in-30 hm2_5i23.0.7i64.0.1.digin.20.in-not

#UNClamped switch
net rot-unclamped classicladder.0.in-31 hm2_5i23.0.7i64.0.1.digin.21.in-not

#Rotary clamp
net rot-clamp-in classicladder.0.in-32
net rot-clamp-out classicladder.0.out-30 hm2_5i23.0.7i64.0.1.digout.07.out

# mutl velocity by 1000
net Rotary-velocity mult2.1.in0 hm2_5i23.0.encoder.03.velocity-fb
setp mult2.1.in1 1000
net mult2.1.out classicladder.0.floatin-00

#rotary in position
net Rotary-in-position axis.3.in-position classicladder.0.in-33


The m codes just change the “net rot-clamp-in classicladder.0.in-32” line and then I can handle the safety checks in classic ladder.
Only clamp the table when axis is in position and “velocity< some value”.
Break the axis enable line to stop axis movement.

All I need to do now is figure out how to “pause” the program when the M100 is called until the machine receives the clamped signal and when the M101 is called until the machine receives the unclamped signal. Should I just tie this into the feed hold and cycle start button?