###########################################################
#
# IO HAL file for koppi's CNC
#
# Created 2015/05/09 by Jakob Flierl <jakob.flierl@gmail.com>
#
# This file connects internal LCNC HAL signals with
# external Haldware on the EtherCAT bus.
#
###########################################################

###########################################################
# Signals for monitorting of the connection state
# and slave state
###########################################################
net ec-slaves-responding <= lcec.slaves-responding
net ec-link-up <= lcec.link-up
net ec-all-op <= lcec.all-op

###########################################################
# digital inputs
###########################################################

net voltage-on <= lcec.0.3.din-3-not

net estop-hw-button <= lcec.0.3.din-0
net probe-pin-in <= lcec.0.3.din-1

#net x-pos-lim-in <= lcec.0.3.din-1
#net x-neg-lim-in <= lcec.0.3.din-2
#net y-pos-lim-in <= lcec.0.3.din-3
#net y-neg-lim-in <= lcec.0.3.din-0-not
#net z-pos-lim-in <= lcec.0.3.din-2
#net z-neg-lim-in <= lcec.0.3.din-2
#net z-home-sw-in <= lcec.0.3.din-2

###########################################################
# digital outputs
###########################################################

#net coolant-on => lcec.0.2.dout-0
net spindle-cw <= lcec.0.9.dout-0
#net spindle-ccw <= lcec.0.2.dout-2
#net z-brake => lcec.0.2.dout-3

###########################################################
# servo controlers
###########################################################

# X axis
#
# set motor position scale (default 1 motor revolution)
setp lcec.0.4.srv-scale [JOINT_0]SCALE
setp lcec.0.4.enc-pos-scale [JOINT_0]ENC_SCALE

# switch on if joint is enabled
# this signal is used for the fault autoreset feature, too
net x-enable => lcec.0.4.srv-enable

# enable operation if joint is enabled
# The delta driver internally delay this signal
# till switched-on feedback is set to 1
#net x-enable => lcec.0.3A1.srv-enable

# check driver fault status
net x-amp-fault <= lcec.0.4.srv-error

# output velocity command from position control
# the scale of this value respects the setting
# of srv-pos-scale. if scale is set to 1.0 this
# means 1 motor revolution per second.
net x-vel-cmd => lcec.0.4.srv-cmd

# motor encoder position is used as joint
# position feedback
net x-pos-fb <= lcec.0.4.enc-pos

# Y axis - same logic as X axis

setp lcec.0.5.srv-scale [JOINT_1]SCALE
setp lcec.0.5.enc-pos-scale [JOINT_1]ENC_SCALE

net y-enable    => lcec.0.5.srv-enable
net y-amp-fault <= lcec.0.5.srv-error
net y-vel-cmd   => lcec.0.5.srv-cmd
net y-pos-fb    <= lcec.0.5.enc-pos


# Y axis - same logic as X axis

setp lcec.0.6.srv-scale [JOINT_2]SCALE
setp lcec.0.6.enc-pos-scale [JOINT_2]ENC_SCALE

net y1-enable    => lcec.0.6.srv-enable
net y1-amp-fault <= lcec.0.6.srv-error
net y1-vel-cmd   => lcec.0.6.srv-cmd
net y1-pos-fb    <= lcec.0.6.enc-pos


# Z axis - same logic as X axis

setp lcec.0.7.srv-scale [JOINT_3]SCALE
setp lcec.0.7.enc-pos-scale [JOINT_3]ENC_SCALE

net z-enable    => lcec.0.7.srv-enable
net z-amp-fault <= lcec.0.7.srv-error
net z-vel-cmd   => lcec.0.7.srv-cmd
net z-pos-fb    <= lcec.0.7.enc-pos

#net z-brake    <= lcec.0.4A3.srv-oper-enabled