STMBL Brake, Power on / Fault behaviour and HAL / INI

io0.out0 = fault0.mot_brake

loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="192.168.1.121" config=" num_stepgens=4 sserial_port_0=000xxx" loadrt estop_latch loadrt not setp hm2_7i94.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s addf hm2_7i94.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_7i94.0.write servo-thread #add estop components to servo thread - added RL addf estop-latch.0 servo-thread addf not.0 servo-thread #******************* # AXIS X JOINT 0 #******************* net xposcmd joint.0.motor-pos-cmd => hm2_7i94.0.stbl.0.1.pos_cmd net xvelcmd joint.0.vel-cmd => hm2_7i94.0.stbl.0.1.vel_cmd net xposfb joint.0.motor-pos-fb <= hm2_7i94.0.stbl.0.1.pos_fb net xenable joint.0.amp-enable-out => hm2_7i94.0.stbl.0.1.enable net xfault joint.0.amp-fault-in <= hm2_7i94.0.stbl.0.1.fault #added RL net x-index joint.0.index-enable <=> hm2_7i94.0.stbl.0.1.index_enable net x-brake => hm2_7i94.0.stbl.0.1.out-00 # ---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 #allows you to reset smart serial - may not be needed - added RL net ssrun not.0.out => hm2_7i94.0.sserial.port-0.run net ssrunn => not.0.in net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in

loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="192.168.1.121" config=" num_stepgens=4 sserial_port_0=000xxx" loadrt estop_latch loadrt not setp hm2_7i94.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s addf hm2_7i94.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_7i94.0.write servo-thread addf estop-latch.0 servo-thread addf not.0 servo-thread #******************* # AXIS X JOINT 0 #******************* net xposcmd joint.0.motor-pos-cmd => hm2_7i94.0.stbl.0.1.pos_cmd net xvelcmd joint.0.vel-cmd => hm2_7i94.0.stbl.0.1.vel_cmd net xposfb joint.0.motor-pos-fb <= hm2_7i94.0.stbl.0.1.pos_fb net xenable joint.0.amp-enable-out => hm2_7i94.0.stbl.0.1.enable # AMP ENABLE LINE net xfault joint.0.amp-fault-in <= hm2_7i94.0.stbl.0.1.fault net x-index joint.0.index-enable <=> hm2_7i94.0.stbl.0.1.index_enable net x-brake => hm2_7i94.0.stbl.0.1.out-00 # ---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 #allows you to reset smart serial - may not be needed net ssrun not.0.out => hm2_7i94.0.sserial.port-0.run net ssrunn => not.0.in # ---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.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on # MACHINE IS ON LINE 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 #added RL net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-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

net machine-is-on hm2_5i25.0.7i71.1.1.output-25