W axis with gantry kins hal/ini configuration

# This config file was created 2015-12-01 09:00:32.737957 by the update_ini script # The original config files may be found in the /home/guy/linuxcnc-dev/configs/Gicam/Gicam.old directory # Generated by PNCconf at Mon Nov 30 19:55:47 2015 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] # The version string for this INI file. VERSION = 1.0 MACHINE = Gicam DEBUG = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.500000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/guy/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 25.0000 MAX_LINEAR_VELOCITY = 200.000000 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = mousepad GEOMETRY = XYZW PROGRAM_PREFIX = /media [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 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [HAL] HALUI = halui HALFILE = LinuxCNCgkins.hal [HALUI] [TRAJ] AXES = 9 COORDINATES = X Y Z w LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 200.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOL_CHANGE_QUILL_UP = 1 #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 0 FERROR = 1000 MIN_FERROR = 100 MAX_VELOCITY = 200.0 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 = 250.0 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0025 MAX_OUTPUT = 20000 ENCODER_SCALE = 763.9437 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -636.6198 MIN_LIMIT = -0.01 MAX_LIMIT = 1470.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 10 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 0.0 FERROR = 1000 MIN_FERROR = 100 MAX_VELOCITY = 200.0 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 = 250.0 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0025 MAX_OUTPUT = 20000 ENCODER_SCALE = -763.9437 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = 636.6198 MIN_LIMIT = -0.01 MAX_LIMIT = 2500.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 10 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 1000 MIN_FERROR = 100 MAX_VELOCITY = 200.0 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 = 250.0 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0025 MAX_OUTPUT = 20000 ENCODER_SCALE = 763.9437 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -636.6198 MIN_LIMIT = -0.01 MAX_LIMIT = 2500.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 10 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 #******************** # Axis Z #******************** [AXIS_3] TYPE = LINEAR HOME = 0.0 FERROR = 2.0 MIN_FERROR = 0.2 MAX_VELOCITY = 100.0 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 = 125.0 STEPGEN_MAXACCEL = 937.50 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -256 MIN_LIMIT = -335.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 HOME_SEQUENCE = 2 #******************** # Axis W #******************** [AXIS_8] TYPE = LINEAR HOME = 0.0 FERROR = 2.0 MIN_FERROR = 0.2 MAX_VELOCITY = 100.0 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 = 125.0 STEPGEN_MAXACCEL = 937.50 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -256 MIN_LIMIT = -335.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 HOME_SEQUENCE = 2 #******************** # Spindle #******************** [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [SPINDLE_9] OUTPUT_SCALE = 24000.0 OUTPUT_MIN_LIMIT = 3000.0 OUTPUT_MAX_LIMIT = 24000.0

# Generated by PNCconf at Mon Nov 30 19:55:47 2015 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt gantrykins coordinates=XYYZW loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y1,pid.y2 loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 loadrt axisswap count=1 addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y1.do-pid-calcs servo-thread addf pid.y2.do-pid-calcs servo-thread addf classicladder.0.refresh servo-thread addf hm2_5i25.0.write servo-thread addf axisswap.0 servo-thread # external output signals # external input signals # --- HOME-X --- net home-x <= hm2_5i25.0.7i76.0.3.input-00 # --- HOME-Y --- net home-y <= hm2_5i25.0.7i76.0.3.input-01 # --- SPINDLE-AT-SPEED --- net spindle-at-speed <= hm2_5i25.0.7i76.0.3.input-15 #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_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_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 setp hm2_5i25.0.stepgen.00.control-type 1 setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_5i25.0.stepgen.00.enable # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.02.counter-mode 0 setp hm2_5i25.0.encoder.02.filter 1 setp hm2_5i25.0.encoder.02.index-invert 0 setp hm2_5i25.0.encoder.02.index-mask 0 setp hm2_5i25.0.encoder.02.index-mask-invert 0 setp hm2_5i25.0.encoder.02.scale [AXIS_0]ENCODER_SCALE net x-pos-fb <= hm2_5i25.0.encoder.02.position net x-vel-fb <= hm2_5i25.0.encoder.02.velocity net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.02.index-enable net x-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net home-x => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* setp pid.y1.Pgain [AXIS_1]P setp pid.y1.Igain [AXIS_1]I setp pid.y1.Dgain [AXIS_1]D setp pid.y1.bias [AXIS_1]BIAS setp pid.y1.FF0 [AXIS_1]FF0 setp pid.y1.FF1 [AXIS_1]FF1 setp pid.y1.FF2 [AXIS_1]FF2 setp pid.y1.deadband [AXIS_1]DEADBAND setp pid.y1.maxoutput [AXIS_1]MAX_OUTPUT setp pid.y1.error-previous-target true setp pid.y1.maxerror .0005 net y1-index-enable <=> pid.y1.index-enable net y1-enable => pid.y1.enable net y1-pos-cmd => pid.y1.command net y1-vel-cmd => pid.y1.command-deriv net y1-pos-fb => pid.y1.feedback net y1-output <= pid.y1.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.02.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.02.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.02.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.02.position-scale [AXIS_1]STEP_SCALE setp hm2_5i25.0.stepgen.02.step_type 0 setp hm2_5i25.0.stepgen.02.control-type 1 setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.02.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y1-pos-cmd <= axis.1.motor-pos-cmd net y1-vel-cmd <= axis.1.joint-vel-cmd net y1-output => hm2_5i25.0.stepgen.02.velocity-cmd net y1-pos-fb => axis.1.motor-pos-fb net y1-enable <= axis.1.amp-enable-out net y1-enable => hm2_5i25.0.stepgen.02.enable # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.01.counter-mode 0 setp hm2_5i25.0.encoder.01.filter 1 setp hm2_5i25.0.encoder.01.index-invert 0 setp hm2_5i25.0.encoder.01.index-mask 0 setp hm2_5i25.0.encoder.01.index-mask-invert 0 setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE net y1-pos-fb <= hm2_5i25.0.encoder.01.position net y1-vel-fb <= hm2_5i25.0.encoder.01.velocity net y1-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable net y1-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts # ---setup home / limit switch signals--- net home-y => axis.1.home-sw-in net y1-neg-limit => axis.1.neg-lim-sw-in net y1-pos-limit => axis.1.pos-lim-sw-in # ---SECOND Y AXIS--- setp pid.y2.Pgain [AXIS_2]P setp pid.y2.Igain [AXIS_2]I setp pid.y2.Dgain [AXIS_2]D setp pid.y2.bias [AXIS_2]BIAS setp pid.y2.FF0 [AXIS_2]FF0 setp pid.y2.FF1 [AXIS_2]FF1 setp pid.y2.FF2 [AXIS_2]FF2 setp pid.y2.deadband [AXIS_2]DEADBAND setp pid.y2.maxoutput [AXIS_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 setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.03.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.03.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.03.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.03.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.03.step_type 0 setp hm2_5i25.0.stepgen.03.control-type 1 setp hm2_5i25.0.stepgen.03.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.03.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y2-pos-cmd <= axis.2.motor-pos-cmd net y2-vel-cmd <= axis.2.joint-vel-cmd net y2-output => hm2_5i25.0.stepgen.03.velocity-cmd net y2-pos-fb => axis.2.motor-pos-fb net y2-enable <= axis.2.amp-enable-out net y2-enable => hm2_5i25.0.stepgen.03.enable # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.00.counter-mode 0 setp hm2_5i25.0.encoder.00.filter 1 setp hm2_5i25.0.encoder.00.index-invert 0 setp hm2_5i25.0.encoder.00.index-mask 0 setp hm2_5i25.0.encoder.00.index-mask-invert 0 setp hm2_5i25.0.encoder.00.scale [AXIS_2]ENCODER_SCALE net y2-pos-fb <= hm2_5i25.0.encoder.00.position net y2-vel-fb <= hm2_5i25.0.encoder.00.velocity net y2-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.00.index-enable net y2-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts # ---setup home / limit switch signals--- net home-y => axis.2.home-sw-in net y2-neg-limit => axis.2.neg-lim-sw-in net y2-pos-limit => axis.2.