Problem with MESA 7i76e and DQ542MA drivers

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31 Jul 2018 15:32 - 31 Jul 2018 15:33 #115239 by jmonteiro

andypugh wrote: It may be that you are trying to run the motors too fast.
Try halving the speed and accel to see if that helps (purely as an experiment)

What is your step-length setting?


STEPLEN is set to 5050, which is what is suggested for my drivers. I will try to reduce the speed and acceleration and see if that helps.
Last edit: 31 Jul 2018 15:33 by jmonteiro.
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31 Jul 2018 16:08 #115243 by PCW
The noise problems are because of the hal and ini settings
Changing P term to 1000 and removing the max-error settings on
each axis will fix this problem
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31 Jul 2018 18:30 #115249 by tommylight
Try 15000 for step_length, anything shorter and those drives will complain. I have some 50V/2A ones and some 860DM and they all complain at shorter step lengh.
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31 Jul 2018 23:59 #115270 by jmonteiro
Ok, the change to the "P" to 1000 and removed the max-error and it worked. Thank you guys (PCW and tommylight) and so much :)

Anyway, I still no not understand why the generator put the 10000 in there. I think I never changed it :(

Now I'm fighting the speed, it seems to move very slowly... any tips on how to increase the speed? Everything I try to do seems useless and the speed seems to stays the same :(
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01 Aug 2018 04:23 #115278 by rodw
I have these Drives with a 7i76e. Disconnect the +5v from the enable terminal on the stepper driver.
What is never made clear is the the enable signal is actually a dis-enable signal. Putting power on this pin will disable the driver.

So I have it wired into my estop circuit so it disables the drive if you hit estop which allows you to move the drives by hand.
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01 Aug 2018 05:10 #115279 by tommylight

rodw wrote: Disconnect the +5v from the enable terminal on the stepper driver.
What is never made clear is the the enable signal is actually a dis-enable signal. Putting power on this pin will disable the driver.

That is true, you do not need to connect anything to enable, they will work with only pulse and dir signals.
I was reading your post and thinking that you have some other type of those drives as the usual ones are enabled as soon as power them on.
As for low speed, do some calculations and see what needs to be put for scale and velocity. Scale will also change if you change the micro stepping on the drives. Velocity should be in units (mm or inch) per second in the ini file .
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01 Aug 2018 13:58 #115308 by jmonteiro

rodw wrote: I have these Drives with a 7i76e. Disconnect the +5v from the enable terminal on the stepper driver.
What is never made clear is the the enable signal is actually a dis-enable signal. Putting power on this pin will disable the driver.

So I have it wired into my estop circuit so it disables the drive if you hit estop which allows you to move the drives by hand.


That makes sense :) I will disconnect the +5V from the enable terminal, it is doing nothing anyway since the GND is disconnected, Thank you.
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01 Aug 2018 14:01 #115309 by bevins
I apply 5v on enable pin when power is applied to the system. Only when the machine-is-on I remove it via a relay. That way they are disabled until the machine is turned on they get enabled. upon an e-stop the relay gets denergized and the drives are disabled.
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01 Aug 2018 21:26 #115346 by rodw

bevins wrote: I apply 5v on enable pin when power is applied to the system. Only when the machine-is-on I remove it via a relay. That way they are disabled until the machine is turned on they get enabled. upon an e-stop the relay gets denergized and the drives are disabled.


Sounds like a good method. I might try it.
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02 Aug 2018 21:16 #115443 by jmonteiro
One more issue, I upgraded to 2.8 and everything is working fine, except I cannot seem to be able to get my Y-gantry to move properly with 2 motors, only 1 motor is moving :(

Anyone can tell me what am I doing wrong with my INI and HAL?

Here are my files:

INI **********************

# Generated by PNCconf at Thu Aug 2 16:59:51 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = my_new_cnc
DEBUG = 0
VERSION = 1.0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/jmonteiro/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xzyy

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i76e

[HAL]
HALUI = halui
HALFILE = my_new_cnc.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ
#kinstype=BOTH

[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 4.67
MAX_LINEAR_VELOCITY = 46.67

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 46.6666666667
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 46.6666666667
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 58.33
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 500
DIRHOLD = 500
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 46.6666666667
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 46.6666666667
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 58.33
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 500
DIRHOLD = 500
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 46.6666666667
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 58.33
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 500
DIRHOLD = 500
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 12.5
MAX_ACCELERATION = 250.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 12.5
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 15.62
STEPGEN_MAXACCEL = 312.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 500
DIRHOLD = 500
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
#******************************************

[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000


HAL *****************************

# Generated by PNCconf at Thu Aug 2 16:59:51 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=4"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s

addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1

# external output signals

# external input signals

#*******************
# AXIS X JOINT 0
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output

# Step Gen signals/setup

setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

#*******************
# AXIS Y JOINT 1
#*******************

setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005

net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output

# Step Gen signals/setup

setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i76e.0.stepgen.02.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.02.enable

# ---setup home / limit switch signals---

net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in

#*******************
# Tandem AXIS Y2 JOINT 2
#*******************

setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
setp pid.y2.maxerror .0005

net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-vel-cmd => pid.y2.command-deriv
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output

# Step Gen signals/setup for tandem axis

setp hm2_7i76e.0.stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.03.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.03.step_type 0
setp hm2_7i76e.0.stepgen.03.control-type 1
setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output <= hm2_7i76e.0.stepgen.03.velocity-cmd
net y2-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i76e.0.stepgen.03.enable

# ---setup home / limit switch signals---

net y2-home-sw => joint.2.home-sw-in
net y2-neg-limit => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in

#*******************
# AXIS Z JOINT 3
#*******************

setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005

net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output

# Step Gen signals/setup

setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_3]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_3]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_3]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_3]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output <= hm2_7i76e.0.stepgen.01.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.01.enable

# ---setup home / limit switch signals---

net z-home-sw => joint.3.home-sw-in
net z-neg-limit => joint.3.neg-lim-sw-in
net z-pos-limit => joint.3.pos-lim-sw-in

#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi

# ---coolant signals---

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

# ---probe signal---

net probe-in => motion.probe-input

# ---motion control signals---

net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled

# ---digital in / out signals---

# ---estop signals---

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

# ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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