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G-code properties: {'name': 'gmoccapy_2_tools_with_cutter_radius_compensation.ngc', 'size': '1234 bytes\n93 gcode lines', 'g0': '58.000 mm', 'g1': '327.121 mm', 'run': '25 Seconds', 'toollist': [], 'x': '31.000 to 69.000 = 38.000 mm', 'x_zero_rxy': '31.000 to 69.000 = 38.000 mm', 'y': '31.000 to 69.000 = 38.000 mm', 'y_zero_rxy': '31.000 to 69.000 = 38.000 mm', 'z': '-252.287 to -221.287 = 31.000 mm', 'z_zero_rxy': '-252.287 to -221.287 = 31.000 mm', 'machine_unit_sys': 'Metric', 'gcode_units': 'mm'}

 #  --- automatic tool change ---

loadrt carousel pockets=6 encoding=index dir=2
addf carousel.0        servo-thread
setp carousel.0.scale 1666
setp carousel.0.home-offset -70

net spindlenot <= halui.spindle.0.is-on => not.0.in
net spindlenotout <= not.0.out => and2.2.in0
net toolunlock <= motion.digital-out-00 => or2.1.in0
net toolunlockkey <= hm2_5i25.0.7i84.0.2.input-07 => or2.1.in1
net toolunlockout <= or2.1.out => and2.2.in1
net toolunlockout1 <= and2.2.out => hm2_5i25.0.7i77.0.0.output-00

net carouselup <= motion.digital-out-01 => hm2_5i25.0.7i77.0.0.output-01
net spindleair <= motion.digital-out-02 => hm2_5i25.0.7i77.0.0.output-02
net orient1   <= motion.digital-out-03 => hm2_5i25.0.7i77.0.0.output-12
net orient2     <= motion.digital-out-04 => hm2_5i25.0.7i77.0.0.output-13
net toolisunlock   <= motion.digital-in-00  => hm2_5i25.0.7i77.0.0.input-04
net toolislock        <= motion.digital-in-01  => hm2_5i25.0.7i77.0.0.input-05
net carouselisup     <= motion.digital-in-02  => hm2_5i25.0.7i77.0.0.input-06
net carouselisdown  <= motion.digital-in-03  => hm2_5i25.0.7i77.0.0.input-07
net spindleinposition <= motion.digital-in-04 => hm2_5i25.0.7i77.0.0.input-24

net carousel-index carousel.0.sense-0 hm2_5i25.0.7i77.0.0.input-03-not
net carousel-pulse carousel.0.sense-1 hm2_5i25.0.7i77.0.0.input-02-not
net carousel-enable <= motion.digital-out-05 => carousel.0.enable
net carousel-pocket <= motion.analog-out-00 => conv-float-s32.0.in
net carousel-pocket-out <= carousel.0.pocket-number => conv-float-s32.0.out
net carousel-finish <= motion.digital-in-08  <= carousel.0.ready

# PID carousel

setp   pid.c.Pgain     [SPINDLE_2]P
setp   pid.c.Igain     [SPINDLE_2]I
setp   pid.c.Dgain     [SPINDLE_2]D
setp   pid.c.bias      [SPINDLE_2]BIAS
setp   pid.c.FF0       [SPINDLE_2]FF0
setp   pid.c.FF1       [SPINDLE_2]FF1
setp   pid.c.FF2       [SPINDLE_2]FF2
setp   pid.c.deadband  [SPINDLE_2]DEADBAND
setp   pid.c.maxoutput [SPINDLE_2]MAX_OUTPUT
setp   pid.c.error-previous-target true

net c-index-enable  =>  pid.c.index-enable
net machine-is-enabled    =>  pid.c.enable
net c-vel-cmd       =>  pid.c.command
net c-pos-fb       =>  pid.c.feedback
net c-output        <=  pid.c.output

# ---PWM Generator signals/setup---

setp   hm2_5i25.0.7i77.0.1.analogout3-scalemax  [SPINDLE_2]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout3-minlim    [SPINDLE_2]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout3-maxlim    [SPINDLE_2]OUTPUT_MAX_LIMIT

net c-output     => hm2_5i25.0.7i77.0.1.analogout3
net c-vel-cmd    <= carousel.0.counts-target

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.03.counter-mode 0
setp    hm2_5i25.0.encoder.03.filter 1
setp    hm2_5i25.0.encoder.03.index-invert 0
setp    hm2_5i25.0.encoder.03.index-mask 0
setp    hm2_5i25.0.encoder.03.index-mask-invert 0
setp    hm2_5i25.0.encoder.03.scale  [SPINDLE_2]ENCODER_SCALE

net c-pos-fb               <=  hm2_5i25.0.encoder.03.position
net c-vel-fb               <=  hm2_5i25.0.encoder.03.velocity
net c-pos-fb               =>  conv-float-s32.1.in
net c-pos-fb-out             => conv-float-s32.1.out => carousel.0.counts

net tool-changed    <= iocontrol.0.tool-change  => iocontrol.0.tool-changed