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_3]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_3]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [AXIS_3]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_3]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [AXIS_3]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 0 setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.01.maxvel [AXIS_3]STEPGEN_MAXVEL # ---stepper signals--- net z-pos-cmd-in axis.3.motor-pos-cmd => axisswap.0.inz net z-pos-cmd-out axisswap.0.outz => hm2_5i25.0.stepgen.01.position-cmd net z-pos-fb-in hm2_5i25.0.stepgen.01.position-fb => axisswap.0.inzfb net z-pos-fb-out axisswap.0.outzfb => axis.3.motor-pos-fb net z-enable <= axis.3.amp-enable-out net z-enable => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net z-home-sw => axis.3.home-sw-in net z-neg-limit => axis.3.neg-lim-sw-in net z-pos-limit => axis.3.pos-lim-sw-in #******************* # AXIS W #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.04.dirsetup [AXIS_8]DIRSETUP setp hm2_5i25.0.stepgen.04.dirhold [AXIS_8]DIRHOLD setp hm2_5i25.0.stepgen.04.steplen [AXIS_8]STEPLEN setp hm2_5i25.0.stepgen.04.stepspace [AXIS_8]STEPSPACE setp hm2_5i25.0.stepgen.04.position-scale [AXIS_8]STEP_SCALE setp hm2_5i25.0.stepgen.04.step_type 0 setp hm2_5i25.0.stepgen.04.control-type 0 setp hm2_5i25.0.stepgen.04.maxaccel [AXIS_8]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.04.maxvel [AXIS_8]STEPGEN_MAXVEL # ---stepper signals--- net w-pos-cmd-in axis.8.motor-pos-cmd => axisswap.0.inw net w-pos-cmd-out axisswap.0.outw => hm2_5i25.0.stepgen.04.position-cmd net w-pos-fb-in hm2_5i25.0.stepgen.04.position-fb => axisswap.0.inwfb net w-pos-fb-out axisswap.0.outwfb => axis.8.motor-pos-fb net w-enable <= axis.8.amp-enable-out net w-enable => hm2_5i25.0.stepgen.04.enable # ---setup home / limit switch signals--- net w-home-sw => axis.8.home-sw-in net w-neg-limit => axis.8.neg-lim-sw-in net w-pos-limit => axis.8.pos-lim-sw-in #******************* # SPINDLE S #******************* # ---digital potentionmeter output signals/setup--- setp hm2_5i25.0.7i76.0.3.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i76.0.3.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT setp hm2_5i25.0.7i76.0.3.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd-rpm => hm2_5i25.0.7i76.0.3.spinout net machine-is-enabled => hm2_5i25.0.7i76.0.3.spinena net spindle-ccw => hm2_5i25.0.7i76.0.3.spindir # ---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 #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.4.select net z-is-homed halui.joint.4.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.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.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 # ---signals for spindle control--- net tool-number iocontrol.0.tool-number => classicladder.0.s32in-00 net tool-change iocontrol.0.tool-change => classicladder.0.in-05 net tool-changed classicladder.0.out-04 => iocontrol.0.tool-changed net tool-prepare iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net spindle-cw => classicladder.0.in-00 net cwconfirmed classicladder.0.out-00 => hm2_5i25.0.7i76.0.3.output-00 net spindle-ccw => classicladder.0.in-01 net ccwconfirmed classicladder.0.out-01 => hm2_5i25.0.7i76.0.3.output-01 net during-run hm2_5i25.0.7i76.0.3.input-14 => classicladder.0.in-02 net c1-in hm2_5i25.0.7i76.0.3.input-02 => classicladder.0.in-03 net c2-in hm2_5i25.0.7i76.0.3.input-03 => classicladder.0.in-04 net c1-out classicladder.0.out-02 => hm2_5i25.0.7i76.0.3.output-14 net c2-out classicladder.0.out-03 => hm2_5i25.0.7i76.0.3.output-15 net swapper classicladder.0.out-05 => axisswap.0.sel net z-vel axis.3.joint-vel-cmd => classicladder.0.floatin-00 # Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI loadusr classicladder --nogui custom.clp