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############################################
# Generic section
############################################
#==========================================
# Components declaration
#==========================================
#loadrt trivkins
#loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt weighted_sum wsum_sizes=4,4,2
loadrt sum2 count=3
loadrt conv_s32_float count=3
loadrt scale count=3
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf process_wsums servo-thread
addf sum2.0 servo-thread
addf conv-s32-float.0 servo-thread
addf conv-s32-float.1 servo-thread
addf scale.0 servo-thread
addf scale.1 servo-thread
#loadusr halui -ini maurice.ini
#loadusr io
#==========================================
# Global machine logic
#==========================================
net state-op => iocontrol.0.emc-enable-in
#==========================================
# X axis
#==========================================
net X-amp <= joint.0.amp-enable-out
net X-poscmd <= joint.0.motor-pos-cmd
net X-posfb => joint.0.motor-pos-fb
#net X-homed => joint.0.home-sw-in
#net Home-X <= joint.0.homing
net X-inhibit => motion.feed-inhibit
#net X-PoT => joint.0.pos-lim-sw-in
#net X-NoT => joint.0.neg-lim-sw-in
#==========================================
# Z axis
#==========================================
net Z-amp <= joint.2.amp-enable-out
net Z-poscmd <= joint.2.motor-pos-cmd
net Z-posfb => joint.2.motor-pos-fb
#net Z-homed => joint.2.home-sw-in
#net Home-Z <= joint.2.homing
#net Z-inhibit => motion.feed−inhibit
#net Z-PoT => joint.2.pos-lim-sw-in
#net Z-NoT => joint.2.neg-lim-sw-in
############################################
# Hardware section
############################################
#==========================================
# Components declaration
#==========================================
#loadusr -W lcec_conf maurice.xml
#loadrt lcec
#addf lcec.read-all servo-thread
#addf lcec.write-all servo-thread
setp lcec.0.0.drivecontrol-1 1
setp lcec.0.0.drivecontrol-2 1
setp lcec.0.1.drivecontrol-1 1
setp lcec.0.1.drivecontrol-2 1
setp lcec.0.0.modecontrol-0 0
setp lcec.0.0.modecontrol-4 0
setp lcec.0.1.modecontrol-0 0
setp lcec.0.1.modecontrol-4 0
#==========================================
# X axis
#==========================================
net X-amp => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
net X-poscmd => lcec.0.0.poscommand
net X-posfb <= lcec.0.0.pos
net X-fault <= lcec.0.0.drivestatus-3
net X-stat-pos <= lcec.0.0.modestatus-3
net X-stat-home <= lcec.0.0.modestatus-2
net X-homingok <= lcec.0.0.drivestatus-12
net X-athome <= lcec.0.0.drivestatus-10
net X-ctrl-home => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2
net X-homestart => lcec.0.0.drivecontrol-4
net X-ctrl-pos => lcec.0.0.modecontrol-3
net X-PoT <= lcec.0.0.inputs-1
net X-NoT <= lcec.0.0.inputs-0
#==========================================
# Z axis
#==========================================
net Z-amp => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
net Z-poscmd => lcec.0.1.poscommand
net Z-posfb <= lcec.0.1.pos
net Z-fault <= lcec.0.1.drivestatus-3
net Z-stat-pos <= lcec.0.1.modestatus-3
net Z-stat-home <= lcec.0.1.modestatus-2
net Z-homingok <= lcec.0.1.drivestatus-12
net Z-athome <= lcec.0.1.drivestatus-10
net Z-ctrl-home => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2
net Z-homestart => lcec.0.1.drivecontrol-4
net Z-ctrl-pos => lcec.0.1.modecontrol-3
net Z-PoT <= lcec.0.1.inputs-1
net Z-NoT <= lcec.0.1.inputs-0
#==========================================
#Tool Changer
#==========================================
net ToolChangeRequest iocontrol.0.tool-change
net ToolPrepPocket iocontrol.0.tool-prep-pocket
net ToolChangeOk iocontrol.0.tool-changed
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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#Panel Tool Selector
net PanelTurret1 wsum.0.bit.3.in
net PanelTurret2 wsum.0.bit.2.in
net PanelTurret3 wsum.0.bit.1.in
net PanelTurret4 wsum.0.bit.0.in
net manualtool wsum.0.sum
#Panel Feed Selector
net FeedOv1 wsum.1.bit.3.in
net FeedOv2 wsum.1.bit.2.in
net FeedOv3 wsum.1.bit.1.in
net FeedOv4 wsum.1.bit.0.in
net FeedOv wsum.1.sum conv-s32-float.0.in
net FeedOvF conv-s32-float.0.out
net FeedOvF scale.0.in
setp scale.0.gain -0.06666666666666666666666666666666666666667
setp scale.0.offset 1
net FeedOverride scale.0.out
net RapidOv1 wsum.2.bit.1.in
net RapidOv2 wsum.2.bit.0.in
net RapidOv wsum.2.sum conv-s32-float.1.in
net RapidOvF conv-s32-float.1.out
net RapidOvF scale.1.in
setp scale.1.gain -0.333333333333333333333
setp scale.1.offset 1
net RapidOverride scale.1.out