External E-Stop

loadrt estop_latch count=3
addf estop-latch.0            servo-thread
addf estop-latch.1            servo-thread
addf estop-latch.2            servo-thread


# --- ESTOP CHAIN STARTS ---
net latch-reset iocontrol.0.user-request-enable 
net latch-ok-in iocontrol.0.user-enable-out 

net latch-ok-in => estop-latch.0.ok-in
net latch0-out <= estop-latch.0.ok-out 
net latch0-out => estop-latch.1.ok-in
net latch1-out <= estop-latch.1.ok-out 
net latch1-out => estop-latch.2.ok-in

net latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-reset => estop-latch.2.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.2.ok-out
net estop-out estop-latch.2.fault-out

# --- EXTERNAL ESTOP SWITCH ---
net external-estop <= hm2_7i76e.0.7i76.0.0.input-00
net external-estop => estop-latch.0.fault-in

# --- PENDANT ESTOP SWITCH ---
net pendant-estop <=  hm2_7i76e.0.7i76.0.0.input-26-not
net pendant-estop => estop-latch.1.fault-in 

# --- TORCH BREAKAWAY E-STOP ---
net torch-breakaway <= hm2_7i76e.0.7i76.0.0.input-06
net torch-breakaway => estop-latch.2.fault-in

# --- E-STOP STEPPER DRIVE DISABLE ---
net estop-out hm2_7i76e.0.7i76.0.0.output-05

# --- E-STOP RED WARNING LIGHT ---
net estop-out hm2_7i76e.0.7i76.0.0.output-00

# --- ESTOP CHAIN ENDS ---

# base.hal – Minimalstart für Weiler XZ (V10)

# --- components ---
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT
loadrt hostmot2
loadrt hm2_pci config="num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000XXXXX"
loadrt estop_latch count=1

# --- Motion in den Servo-Thread einhängen ---
addf motion-command-handler servo-thread
addf motion-controller      servo-thread
addf hm2_5i25.0.read        servo-thread
addf estop-latch.0          servo-thread

# --- Loopback pro Joint, damit Motion ohne Feedback auskommt ---
net joint-0-pos-loop joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net joint-1-pos-loop joint.1.motor-pos-cmd => joint.1.motor-pos-fb

# Enable-Leitungen/Faults – aktuell ohne Verdrahtung (werden später ergänzt)

addf hm2_5i25.0.write servo-thread

# --- ESTOP CHAIN (single latch) ---
net latch-reset <= iocontrol.0.user-request-enable
net latch-ok-in <= iocontrol.0.user-enable-out

net latch-ok-in   => estop-latch.0.ok-in
net latch-reset   => estop-latch.0.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-out     estop-latch.0.fault-out

# External E-Stop input (single source)
# For testing: fix the external signal to TRUE (fault active)
net external-estop => estop-latch.0.fault-in
sets external-estop TRUE

# --- ESTOP CHAIN ENDS ---


# doormagnet and relay for 24V supply
setp hm2_5i25.0.7i84.0.2.output-02 TRUE
setp hm2_5i25.0.7i84.0.2.output-03 TRUE