#RMC Rev5.1.7 - Washdown & flood valves, spindle blast
#RMC Rev5.1.6 - Probe error signal and debounce
#RMC Rev5.1.5 - Laser PDB sensor, clean up INI, on-abort delay, spin interlocks
#RMC Rev5.1.4 - Analog override lincurve
#RMC Rev5.1.3 - Analog override limits
#RMC Rev5.1.2 - New control panel w/analog overrides
#RMC Rev5.1.1 - UPDATED PB: modified subroutines for new parameters; new custom_config.yaml
#RMC Rev5.1.0 - INDEX MODE - attempt index mode with new slot sensors

################
###   ATC    ###
################

## ATC Step Gen signals/setup
setp   [HMOT](CARD0).stepgen.04.dirsetup        [ATC]ATC_DIRSETUP
setp   [HMOT](CARD0).stepgen.04.dirhold         [ATC]ATC_DIRHOLD
setp   [HMOT](CARD0).stepgen.04.steplen         [ATC]ATC_STEPLEN
setp   [HMOT](CARD0).stepgen.04.stepspace       [ATC]ATC_STEPSPACE
setp   [HMOT](CARD0).stepgen.04.step_type       [ATC]ATC_STEP_TYPE
setp   [HMOT](CARD0).stepgen.04.control-type    [ATC]ATC_CONTROL_TYPE
setp   [HMOT](CARD0).stepgen.04.maxaccel        [ATC]ATC_MAX_ACCEL
setp   [HMOT](CARD0).stepgen.04.maxvel          [ATC]ATC_MAX_VEL
setp   [HMOT](CARD0).stepgen.04.position-scale  [ATC]ATC_POS_SCALE
setp carousel.0.scale                           [ATC]ATC_SCALE          
setp carousel.0.width                           [ATC]ATC_WIDTH          
setp carousel.0.home-offset                     [ATC]ATC_HOME_OFFSET
setp carousel.0.fwd-dc                          [ATC]ATC_FWD_DC
setp carousel.0.hold-dc                         [ATC]ATC_HOLD_DC
setp carousel.0.rev-dc                          [ATC]ATC_REV_DC
setp carousel.0.rev-pulse                       [ATC]ATC_REV_PULSE
setp carousel.0.align-dc                        [ATC]ATC_ALIGN_DC       #FINE ALIGNMENT SPEED
setp carousel.0.decel-time                      [ATC]ATC_DECEL_TIME     #FINE ALIGNMENT DECEL TIME
setp carousel.0.debounce                        [ATC]ATC_DEBOUNCE       #REQUIRED TO COMPLETE MOVE BEFORE CAROUSEL-READY PIN IS SET

net DI-ALARM-ATC                =>  motion.misc-error-00
net ATC-ENABLE                  <=  motion.digital-out-00
net ATC-ENABLE                  =>  carousel.0.enable
net DO-MACHINE-ENABLED          =>  [HMOT](CARD0).stepgen.04.enable
net ATC-READY                   <=  carousel.0.ready
net ATC-READY                   =>  motion.digital-in-00
net ATC-ACTIVE                  <=  carousel.0.active
net ATC-ACTIVE                  =>  motion.digital-in-08
net ATC-VELOCITY                <=  carousel.0.motor-vel
net ATC-VELOCITY                =>  [HMOT](CARD0).stepgen.04.velocity-cmd
net DI-ATC-INDEX                =>  carousel.0.sense-0
net DI-ATC-POCKET               =>  carousel.0.sense-1
net ATC-JOG-FWD                 <=  motion.digital-out-05
net ATC-JOG-FWD                 =>  carousel.0.jog-fwd
net ATC-JOG-REV                 <=  motion.digital-out-06
net ATC-JOG-REV                 =>  carousel.0.jog-rev
net ATC-HOMED                   <=  carousel.0.homed
net ATC-HOMED                   =>  motion.digital-in-07

net ATC-POS-REQ                 <=  motion.analog-out-00                    #POCKET POSITION REQUEST
net ATC-POS-REQ                 =>  conv-float-s32.atc.in                   #POCKET POSITION REQUEST CONVERT TO S32
net ATC-POS-S32                 <=  conv-float-s32.atc.out                    
net ATC-POS-S32                 =>  carousel.0.pocket-number                #POCKET POSITION REQUEST TO CAROUSEL.COMP

net DO-ATC-EXTEND-VLV           <=  motion.digital-out-01                   #ATC CYL EXTEND REQUEST
net DI-ATC-EXTENDED             =>  motion.digital-in-01                    
net DO-ATC-RETRACT-VLV          <=  motion.digital-out-02                   #ATC CYL RETRACT REQUEST
net DI-ATC-RETRACTED            =>  motion.digital-in-02                    
net DO-ATC-DOOR-VLV             <=  motion.digital-out-08                   #ATC DOOR OPEN REQUEST
net DI-ATC-DOOR                 =>  motion.digital-in-09                    
net DI-PDB-CYL-UP               =>  motion.digital-in-03                    
net BTN-UNCLAMP-TOOL            =>  xor2.pdb-interlock.in0
net UNCLAMP-TOOL-AUTO           <=  motion.digital-out-03                   #PDB AUTO MODE (M6 TOOLCHANGE)
net UNCLAMP-TOOL-AUTO           =>  xor2.pdb-interlock.in1
net DO-PDB-UNCLAMP              <=  xor2.pdb-interlock.out
net SPINDLE-ENABLE              =>  motion.digital-in-04                    #CHECK SPINDLE OFF DURING TOOLCHANGE
net ORIENT-LOCK                 =>  motion.digital-in-05                    #CHECK SPINDLE IS ORIENTED DURING TOOLCHANGE
net DO-SPIN-LOCK-CYL            <=  motion.digital-out-04
net DI-SPIN-LOCK                =>  motion.digital-in-06
net DO-TOOL-BLAST               <=  motion.digital-out-10

net ATC-PREP-LOOP               <=  iocontrol.0.tool-prepare
net ATC-PREP-LOOP               =>  iocontrol.0.tool-prepared
net ATC-CHANGE-LOOP             <=  iocontrol.0.tool-change
net ATC-CHANGE-LOOP             =>  iocontrol.0.tool-changed